Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

062273,000002:                                                                                                  ## Copyright:   Public domain.
062274,000003:                                                                                                  ## Filename:    KALMAN_FILTER.agc
062275,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
062276,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
062277,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
062278,000007:                                                                                                  ## Assembler:   yaYUL
062279,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062280,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
062281,000010:                                                                                                  ## Pages:       1470-1471
062282,000011:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
062283,000012:                                                                                                  ##                              Luminary131 file, using page 
062284,000013:                                                                                                  ##                              images from Luminary 1A.
062285,000014:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
062286,000015:                                                                                                  ##                              but no errors found.
062287,000016:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
062288,000017: 

Page 1470

062290,000019: 17,3744  E6,1522                                  EBANK=   NO.UJETS                              
062291,000020: 16,3641                                           BANK     16                                    
062292,000021: 16,2000                                           SETLOC   DAPS1                                 
062293,000022: 16,2000                                           BANK                                           
062294,000023: 
062295,000024: 16,3641                                           COUNT*   $$/DAP                                
062296,000025: 
062297,000026: 16,3641           34752        RATELOOP           CA       TWO                                   
062298,000027: 16,3642           55744                           TS       DAPTEMP6                              
062299,000028: 16,3643           60000                           DOUBLE                                         
062300,000029: 16,3644           54002                           TS       Q                                     
062301,000030: 16,3645           51744                           INDEX    DAPTEMP6                              
062302,000031: 16,3646           11524                           CCS      TJP                                   
062303,000032: 16,3647           13651                           TCF      +2                                    
062304,000033: 16,3650           13670                           TCF      LOOPRATE                              
062305,000034: 16,3651           63731                           AD       -100MST6                              
062306,000035: 16,3652           00006                           EXTEND                                         
062307,000036: 16,3653           63707                           BZMF     SMALLTJU                              
062308,000037: 16,3654           51744                           INDEX    DAPTEMP6                              
062309,000038: 16,3655           11524                           CCS      TJP                                   
062310,000039: 16,3656           33731                           CA       -100MST6                              
062311,000040: 16,3657           13661                           TCF      +2                                    
062312,000041: 16,3660           43731                           CS       -100MST6                              
062313,000042: 16,3661           51744                           INDEX    DAPTEMP6                              
062314,000043: 16,3662           27524                           ADS      TJP                                   
062315,000044: 16,3663           51744                           INDEX    DAPTEMP6                              
062316,000045: 16,3664           11524                           CCS      TJP                                   
062317,000046: 16,3665           43615                           CS       -100MS                                #  0.1 AT 1
062318,000047: 16,3666           13670                           TCF      +2                                    
062319,000048: 16,3667           33615                           CA       -100MS                                
062320,000049: 16,3670           00006        LOOPRATE           EXTEND                                         
062321,000050: 16,3671           51744                           INDEX    DAPTEMP6                              
062322,000051: 16,3672           71521                           MP       NO.PJETS                              
062323,000052: 16,3673           30001                           CA       L                                     
062324,000053: 16,3674           51744                           INDEX    DAPTEMP6                              
062325,000054: 16,3675           55737                           TS       DAPTEMP1                              #  SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062326,000055: 16,3676           00006                           EXTEND                                         
062327,000056: 16,3677           74742                           MP       BIT10                                 #  RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062328,000057: 16,3700           00006                           EXTEND                                         
062329,000058: 16,3701           63732                           BZMF     NEGTORK                               
062330,000059: 16,3702           50002        STORTORK           INDEX    Q                                     #  INCREMENT DOWNLIST REGISTER.
062331,000060: 16,3703           27513                           ADS      DOWNTORK                              #        NOTE:  NOT INITIALIZED; OVERFLOWS.
062332,000061: 
062333,000062: 16,3704           11744                           CCS      DAPTEMP6                              
062334,000063: 16,3705           13642                           TCF      RATELOOP   +1                         
062335,000064: 16,3706           13716                           TCF      ROTORQUE                              
062336,000065: 16,3707           34755        SMALLTJU           CA       ZERO                                  
062337,000066: 16,3710           51744                           INDEX    DAPTEMP6                              
062338,000067: 16,3711           57524                           XCH      TJP                                   
062339,000068: 16,3712           00006                           EXTEND                                         

Page 1471

062341,000070: 16,3713           74760                           MP       ELEVEN                                #  10.24 PLUS
062342,000071: 16,3714           30001                           CA       L                                     
062343,000072: 16,3715           13670                           TCF      LOOPRATE                              
062344,000073: 16,3716           31740        ROTORQUE           CA       DAPTEMP2                              
062345,000074: 16,3717           61741                           AD       DAPTEMP3                              
062346,000075: 16,3720           00006                           EXTEND                                         
062347,000076: 16,3721           71532                           MP       1JACCR                                
062348,000077: 16,3722           55747                           TS       JETRATER                              
062349,000078: 16,3723           41741                           CS       DAPTEMP3                              
062350,000079: 16,3724           61740                           AD       DAPTEMP2                              
062351,000080: 16,3725           00006                           EXTEND                                         
062352,000081: 16,3726           71531                           MP       1JACCQ                                
062353,000082: 16,3727           55746                           TS       JETRATEQ                              
062354,000083: 16,3730           12316                           TCF      BACKP                                 
062355,000084: 16,3731           77537        -100MST6           DEC      -160       B-14                       
062356,000085: 
062357,000086: 16,3732           40000        NEGTORK            COM                                            
062358,000087: 16,3733           24002                           INCR     Q                                     
062359,000088: 16,3734           13702                           TCF      STORTORK                              
062360,000089: 
062361,000090: 

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