Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
063770,000002: ## Copyright: Public domain.
063771,000003: ## Filename: KALMAN_FILTER.agc
063772,000004: ## Purpose: A section of Luminary revision 210.
063773,000005: ## It is part of the source code for the Lunar Module's (LM)
063774,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
063775,000007: ## This file is intended to be a faithful transcription, except
063776,000008: ## that the code format has been changed to conform to the
063777,000009: ## requirements of the yaYUL assembler rather than the
063778,000010: ## original YUL assembler.
063779,000011: ## Reference: pp. 1468 - 1469
063780,000012: ## Assembler: yaYUL
063781,000013: ## Contact: Ron Burkey <info@sandroid.org>.
063782,000014: ## Website: www.ibiblio.org/apollo/index.html
063783,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
063784,000016: ## 2016-11-23 AS Transcribed
063785,000017: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
063786,000018: ## and corrected errors found.
063787,000019:
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Page 1468 |
063789,000021: 17,3777 E6,1522 EBANK= NO.UJETS
063790,000022: 16,3642 BANK 16
063791,000023: 16,2000 SETLOC DAPS1
063792,000024: 16,2000 BANK
063793,000025:
063794,000026: 16,3642 COUNT* $$/DAP
063795,000027:
063796,000028: 16,3642 34743 RATELOOP CA TWO
063797,000029: 16,3643 55743 TS DAPTEMP6
063798,000030: 16,3644 60000 DOUBLE
063799,000031: 16,3645 54002 TS Q
063800,000032: 16,3646 51743 INDEX DAPTEMP6
063801,000033: 16,3647 11524 CCS TJP
063802,000034: 16,3650 13652 TCF +2
063803,000035: 16,3651 13671 TCF LOOPRATE
063804,000036: 16,3652 63732 AD -100MST6
063805,000037: 16,3653 00006 EXTEND
063806,000038: 16,3654 63710 BZMF SMALLTJU
063807,000039: 16,3655 51743 INDEX DAPTEMP6
063808,000040: 16,3656 11524 CCS TJP
063809,000041: 16,3657 33732 CA -100MST6
063810,000042: 16,3660 13662 TCF +2
063811,000043: 16,3661 43732 CS -100MST6
063812,000044: 16,3662 51743 INDEX DAPTEMP6
063813,000045: 16,3663 27524 ADS TJP
063814,000046: 16,3664 51743 INDEX DAPTEMP6
063815,000047: 16,3665 11524 CCS TJP
063816,000048: 16,3666 43616 CS -100MS # 0.1 AT 1
063817,000049: 16,3667 13671 TCF +2
063818,000050: 16,3670 33616 CA -100MS
063819,000051: 16,3671 00006 LOOPRATE EXTEND
063820,000052: 16,3672 51743 INDEX DAPTEMP6
063821,000053: 16,3673 71521 MP NO.PJETS
063822,000054: 16,3674 30001 CA L
063823,000055: 16,3675 51743 INDEX DAPTEMP6
063824,000056: 16,3676 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
063825,000057: 16,3677 00006 EXTEND
063826,000058: 16,3700 74733 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
063827,000059: 16,3701 00006 EXTEND
063828,000060: 16,3702 63733 BZMF NEGTORK
063829,000061: 16,3703 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
063830,000062: 16,3704 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
063831,000063:
063832,000064: 16,3705 11743 CCS DAPTEMP6
063833,000065: 16,3706 13643 TCF RATELOOP +1
063834,000066: 16,3707 13717 TCF ROTORQUE
063835,000067: 16,3710 34746 SMALLTJU CA ZERO
063836,000068: 16,3711 51743 INDEX DAPTEMP6
063837,000069: 16,3712 57524 XCH TJP
063838,000070: 16,3713 00006 EXTEND
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Page 1469 |
063840,000072: 16,3714 74751 MP ELEVEN # 10.24 PLUS
063841,000073: 16,3715 30001 CA L
063842,000074: 16,3716 13671 TCF LOOPRATE
063843,000075: 16,3717 31737 ROTORQUE CA DAPTEMP2
063844,000076: 16,3720 61740 AD DAPTEMP3
063845,000077: 16,3721 00006 EXTEND
063846,000078: 16,3722 71532 MP 1JACCR
063847,000079: 16,3723 55746 TS JETRATER
063848,000080: 16,3724 41740 CS DAPTEMP3
063849,000081: 16,3725 61737 AD DAPTEMP2
063850,000082: 16,3726 00006 EXTEND
063851,000083: 16,3727 71531 MP 1JACCQ
063852,000084: 16,3730 55745 TS JETRATEQ
063853,000085: 16,3731 12322 TCF BACKP
063854,000086: 16,3732 77537 -100MST6 DEC -160 B-14
063855,000087:
063856,000088: 16,3733 40000 NEGTORK COM
063857,000089: 16,3734 24002 INCR Q
063858,000090: 16,3735 13703 TCF STORTORK
063859,000091:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc