Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Peter McDermott. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
	DEC 13, 1966

	THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37 
        OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.

023933,000002:                                                                                                  ## Copyright:   Public domain.
023934,000003:                                                                                                  ## Filename:    KALMAN_FILTER_FOR_LM_DAP.agc
023935,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
023936,000005:                                                                                                  ##              It is part of an early development version of the software
023937,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
023938,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
023939,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
023940,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
023941,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
023942,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
023943,000012:                                                                                                  ##              that the code format has been changed to conform to the
023944,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
023945,000014:                                                                                                  ##              original YUL assembler.
023946,000015:                                                                                                  ## Reference:   pp. 541-553
023947,000016:                                                                                                  ## Assembler:   yaYUL
023948,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
023949,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
023950,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
023951,000020:                                                                                                  ##              2017-06-05 HG   Transcribed
023952,000021:                                                                                                  ##              2017-06-07 HG   Remove illegal EXTEND
023953,000022:                                                                                                  ##              2017-06-22 RSB  Proofed comment text with
023954,000023:                                                                                                  ##                              octopus/ProoferComments.
023955,000024: 

Page 541

023957,000026:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH INITIALIZES THE KALMAN FILTER AND SETS UP A P-AXIS RUPT TO
023958,000027:                                                                                                  #  OCCUR 20 MS FROM ITS BEGINNING.
023959,000028: 
023960,000029: 26,2611  E6,1541                                  EBANK=   DT                                    
023961,000030: 21,2000                                           BANK     21                                    
023962,000031: 21,2000           32373        FILTINIT           CAF      MS20F                                 #  RESET TIMER IMMEDIATELY: DT = 20 MS
023963,000032: 21,2001           54030                           TS       TIME5                                 
023964,000033: 
023965,000034: 
023966,000035: 21,2002           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
023967,000036: 21,2003           00006                           EXTEND                                         
023968,000037: 21,2004           22012                           QXCH     QRUPT                                 
023969,000038: 
023970,000039: 21,2005           00006                           EXTEND                                         #  SET UP FOR P-AXIS RUPT
023971,000040: 21,2006           32072                           DCA      PAX/FILT                              
023972,000041: 21,2007           53001                           DXCH     T5ADR                                 
023973,000042: 
023974,000043: 21,2010           32013                           CAF      FIRSTADR                              #  SET UP TO AVOID DT CALCULATION DURING
023975,000044: 21,2011           55543                           TS       STEERADR                              #  KALMAN FILTER INITIALIZATION PASS
023976,000045: 
023977,000046: 21,2012           12033                           TCF      FILSTART                              
023978,000047: 
023979,000048: 21,2013           02316        FIRSTADR           GENADR   FILFIRST                              
023980,000049: 
023981,000050:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE KALMAN FILTER PROGRAM.  THIS SECTION ALSO SETS UP A T5RUPT TO OCCUR 20 MS
023982,000051:                                                                                                  #  FROM ITS BEGINNING AND SETS IT TO GO TO THE LOCATION AT THE TOP OF THE POST FILTER RUPT LIST.
023983,000052: 
023984,000053: 21,2014           02052        MOSTPASS           GENADR   DTCALC                                #  WORD IN FILTPASS FOR THESE PASSES
023985,000054: 
023986,000055: 21,2015           32373        FILTER             CAF      MS20F                                 #  RESET TIMER IMMEDIATELY: DT = 20 MS
023987,000056: 21,2016           54030                           TS       TIME5                                 
023988,000057: 
023989,000058: 21,2017           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
023990,000059: 21,2020           00006                           EXTEND                                         
023991,000060: 21,2021           22012                           QXCH     QRUPT                                 
023992,000061: 
023993,000062: 21,2022           02550                           TC       DISPDRIV                              #  DRIVE ICDU BITS IF NECESSARY.
023994,000063: 
023995,000064: 21,2023           00006                           EXTEND                                         #  SET RUPT ADDRESS TO TOP OF
023996,000065: 21,2024           31574                           DCA      PFRPTLST                              #  POST FILTER RUPT LIST
023997,000066: 21,2025           53001                           DXCH     T5ADR                                 
023998,000067: 
023999,000068: 21,2026           53574                           DXCH     PFRPTLST                              #  ROTATE 2CADR'S IN POST FILTER RUPT LIST
024000,000069: 21,2027           53602                           DXCH     PFRPTLST   +6                         
024001,000070: 21,2030           53600                           DXCH     PFRPTLST   +4                         
024002,000071: 21,2031           53576                           DXCH     PFRPTLST   +2                         
024003,000072: 21,2032           53574                           DXCH     PFRPTLST                              
024004,000073: 
024005,000074:                                                                                                  #  BEGIN THE KALMAN FILTER BY READING CDU ANGLES AND TIME.
024006,000075: 
024007,000076: 21,2033           05041        FILSTART           TC       T6JOBCHK                              #  CHECK T6 CLOCK FOR P-AXIS ACTIVITY
024008,000077: 

Page 542

024010,000079: 
024011,000080: 21,2034           00006                           EXTEND                                         
024012,000081: 21,2035           30034                           DCA      CDUY                                  #  STORE CDUY AND CDUZ AT PI AND IN 2,S COM
024013,000082: 21,2036           53540                           DXCH     STORCDUY                              
024014,000083: 21,2037           00006                           EXTEND                                         #  BEGIN READING THE CLOCK TO GET TIME
024015,000084: 21,2040           00004                           READ     4                                     #    INCREMENT.
024016,000085: 21,2041           54001                           TS       L                                     
024017,000086: 21,2042           00006                           EXTEND                                         
024018,000087: 21,2043           06004                           RXOR     4                                     #  CHECK TO SEE IF CH 4 WAS IN TRANSITION
024019,000088: 21,2044           00006                           EXTEND                                         #    WHEN IT WAS FIRST READ.
024020,000089: 21,2045           12051                           BZF      +4                                    #  BRANCH IF TIME WAS THE SAME IN 2 READS.
024021,000090: 21,2046           00006                           EXTEND                                         
024022,000091: 21,2047           00004                           READ     4                                     
024023,000092: 21,2050           54001                           TS       L                                     #  THIS TIME READ ALWAYS GIVES GOOD NO.
024024,000093: 21,2051           01543                           TC       STEERADR                              #  SKIP DTCALC DURING INITIAL PASS
024025,000094: 
024026,000095: 21,2052           40001        DTCALC             CS       L                                     
024027,000096: 21,2053           61542                           AD       DAPTIME                               #  A CONTAINS THE TIME DIFFERENCE (DT)
024028,000097: 21,2054           23542                           LXCH     DAPTIME                               #    SINCE THE LAST FILTER.
024029,000098: 21,2055           00006                           EXTEND                                         
024030,000099: 21,2056           62061                           BZMF     +3                                    
024031,000100: 21,2057           67736                           AD       NEG1/2                                #  THIS IS ADDING -1.0 TO -DT AND ACCOUNTS
024032,000101: 21,2060           67736                           AD       NEG1/2                                #  FOR AN OVERFLOW INTO CHANNEL 5
024033,000102: 
024034,000103:                                                                                                  #  SCALING OF DELTA T FOR KALMAN FILTER IS 1/8 SECOND.
024035,000104: 
024036,000105: 21,2061           00006                           EXTEND                                         #  TIME NOW SCALED AT 5.12 SECONDS
024037,000106: 21,2062           77747                           MP       BIT7                                  #  FIRST RESCALE TO 5.12/64
024038,000107: 21,2063           42370                           CS       .64                                   
024039,000108: 21,2064           00006                           EXTEND                                         #  THEN RESCALE TO 5.12/(64*.64) OR
024040,000109: 21,2065           70001                           MP       L                                     #  5.12/40.96 WHICH IS THE SAME AS
024041,000110: 21,2066           55541                           TS       DT                                    #  DT SCALED AT 1/8
024042,000111: 
024043,000112:                                                                                                  #  SET UP FILTER WEIGHTING VECTOR FOR THIS FILTER PASS.
024044,000113: 
024045,000114: 21,2067           11546                           CCS      WPOINTER                              #  TEST FOR WEIGHTING VECTOR STEADY-STATE
024046,000115: 21,2070           12074                           TCF      MOVEWGTS                              #  POINTER NOT YET ZERO (MULTIPLE OF THREE)
024047,000116: 21,2071  E6,1541                                  EBANK=   DT                                    
024048,000117: 21,2071           02346 34006  PAX/FILT           2CADR    PAXIS                                 #  (ROOM FOR 2CADR IN CCS HOLES)
024049,000118: 
024050,000119: 21,2073           12105                           TCF      FLTZAXIS                              #  STEADY-STATE ALREADY, NO UPDATING AGAIN
024051,000120: 
024052,000121: 21,2074           46301        MOVEWGTS           CS       THREE                                 #  SET UP POINTER FOR THIS PASS
024053,000122: 21,2075           27546                           ADS      WPOINTER                              #  (NEVER GETS BELOW ZERO HERE)
024054,000123: 
024055,000124: 21,2076           00006                           EXTEND                                         #  WPOINTER IS INDEX = 87 FIRST TIME HERE
024056,000125: 21,2077           51546                           INDEX    WPOINTER                              #  AND IS DECREASED BY 3 EVERY FILTER PASS
024057,000126: 21,2100           32405                           DCA      WVECTOR                               #  UNTIL THE STEADY-STATE IS REACHED.
024058,000127: 21,2101           53550                           DXCH     W0                                    #  MOVE IN NEW W0,W1
024059,000128: 21,2102           51546                           INDEX    WPOINTER                              
024060,000129: 21,2103           32406                           CAF      WVECTOR    +2                         
024061,000130: 

Page 543

024063,000132: 21,2104           55551                           TS       W2                                    #  MOVE IN NEW W2
024064,000133: 
024065,000134: 21,2105           37754        FLTZAXIS           CAF      TWO                                   #  SET UP INDEXER FOR D.P. PICKUP AND TO
024066,000135: 21,2106           54066                           TS       QRCNTR                                #  INDICATE Z-AXIS FILTER PASS
024067,000136: 
024068,000137: 21,2107           12113                           TCF      FLTYAXIS                              
024069,000138: 
024070,000139: 21,2110           37761        GOYFILTR           CAF      ZERO                                  #  SET INDEXER FOR Y-AXIS
024071,000140: 21,2111           54066                           TS       QRCNTR                                
024072,000141: 
024073,000142: 21,2112           05041                           TC       T6JOBCHK                              #  CHECK T6 CLOCK FOR P-AXIS ACTIVITY
024074,000143: 
024075,000144: 21,2113           50066        FLTYAXIS           INDEX    QRCNTR                                
024076,000145: 21,2114           53553                           DXCH     CDUYFIL                               #  THETA IS D.P. SCALED AT 2 PI RADIANS
024077,000146: 21,2115           52073                           DXCH     CDU                                   
024078,000147: 21,2116           50066                           INDEX    QRCNTR                                #    .
024079,000148: 21,2117           53557                           DXCH     DCDUYFIL                              #  THETA IS D.P. SCALED AT PI/4 RAD/SEC
024080,000149: 21,2120           52062                           DXCH     CDUDOT                                
024081,000150: 21,2121           50066                           INDEX    QRCNTR                                #   ..                                 2
024082,000151: 
024083,000152: 21,2122           53563                           DXCH     D2CDUYFL                              #  THETA IS D.P. SCALED AT PI/8 RAD/SEC
024084,000153: 21,2123           52064                           DXCH     CDU2DOT                               
024085,000154: 21,2124           50066                           INDEX    QRCNTR                                #   ...                        7       3
024086,000155: 21,2125           31566                           CAE      Y3DOT                                 #  THETA IS S.P. SCALED AT PI/2 RAD/SEC
024087,000156: 21,2126           57567                           XCH      CDU3DOT                               
024088,000157: 
024089,000158:                                                                                                  #  NOTE THAT THE FILTERED VARIABLES ARE READ DESTRUCTIVELY FOR SPEED AND EFFICIENCY AND THAT Y3DOT IS NOT UPDATED,
024090,000159:                                                                                                  #  SO IT MUST BE READ NON-DESTRUCTIVELY BUT NEED NOT BE RESTORED AFTER EACH KALMAN FILTER PASS.
024091,000160: 

Page 544

024093,000162:                                                                                                  #  INTEGRATION EXTRAPOLATION EQUATIONS:
024094,000163: 
024095,000164: 21,2127           30063        KLMNFLTR           CAE      CDU2DOT                               #  A SCALED AT PI/8 (USE S.P.)
024096,000165: 21,2130           00006                           EXTEND                                         
024097,000166: 21,2131           71541                           MP       DT                                    #  ADT SCALED AT PI/64 OR .5ADT AT PI/128
024098,000167: 21,2132           00006                           EXTEND                                         
024099,000168: 21,2133           77744                           MP       BIT10                                 #  RESCALE BY RIGHT SHIFT 5
024100,000169: 21,2134           60061                           AD       CDUDOT                                #  W + .5ADT SCALED AT PI/4
024101,000170: 21,2135           00006                           EXTEND                                         
024102,000171: 21,2136           71541                           MP       DT                                    #  (W + .5ADT)DT SCALED AT PI/32
024103,000172: 21,2137           00006                           EXTEND                                         
024104,000173: 21,2140           77745                           MP       BIT9                                  #  RESCALE BY RIGHT SHIFT 6 (KEEP D.P.)
024105,000174: 21,2141           20073                           DAS      CDU                                   #  CDU = CDU + (W + .5ADT)DT SCALED AT 2PI
024106,000175: 
024107,000176: 21,2142           31567                           CAE      CDU3DOT                               #  ADOT SCALED AT PI/2(7)
024108,000177: 21,2143           00006                           EXTEND                                         
024109,000178: 21,2144           71541                           MP       DT                                    #  .5ADOTDT SCALED AT PI/2(11)
024110,000179: 21,2145           54065                           TS       ITEMP5                                #  (SAVE FOR ALPHA INTEGRATION)
024111,000180: 21,2146           00006                           EXTEND                                         
024112,000181: 21,2147           77747                           MP       BIT7                                  #  RESCALE BY RIGHT SHIFT 8
024113,000182: 21,2150           60063                           AD       CDU2DOT                               #  A + .5ADOTDT SCALED AT PI/8
024114,000183: 21,2151           00006                           EXTEND                                         
024115,000184: 21,2152           71541                           MP       DT                                    #  (A + .5ADOTDT)DT SCALED AT PI/64
024116,000185: 21,2153           00006                           EXTEND                                         
024117,000186: 21,2154           77743                           MP       BIT11                                 #  RESCALE BY RIGHT SHIFT 4 (KEEP D.P.)
024118,000187: 21,2155           20062                           DAS      CDUDOT                                #  W = W + (A + .5ADOTDT)DT SCALED AT PI/4
024119,000188: 
024120,000189: 21,2156           30065                           CAE      ITEMP5                                #  ADOTDT SCALED AT PI/2(10) (FROM ABOVE)
024121,000190: 21,2157           00006                           EXTEND                                         
024122,000191: 21,2160           77746                           MP       BIT8                                  #  RESCALE BY RIGHT SHIFT 7 (KEEP D.P.)
024123,000192: 21,2161           20064                           DAS      CDU2DOT                               #  A = A + ADOTDT SCALED AT PI/8
024124,000193: 

Page 545

024126,000195: 
024127,000196:                                                                                                  #  WEIGHTING VECTOR ADJUSTMENT EQUATIONS:
024128,000197: 
024129,000198: 21,2162           00006                           EXTEND                                         #  CONVERT CDU INTEGRATED VALUE FROM DOUBLE
024130,000199: 21,2163           30073                           DCA      CDU                                   #  PRECISION SCALED AT 2PI IN ONES COMPLE-
024131,000200: 21,2164           02303                           TC       ONETOTWO                              #  MENT TO SINGLE PRECISION SCALED AT PI
024132,000201: 21,2165           31540                           CAE      STORCDUZ                              #  IN TWOS COMPLEMENT, THEN DIFFERENCE WITH
024133,000202: 21,2166           00006                           EXTEND                                         #  STORED CDU REGISTER READING TO GET A
024134,000203: 21,2167           20065                           MSU      ITEMP5                                #  SINGLE PRECISION ONES COMPLEMENT RESULT
024135,000204: 
024136,000205: 21,2170           55544                           TS       DPDIFF                                #  SCALED AT PI RADIANS (UPPER HALF)
024137,000206: 
024138,000207: 21,2171           40073                           CS       CDU        +1                         #  CREATE LOW ORDER WORD OF D.P. DIFFERENCE
024139,000208: 21,2172           60000                           DOUBLE                                         #  ONES COMPLEMENT SCALED AT PI RADIANS AND
024140,000209: 21,2173           57545                           XCH      DPDIFF     +1                         #  USE S.P. RESULT ABOVE AS HIGH ORDER WORD
024141,000210: 
024142,000211: 21,2174           00006                           EXTEND                                         #  RESCALE DPDIFF TO PI
024143,000212: 21,2175           31545                           DCA      DPDIFF                                
024144,000213: 21,2176           20001                           DDOUBL                                         
024145,000214: 21,2177           22065                           LXCH     ITEMP5                                #  SAVE LOW ORDER WORD FOR D.P. MULTIPLY
024146,000215: 21,2200           00006                           EXTEND                                         
024147,000216: 21,2201           71547                           MP       W0                                    #  CDU = CDU + DPDIFF (D.P.) * W0 (S.P.)
024148,000217: 21,2202           20073                           DAS      CDU                                   
024149,000218: 21,2203           30065                           CAE      ITEMP5                                #  W0 IS SCALED AT 2
024150,000219: 21,2204           00006                           EXTEND                                         #  DPDIFF IS RESCALED TO PI
024151,000220: 21,2205           71547                           MP       W0                                    #  W0*DPDIFF IS SCALED AT 2PI (AS CDU)
024152,000221: 21,2206           26073                           ADS      CDU        +1                         
024153,000222: 21,2207           54001                           TS       L                                     
024154,000223: 21,2210           12212                           TCF      +2                                    
024155,000224: 21,2211           26072                           ADS      CDU                                   
024156,000225: 
024157,000226: 21,2212           31544                           CAE      DPDIFF                                #  RESCALE DPDIFF TO PI/128
024158,000227: 21,2213           00006                           EXTEND                                         
024159,000228: 
024160,000229: 21,2214           77745                           MP       BIT9                                  #  DPDIFF (D.P.) * 256
024161,000230: 21,2215           22065                           LXCH     ITEMP5                                
024162,000231: 21,2216           31545                           CAE      DPDIFF     +1                         
024163,000232: 21,2217           00006                           EXTEND                                         
024164,000233: 21,2220           77745                           MP       BIT9                                  
024165,000234: 21,2221           60065                           AD       ITEMP5                                
024166,000235: 21,2222           22065                           LXCH     ITEMP5                                
024167,000236: 
024168,000237: 21,2223           00006                           EXTEND                                         #   .     .
024169,000238: 21,2224           71550                           MP       W1                                    #  CDU = CDU + DPDIFF (D.P.) * W1 (S.P.)
024170,000239: 21,2225           20062                           DAS      CDUDOT                                
024171,000240: 21,2226           30065                           CAE      ITEMP5                                #  W1 IS SCALED AT 32
024172,000241: 21,2227           00006                           EXTEND                                         #  DPDIFF IS RESCALED TO PI/128
024173,000242: 21,2230           71550                           MP       W1                                    #  W1*DPDIFF IS SCALED AT PI/4 (AS CDUDOT)
024174,000243: 21,2231           26062                           ADS      CDUDOT     +1                         
024175,000244: 21,2232           54001                           TS       L                                     
024176,000245: 21,2233           12235                           TCF      +2                                    
024177,000246: 21,2234           26061                           ADS      CDUDOT                                
024178,000247: 

Page 546

024180,000249: 21,2235           31544                           CAE      DPDIFF                                #  RESCALE DPDIFF TO PI/64
024181,000250: 21,2236           00006                           EXTEND                                         
024182,000251: 21,2237           77746                           MP       BIT8                                  #  DPDIFF (D.P.) * 128
024183,000252: 21,2240           22065                           LXCH     ITEMP5                                
024184,000253: 21,2241           31545                           CAE      DPDIFF     +1                         
024185,000254: 21,2242           00006                           EXTEND                                         
024186,000255: 21,2243           77746                           MP       BIT8                                  
024187,000256: 21,2244           60065                           AD       ITEMP5                                
024188,000257: 21,2245           22065                           LXCH     ITEMP5                                
024189,000258: 
024190,000259: 21,2246           00006                           EXTEND                                         #   ..    ..
024191,000260: 21,2247           71551                           MP       W2                                    #  CDU = CDU + DPDIFF (D.P.) * W2 (S.P.)
024192,000261: 21,2250           20064                           DAS      CDU2DOT                               
024193,000262: 21,2251           30065                           CAE      ITEMP5                                #  W2 IS SCALED AT 8
024194,000263: 
024195,000264: 21,2252           00006                           EXTEND                                         
024196,000265: 21,2253           71551                           MP       W2                                    #  W2*DPDIFF IS SCALED AT PI/8 (AS CDU2DOT)
024197,000266: 21,2254           26064                           ADS      CDU2DOT    +1                         
024198,000267: 21,2255           54001                           TS       L                                     
024199,000268: 21,2256           12260                           TCF      +2                                    
024200,000269: 21,2257           26063                           ADS      CDU2DOT                               
024201,000270: 
024202,000271:                                                                                                  #  RESTORE VARIABLES AND TEST FOR COMPLETION OR ADDITIONAL AXIS.
024203,000272: 
024204,000273: 21,2260           52073        FILTAXIS           DXCH     CDU                                   
024205,000274: 21,2261           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT 2 PI RADIANS
024206,000275: 21,2262           53553                           DXCH     CDUYFIL                               
024207,000276: 21,2263           52062                           DXCH     CDUDOT                                #    .
024208,000277: 21,2264           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT PI/4 RAD/SEC
024209,000278: 21,2265           53557                           DXCH     DCDUYFIL                              
024210,000279: 21,2266           52064                           DXCH     CDU2DOT                               #   ..                                 2
024211,000280: 21,2267           50066                           INDEX    QRCNTR                                #  THETA IS D.P. SCALED AT PI/8 RAD/SEC
024212,000281: 21,2270           53563                           DXCH     D2CDUYFL                              
024213,000282: 
024214,000283: 21,2271           57537                           XCH      STORCDUY                              #  INTERCHANGE CDU READINGS
024215,000284: 21,2272           57540                           XCH      STORCDUZ                              
024216,000285: 21,2273           57537                           XCH      STORCDUY                              
024217,000286: 
024218,000287: 21,2274           10066                           CCS      ITEMP6                                #  ITEMP6 IS AXIS INDEXER
024219,000288: 21,2275           12110                           TCF      GOYFILTR                              #  IF 2, Y-AXIS STILL TO GO
024220,000289: 
024221,000290: 21,2276           41000                           CS       T5ADR                                 #  IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
024222,000291: 21,2277           62400                           AD       GTS2CADR                              #  DO THE Q,R-AXIS STATE TRANSFORMATIONS
024223,000292: 21,2300           00006                           EXTEND                                         #  AND THE 20 MS STATE EXTRAPOLATION
024224,000293: 21,2301           12572                           BZF      GIMBAL                                
024225,000294: 21,2302           15751                           TCF      RESUME                                #  OTHERWISE, RESUME
024226,000295: 
024227,000296:                                                                                                  #  SUBROUTINE FOR FILTER WHICH TAKES 1 COMPLEMENT NUMBER INTO A 2 COMP.
024228,000297: 
024229,000298: 21,2303           20001        ONETOTWO           DDOUBL                                         #  SEE RTB OP CODES IN BANK 15 FOR NOTES ON
024230,000299: 21,2304           10000                           CCS      A                                     #    THIS COMPUTATION.
024231,000300: 

Page 547

024233,000302: 21,2305           67755                           AD       ONE                                   
024234,000303: 21,2306           12310                           TCF      +2                                    
024235,000304: 21,2307           40000                           COM                                            
024236,000305: 21,2310           54065                           TS       ITEMP5                                
024237,000306: 21,2311           12315                           TCF      +4                                    
024238,000307: 21,2312           50000                           INDEX    A                                     
024239,000308: 21,2313           37736                           CAF      LIMITS                                
024240,000309: 21,2314           26065                           ADS      ITEMP5                                
024241,000310: 21,2315           00002                           TC       Q                                     #  RETURN
024242,000311: 
024243,000312:                                                                                                  #  THIS PROGRAM INITIALIZES THE KALMAN FILTER PROGRAM.
024244,000313: 
024245,000314: 21,2316           23542        FILFIRST           LXCH     DAPTIME                               #  INITIALIZE TIME.
024246,000315: 21,2317           32372                           CAF      POINT=90                              #  INITIALIZE THE WEIGHTING VECTOR POINTER
024247,000316: 21,2320           55546                           TS       WPOINTER                              
024248,000317: 21,2321           32014                           CAF      MOSTPASS                              #  SET UP FOR NEXT PASSES
024249,000318: 21,2322           55543                           TS       STEERADR                              
024250,000319: 21,2323           00006                           EXTEND                                         #  SET UP POST FILTER RUPT LIST
024251,000320: 21,2324           32376                           DCA      DGTSFADR                              
024252,000321: 
024253,000322: 21,2325           53574                           DXCH     PFRPTLST                              
024254,000323: 21,2326           00006                           EXTEND                                         
024255,000324: 21,2327           32072                           DCA      PAX/FILT                              
024256,000325: 21,2330           53576                           DXCH     PFRPTLST   +2                         
024257,000326: 21,2331           00006                           EXTEND                                         
024258,000327: 21,2332           32072                           DCA      PAX/FILT                              
024259,000328: 21,2333           53602                           DXCH     PFRPTLST   +6                         
024260,000329: 21,2334           00006                           EXTEND                                         
024261,000330: 21,2335           32401                           DCA      GTS2CADR                              
024262,000331: 21,2336           53600                           DXCH     PFRPTLST   +4                         
024263,000332: 21,2337           00006                           EXTEND                                         #  CHANGE POST P FILTER TO FILTER
024264,000333: 21,2340           32403                           DCA      POSTPFIL                              
024265,000334: 21,2341           53572                           DXCH     PFILTADR                              
024266,000335: 
024267,000336: 21,2342           31537                           CAE      STORCDUY                              
024268,000337: 21,2343           00006                           EXTEND                                         
024269,000338: 21,2344           77740                           MP       BIT14                                 
024270,000339: 21,2345           53553                           DXCH     CDUYFIL                               #  INITIALIZE THE STATE VECTOR TO CDU VALUE
024271,000340: 21,2346           31540                           CAE      STORCDUZ                              
024272,000341: 21,2347           00006                           EXTEND                                         
024273,000342: 21,2350           77740                           MP       BIT14                                 
024274,000343: 21,2351           53555                           DXCH     CDUZFIL                               
024275,000344: 21,2352           37761                           CA       ZERO                                  
024276,000345: 
024277,000346: 21,2353           55556                           TS       DCDUYFIL                              
024278,000347: 21,2354           55557                           TS       DCDUYFIL   +1                         #  INITIALIZE THE DERIVATIVES OF THE STATE
024279,000348: 21,2355           55560                           TS       DCDUZFIL                              
024280,000349: 21,2356           55561                           TS       DCDUZFIL   +1                         
024281,000350: 21,2357           55562                           TS       D2CDUYFL                              
024282,000351: 21,2360           55563                           TS       D2CDUYFL   +1                         
024283,000352: 21,2361           55564                           TS       D2CDUZFL                              
024284,000353: 21,2362           55565                           TS       D2CDUZFL   +1                         
024285,000354: 

Page 548

024287,000356: 21,2363           55566                           TS       Y3DOT                                 
024288,000357: 21,2364           55570                           TS       Z3DOT                                 
024289,000358: 
024290,000359: 21,2365           55522                           TS       NEGUQ                                 
024291,000360: 21,2366           55524                           TS       NEGUR                                 
024292,000361: 21,2367           15751                           TCF      RESUME                                
024293,000362: 
024294,000363: 
024295,000364: 
024296,000365: 21,2370           24366        .64                DEC      0.64000                               
024297,000366: 21,2371           14000        BIT12-13           OCTAL    14000                                 
024298,000367: 21,2372           00132        POINT=90           DEC      90         B-14                       #  POINTER INITIALIZED ONE GROUP PAST END
024299,000368: 21,2373           37776        MS20F              OCTAL    37776                                 
024300,000369: 21,2374           37775        MS30F              OCTAL    37775                                 
024301,000370: 21,2375  E6,1541                                  EBANK=   DT                                    
024302,000371: 21,2375           02536 42006  DGTSFADR           2CADR    DGTS                                  
024303,000372: 
024304,000373: 21,2377           02346        PAXISADR           GENADR   PAXIS                                 
024305,000374: 21,2400  E6,1541                                  EBANK=   DT                                    
024306,000375: 21,2400           02561 42006  GTS2CADR           2CADR    GTS                                   
024307,000376: 
024308,000377: 21,2402  E6,1541                                  EBANK=   DT                                    
024309,000378: 21,2402           02015 42006  POSTPFIL           2CADR    FILTER                                
024310,000379: 

Page 549

024312,000381:                                                                                                  #  THE KALMAN FILTER WEIGHTINF VECTORS ARE LISTED IN THE FOLLOWING TABLE ALONG WITH THE TIME FROM THE LAST FILTER
024313,000382:                                                                                                  #  INITIALIZATION FOR WHICH THEY ARE TO BE USED.  (THE VECTORS ARE STORED IN ORDERED TRIPLES (W0,W1,W2) IN
024314,000383:                                                                                                  #  DESCENDING ORDER IN TIME WITH THE STEADY STATE VALUES AT THE TOP.)
024315,000384: 
024316,000385:                                                                                                  #  THE COMPONENTS ARE SCALED AS FOLLOWS:
024317,000386:                                                                                                  #           W0 : SCALED AT  2
024318,000387:                                                                                                  #           W1 : SCALED AT 32
024319,000388:                                                                                                  #           W2 : SCALED AT  8
024320,000389: 
024321,000390: 21,2404           05751        WVECTOR            DEC      0.18608                               #  W0 FROM RELATIVE TIME 1.5 SECS OR MORE
024322,000391: 21,2405           00672                           DEC      0.02696                               #  W1 FROM RELATIVE TIME 1.5 SECS OR MORE
024323,000392: 21,2406           05362                           DEC      0.17105                               #  W2 FROM RELATIVE TIME 1.5 SECS OR MORE
024324,000393: 21,2407           04460                           DEC      0.14358                               #  W0 AT RELATIVE TIME : 1.45 SECONDS
024325,000394: 21,2410           00731                           DEC      0.02890                               #  W1 AT RELATIVE TIME : 1.45 SECONDS
024326,000395: 21,2411           05530                           DEC      0.17727                               #  W2 AT RELATIVE TIME : 1.45 SECONDS
024327,000396: 21,2412           04522                           DEC      0.14565                               #  W0 AT RELATIVE TIME : 1.40 SECONDS
024328,000397: 21,2413           00745                           DEC      0.02959                               #  W1 AT RELATIVE TIME : 1.40 SECONDS
024329,000398: 21,2414           05632                           DEC      0.18129                               #  W2 AT RELATIVE TIME : 1.40 SECONDS
024330,000399: 21,2415           04572                           DEC      0.14809                               #  W0 AT RELATIVE TIME : 1.35 SECONDS
024331,000400: 21,2416           11602                           DEC      0.30479                               #  W1 AT RELATIVE TIME : 1.35 SECONDS
024332,000401: 21,2417           05764                           DEC      0.18678                               #  W2 AT RELATIVE TIME : 1.35 SECONDS
024333,000402: 21,2420           04650                           DEC      0.15090                               #  W0 AT RELATIVE TIME : 1.30 SECONDS
024334,000403: 21,2421           01005                           DEC      0.03154                               #  W1 AT RELATIVE TIME : 1.30 SECONDS
024335,000404: 21,2422           06153                           DEC      0.19403                               #  W2 AT RELATIVE TIME : 1.30 SECONDS
024336,000405: 21,2423           04735                           DEC      0.15409                               #  W0 AT RELATIVE TIME : 1.25 SECONDS
024337,000406: 21,2424           01032                           DEC      0.03283                               #  W1 AT RELATIVE TIME : 1.25 SECONDS
024338,000407: 21,2425           06405                           DEC      0.20340                               #  W2 AT RELATIVE TIME : 1.25 SECONDS
024339,000408: 21,2426           05027                           DEC      0.15767                               #  W0 AT RELATIVE TIME : 1.20 SECONDS
024340,000409: 21,2427           01063                           DEC      0.03437                               #  W1 AT RELATIVE TIME : 1.20 SECONDS
024341,000410: 21,2430           06707                           DEC      0.21525                               #  W2 AT RELATIVE TIME : 1.20 SECONDS
024342,000411: 21,2431           05130                           DEC      0.16163                               #  W0 AT RELATIVE TIME : 1.15 SECONDS
024343,000412: 21,2432           01120                           DEC      0.03616                               #  W1 AT RELATIVE TIME : 1.15 SECONDS
024344,000413: 
024345,000414: 21,2433           07270                           DEC      0.23000                               #  W2 AT RELATIVE TIME : 1.15 SECONDS
024346,000415: 21,2434           05237                           DEC      0.16595                               #  W0 AT RELATIVE TIME : 1.10 SECONDS
024347,000416: 21,2435           01163                           DEC      0.03824                               #  W1 AT RELATIVE TIME : 1.10 SECONDS
024348,000417: 21,2436           07742                           DEC      0.24814                               #  W2 AT RELATIVE TIME : 1.10 SECONDS
024349,000418: 21,2437           05354                           DEC      0.17063                               #  W0 AT RELATIVE TIME : 1.05 SECONDS
024350,000419: 21,2440           01232                           DEC      0.04062                               #  W1 AT RELATIVE TIME : 1.05 SECONDS
024351,000420: 21,2441           10513                           DEC      0.27018                               #  W2 AT RELATIVE TIME : 1.05 SECONDS
024352,000421: 21,2442           05475                           DEC      0.17560                               #  W0 AT RELATIVE TIME : 1.00 SECONDS
024353,000422: 21,2443           01306                           DEC      0.04332                               #  W1 AT RELATIVE TIME : 1.00 SECONDS
024354,000423: 21,2444           11375                           DEC      0.29668                               #  W2 AT RELATIVE TIME : 1.00 SECONDS
024355,000424: 21,2445           05622                           DEC      0.18080                               #  W0 AT RELATIVE TIME : 0.95 SECONDS
024356,000425: 21,2446           01367                           DEC      0.04634                               #  W1 AT RELATIVE TIME : 0.95 SECONDS
024357,000426: 21,2447           12402                           DEC      0.32824                               #  W2 AT RELATIVE TIME : 0.95 SECONDS
024358,000427: 21,2450           05752                           DEC      0.18614                               #  W0 AT RELATIVE TIME : 0.90 SECONDS
024359,000428: 21,2451           01456                           DEC      0.04968                               #  W1 AT RELATIVE TIME : 0.90 SECONDS
024360,000429: 21,2452           13541                           DEC      0.36531                               #  W2 AT RELATIVE TIME : 0.90 SECONDS
024361,000430: 21,2453           06101                           DEC      0.19147                               #  W0 AT RELATIVE TIME : 0.85 SECONDS
024362,000431: 21,2454           01551                           DEC      0.05328                               #  W1 AT RELATIVE TIME : 0.85 SECONDS
024363,000432: 

Page 550

024365,000434: 21,2455           15040                           DEC      0.40821                               #  W2 AT RELATIVE TIME : 0.85 SECONDS
024366,000435: 21,2456           06225                           DEC      0.19659                               #  W0 AT RELATIVE TIME : 0.80 SECONDS
024367,000436: 21,2457           01647                           DEC      0.05707                               #  W1 AT RELATIVE TIME : 0.80 SECONDS
024368,000437: 21,2460           16503                           DEC      0.45721                               #  W2 AT RELATIVE TIME : 0.80 SECONDS
024369,000438: 21,2461           06341                           DEC      0.20122                               #  W0 AT RELATIVE TIME : 0.75 SECONDS
024370,000439: 21,2462           01746                           DEC      0.06089                               #  W1 AT RELATIVE TIME : 0.75 SECONDS
024371,000440: 21,2463           20244                           DEC      0.50999                               #  W2 AT RELATIVE TIME : 0.75 SECONDS
024372,000441: 21,2464           06440                           DEC      0.20505                               #  W0 AT RELATIVE TIME : 0.70 SECONDS
024373,000442: 21,2465           02041                           DEC      0.06451                               #  W1 AT RELATIVE TIME : 0.70 SECONDS
024374,000443: 21,2466           22055                           DEC      0.56522                               #  W2 AT RELATIVE TIME : 0.70 SECONDS
024375,000444: 21,2467           06514                           DEC      0.20775                               #  W0 AT RELATIVE TIME : 0.65 SECONDS
024376,000445: 21,2470           02123                           DEC      0.06759                               #  W1 AT RELATIVE TIME : 0.65 SECONDS
024377,000446: 21,2471           23610                           DEC      0.61768                               #  W2 AT RELATIVE TIME : 0.65 SECONDS
024378,000447: 21,2472           06542                           DEC      0.20912                               #  W0 AT RELATIVE TIME : 0.60 SECONDS
024379,000448: 
024380,000449: 21,2473           02166                           DEC      0.06972                               #  W1 AT RELATIVE TIME : 0.60 SECONDS
024381,000450: 21,2474           25072                           DEC      0.65979                               #  W2 AT RELATIVE TIME : 0.60 SECONDS
024382,000451: 21,2475           06546                           DEC      0.20934                               #  W0 AT RELATIVE TIME : 0.55 SECONDS
024383,000452: 21,2476           02205                           DEC      0.07062                               #  W1 AT RELATIVE TIME : 0.55 SECONDS
024384,000453: 21,2477           25640                           DEC      0.68165                               #  W2 AT RELATIVE TIME : 0.55 SECONDS
024385,000454: 21,2500           06543                           DEC      0.20919                               #  W0 AT RELATIVE TIME : 0.50 SECONDS
024386,000455: 21,2501           02177                           DEC      0.07028                               #  W1 AT RELATIVE TIME : 0.50 SECONDS
024387,000456: 21,2502           25427                           DEC      0.67330                               #  W2 AT RELATIVE TIME : 0.50 SECONDS
024388,000457: 21,2503           06564                           DEC      0.21020                               #  W0 AT RELATIVE TIME : 0.45 SECONDS
024389,000458: 21,2504           02160                           DEC      0.06931                               #  W1 AT RELATIVE TIME : 0.45 SECONDS
024390,000459: 21,2505           24077                           DEC      0.62883                               #  W2 AT RELATIVE TIME : 0.45 SECONDS
024391,000460: 21,2506           06671                           DEC      0.21441                               #  W0 AT RELATIVE TIME : 0.40 SECONDS
024392,000461: 21,2507           02154                           DEC      0.06908                               #  W1 AT RELATIVE TIME : 0.40 SECONDS
024393,000462: 21,2510           21470                           DEC      0.55030                               #  W2 AT RELATIVE TIME : 0.40 SECONDS
024394,000463: 21,2511           07125                           DEC      0.22391                               #  W0 AT RELATIVE TIME : 0.35 SECONDS
024395,000464: 21,2512           02225                           DEC      0.07162                               #  W1 AT RELATIVE TIME : 0.35 SECONDS
024396,000465: 21,2513           16256                           DEC      0.44810                               #  W2 AT RELATIVE TIME : 0.35 SECONDS
024397,000466: 21,2514           07544                           DEC      0.24049                               #  W0 AT RELATIVE TIME : 0.30 SECONDS
024398,000467: 21,2515           02430                           DEC      0.07956                               #  W1 AT RELATIVE TIME : 0.30 SECONDS
024399,000468: 21,2516           12624                           DEC      0.33713                               #  W2 AT RELATIVE TIME : 0.30 SECONDS
024400,000469: 21,2517           10401                           DEC      0.26566                               #  W0 AT RELATIVE TIME : 0.25 SECONDS
024401,000470: 21,2520           03054                           DEC      0.09646                               #  W1 AT RELATIVE TIME : 0.25 SECONDS
024402,000471: 21,2521           07317                           DEC      0.23140                               #  W2 AT RELATIVE TIME : 0.25 SECONDS
024403,000472: 
024404,000473: 21,2522           11507                           DEC      0.30123                               #  W0 AT RELATIVE TIME : 0.20 SECONDS
024405,000474: 21,2523           04070                           DEC      0.12841                               #  W1 AT RELATIVE TIME : 0.20 SECONDS
024406,000475: 21,2524           04404                           DEC      0.14087                               #  W2 AT RELATIVE TIME : 0.20 SECONDS
024407,000476: 21,2525           13146                           DEC      0.34996                               #  W0 AT RELATIVE TIME : 0.15 SECONDS
024408,000477: 21,2526           06020                           DEC      0.18850                               #  W1 AT RELATIVE TIME : 0.15 SECONDS
024409,000478: 21,2527           02213                           DEC      0.07101                               #  W2 AT RELATIVE TIME : 0.15 SECONDS
024410,000479: 21,2530           15230                           DEC      0.41554                               #  W0 AT RELATIVE TIME : 0.10 SECONDS
024411,000480: 21,2531           11756                           DEC      0.31141                               #  W1 AT RELATIVE TIME : 0.10 SECONDS
024412,000481: 21,2532           00613                           DEC      0.02408                               #  W2 AT RELATIVE TIME : 0.10 SECONDS
024413,000482: 21,2533           17670                           DEC      0.49561                               #  W0 AT RELATIVE TIME : 0.05 SECONDS
024414,000483: 21,2534           23514                           DEC      0.61404                               #  W1 AT RELATIVE TIME : 0.05 SECONDS
024415,000484: 21,2535           00001                           DEC      0.00006                               #  W2 AT RELATIVE TIME : 0.05 SECONDS
024416,000485: 

Page 551

024418,000487:                                                                                                  #  DUMMY TRIM GIMBAL RUPT:
024419,000488: 
024420,000489: 21,2536           32374        DGTS               CAF      MS30F                                 #  RESET TIMER IMMEDIATELY: DT = 30 MS
024421,000490: 21,2537           54030                           TS       TIME5                                 
024422,000491: 
024423,000492: 21,2540           00006                           EXTEND                                         #  SET UP FILTER RUPT
024424,000493: 
024425,000494: 21,2541           32403                           DCA      POSTPFIL                              
024426,000495: 21,2542           53001                           DXCH     T5ADR                                 
024427,000496: 
024428,000497: 21,2543           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024429,000498: 21,2544           00006                           EXTEND                                         
024430,000499: 21,2545           22012                           QXCH     QRUPT                                 
024431,000500: 
024432,000501: 21,2546           02550                           TC       DISPDRIV                              #  DRIVE ICDU BITS IF NECESSARY.
024433,000502: 
024434,000503: 21,2547           15751                           TCF      RESUME                                
024435,000504: 
024436,000505: 21,2550  E6,1541                                  EBANK=   DT                                    
024437,000506: 
024438,000507: 20,3006                                           BANK     20                                    
024439,000508: 
024440,000509:                                                                                                  #  DUMMY FILTER RUPT AFTER Q,R-AXES RUPT:
024441,000510: 
024442,000511: 20,3006           37776        MS20120            OCTAL    37776                                 
024443,000512: 20,3007  E6,1611                                  EBANK=   TQR                                   
024444,000513: 20,3007           02346 34006  PAXBNK20           2CADR    PAXIS                                 
024445,000514: 
024446,000515: 20,3011           33006        FILDUMMY           CAF      MS20120                               #  RESET TIMER IMMEDIATELY: DT = 20 MS
024447,000516: 20,3012           54030                           TS       TIME5                                 
024448,000517: 
024449,000518: 20,3013           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
024450,000519: 20,3014           00006                           EXTEND                                         #  SAVE THE LAST Q ON ALL T5RUPT LEAD IN'S
024451,000520: 20,3015           22012                           QXCH     QRUPT                                 
024452,000521: 
024453,000522: 20,3016           00006                           EXTEND                                         #  SET UP PAXIS RUPT
024454,000523: 20,3017           33010                           DCA      PAXBNK20                              
024455,000524: 20,3020           53001                           DXCH     T5ADR                                 
024456,000525: 
024457,000526: 20,3021           41611                           CS       TQR                                   
024458,000527: 20,3022           63111                           AD       CSPINKF                               
024459,000528: 20,3023           00006                           EXTEND                                         
024460,000529: 20,3024           63040                           BZMF     FULLCSP                               
024461,000530: 
024462,000531: 20,3025           31611                           CA       TQR                                   
024463,000532: 20,3026           00006                           EXTEND                                         
024464,000533: 20,3027           77751                           MP       BIT5                                  
024465,000534: 20,3030           30001                           CAE      L                                     
024466,000535: 20,3031           00006                           EXTEND                                         
024467,000536: 20,3032           73107                           MP       16/25KF                               
024468,000537: 20,3033           55611                           TS       TQR                                   
024469,000538: 20,3034           03050                           TC       JETTSUB                               
024470,000539: 20,3035           37761                           CAF      ZERO                                  
024471,000540: 

Page 552

024473,000542: 20,3036           55611                           TS       TQR                                   
024474,000543: 20,3037           15751                           TCF      RESUME                                
024475,000544: 
024476,000545: 20,3040           40000        FULLCSP            COM                                            
024477,000546: 20,3041           54062                           TS       ITEMP2                                
024478,000547: 20,3042           33110                           CA       CSPAT1                                
024479,000548: 20,3043           55611                           TS       TQR                                   
024480,000549: 20,3044           03050                           TC       JETTSUB                               
024481,000550: 20,3045           30062                           CAE      ITEMP2                                
024482,000551: 20,3046           55611                           TS       TQR                                   
024483,000552: 20,3047           15751                           TCF      RESUME                                
024484,000553: 
024485,000554: 20,3050           00006        JETTSUB            EXTEND                                         
024486,000555: 20,3051           71606                           MP       NO.QJETS                              
024487,000556: 20,3052           30001                           CAE      L                                     
024488,000557: 20,3053           00006                           EXTEND                                         
024489,000558: 20,3054           71613                           MP       1JACCQ                                
024490,000559: 20,3055           55604                           TS       JETRATEQ                              
024491,000560: 20,3056           27621                           ADS      SUMRATEQ                              
024492,000561: 20,3057           31611                           CAE      TQR                                   
024493,000562: 20,3060           00006                           EXTEND                                         
024494,000563: 20,3061           71607                           MP       NO.RJETS                              
024495,000564: 20,3062           30001                           CAE      L                                     
024496,000565: 20,3063           00006                           EXTEND                                         
024497,000566: 20,3064           71614                           MP       1JACCR                                
024498,000567: 20,3065           55605                           TS       JETRATER                              
024499,000568: 
024500,000569: 20,3066           27622                           ADS      SUMRATER                              
024501,000570: 20,3067           31635                           CAE      WFORQR                                
024502,000571: 20,3070           00006                           EXTEND                                         
024503,000572: 20,3071           71611                           MP       TQR                                   
024504,000573: 20,3072           61637                           AD       (1-K)/8                               
024505,000574: 20,3073           00006                           EXTEND                                         
024506,000575: 20,3074           77752                           MP       BIT4                                  
024507,000576: 20,3075           22061                           LXCH     ITEMP1                                
024508,000577: 20,3076           31604                           CAE      JETRATEQ                              
024509,000578: 20,3077           00006                           EXTEND                                         
024510,000579: 20,3100           70061                           MP       ITEMP1                                
024511,000580: 20,3101           55604                           TS       JETRATEQ                              
024512,000581: 20,3102           31605                           CAE      JETRATER                              
024513,000582: 20,3103           00006                           EXTEND                                         
024514,000583: 20,3104           70061                           MP       ITEMP1                                
024515,000584: 20,3105           55605                           TS       JETRATER                              
024516,000585: 20,3106           00002                           TC       Q                                     
024517,000586: 20,3107           24366        16/25KF            DEC      0.64000                               
024518,000587: 20,3110           03146        CSPAT1             DEC      0.10000                               
024519,000588: 20,3111           00240        CSPINKF            DEC      0.00977                               
024520,000589: 

Page 553

024522,000591:                                                                                                  #  SUBROUTINE: DISPDRIV            MOD. NO. 0  DATE: NOVEMBER 14, 1966
024523,000592: 
024524,000593:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
024525,000594: 
024526,000595:                                                                                                  #  THIS SUBROUTINE SETS THE ICDU DRIVE BITS EVERY OTHER TIME IT IS CALLED.  IT ALWAYS CHANGES THE VALUE OF
024527,000596:                                                                                                  #  "DISPLACT" TO INDICATE THE PASSING OF 100 MS, SINCE THIS FLAG IS TESTED BY "EIGHTBAL" IN THE P-AXIS T5RUPT.
024528,000597:                                                                                                  #  THE ICDU IS DRIVEN ONLY 30 MS AFTER "EIGHTBAL" ENABLED IT.
024529,000598: 
024530,000599:                                                                                                  #  CALLING SEQUENCES (FROM "DUMMYFIL" AND "FILTER"):
024531,000600: 
024532,000601:                                                                                                  #                                          L        TC     DISPDRIV        (MUST BE FROM SAME BANK)
024533,000602:                                                                                                  #                                          L +1    (RETURN)
024534,000603: 
024535,000604:                                                                                                  #  SUBROUTINES CALLED: NONE.       NORMAL EXIT: BY TC Q  TO L +1 .
024536,000605: 
024537,000606:                                                                                                  #  ALARM/ABORT MODES: NONE.        INPUT: PRESENT VALUE IN  DISPLACT ,
024538,000607: 
024539,000608:                                                                                                  #  OUTPUT: OPPOSITE VALUE OF "DISPLACT" AND ICDU BITS (WHEN NECESSARY).
024540,000609: 
024541,000610:                                                                                                  #  DEBRIS: A,Q.
024542,000611: 
024543,000612: 
024544,000613: 
024545,000614: 20,3112  E6,1541                                  EBANK=   DT                                    
024546,000615: 21,2550                                           BANK     21                                    
024547,000616: 21,2550           11514        DISPDRIV           CCS      DISPLACT                              #  TEST PHASE OF  EIGHTBAL .
024548,000617: 21,2551           12556                           TCF      +5                                    #  (NO DRIVING ON THIS PASS.) RESET FLAG.
024549,000618: 
024550,000619: 21,2552           32560                           CAF      OCT70000                              #  SET ICDU DRIVE BITS.
024551,000620: 21,2553           00006                           EXTEND                                         
024552,000621: 21,2554           05014                           WOR      14                                    
024553,000622: 
024554,000623: 21,2555           37755                           CAF      ONE                                   #  RESET FLAG.
024555,000624: 21,2556           55514                           TS       DISPLACT                              
024556,000625: 
024557,000626: 21,2557           00002                           TC       Q                                     #  RETURN
024558,000627: 
024559,000628: 21,2560           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