Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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062750,000002: ## Copyright: Public domain.
062751,000003: ## Filename: KALMAN_FILTER.agc
062752,000004: ## Purpose: A section of Luminary revision 163.
062753,000005: ## It is part of the reconstructed source code for the first
062754,000006: ## (unflown) release of the flight software for the Lunar
062755,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
062756,000008: ## The code has been recreated from a reconstructed copy of
062757,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
062758,000010: ## It has been adapted such that the resulting bugger words
062759,000011: ## exactly match those specified for Luminary 163 in NASA
062760,000012: ## drawing 2021152N, which gives relatively high confidence
062761,000013: ## that the reconstruction is correct.
062762,000014: ## Reference: pp. 1458-1459
062763,000015: ## Assembler: yaYUL
062764,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062765,000017: ## Website: www.ibiblio.org/apollo/index.html
062766,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
062767,000019:
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Page 1458
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062769,000021: 17,3777 E6,1522 EBANK= NO.UJETS
062770,000022: 16,3644 BANK 16
062771,000023: 16,2000 SETLOC DAPS1
062772,000024: 16,2000 BANK
062773,000025:
062774,000026: 16,3644 COUNT* $$/DAP
062775,000027:
062776,000028: 16,3644 34752 RATELOOP CA TWO
062777,000029: 16,3645 55743 TS DAPTEMP6
062778,000030: 16,3646 60000 DOUBLE
062779,000031: 16,3647 54002 TS Q
062780,000032: 16,3650 51743 INDEX DAPTEMP6
062781,000033: 16,3651 11524 CCS TJP
062782,000034: 16,3652 13654 TCF +2
062783,000035: 16,3653 13673 TCF LOOPRATE
062784,000036: 16,3654 63734 AD -100MST6
062785,000037: 16,3655 00006 EXTEND
062786,000038: 16,3656 63712 BZMF SMALLTJU
062787,000039: 16,3657 51743 INDEX DAPTEMP6
062788,000040: 16,3660 11524 CCS TJP
062789,000041: 16,3661 33734 CA -100MST6
062790,000042: 16,3662 13664 TCF +2
062791,000043: 16,3663 43734 CS -100MST6
062792,000044: 16,3664 51743 INDEX DAPTEMP6
062793,000045: 16,3665 27524 ADS TJP
062794,000046: 16,3666 51743 INDEX DAPTEMP6
062795,000047: 16,3667 11524 CCS TJP
062796,000048: 16,3670 43620 CS -100MS # 0.1 AT 1
062797,000049: 16,3671 13673 TCF +2
062798,000050: 16,3672 33620 CA -100MS
062799,000051: 16,3673 00006 LOOPRATE EXTEND
062800,000052: 16,3674 51743 INDEX DAPTEMP6
062801,000053: 16,3675 71521 MP NO.PJETS
062802,000054: 16,3676 30001 CA L
062803,000055: 16,3677 51743 INDEX DAPTEMP6
062804,000056: 16,3700 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062805,000057: 16,3701 00006 EXTEND
062806,000058: 16,3702 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062807,000059: 16,3703 00006 EXTEND
062808,000060: 16,3704 63735 BZMF NEGTORK
062809,000061: 16,3705 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062810,000062: 16,3706 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062811,000063:
062812,000064: 16,3707 11743 CCS DAPTEMP6
062813,000065: 16,3710 13645 TCF RATELOOP +1
062814,000066: 16,3711 13721 TCF ROTORQUE
062815,000067: 16,3712 34755 SMALLTJU CA ZERO
062816,000068: 16,3713 51743 INDEX DAPTEMP6
062817,000069: 16,3714 57524 XCH TJP
062818,000070: 16,3715 00006 EXTEND
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Page 1459
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062820,000072: 16,3716 74760 MP ELEVEN # 10.24 PLUS
062821,000073: 16,3717 30001 CA L
062822,000074: 16,3720 13673 TCF LOOPRATE
062823,000075: 16,3721 31737 ROTORQUE CA DAPTEMP2
062824,000076: 16,3722 61740 AD DAPTEMP3
062825,000077: 16,3723 00006 EXTEND
062826,000078: 16,3724 71532 MP 1JACCR
062827,000079: 16,3725 55746 TS JETRATER
062828,000080: 16,3726 41740 CS DAPTEMP3
062829,000081: 16,3727 61737 AD DAPTEMP2
062830,000082: 16,3730 00006 EXTEND
062831,000083: 16,3731 71531 MP 1JACCQ
062832,000084: 16,3732 55745 TS JETRATEQ
062833,000085: 16,3733 12316 TCF BACKP
062834,000086: 16,3734 77537 -100MST6 DEC -160 B-14
062835,000087:
062836,000088: 16,3735 40000 NEGTORK COM
062837,000089: 16,3736 24002 INCR Q
062838,000090: 16,3737 13705 TCF STORTORK
062839,000091:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc