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 Linden Sims. 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:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

064194,000002:                                                                                                  ## Copyright:   Public domain.
064195,000003:                                                                                                  ## Filename:    KALMAN_FILTER.agc
064196,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
064197,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
064198,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
064199,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
064200,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
064201,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
064202,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
064203,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
064204,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
064205,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
064206,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
064207,000015:                                                                                                  ## Reference:   pp. 1458-1459
064208,000016:                                                                                                  ## Assembler:   yaYUL
064209,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
064210,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
064211,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
064212,000020:                                                                                                  ##              2017-08-29 RSB  Transcribed.
064213,000021: 

Page 1458

064215,000023: 17,3777  E6,1522                                  EBANK=   NO.UJETS                              
064216,000024: 16,3644                                           BANK     16                                    
064217,000025: 16,2000                                           SETLOC   DAPS1                                 
064218,000026: 16,2000                                           BANK                                           
064219,000027: 
064220,000028: 16,3644                                           COUNT*   $$/DAP                                
064221,000029: 
064222,000030: 16,3644           34752        RATELOOP           CA       TWO                                   
064223,000031: 16,3645           55743                           TS       DAPTEMP6                              
064224,000032: 16,3646           60000                           DOUBLE                                         
064225,000033: 16,3647           54002                           TS       Q                                     
064226,000034: 16,3650           51743                           INDEX    DAPTEMP6                              
064227,000035: 16,3651           11524                           CCS      TJP                                   
064228,000036: 16,3652           13654                           TCF      +2                                    
064229,000037: 16,3653           13673                           TCF      LOOPRATE                              
064230,000038: 16,3654           63734                           AD       -100MST6                              
064231,000039: 16,3655           00006                           EXTEND                                         
064232,000040: 16,3656           63712                           BZMF     SMALLTJU                              
064233,000041: 16,3657           51743                           INDEX    DAPTEMP6                              
064234,000042: 16,3660           11524                           CCS      TJP                                   
064235,000043: 16,3661           33734                           CA       -100MST6                              
064236,000044: 16,3662           13664                           TCF      +2                                    
064237,000045: 16,3663           43734                           CS       -100MST6                              
064238,000046: 16,3664           51743                           INDEX    DAPTEMP6                              
064239,000047: 16,3665           27524                           ADS      TJP                                   
064240,000048: 16,3666           51743                           INDEX    DAPTEMP6                              
064241,000049: 16,3667           11524                           CCS      TJP                                   
064242,000050: 16,3670           43620                           CS       -100MS                                #  0.1 AT 1
064243,000051: 16,3671           13673                           TCF      +2                                    
064244,000052: 16,3672           33620                           CA       -100MS                                
064245,000053: 16,3673           00006        LOOPRATE           EXTEND                                         
064246,000054: 16,3674           51743                           INDEX    DAPTEMP6                              
064247,000055: 16,3675           71521                           MP       NO.PJETS                              
064248,000056: 16,3676           30001                           CA       L                                     
064249,000057: 16,3677           51743                           INDEX    DAPTEMP6                              
064250,000058: 16,3700           55736                           TS       DAPTEMP1                              #  SIGNED TORQUE AT 1 JET-SEC FOR FILTER
064251,000059: 16,3701           00006                           EXTEND                                         
064252,000060: 16,3702           74742                           MP       BIT10                                 #  RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
064253,000061: 16,3703           00006                           EXTEND                                         
064254,000062: 16,3704           63735                           BZMF     NEGTORK                               
064255,000063: 16,3705           50002        STORTORK           INDEX    Q                                     #  INCREMENT DOWNLIST REGISTER.
064256,000064: 16,3706           27513                           ADS      DOWNTORK                              #    NOTE: NOT INITIALIZED; OVERFLOWS.
064257,000065: 
064258,000066: 16,3707           11743                           CCS      DAPTEMP6                              
064259,000067: 16,3710           13645                           TCF      RATELOOP   +1                         
064260,000068: 16,3711           13721                           TCF      ROTORQUE                              
064261,000069: 16,3712           34755        SMALLTJU           CA       ZERO                                  
064262,000070: 16,3713           51743                           INDEX    DAPTEMP6                              
064263,000071: 16,3714           57524                           XCH      TJP                                   
064264,000072: 16,3715           00006                           EXTEND                                         

Page 1459

064266,000074: 16,3716           74760                           MP       ELEVEN                                #  10.24 PLUS
064267,000075: 16,3717           30001                           CA       L                                     
064268,000076: 16,3720           13673                           TCF      LOOPRATE                              
064269,000077: 16,3721           31737        ROTORQUE           CA       DAPTEMP2                              
064270,000078: 16,3722           61740                           AD       DAPTEMP3                              
064271,000079: 16,3723           00006                           EXTEND                                         
064272,000080: 16,3724           71532                           MP       1JACCR                                
064273,000081: 16,3725           55746                           TS       JETRATER                              
064274,000082: 16,3726           41740                           CS       DAPTEMP3                              
064275,000083: 16,3727           61737                           AD       DAPTEMP2                              
064276,000084: 16,3730           00006                           EXTEND                                         
064277,000085: 16,3731           71531                           MP       1JACCQ                                
064278,000086: 16,3732           55745                           TS       JETRATEQ                              
064279,000087: 16,3733           12316                           TCF      BACKP                                 
064280,000088: 16,3734           77537        -100MST6           DEC      -160       B-14                       
064281,000089: 
064282,000090: 16,3735           40000        NEGTORK            COM                                            
064283,000091: 16,3736           24002                           INCR     Q                                     
064284,000092: 16,3737           13705                           TCF      STORTORK                              
064285,000093: 

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