Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

024012,000002:                                                                                                  ## Copyright:           Public domain.
024013,000003:                                                                                                  ## Filename:    KALMAN_FILTER_FOR_LM_DAP.agc
024014,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
024015,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
024016,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
024017,000007:                                                                                                  ## Assembler:   yaYUL
024018,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
024019,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
024020,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
024021,000011:                                                                                                  ##              2016-10-17 MAS  Began.
024022,000012:                                                                                                  ##              2016-10-18 MAS  Completed adaptation from Aurora 12 / transcription.
024023,000013:                                                                                                  ##              2016-10-31 RSB  Typos
024024,000014:                                                                                                  ##              2016-12-06 RSB  Comment-proofing via octopus/ProoferComments; changes
024025,000015:                                                                                                  ##                              were made.
024026,000016: 

Page 574

024028,000018:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH INITIALIZES THE KALMAN FILTER AND SETS UP A P-AXIS RUPT TO
024029,000019:                                                                                                  #  OCCUR 20 MS FROM ITS BEGINNING.
024030,000020: 
024031,000021: 26,2713  E6,1542                                  EBANK=   DT                                    
024032,000022: 21,2000                                           BANK     21                                    
024033,000023: 21,2000           32402        FILTINIT           CAF      MS30F                                 #  RESET TIMER IMMEDIATELY -   DT = 30 MS
024034,000024: 21,2001           54030                           TS       TIME5                                 
024035,000025: 
024036,000026: 21,2002           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024037,000027: 21,2003           00006                           EXTEND                                         
024038,000028: 21,2004           22012                           QXCH     QRUPT                                 
024039,000029: 
024040,000030: 21,2005           00006                           EXTEND                                         #  SET UP FOR P-AXIS RUPT
024041,000031: 21,2006           32100                           DCA      PAX/FILT                              
024042,000032: 21,2007           53001                           DXCH     T5ADR                                 
024043,000033: 
024044,000034: 21,2010           32014                           CAF      MOSTPASS                              #  SET UP TO PERMIT DT CALCULATION DURING
024045,000035: 21,2011           55544                           TS       STEERADR                              #  KALMAN FILTER INITIALIZATION PASS.
024046,000036: 
024047,000037: 21,2012           13675                           TCF      CLEARCH5                              #  TURN OFF Q,R-AXES RCS JETS.
024048,000038: 
024049,000039: 21,2013           02322        FIRSTADR           GENADR   FILFIRST                              
024050,000040: 
024051,000041:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE KALMAN FILTER PROGRAM.  THIS SECTION ALSO SETS UP A T5RUPT TO OCCUR 20 MS
024052,000042:                                                                                                  #  FROM ITS BEGINNING AND SETS IT TO GO TO THE LOCATION AT THE TOP OF THE POST FILTER RUPT LIST.
024053,000043: 
024054,000044: 21,2014           02060        MOSTPASS           GENADR   DTCALC                                #  WORD IN FILTPASS FOR THESE PASSES
024055,000045: 
024056,000046: 21,2015           32402        FILTER             CAF      MS30F                                 #  RESET TIMER IMMEDIATELY -   DT = 30 MS
024057,000047: 21,2016           54030                           TS       TIME5                                 
024058,000048: 
024059,000049: 21,2017           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024060,000050: 21,2020           00006                           EXTEND                                         
024061,000051: 21,2021           22012                           QXCH     QRUPT                                 
024062,000052: 
024063,000053: 21,2022           00006                           EXTEND                                         #  SET RUPT ADDRESS TO TOP OF
024064,000054: 21,2023           31575                           DCA      PFRPTLST                              #  POST FILTER RUPT LIST
024065,000055: 21,2024           53001                           DXCH     T5ADR                                 
024066,000056: 
024067,000057: 21,2025           41000                           CS       T5ADR                                 #  IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
024068,000058: 21,2026           62406                           AD       GTS2CADR                              #  REDUCE THE LENGTH OF THIS TIME5 RUPT.
024069,000059: 21,2027           00006                           EXTEND                                         
024070,000060: 21,2030           12032                           BZF      +2                                    
024071,000061: 21,2031           12034                           TCF      +3                                    
024072,000062: 21,2032           32401                           CAF      MS20F                                 #  RESET TIMER IMMEDIATELY - DT = 20MS
024073,000063: 21,2033           54030                           TS       TIME5                                 
024074,000064: 
024075,000065: 21,2034           53575                           DXCH     PFRPTLST                              #  ROTATE 2CADR'S IN POST FILTER RUPT LIST
024076,000066: 21,2035           53603                           DXCH     PFRPTLST   +6                         
024077,000067: 21,2036           53601                           DXCH     PFRPTLST   +4                         

Page 575

024079,000069: 21,2037           53577                           DXCH     PFRPTLST   +2                         
024080,000070: 21,2040           13703                           TCF      COUNTDWN                              #  DECREMENT PASSCTR
024081,000071: 
024082,000072:                                                                                                  #  BEGIN THE KALMAN FILTER BY READING CDU ANGLES AND TIME.
024083,000073: 
024084,000074: 21,2041           06013        FILSTART           TC       T6JOBCHK                              #  CHECK T6 CLOCK FOR P-AXIS ACTIVITY
024085,000075: 
024086,000076: 21,2042           00006                           EXTEND                                         
024087,000077: 21,2043           30034                           DCA      CDUY                                  #  STORE CDUY AND CDUZ AT PI AND IN 2,S COM
024088,000078: 21,2044           53541                           DXCH     STORCDUY                              
024089,000079: 21,2045           00006                           EXTEND                                         #  BEGIN READING THE CLOCK TO GET TIME
024090,000080: 21,2046           00004                           READ     4                                     #    INCREMENT.
024091,000081: 21,2047           54001                           TS       L                                     
024092,000082: 21,2050           00006                           EXTEND                                         
024093,000083: 21,2051           06004                           RXOR     4                                     #  CHECK TO SEE IF CH 4 WAS IN TRANSITION
024094,000084: 21,2052           00006                           EXTEND                                         #    WHEN IT WAS FIRST READ.
024095,000085: 21,2053           12057                           BZF      +4                                    #  BRANCH IF TIME WAS THE SAME IN 2 READS.
024096,000086: 21,2054           00006                           EXTEND                                         
024097,000087: 21,2055           00004                           READ     4                                     
024098,000088: 21,2056           54001                           TS       L                                     #  THIS TIME READ ALWAYS GIVES GOOD NO.
024099,000089: 21,2057           01544                           TC       STEERADR                              #  SKIP DTCALC DURING INITIAL PASS
024100,000090: 
024101,000091: 21,2060           40001        DTCALC             CS       L                                     
024102,000092: 21,2061           61543                           AD       DAPTIME                               #  A CONTAINS THE TIME DIFFERENCE (DT)
024103,000093: 21,2062           23543                           LXCH     DAPTIME                               #    SINCE THE LAST FILTER.
024104,000094: 21,2063           00006                           EXTEND                                         
024105,000095: 21,2064           62067                           BZMF     +3                                    
024106,000096: 21,2065           67744                           AD       NEG1/2                                #  THIS IS ADDING -1.0 TO -DT AND ACCOUNTS
024107,000097: 21,2066           67744                           AD       NEG1/2                                #  FOR AN OVERFLOW INTO CHANNEL 5
024108,000098: 
024109,000099:                                                                                                  #  SCALING OF DELTA T FOR KALMAN FILTER IS 1/8 SECOND.
024110,000100: 
024111,000101: 21,2067           00006                           EXTEND                                         #  TIME NOW SCALED AT 5.12 SECONDS
024112,000102: 21,2070           77755                           MP       BIT7                                  #  FIRST RESCALE TO 5.12/64
024113,000103: 21,2071           42376                           CS       .64                                   
024114,000104: 21,2072           00006                           EXTEND                                         #  THEN RESCALE TO 5.12/(64*.64) OR
024115,000105: 21,2073           70001                           MP       L                                     #  5.12/40.96 WHICH IS THE SAME AS
024116,000106: 21,2074           13707                           TCF      TIMEDONE                              #  DT SCALED AT 1/8.  JUMP VIA STEERAD2.
024117,000107:                                                                                                  #  SET UP FILTER WEIGHTING VECTOR FOR THIS FILTER PASS.
024118,000108: 
024119,000109: 21,2075           11547                           CCS      WPOINTER                              #  TEST FOR WEIGHTING VECTOR STEADY-STATE
024120,000110: 21,2076           12102                           TCF      MOVEWGTS                              #  POINTER NOT YET ZERO (MULTIPLE OF THREE)
024121,000111: 21,2077  E6,1542                                  EBANK=   DT                                    
024122,000112: 21,2077           02255 34066  PAX/FILT           2CADR    PAXIS                                 #  (ROOM FOR 2CADR IN CCS HOLES)
024123,000113: 
024124,000114: 21,2101           12113                           TCF      FLTZAXIS                              #  STEADY-STATE ALREADY, NO UPDATING AGAIN
024125,000115: 
024126,000116: 21,2102           46311        MOVEWGTS           CS       THREE                                 #  SET UP POINTER FOR THIS PASS
024127,000117: 21,2103           27547                           ADS      WPOINTER                              #  (NEVER GETS BELOW ZERO HERE)

Page 576

024129,000119: 21,2104           00006                           EXTEND                                         #  WPOINTER IS INDEX = 87 FIRST TIME HERE
024130,000120: 21,2105           51547                           INDEX    WPOINTER                              #  AND IS DECREASED BY 3 EVERY FILTER PASS
024131,000121: 21,2106           32413                           DCA      WVECTOR                               #  UNTIL THE STEADY-STATE IS REACHED.
024132,000122: 21,2107           53551                           DXCH     W0                                    #  MOVE IN NEW W0,W1
024133,000123: 21,2110           51547                           INDEX    WPOINTER                              
024134,000124: 21,2111           32414                           CAF      WVECTOR    +2                         
024135,000125: 21,2112           55552                           TS       W2                                    #  MOVE IN NEW W2
024136,000126: 
024137,000127: 21,2113           37762        FLTZAXIS           CAF      TWO                                   #  SET UP INDEXER FOR D.P. PICKUP AND TO
024138,000128: 21,2114           54066                           TS       QRCNTR                                #  INDICATE Z-AXIS FILTER PASS
024139,000129: 
024140,000130: 21,2115           12121                           TCF      FLTYAXIS                              
024141,000131: 
024142,000132: 21,2116           37767        GOYFILTR           CAF      ZERO                                  #  SET INDEXER FOR Y-AXIS
024143,000133: 21,2117           54066                           TS       QRCNTR                                
024144,000134: 
024145,000135: 21,2120           06013                           TC       T6JOBCHK                              #  CHECK T6 CLOCK FOR P-AXIS ACTIVITY
024146,000136: 
024147,000137: 21,2121           50066        FLTYAXIS           INDEX    QRCNTR                                
024148,000138: 21,2122           53554                           DXCH     CDUYFIL                               #  THETA IS D.P. SCALED AT 2 PI RADIANS
024149,000139: 21,2123           52073                           DXCH     CDU                                   
024150,000140: 21,2124           50066                           INDEX    QRCNTR                                #    .
024151,000141: 21,2125           53560                           DXCH     DCDUYFIL                              #  THETA IS D.P. SCALED AT PI/4 RAD/SEC
024152,000142: 21,2126           52062                           DXCH     CDUDOT                                
024153,000143: 21,2127           50066                           INDEX    QRCNTR                                #   ..                                 2
024154,000144: 21,2130           53564                           DXCH     D2CDUYFL                              #  THETA IS D.P. SCALED AT PI/8 RAD/SEC
024155,000145: 21,2131           52064                           DXCH     CDU2DOT                               
024156,000146: 21,2132           50066                           INDEX    QRCNTR                                #   ...                        7       3
024157,000147: 21,2133           31567                           CAE      Y3DOT                                 #  THETA IS S.P. SCALED AT PI/2 RAD/SEC
024158,000148: 21,2134           57570                           XCH      CDU3DOT                               
024159,000149: 
024160,000150:                                                                                                  #  NOTE THAT THE FILTERED VARIABLES ARE READ DESTRUCTIVELY FOR SPEED AND EFFICIENCY AND THAT Y3DOT IS NOT UPDATED,
024161,000151:                                                                                                  #  SO IT MUST BE READ NON-DESTRUCTIVELY BUT NEED NOT BE RESTORED AFTER EACH KALMAN FILTER PASS.
024162,000152: 

Page 577

024164,000154:                                                                                                  #  INTEGRATION EXTRAPOLATION EQUATIONS:
024165,000155: 
024166,000156: 21,2135           30063        KLMNFLTR           CAE      CDU2DOT                               #  A SCALED AT PI/8 (USE S.P.)
024167,000157: 21,2136           00006                           EXTEND                                         
024168,000158: 21,2137           71542                           MP       DT                                    #  ADT SCALED AT PI/64 OR .5ADT AT PI/128
024169,000159: 21,2140           00006                           EXTEND                                         
024170,000160: 21,2141           77752                           MP       BIT10                                 #  RESCALE BY RIGHT SHIFT 5
024171,000161: 21,2142           60061                           AD       CDUDOT                                #  W + .5ADT SCALED AT PI/4
024172,000162: 21,2143           00006                           EXTEND                                         
024173,000163: 21,2144           71542                           MP       DT                                    #  (W + .5ADT)DT SCALED AT PI/32
024174,000164: 21,2145           00006                           EXTEND                                         
024175,000165: 21,2146           77753                           MP       BIT9                                  #  RESCALE BY RIGHT SHIFT 6 (KEEP D.P.)
024176,000166: 21,2147           20073                           DAS      CDU                                   #  CDU = CDU + (W + .5ADT)DT SCALED AT 2PI
024177,000167: 
024178,000168: 21,2150           31570                           CAE      CDU3DOT                               #  ADOT SCALED AT PI/2(7)
024179,000169: 21,2151           00006                           EXTEND                                         
024180,000170: 21,2152           71542                           MP       DT                                    #  .5ADOTDT SCALED AT PI/2(11)
024181,000171: 21,2153           54065                           TS       ITEMP5                                #  (SAVE FOR ALPHA INTEGRATION)
024182,000172: 21,2154           00006                           EXTEND                                         
024183,000173: 21,2155           77755                           MP       BIT7                                  #  RESCALE BY RIGHT SHIFT 8
024184,000174: 21,2156           60063                           AD       CDU2DOT                               #  A + .5ADOTDT SCALED AT PI/8
024185,000175: 21,2157           00006                           EXTEND                                         
024186,000176: 21,2160           71542                           MP       DT                                    #  (A + .5ADOTDT)DT SCALED AT PI/64
024187,000177: 21,2161           00006                           EXTEND                                         
024188,000178: 21,2162           77751                           MP       BIT11                                 #  RESCALE BY RIGHT SHIFT 4 (KEEP D.P.)
024189,000179: 21,2163           20062                           DAS      CDUDOT                                #  W = W + (A + .5ADOTDT)DT SCALED AT PI/4
024190,000180: 
024191,000181: 21,2164           30065                           CAE      ITEMP5                                #  ADOTDT SCALED AT PI/2(10) (FROM ABOVE)
024192,000182: 21,2165           00006                           EXTEND                                         
024193,000183: 21,2166           77754                           MP       BIT8                                  #  RESCALE BY RIGHT SHIFT 7 (KEEP D.P.)
024194,000184: 21,2167           20064                           DAS      CDU2DOT                               #  A = A + ADOTDT SCALED AT PI/8
024195,000185: 

Page 578

024197,000187: 
024198,000188:                                                                                                  #  WEIGHTING VECTOR ADJUSTMENT EQUATIONS:
024199,000189: 
024200,000190: 21,2170           00006                           EXTEND                                         #  CONVERT CDU INTEGRATED VALUE FROM DOUBLE
024201,000191: 21,2171           30073                           DCA      CDU                                   #  PRECISION SCALED AT 2PI IN ONES COMPLE-
024202,000192: 21,2172           02307                           TC       ONETOTWO                              #  MENT TO SINGLE PRECISION SCALED AT PI
024203,000193: 21,2173           10066                           CCS      QRCNTR                                
024204,000194: 21,2174           50000                           INDEX    A                                     #  IN TWOS COMPLEMENT, THEN DIFFERENCE WITH
024205,000195: 21,2175           31540                           CAE      STORCDUY                              
024206,000196: 21,2176           00006                           EXTEND                                         #  STORED CDU REGISTER READING TO GET A
024207,000197: 21,2177           20065                           MSU      ITEMP5                                #  SINGLE PRECISION ONES COMPLEMENT RESULT
024208,000198: 21,2200           55545                           TS       DPDIFF                                #  SCALED AT PI RADIANS (UPPER HALF)
024209,000199: 
024210,000200: 21,2201           40073                           CS       CDU        +1                         #  CREATE LOW ORDER WORD OF D.P. DIFFERENCE
024211,000201: 21,2202           60000                           DOUBLE                                         #  ONES COMPLEMENT SCALED AT PI RADIANS AND
024212,000202: 21,2203           57546                           XCH      DPDIFF     +1                         #  USE S.P. RESULT ABOVE AS HIGH ORDER WORD
024213,000203: 
024214,000204: 21,2204           00006                           EXTEND                                         #  DPDIFF IS D.P. AT PI
024215,000205: 21,2205           31546                           DCA      DPDIFF                                
024216,000206: 21,2206           22065                           LXCH     ITEMP5                                #  SAVE LOW ORDER WORD FOR D.P. MULTIPLY
024217,000207: 21,2207           00006                           EXTEND                                         
024218,000208: 21,2210           71550                           MP       W0                                    #  CDU = CDU + DPDIFF (D.P.) * W0 (S.P.)
024219,000209: 21,2211           20073                           DAS      CDU                                   
024220,000210: 21,2212           30065                           CAE      ITEMP5                                #  W0 IS SCALED AT 2
024221,000211: 21,2213           00006                           EXTEND                                         #  DPDIFF IS RESCALED TO PI
024222,000212: 21,2214           71550                           MP       W0                                    #  W0*DPDIFF IS SCALED AT 2PI (AS CDU)
024223,000213: 21,2215           26073                           ADS      CDU        +1                         
024224,000214: 21,2216           54001                           TS       L                                     
024225,000215: 21,2217           12221                           TCF      +2                                    
024226,000216: 21,2220           26072                           ADS      CDU                                   
024227,000217: 
024228,000218: 21,2221           31545                           CAE      DPDIFF                                #  RESCALE DPDIFF TO PI/128
024229,000219: 21,2222           00006                           EXTEND                                         
024230,000220: 21,2223           77754                           MP       BIT8                                  #  DPDIFF (D.P.) * 128
024231,000221: 21,2224           22065                           LXCH     ITEMP5                                
024232,000222: 21,2225           31546                           CAE      DPDIFF     +1                         
024233,000223: 21,2226           00006                           EXTEND                                         
024234,000224: 21,2227           77754                           MP       BIT8                                  
024235,000225: 21,2230           60065                           AD       ITEMP5                                
024236,000226: 21,2231           22065                           LXCH     ITEMP5                                
024237,000227: 
024238,000228: 21,2232           00006                           EXTEND                                         #   .     .
024239,000229: 21,2233           71551                           MP       W1                                    #  CDU = CDU + DPDIFF (D.P.) * W1 (S.P.)
024240,000230: 21,2234           20062                           DAS      CDUDOT                                
024241,000231: 21,2235           30065                           CAE      ITEMP5                                #  W1 IS SCALED AT 32
024242,000232: 21,2236           00006                           EXTEND                                         #  DPDIFF IS RESCALED TO PI/128
024243,000233: 21,2237           71551                           MP       W1                                    #  W1*DPDIFF IS SCALED AT PI/4 (AS CDUDOT)
024244,000234: 21,2240           26062                           ADS      CDUDOT     +1                         
024245,000235: 21,2241           54001                           TS       L                                     
024246,000236: 21,2242           12244                           TCF      +2                                    
024247,000237: 21,2243           26061                           ADS      CDUDOT                                
024248,000238: 

Page 579

024250,000240: 21,2244           31545                           CAE      DPDIFF                                #  RESCALE DPDIFF TO PI/64
024251,000241: 21,2245           00006                           EXTEND                                         
024252,000242: 21,2246           77755                           MP       BIT7                                  #  DPDIFF (D.P.) * 64
024253,000243: 21,2247           22065                           LXCH     ITEMP5                                
024254,000244: 21,2250           31546                           CAE      DPDIFF     +1                         
024255,000245: 21,2251           00006                           EXTEND                                         
024256,000246: 21,2252           77755                           MP       BIT7                                  
024257,000247: 21,2253           60065                           AD       ITEMP5                                
024258,000248: 21,2254           22065                           LXCH     ITEMP5                                
024259,000249: 
024260,000250: 21,2255           00006                           EXTEND                                         #   ..    ..
024261,000251: 21,2256           71552                           MP       W2                                    #  CDU = CDU + DPDIFF (D.P.) * W2 (S.P.)
024262,000252: 21,2257           20064                           DAS      CDU2DOT                               
024263,000253: 21,2260           30065                           CAE      ITEMP5                                #  W2 IS SCALED AT 8
024264,000254: 21,2261           00006                           EXTEND                                         
024265,000255: 21,2262           71552                           MP       W2                                    #  W2*DPDIFF IS SCALED AT PI/8 (AS CDU2DOT)
024266,000256: 21,2263           26064                           ADS      CDU2DOT    +1                         
024267,000257: 21,2264           54001                           TS       L                                     
024268,000258: 21,2265           12267                           TCF      +2                                    
024269,000259: 21,2266           26063                           ADS      CDU2DOT                               
024270,000260: 
024271,000261:                                                                                                  #  RESTORE VARIABLES AND TEST FOR COMPLETION OR ADDITIONAL AXIS.
024272,000262: 
024273,000263: 21,2267           52073        FILTAXIS           DXCH     CDU                                   
024274,000264: 21,2270           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT 2 PI RADIANS
024275,000265: 21,2271           53554                           DXCH     CDUYFIL                               
024276,000266: 21,2272           52062                           DXCH     CDUDOT                                #    .
024277,000267: 21,2273           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT PI/4 RAD/SEC
024278,000268: 21,2274           53560                           DXCH     DCDUYFIL                              
024279,000269: 21,2275           52064                           DXCH     CDU2DOT                               #   ..                                 2
024280,000270: 21,2276           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT PI/8 RAD/SEC
024281,000271: 21,2277           53564                           DXCH     D2CDUYFL                              
024282,000272: 
024283,000273: 21,2300           10066                           CCS      QRCNTR                                
024284,000274: 21,2301           12116                           TCF      GOYFILTR                              #  IF 2, Y-AXIS STILL TO GO
024285,000275: 
024286,000276: 21,2302           41000                           CS       T5ADR                                 #  IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
024287,000277: 21,2303           62406                           AD       GTS2CADR                              #  DO THE Q,R-AXIS STATE TRANSFORMATIONS
024288,000278: 21,2304           00006                           EXTEND                                         #  AND THE 20 MS STATE EXTRAPOLATION
024289,000279: 21,2305           12603                           BZF      GIMBAL                                
024290,000280: 21,2306           15733                           TCF      RESUME                                #  OTHERWISE, RESUME
024291,000281: 
024292,000282:                                                                                                  #  SUBROUTINE FOR FILTER WHICH TAKES 1 COMPLEMENT NUMBER INTO A 2 COMP.
024293,000283: 
024294,000284: 21,2307           20001        ONETOTWO           DDOUBL                                         #  SEE RTB OP CODES IN BANK 15 FOR NOTES ON
024295,000285: 21,2310           10000                           CCS      A                                     #    THIS COMPUTATION.
024296,000286: 21,2311           67763                           AD       ONE                                   
024297,000287: 21,2312           12314                           TCF      +2                                    
024298,000288: 21,2313           40000                           COM                                            
024299,000289: 21,2314           54065                           TS       ITEMP5                                

Page 580

024301,000291: 21,2315           12321                           TCF      +4                                    
024302,000292: 21,2316           50000                           INDEX    A                                     
024303,000293: 21,2317           37744                           CAF      LIMITS                                
024304,000294: 21,2320           26065                           ADS      ITEMP5                                
024305,000295: 21,2321           00002                           TC       Q                                     #  RETURN
024306,000296: 
024307,000297:                                                                                                  #  THIS PROGRAM INITIALIZES THE KALMAN FILTER PROGRAM.
024308,000298: 
024309,000299: 21,2322           23543        FILFIRST           LXCH     DAPTIME                               #  INITIALIZE TIME.
024310,000300: 21,2323           32400                           CAF      POINT=90                              #  INITIALIZE THE WEIGHTING VECTOR POINTER
024311,000301: 21,2324           55547                           TS       WPOINTER                              
024312,000302: 21,2325           32014                           CAF      MOSTPASS                              #  SET UP FOR NEXT PASSES
024313,000303: 21,2326           55544                           TS       STEERADR                              
024314,000304: 21,2327           00006                           EXTEND                                         #  SET UP POST FILTER RUPT LIST
024315,000305: 21,2330           32404                           DCA      DGTSFADR                              
024316,000306: 21,2331           53575                           DXCH     PFRPTLST                              
024317,000307: 21,2332           00006                           EXTEND                                         
024318,000308: 21,2333           32100                           DCA      PAX/FILT                              
024319,000309: 21,2334           53577                           DXCH     PFRPTLST   +2                         
024320,000310: 21,2335           00006                           EXTEND                                         
024321,000311: 21,2336           32100                           DCA      PAX/FILT                              
024322,000312: 21,2337           53603                           DXCH     PFRPTLST   +6                         
024323,000313: 21,2340           00006                           EXTEND                                         
024324,000314: 21,2341           32407                           DCA      GTS2CADR                              
024325,000315: 21,2342           53601                           DXCH     PFRPTLST   +4                         
024326,000316: 21,2343           00006                           EXTEND                                         #  CHANGE POST P FILTER TO FILTER
024327,000317: 21,2344           32411                           DCA      POSTPFIL                              
024328,000318: 21,2345           53573                           DXCH     PFILTADR                              
024329,000319: 
024330,000320: 21,2346           31540                           CAE      STORCDUY                              
024331,000321: 21,2347           00006                           EXTEND                                         
024332,000322: 21,2350           77746                           MP       BIT14                                 
024333,000323: 21,2351           53554                           DXCH     CDUYFIL                               #  INITIALIZE THE STATE VECTOR TO CDU VALUE
024334,000324: 21,2352           31541                           CAE      STORCDUZ                              
024335,000325: 21,2353           00006                           EXTEND                                         
024336,000326: 21,2354           77746                           MP       BIT14                                 
024337,000327: 21,2355           53556                           DXCH     CDUZFIL                               
024338,000328: 21,2356           37767                           CA       ZERO                                  
024339,000329: 21,2357           12363                           TCF      +4                                    #  RATES INITIALIZED BY RATEINIT.
024340,000330: 21,2360           55560                           TS       DCDUYFIL   +1                         
024341,000331: 21,2361           55561                           TS       DCDUZFIL                              
024342,000332: 21,2362           55562                           TS       DCDUZFIL   +1                         
024343,000333: 21,2363           55563                           TS       D2CDUYFL                              
024344,000334: 21,2364           55564                           TS       D2CDUYFL   +1                         
024345,000335: 21,2365           55565                           TS       D2CDUZFL                              
024346,000336: 21,2366           55566                           TS       D2CDUZFL   +1                         
024347,000337: 21,2367           55567                           TS       Y3DOT                                 
024348,000338: 21,2370           55571                           TS       Z3DOT                                 
024349,000339: 21,2371           55523                           TS       NEGUQ                                 
024350,000340: 21,2372           55525                           TS       NEGUR                                 

Page 581

024352,000342: 21,2373           55733                           TS       QACDOTMP                              #  INITIALIZE TEMPORARY STORAGE FOR QACCDOT
024353,000343: 21,2374           55735                           TS       RACDOTMP                              #  AND RACCDOT VALUES COMING FROM GTS.
024354,000344: 21,2375           15733                           TCF      RESUME                                
024355,000345: 
024356,000346: 
024357,000347: 
024358,000348: 21,2376           24366        .64                DEC      0.64000                               
024359,000349: 21,2377           14000        BIT12-13           OCTAL    14000                                 
024360,000350: 21,2400           00132        POINT=90           DEC      90         B-14                       #  POINTER INITIALIZED ONE GROUP PAST END
024361,000351: 21,2401           37776        MS20F              OCTAL    37776                                 
024362,000352: 21,2402           37775        MS30F              OCTAL    37775                                 
024363,000353: 21,2403  E6,1542                                  EBANK=   DT                                    
024364,000354: 21,2403           02544 42066  DGTSFADR           2CADR    DGTS                                  
024365,000355: 
024366,000356: 21,2405           02255        PAXISADR           GENADR   PAXIS                                 
024367,000357: 21,2406  E6,1542                                  EBANK=   DT                                    
024368,000358: 21,2406           02572 42066  GTS2CADR           2CADR    GTS                                   
024369,000359: 
024370,000360: 21,2410  E6,1542                                  EBANK=   DT                                    
024371,000361: 21,2410           02015 42066  POSTPFIL           2CADR    FILTER                                
024372,000362: 

Page 582

024374,000364:                                                                                                  #  THE KALMAN FILTER WEIGHTINF VECTORS ARE LISTED IN THE FOLLOWING TABLE ALONG WITH THE TIME FROM THE LAST FILTER
024375,000365:                                                                                                  #  INITIALIZATION FOR WHICH THEY ARE TO BE USED.  (THE VECTORS ARE STORED IN ORDERED TRIPLES (W0,W1,W2) IN
024376,000366:                                                                                                  #  DESCENDING ORDER IN TIME WITH THE STEADY STATE VALUES AT THE TOP.)
024377,000367: 
024378,000368:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
024379,000369: 
024380,000370:                                                                                                  #  WEIGHTING VECTOR SET :   07/28/67     9:07
024381,000371: 
024382,000372:                                                                                                  #  THE COMPONENTS ARE SCALED AS FOLLOWS:
024383,000373:                                                                                                  #           W0 : SCALED AT  2
024384,000374:                                                                                                  #           W1 : SCALED AT 32
024385,000375:                                                                                                  #           W2 : SCALED AT  8
024386,000376: 
024387,000377: 21,2412           02352        WVECTOR            DEC      0.07679                               #  W0 AT RELATIVE TIME : 1.50 SECS. OR MORE
024388,000378: 21,2413           00203                           DEC      0.00799                               #  W1 AT RELATIVE TIME : 1.50 SECS. OR MORE
024389,000379: 21,2414           00665                           DEC      0.02665                               #  W2 AT RELATIVE TIME : 1.50 SECS. OR MORE
024390,000380: 21,2415           04136                           DEC      0.13072                               #  W0 AT RELATIVE TIME : 1.45 SECONDS
024391,000381: 21,2416           00553                           DEC      0.02213                               #  W1 AT RELATIVE TIME : 1.45 SECONDS
024392,000382: 21,2417           03164                           DEC      0.10086                               #  W2 AT RELATIVE TIME : 1.45 SECONDS
024393,000383: 21,2420           04231                           DEC      0.13435                               #  W0 AT RELATIVE TIME : 1.40 SECONDS
024394,000384: 21,2421           00601                           DEC      0.02350                               #  W1 AT RELATIVE TIME : 1.40 SECONDS
024395,000385: 21,2422           03423                           DEC      0.11054                               #  W2 AT RELATIVE TIME : 1.40 SECONDS
024396,000386: 21,2423           04330                           DEC      0.13816                               #  W0 AT RELATIVE TIME : 1.35 SECONDS
024397,000387: 21,2424           00631                           DEC      0.02499                               #  W1 AT RELATIVE TIME : 1.35 SECONDS
024398,000388: 21,2425           03707                           DEC      0.12154                               #  W2 AT RELATIVE TIME : 1.35 SECONDS
024399,000389: 21,2426           04431                           DEC      0.14215                               #  W0 AT RELATIVE TIME : 1.30 SECONDS
024400,000390: 21,2427           00664                           DEC      0.02662                               #  W1 AT RELATIVE TIME : 1.30 SECONDS
024401,000391: 21,2430           04224                           DEC      0.13403                               #  W2 AT RELATIVE TIME : 1.30 SECONDS
024402,000392: 21,2431           04535                           DEC      0.14632                               #  W0 AT RELATIVE TIME : 1.25 SECONDS
024403,000393: 21,2432           00721                           DEC      0.02841                               #  W1 AT RELATIVE TIME : 1.25 SECONDS
024404,000394: 21,2433           04575                           DEC      0.14826                               #  W2 AT RELATIVE TIME : 1.25 SECONDS
024405,000395: 21,2434           04644                           DEC      0.15066                               #  W0 AT RELATIVE TIME : 1.20 SECONDS
024406,000396: 21,2435           00761                           DEC      0.03035                               #  W1 AT RELATIVE TIME : 1.20 SECONDS
024407,000397: 21,2436           05207                           DEC      0.16446                               #  W2 AT RELATIVE TIME : 1.20 SECONDS
024408,000398: 21,2437           04756                           DEC      0.15516                               #  W0 AT RELATIVE TIME : 1.15 SECONDS
024409,000399: 21,2440           01024                           DEC      0.03247                               #  W1 AT RELATIVE TIME : 1.15 SECONDS
024410,000400: 21,2441           05665                           DEC      0.18293                               #  W2 AT RELATIVE TIME : 1.15 SECONDS
024411,000401: 21,2442           05072                           DEC      0.15980                               #  W0 AT RELATIVE TIME : 1.10 SECONDS
024412,000402: 21,2443           01072                           DEC      0.03477                               #  W1 AT RELATIVE TIME : 1.10 SECONDS
024413,000403: 21,2444           06416                           DEC      0.20395                               #  W2 AT RELATIVE TIME : 1.10 SECONDS
024414,000404: 21,2445           05207                           DEC      0.16452                               #  W0 AT RELATIVE TIME : 1.05 SECONDS
024415,000405: 21,2446           01142                           DEC      0.03726                               #  W1 AT RELATIVE TIME : 1.05 SECONDS
024416,000406: 21,2447           07224                           DEC      0.22781                               #  W2 AT RELATIVE TIME : 1.05 SECONDS
024417,000407: 21,2450           05325                           DEC      0.16926                               #  W0 AT RELATIVE TIME : 1.00 SECONDS
024418,000408: 21,2451           01216                           DEC      0.03991                               #  W1 AT RELATIVE TIME : 1.00 SECONDS
024419,000409: 21,2452           10116                           DEC      0.25475                               #  W2 AT RELATIVE TIME : 1.00 SECONDS
024420,000410: 21,2453           05442                           DEC      0.17393                               #  W0 AT RELATIVE TIME : 0.95 SECONDS
024421,000411: 21,2454           01274                           DEC      0.04272                               #  W1 AT RELATIVE TIME : 0.95 SECONDS
024422,000412: 21,2455           11073                           DEC      0.28488                               #  W2 AT RELATIVE TIME : 0.95 SECONDS
024423,000413: 21,2456           05553                           DEC      0.17839                               #  W0 AT RELATIVE TIME : 0.90 SECONDS

Page 583

024425,000415: 21,2457           01353                           DEC      0.04562                               #  W1 AT RELATIVE TIME : 0.90 SECONDS
024426,000416: 21,2460           12134                           DEC      0.31809                               #  W2 AT RELATIVE TIME : 0.90 SECONDS
024427,000417: 21,2461           05656                           DEC      0.18247                               #  W0 AT RELATIVE TIME : 0.85 SECONDS
024428,000418: 21,2462           01433                           DEC      0.04853                               #  W1 AT RELATIVE TIME : 0.85 SECONDS
024429,000419: 21,2463           13245                           DEC      0.35383                               #  W2 AT RELATIVE TIME : 0.85 SECONDS
024430,000420: 21,2464           05747                           DEC      0.18597                               #  W0 AT RELATIVE TIME : 0.80 SECONDS
024431,000421: 21,2465           01511                           DEC      0.05132                               #  W1 AT RELATIVE TIME : 0.80 SECONDS
024432,000422: 21,2466           14404                           DEC      0.39087                               #  W2 AT RELATIVE TIME : 0.80 SECONDS
024433,000423: 21,2467           06023                           DEC      0.18867                               #  W0 AT RELATIVE TIME : 0.75 SECONDS
024434,000424: 21,2470           01561                           DEC      0.05380                               #  W1 AT RELATIVE TIME : 0.75 SECONDS
024435,000425: 21,2471           15524                           DEC      0.42701                               #  W2 AT RELATIVE TIME : 0.75 SECONDS
024436,000426: 21,2472           06060                           DEC      0.19040                               #  W0 AT RELATIVE TIME : 0.70 SECONDS
024437,000427: 21,2473           01622                           DEC      0.05576                               #  W1 AT RELATIVE TIME : 0.70 SECONDS
024438,000428: 21,2474           16535                           DEC      0.45880                               #  W2 AT RELATIVE TIME : 0.70 SECONDS
024439,000429: 21,2475           06074                           DEC      0.19117                               #  W0 AT RELATIVE TIME : 0.65 SECONDS
024440,000430: 21,2476           01646                           DEC      0.05698                               #  W1 AT RELATIVE TIME : 0.65 SECONDS
024441,000431: 21,2477           17323                           DEC      0.48160                               #  W2 AT RELATIVE TIME : 0.65 SECONDS
024442,000432: 21,2500           06076                           DEC      0.19127                               #  W0 AT RELATIVE TIME : 0.60 SECONDS
024443,000433: 21,2501           01654                           DEC      0.05736                               #  W1 AT RELATIVE TIME : 0.60 SECONDS
024444,000434: 21,2502           17536                           DEC      0.49013                               #  W2 AT RELATIVE TIME : 0.60 SECONDS
024445,000435: 21,2503           06100                           DEC      0.19142                               #  W0 AT RELATIVE TIME : 0.55 SECONDS
024446,000436: 21,2504           01646                           DEC      0.05702                               #  W1 AT RELATIVE TIME : 0.55 SECONDS
024447,000437: 21,2505           17266                           DEC      0.47984                               #  W2 AT RELATIVE TIME : 0.55 SECONDS
024448,000438: 21,2506           06126                           DEC      0.19273                               #  W0 AT RELATIVE TIME : 0.50 SECONDS
024449,000439: 21,2507           01635                           DEC      0.05644                               #  W1 AT RELATIVE TIME : 0.50 SECONDS
024450,000440: 21,2510           16267                           DEC      0.44869                               #  W2 AT RELATIVE TIME : 0.50 SECONDS
024451,000441: 21,2511           06225                           DEC      0.19660                               #  W0 AT RELATIVE TIME : 0.45 SECONDS
024452,000442: 21,2512           01636                           DEC      0.05649                               #  W1 AT RELATIVE TIME : 0.45 SECONDS
024453,000443: 21,2513           14600                           DEC      0.39845                               #  W2 AT RELATIVE TIME : 0.45 SECONDS
024454,000444: 21,2514           06425                           DEC      0.20443                               #  W0 AT RELATIVE TIME : 0.40 SECONDS
024455,000445: 21,2515           01674                           DEC      0.05837                               #  W1 AT RELATIVE TIME : 0.40 SECONDS
024456,000446: 21,2516           12552                           DEC      0.33458                               #  W2 AT RELATIVE TIME : 0.40 SECONDS
024457,000447: 21,2517           06753                           DEC      0.21746                               #  W0 AT RELATIVE TIME : 0.35 SECONDS
024458,000448: 21,2520           02022                           DEC      0.06360                               #  W1 AT RELATIVE TIME : 0.35 SECONDS
024459,000449: 21,2521           10356                           DEC      0.26452                               #  W2 AT RELATIVE TIME : 0.35 SECONDS
024460,000450: 21,2522           07447                           DEC      0.23678                               #  W0 AT RELATIVE TIME : 0.30 SECONDS
024461,000451: 21,2523           02300                           DEC      0.07419                               #  W1 AT RELATIVE TIME : 0.30 SECONDS
024462,000452: 21,2524           06204                           DEC      0.19555                               #  W2 AT RELATIVE TIME : 0.30 SECONDS
024463,000453: 21,2525           10340                           DEC      0.26366                               #  W0 AT RELATIVE TIME : 0.25 SECONDS
024464,000454: 21,2526           02767                           DEC      0.09322                               #  W1 AT RELATIVE TIME : 0.25 SECONDS
024465,000455: 21,2527           04210                           DEC      0.13332                               #  W2 AT RELATIVE TIME : 0.25 SECONDS
024466,000456: 21,2530           11461                           DEC      0.29988                               #  W0 AT RELATIVE TIME : 0.20 SECONDS
024467,000457: 21,2531           04030                           DEC      0.12645                               #  W1 AT RELATIVE TIME : 0.20 SECONDS
024468,000458: 21,2532           02466                           DEC      0.08144                               #  W2 AT RELATIVE TIME : 0.20 SECONDS
024469,000459: 21,2533           13107                           DEC      0.34809                               #  W0 AT RELATIVE TIME : 0.15 SECONDS
024470,000460: 21,2534           05760                           DEC      0.18652                               #  W1 AT RELATIVE TIME : 0.15 SECONDS
024471,000461: 21,2535           01255                           DEC      0.04182                               #  W2 AT RELATIVE TIME : 0.15 SECONDS
024472,000462: 21,2536           15114                           DEC      0.41088                               #  W0 AT RELATIVE TIME : 0.10 SECONDS
024473,000463: 21,2537           11614                           DEC      0.30542                               #  W1 AT RELATIVE TIME : 0.10 SECONDS
024474,000464: 21,2540           00372                           DEC      0.01526                               #  W2 AT RELATIVE TIME : 0.10 SECONDS

Page 584

024476,000466: 21,2541           17234                           DEC      0.47825                               #  W0 AT RELATIVE TIME : 0.05 SECONDS
024477,000467: 21,2542           22205                           DEC      0.57064                               #  W1 AT RELATIVE TIME : 0.05 SECONDS
024478,000468: 21,2543           00035                           DEC      0.00174                               #  W2 AT RELATIVE TIME : 0.05 SECONDS
024479,000469:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
024480,000470: 

Page 585

024482,000472:                                                                                                  #  DUMMY TRIM GIMBAL RUPT:
024483,000473: 
024484,000474: 21,2544           32401        DGTS               CAF      MS20F                                 #  RESET TIMER IMMEDIATELY -   DT = 20 MS
024485,000475: 21,2545           54030                           TS       TIME5                                 
024486,000476: 21,2546           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024487,000477: 21,2547           00006                           EXTEND                                         
024488,000478: 21,2550           22012                           QXCH     QRUPT                                 
024489,000479: 
024490,000480: 21,2551           00006                           EXTEND                                         #  SET UP FILTER RUPT
024491,000481: 21,2552           32411                           DCA      POSTPFIL                              
024492,000482: 21,2553           53001                           DXCH     T5ADR                                 
024493,000483: 
024494,000484: 21,2554           41735                           CS       RACDOTMP                              #  STORE NEW VALUES OF QACCDOT, RACCDOT NOW
024495,000485: 21,2555           55535                           TS       RACCDOT                               #  THAT 100 MS HAVE PASSED.  (REMEMBER THAT
024496,000486: 21,2556           41733                           CS       QACDOTMP                              #  THESE ARE STORED COMPLEMENTED.)
024497,000487: 21,2557           55533                           TS       QACCDOT                               
024498,000488: 21,2560           15733                           TCF      RESUME                                
024499,000489: 
024500,000490: 21,2561  E6,1542                                  EBANK=   DT                                    
024501,000491: 20,3030                                           BANK     20                                    
024502,000492: 
024503,000493:                                                                                                  #  DUMMY FILTER RUPT AFTER Q,R-AXES RUPT:
024504,000494: 
024505,000495: 20,3030           37775        MS30120            OCTAL    37775                                 
024506,000496: 20,3031  E6,1612                                  EBANK=   TQR                                   
024507,000497: 20,3031           02255 34066  PAXBNK20           2CADR    PAXIS                                 
024508,000498: 
024509,000499: 20,3033           33030        FILDUMMY           CAF      MS30120                               #  RESET TIMER IMMEDIATELY - DT= 30 MS
024510,000500: 20,3034           54030                           TS       TIME5                                 
024511,000501: 
024512,000502: 20,3035           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024513,000503: 20,3036           00006                           EXTEND                                         #  SAVE THE LAST Q ON ALL T5RUPT LEAD IN'S
024514,000504: 20,3037           22012                           QXCH     QRUPT                                 
024515,000505: 
024516,000506: 20,3040           00006                           EXTEND                                         #  SET UP PAXIS RUPT
024517,000507: 20,3041           33032                           DCA      PAXBNK20                              
024518,000508: 20,3042           53001                           DXCH     T5ADR                                 
024519,000509: 
024520,000510: 20,3043           03105                           TC       TORQUEVK                              
024521,000511: 20,3044           15733                           TCF      RESUME                                
024522,000512: 
024523,000513:                                                                                                  #  START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
024524,000514: 
024525,000515:                                                                                                  #  CODING FOR RATE HOLD MODE WRITTEN OVER.
024526,000516: 
024527,000517:                                                                                                  #  FROM ENGINOF1.  MAKE SURE FLAGS FOR EXTRAORDINARY GTS ARE DOWN.
024528,000518: 
024529,000519: 20,3045           35632        RESETCTR           CA       EBANK6                                #  SAVE CALLERS EBANK.
024530,000520: 20,3046           56003                           XCH      EBANK                                 
024531,000521: 20,3047           54066                           TS       ITEMP6                                #  SAVE L IN CASE THIS WAS 1STENGOF.

Page 586

024533,000523: 20,3050           37745                           CAF      NEGMAX                                
024534,000524: 20,3051           55744                           TS       TRIMCNTR                              
024535,000525: 20,3052           37767                           CAF      ZERO                                  
024536,000526: 20,3053           55745                           TS       GTSMNITR                              
024537,000527: 
024538,000528: 20,3054           30066                           CA       ITEMP6                                #  RESTORE CALLERS EBANK.
024539,000529: 20,3055           54003                           TS       EBANK                                 
024540,000530: 
024541,000531: 20,3056           00002                           TC       Q                                     #  RETURN TO CALLER OF ENGINOFF OR ENGINOF1
024542,000532: 
024543,000533:                                                                                                  #  FROM APSENGON - STORE IGNITION TIME FOR THE ENGINOFF DELAY LOGIC.
024544,000534: 
024545,000535: 20,3057           55310        20INSRTA           TS       DVSELECT                              #  STORE PGNSCADR IN DVSELECT
024546,000536: 
024547,000537: 20,3060           00006                           EXTEND                                         
024548,000538: 20,3061           30025                           DCA      TIME2                                 #  STORE CURRENT TIME IN /TEMP3/
024549,000539: 20,3062           53760                           DXCH     /TEMP3/                               
024550,000540: 20,3063           12204                           TCF      20INSRT    +1                         
024551,000541: 
024552,000542:                                                                                                  #  FROM ENGINOFF - PREPARE FOR TRANSFER TO THE ENGINOFF DELAY LOGIC.
024553,000543: 
024554,000544: 20,3064           00006        20INSRTB           EXTEND                                         #  SAVE Q FOR AN INDEFINITE TIME - IT
024555,000545: 20,3065           22376                           QXCH     /TEMP1/                               #  POINTS TO SWRETURN OR ISWRETRN.
024556,000546: 20,3066           35632                           CAF      EBANK6                                
024557,000547: 20,3067           56003                           XCH      EBANK                                 #  GO TO EBANK 6 AND STORE CALLERS EBANK.
024558,000548: 20,3070           55756                           TS       /TEMP2/                               
024559,000549: 
024560,000550: 20,3071           31763                           CA       TMINAPS                               #  IF TMINAPS IS NEGATIVE OR ZERO DO NOT
024561,000551: 20,3072           00006                           EXTEND                                         #  DELAY THE ENGINOFF CALL.
024562,000552: 20,3073           63076                           BZMF     20INSRTC                              
024563,000553: 
024564,000554: 20,3074           05225                           TC       POSTJUMP                              #  *TMINAPS OK. JUMP TO THE DELAY LOGIC*
024565,000555: 20,3075           36173                           CADR     17INSRT                               
024566,000556: 
024567,000557: 20,3076           31756        20INSRTC           CA       /TEMP2/                               #  RESTORE EBANK AND RETURN TO ENGINOFF.
024568,000558: 20,3077           54003                           TS       EBANK                                 
024569,000559: 20,3100           12264                           TCF      ENGINOFF   +1                         
024570,000560: 
024571,000561:                                                                                                  #  FOLLOWING CODING LEFT IN PLACE TO PRESERVE RELATIVE ADDRESSES.
024572,000562: 
024573,000563: 20,3101           54771                           TS       DELCDUX                               #  IF 0, DONE DELCDUY AND ZERO DELCDUX.
024574,000564: 
024575,000565: 
024576,000566: 
024577,000567: 20,3102           03105                 +5        TC       TORQUEVK                              
024578,000568: 20,3103           15733                           TCF      RESUME                                
024579,000569: 20,3104           04736                           TC       CCSHOLE                               
024580,000570: 
024581,000571:                                                                                                  #  **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
024582,000572: 

Page 587

024584,000574:                                                                                                  #  THIS SUBROUTINE COMPUTES JET TORQUE CONTRIBUTION TO RATE
024585,000575: 
024586,000576: 
024587,000577: 20,3105           41612        TORQUEVK           CS       TQR                                   #  TQR IS SCALED THE SAME AS TIME 6
024588,000578: 20,3106           63213                           AD       CSPINKF                               
024589,000579: 20,3107           00006                           EXTEND                                         
024590,000580: 20,3110           63126                           BZMF     FULLCSP                               
024591,000581: 20,3111           31612                           CA       TQR                                   
024592,000582: 20,3112           00006                           EXTEND                                         
024593,000583: 20,3113           77757                           MP       BIT5                                  
024594,000584: 20,3114           30001                           CAE      L                                     
024595,000585: 20,3115           00006                           EXTEND                                         
024596,000586: 20,3116           73210                           MP       16/25KF                               
024597,000587: 20,3117           55612                           TS       TQR                                   
024598,000588: 20,3120           00006                           EXTEND                                         
024599,000589: 20,3121           22066                           QXCH     ITEMP6                                
024600,000590: 20,3122           03140                           TC       JETTSUB                               
024601,000591: 20,3123           37767                           CAF      ZERO                                  
024602,000592: 20,3124           55612                           TS       TQR                                   
024603,000593: 20,3125           00066                           TC       ITEMP6                                #  RETURN TO TORQUEVK CALLER
024604,000594: 20,3126           40000        FULLCSP            COM                                            #  WE COME HERE WHEN TQR GREATER THAN .1SEC
024605,000595: 20,3127           54062                           TS       ITEMP2                                
024606,000596: 20,3130           33211                           CA       CSPAT1                                #  CSP (.1 SEC) SCALED AT 1.
024607,000597: 20,3131           55612                           TS       TQR                                   #  TEMPORARY, LATER TQR:.1=TQR
024608,000598: 20,3132           00006                           EXTEND                                         
024609,000599: 20,3133           22066                           QXCH     ITEMP6                                
024610,000600: 20,3134           03140                           TC       JETTSUB                               
024611,000601: 20,3135           30062                           CAE      ITEMP2                                
024612,000602: 20,3136           55612                           TS       TQR                                   
024613,000603: 20,3137           00066                           TC       ITEMP6                                #  RETURN TO TORQUEVK CALLER.
024614,000604: 
024615,000605:                                                                                                  #  A SUBROUTINE WHICH,GIVEN TQR SCALED AT 1, FINDS JETRATE AND SUMRATE.
024616,000606: 
024617,000607: 20,3140           00006        JETTSUB            EXTEND                                         
024618,000608: 20,3141           71607                           MP       NO.QJETS                              
024619,000609: 20,3142           30001                           CAE      L                                     
024620,000610: 20,3143           00006                           EXTEND                                         
024621,000611: 20,3144           71614                           MP       1JACCQ                                
024622,000612: 20,3145           55605                           TS       JETRATEQ                              #  TEMP STORE OF ACC*NJETS*TQR FOR Q AXIS.
024623,000613: 20,3146           27624                           ADS      SUMRATEQ                              #  SUMRATE =SUMRATE+ACC*NJETS*TQR, WHICH IS
024624,000614: 20,3147           31612                           CAE      TQR                                   #    THE ACCUMULATED JET FIRING ACC. OVER
024625,000615: 20,3150           00006                           EXTEND                                         #    A TWO SECOND INTERVAL.
024626,000616: 20,3151           71610                           MP       NO.RJETS                              #  SAME AS ABOVE FOR R AXIS THIS TIME.
024627,000617: 20,3152           30001                           CAE      L                                     
024628,000618: 20,3153           00006                           EXTEND                                         
024629,000619: 20,3154           71615                           MP       1JACCR                                
024630,000620: 20,3155           55606                           TS       JETRATER                              
024631,000621: 20,3156           27625                           ADS      SUMRATER                              
024632,000622: 

Page 588

024634,000624: 20,3157           11732                           CCS      AOSCOUNT                              #  TEST TO SEE IF AOSTASK IS COMING UP:
024635,000625: 20,3160           13167                           TCF      WATERATE                              #  NO, SKIP.
024636,000626: 
024637,000627: 20,3161           41605                           CS       JETRATEQ                              #  REMOVE THE MOST RECENT JETRATES FROM THE
024638,000628: 20,3162           55622                           TS       SAVRATEQ                              #  SUMRATES AND SET UP INITIALIZATION OF
024639,000629: 20,3163           27624                           ADS      SUMRATEQ                              #  THE SUMRATES FOR THE NEXT 2 SECOND
024640,000630: 20,3164           41606                           CS       JETRATER                              #  INTERVAL.  (SAVED AS NEGATIVES.)
024641,000631: 20,3165           55623                           TS       SAVRATER                              
024642,000632: 20,3166           27625                           ADS      SUMRATER                              
024643,000633: 
024644,000634: 20,3167           31641        WATERATE           CAE      WFORQR                                #  WFORQR IS SCALED AT 16 BUT THE ALGORITHM
024645,000635: 20,3170           00006                           EXTEND                                         #    USES W/2 THUS THE SCALING IS 8 HERE.
024646,000636: 20,3171           71612                           MP       TQR                                   
024647,000637: 20,3172           61643                           AD       (1-K)/8                               #  THE ALGORITHM IMPLEMENTED IS....
024648,000638: 20,3173           00006                           EXTEND                                         #    JETRATE = TQR*NJET*ACC*(1-K+N*TQR/2)
024649,000639: 20,3174           77760                           MP       BIT4                                  #    FOR THE Q AND R AXES RESPECTIVELY.
024650,000640: 20,3175           22061                           LXCH     ITEMP1                                #  THE FINAL SCALING OF JETRATE  IS PI/4.
024651,000641: 20,3176           31605                           CAE      JETRATEQ                              
024652,000642: 20,3177           00006                           EXTEND                                         
024653,000643: 20,3200           70061                           MP       ITEMP1                                
024654,000644: 20,3201           55605                           TS       JETRATEQ                              
024655,000645: 20,3202           31606                           CAE      JETRATER                              
024656,000646: 20,3203           00006                           EXTEND                                         
024657,000647: 20,3204           70061                           MP       ITEMP1                                
024658,000648: 20,3205           55606                           TS       JETRATER                              
024659,000649: 20,3206           00002                           TC       Q                                     
024660,000650: 20,3207           00632        100MSCAL           DEC      0.025                                 
024661,000651: 20,3210           24366        16/25KF            DEC      0.64000                               
024662,000652: 20,3211           03146        CSPAT1             DEC      0.10000                               
024663,000653: 20,3212           77754        -DELAYT            DEC      -19        B-14                       #  -11.875 MS SCALED AS TIME6.
024664,000654: 20,3213           00240        CSPINKF            DEC      0.00977                               
024665,000655: 

Page 589

024667,000657:                                                                                                  #  THIS T5RUPT TAKES THE SQUARE ROOT AND CALLS TORQUEVK
024668,000658: 20,3214           33030        DORUTDUM           CAF      MS30120                               #  FILDUMMY ENTRY EVERY TIME WE DO SQ. ROOT
024669,000659: 20,3215           54030                           TS       TIME5                                 
024670,000660: 20,3216           22016                           LXCH     BANKRUPT                              
024671,000661: 20,3217           00006                           EXTEND                                         
024672,000662: 20,3220           22012                           QXCH     QRUPT                                 
024673,000663: 
024674,000664: 20,3221           00006                           EXTEND                                         
024675,000665: 20,3222           33032                           DCA      PAXBNK20                              
024676,000666: 20,3223           53001                           DXCH     T5ADR                                 
024677,000667: 
024678,000668: 20,3224           00006                           EXTEND                                         
024679,000669: 20,3225           41512                           DCS      TERMB                                 
024680,000670: 20,3226           05270                           TC       IBNKCALL                              
024681,000671: 20,3227           54525                           CADR     DAPSQRT                               
024682,000672: 20,3230           61510                           AD       TERMA                                 
024683,000673: 20,3231           60000                           DOUBLE                                         #  RESCALE TO T6 SCALING
024684,000674: 20,3232           00006                           EXTEND                                         
024685,000675: 20,3233           73244                           MP       25/32KF                               
024686,000676: 20,3234           55612                           TS       TQR                                   
024687,000677: 20,3235           63212                           AD       -DELAYT                               #  TQR SHOULD HOLD THE COMPLETE ON-TIME.
024688,000678: 20,3236           55475                           TS       TOFJTCHG                              
024689,000679: 20,3237           03105                           TC       TORQUEVK                              
024690,000680: 
024691,000681: 20,3240           31654                           CAE      CH5TEMP                               
024692,000682: 20,3241           71471                           MASK     JTSONNOW                              
024693,000683: 20,3242           05225                           TC       POSTJUMP                              
024694,000684: 20,3243           36500                           CADR     FROMROOT                              
024695,000685: 
024696,000686: 20,3244           31000        25/32KF            DEC      0.78125                               
024697,000687: 

Page 590

024699,000689:                                                                                                  #  SUBROUTINE: DISPDRIV            MOD. NO. 0  DATE: NOVEMBER 14, 1966
024700,000690: 
024701,000691:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
024702,000692: 
024703,000693:                                                                                                  #  THIS SUBROUTINE SETS THE ICDU DRIVE BITS EVERY OTHER TIME IT IS CALLED.  IT ALWAYS CHANGES THE VALUE OF
024704,000694:                                                                                                  #  "DISPLACT" TO INDICATE THE PASSING OF 100 MS, SINCE THIS FLAG IS TESTED BY "EIGHTBAL" IN THE P-AXIS T5RUPT.
024705,000695:                                                                                                  #  THE ICDU IS DRIVEN ONLY 30 MS AFTER "EIGHTBAL" ENABLED IT.
024706,000696: 
024707,000697:                                                                                                  #  CALLING SEQUENCES (FROM "DUMMYFIL" AND "FILTER"):
024708,000698: 
024709,000699:                                                                                                  #                                          L        TC     DISPDRIV        (MUST BE FROM SAME BANK)
024710,000700:                                                                                                  #                                          L +1    (RETURN)
024711,000701: 
024712,000702:                                                                                                  #  SUBROUTINES CALLED: NONE.       NORMAL EXIT: BY TC Q  TO L +1 .
024713,000703: 
024714,000704:                                                                                                  #  ALARM/ABORT MODES: NONE.        INPUT: PRESENT VALUE IN  DISPLACT ,
024715,000705: 
024716,000706:                                                                                                  #  OUTPUT: OPPOSITE VALUE OF "DISPLACT" AND ICDU BITS (WHEN NECESSARY).
024717,000707: 
024718,000708:                                                                                                  #  DEBRIS: A,Q.
024719,000709: 
024720,000710: 
024721,000711: 
024722,000712: 20,3245  E6,1542                                  EBANK=   DT                                    
024723,000713: 21,2561                                           BANK     21                                    
024724,000714: 21,2561           11515        DISPDRIV           CCS      DISPLACT                              #  TEST PHASE OF  EIGHTBAL .
024725,000715: 21,2562           12567                           TCF      +5                                    #  (NO DRIVING ON THIS PASS.) RESET FLAG.
024726,000716: 
024727,000717: 21,2563           32571                           CAF      OCT70000                              #  SET ICDU DRIVE BITS.
024728,000718: 21,2564           00006                           EXTEND                                         
024729,000719: 21,2565           05014                           WOR      14                                    
024730,000720: 
024731,000721: 21,2566           37763                           CAF      ONE                                   #  RESET FLAG.
024732,000722: 21,2567           55515                           TS       DISPLACT                              
024733,000723: 
024734,000724: 21,2570           00002                           TC       Q                                     #  RETURN
024735,000725: 
024736,000726: 21,2571           70000        OCT70000           OCTAL    70000                                 #  ICDU DRIVE BITS OF CHANNEL 14.

End of include-file KALMAN_FILTER_FOR_LM_DAP.agc.  Parent file is MAIN.agc