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.

064178,000002:                                                                                                  ## Copyright:   Public domain.
064179,000003:                                                                                                  ## Filename:    KALMAN_FILTER.agc
064180,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
064181,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
064182,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
064183,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
064184,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
064185,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
064186,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
064187,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
064188,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
064189,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
064190,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
064191,000015:                                                                                                  ## Reference:   pp. 1458-1459
064192,000016:                                                                                                  ## Assembler:   yaYUL
064193,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
064194,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
064195,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
064196,000020:                                                                                                  ##              2017-08-29 RSB  Transcribed.
064197,000021: 

Page 1458

064199,000023: 17,3777  E6,1522                                  EBANK=   NO.UJETS                              
064200,000024: 16,3644                                           BANK     16                                    
064201,000025: 16,2000                                           SETLOC   DAPS1                                 
064202,000026: 16,2000                                           BANK                                           
064203,000027: 
064204,000028: 16,3644                                           COUNT*   $$/DAP                                
064205,000029: 
064206,000030: 16,3644           34752        RATELOOP           CA       TWO                                   
064207,000031: 16,3645           55743                           TS       DAPTEMP6                              
064208,000032: 16,3646           60000                           DOUBLE                                         
064209,000033: 16,3647           54002                           TS       Q                                     
064210,000034: 16,3650           51743                           INDEX    DAPTEMP6                              
064211,000035: 16,3651           11524                           CCS      TJP                                   
064212,000036: 16,3652           13654                           TCF      +2                                    
064213,000037: 16,3653           13673                           TCF      LOOPRATE                              
064214,000038: 16,3654           63734                           AD       -100MST6                              
064215,000039: 16,3655           00006                           EXTEND                                         
064216,000040: 16,3656           63712                           BZMF     SMALLTJU                              
064217,000041: 16,3657           51743                           INDEX    DAPTEMP6                              
064218,000042: 16,3660           11524                           CCS      TJP                                   
064219,000043: 16,3661           33734                           CA       -100MST6                              
064220,000044: 16,3662           13664                           TCF      +2                                    
064221,000045: 16,3663           43734                           CS       -100MST6                              
064222,000046: 16,3664           51743                           INDEX    DAPTEMP6                              
064223,000047: 16,3665           27524                           ADS      TJP                                   
064224,000048: 16,3666           51743                           INDEX    DAPTEMP6                              
064225,000049: 16,3667           11524                           CCS      TJP                                   
064226,000050: 16,3670           43620                           CS       -100MS                                #  0.1 AT 1
064227,000051: 16,3671           13673                           TCF      +2                                    
064228,000052: 16,3672           33620                           CA       -100MS                                
064229,000053: 16,3673           00006        LOOPRATE           EXTEND                                         
064230,000054: 16,3674           51743                           INDEX    DAPTEMP6                              
064231,000055: 16,3675           71521                           MP       NO.PJETS                              
064232,000056: 16,3676           30001                           CA       L                                     
064233,000057: 16,3677           51743                           INDEX    DAPTEMP6                              
064234,000058: 16,3700           55736                           TS       DAPTEMP1                              #  SIGNED TORQUE AT 1 JET-SEC FOR FILTER
064235,000059: 16,3701           00006                           EXTEND                                         
064236,000060: 16,3702           74742                           MP       BIT10                                 #  RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
064237,000061: 16,3703           00006                           EXTEND                                         
064238,000062: 16,3704           63735                           BZMF     NEGTORK                               
064239,000063: 16,3705           50002        STORTORK           INDEX    Q                                     #  INCREMENT DOWNLIST REGISTER.
064240,000064: 16,3706           27513                           ADS      DOWNTORK                              #    NOTE: NOT INITIALIZED; OVERFLOWS.
064241,000065: 
064242,000066: 16,3707           11743                           CCS      DAPTEMP6                              
064243,000067: 16,3710           13645                           TCF      RATELOOP   +1                         
064244,000068: 16,3711           13721                           TCF      ROTORQUE                              
064245,000069: 16,3712           34755        SMALLTJU           CA       ZERO                                  
064246,000070: 16,3713           51743                           INDEX    DAPTEMP6                              
064247,000071: 16,3714           57524                           XCH      TJP                                   
064248,000072: 16,3715           00006                           EXTEND                                         

Page 1459

064250,000074: 16,3716           74760                           MP       ELEVEN                                #  10.24 PLUS
064251,000075: 16,3717           30001                           CA       L                                     
064252,000076: 16,3720           13673                           TCF      LOOPRATE                              
064253,000077: 16,3721           31737        ROTORQUE           CA       DAPTEMP2                              
064254,000078: 16,3722           61740                           AD       DAPTEMP3                              
064255,000079: 16,3723           00006                           EXTEND                                         
064256,000080: 16,3724           71532                           MP       1JACCR                                
064257,000081: 16,3725           55746                           TS       JETRATER                              
064258,000082: 16,3726           41740                           CS       DAPTEMP3                              
064259,000083: 16,3727           61737                           AD       DAPTEMP2                              
064260,000084: 16,3730           00006                           EXTEND                                         
064261,000085: 16,3731           71531                           MP       1JACCQ                                
064262,000086: 16,3732           55745                           TS       JETRATEQ                              
064263,000087: 16,3733           12316                           TCF      BACKP                                 
064264,000088: 16,3734           77537        -100MST6           DEC      -160       B-14                       
064265,000089: 
064266,000090: 16,3735           40000        NEGTORK            COM                                            
064267,000091: 16,3736           24002                           INCR     Q                                     
064268,000092: 16,3737           13705                           TCF      STORTORK                              
064269,000093: 

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