Source Code

These source-code files are part of a reconstructed copy of Artemis 071, the first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Artemis 072 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes between the two versions. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021154-. Note that page numbers in the reconstructed code match those on the Artemis 072 printout, although the changed code would likely have changed page numbers for a real Artemis 071 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

013543,000002:                                                                                                  ## Copyright:   Public domain.
013544,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
013545,000004:                                                                                                  ## Purpose:     A section of Artemis revision 071.
013546,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
013547,000006:                                                                                                  ##              release of the flight software for the Command Module's
013548,000007:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
013549,000008:                                                                                                  ##              17. The code has been recreated from a copy of Artemis 072.
013550,000009:                                                                                                  ##              It has been adapted such that the resulting bugger words
013551,000010:                                                                                                  ##              exactly match those specified for Artemis 071 in NASA
013552,000011:                                                                                                  ##              drawing 2021154-, which gives relatively high confidence
013553,000012:                                                                                                  ##              that the reconstruction is correct.
013554,000013:                                                                                                  ## Reference:   308
013555,000014:                                                                                                  ## Assembler:   yaYUL
013556,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
013557,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
013558,000017:                                                                                                  ## Mod history: 2019-08-14 MAS  Created from Artemis 072.
013559,000018: 

Page 308

013561,000020: 
013562,000021: 06,2000                                           SETLOC   IMUCOMP                               
013563,000022: 06,2000                                           BANK                                           
013564,000023: 06,3276  E3,1460                                  EBANK=   NBDX                                  
013565,000024: 
013566,000025: 06,3276                                           COUNT*   $$/ICOMP                              
013567,000026: 06,3276           33535        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
013568,000027: 06,3277           56003                           XCH      EBANK                                 
013569,000028: 06,3300           54163                           TS       MODE                                  
013570,000029: 
013571,000030: 06,3301           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013572,000031: 06,3302           13305                           TCF      +3                                    
013573,000032: 06,3303           13305                           TCF      +2                                    
013574,000033: 06,3304           13422                           TCF      IRIG1                                 #  RETURN
013575,000034: 
013576,000035: 06,3305           00004                           INHINT                                         #  ASSURE COMPLETE COMPENSATION OF DELV'S
013577,000036:                                                                                                  #  FOR DOWNLINK.
013578,000037: 
013579,000038: 06,3306           34766        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013580,000039: 06,3307           77702                 +1        MASK     NEGONE                                
013581,000040: 06,3310           54132                           TS       BUF        +2                         
013582,000041: 
013583,000042: 06,3311           50132                           INDEX    BUF        +2                         
013584,000043: 06,3312           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
013585,000044: 06,3313           00006                           EXTEND                                         
013586,000045: 06,3314           50132                           INDEX    BUF        +2                         
013587,000046: 06,3315           71314                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013588,000047: 06,3316           54002                           TS       Q                                     #  SAVE MAJOR PART
013589,000048: 
013590,000049: 06,3317           30001                           CA       L                                     #  MINOR PART
013591,000050: 06,3320           00006                           EXTEND                                         
013592,000051: 06,3321           74763                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013593,000052: 06,3322           50132                           INDEX    BUF        +2                         
013594,000053: 06,3323           55315                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
013595,000054: 
013596,000055: 06,3324           30002                           CA       Q                                     #  MAJOR PART
013597,000056: 06,3325           00006                           EXTEND                                         
013598,000057: 06,3326           74763                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013599,000058: 06,3327           50132                           INDEX    BUF        +2                         
013600,000059: 06,3330           21315                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
013601,000060: 
013602,000061: 06,3331           50132                           INDEX    BUF        +2                         
013603,000062: 06,3332           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-6)
013604,000063: 06,3333           00006                           EXTEND                                         
013605,000064: 06,3334           71277                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
013606,000065: 06,3335           00006                           EXTEND                                         
013607,000066: 06,3336           74766                           MP       BIT3                                  #  SCALE 2(+12) SHIFT RIGHT 12
013608,000067: 06,3337           50132                           INDEX    BUF        +2                         
013609,000068: 06,3340           21315                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013610,000069: 
013611,000070: 06,3341           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
013612,000071: 06,3342           13307                           TCF      1/PIPA1    +1                         

Page 309

013614,000073: 06,3343           00003                           RELINT                                         

Page 310

013616,000075: 
013617,000076: 06,3344           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
013618,000077: 06,3345           54130                           TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
013619,000078: 
013620,000079: 06,3346           00006        IRIGX              EXTEND                                         
013621,000080: 06,3347           41315                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
013622,000081: 06,3350           52155                           DXCH     MPAC                                  
013623,000082: 06,3351           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013624,000083: 06,3352           03425                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)       (GYRO PULSES) X 2(+14)
013625,000084: 
013626,000085: 06,3353           00006                           EXTEND                                         
013627,000086: 06,3354           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013628,000087: 06,3355           52155                           DXCH     MPAC                                  
013629,000088: 06,3356           41466                           CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013630,000089: 06,3357           03425                           TC       GCOMPSUB                              #  +(ADSRAX)(PIPAY)      (GYRO PULSES) X 2(+14)
013631,000090: 
013632,000091:                                                                                                  #                EXTEND                  ***
013633,000092:                                                                                                  #                DCS     DELVZ           *** (PIPA PULSES) X 2(+14)
013634,000093:                                                                                                  #                DXCH    MPAC            ***
013635,000094:                                                                                                  #                CA      ADOAX           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013636,000095:                                                                                                  #                TC      GCOMPSUB        *** -(ADOAX)(PIPAZ)     (GYRO PULSES) X 2(+14)
013637,000096: 
013638,000097: 06,3360           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013639,000098: 06,3361           03454                           TC       DRIFTSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
013640,000099: 
013641,000100: 06,3362           00006        IRIGY              EXTEND                                         
013642,000101: 06,3363           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013643,000102: 06,3364           52155                           DXCH     MPAC                                  
013644,000103: 06,3365           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013645,000104: 06,3366           03425                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)       (GYRO PULSES) X 2(+14)
013646,000105: 
013647,000106: 06,3367           00006                           EXTEND                                         
013648,000107: 06,3370           41321                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013649,000108: 06,3371           52155                           DXCH     MPAC                                  
013650,000109: 06,3372           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013651,000110: 06,3373           03425                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)      (GYRO PULSES) X 2(+14)
013652,000111: 
013653,000112:                                                                                                  #                EXTEND                  ***
013654,000113:                                                                                                  #                DCS     DELVX           *** (PIPA PULSES) X 2(+14)
013655,000114:                                                                                                  #                DXCH    MPAC            ***
013656,000115:                                                                                                  #                CA      ADOAY           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013657,000116:                                                                                                  #                TC      GCOMPSUB        *** -(ADOAY)(PIPAX)     (GYRO PULSES) X 2(+14)
013658,000117: 
013659,000118: 06,3374           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013660,000119: 06,3375           03454                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013661,000120: 
013662,000121: 06,3376           00006        IRIGZ              EXTEND                                         
013663,000122: 06,3377           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013664,000123: 06,3400           52155                           DXCH     MPAC                                  
013665,000124: 06,3401           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *

Page 311

013667,000126: 06,3402           03425                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)      (GYRO PULSES) X 2(+14)
013668,000127: 
013669,000128: 06,3403           00006                           EXTEND                                         
013670,000129: 06,3404           41321                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013671,000130: 06,3405           52155                           DXCH     MPAC                                  
013672,000131: 06,3406           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013673,000132: 06,3407           03425                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)       (GYRO PULSES) X 2(+14)
013674,000133: 
013675,000134:                                                                                                  #                EXTEND                  ***
013676,000135:                                                                                                  #                DCS     DELVX           *** (PIPA PULSE) X 2(+14)
013677,000136:                                                                                                  #                DXCH    MPAC            ***
013678,000137:                                                                                                  #                CS      ADOAZ           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013679,000138:                                                                                                  #                TC      GCOMPSUB        *** +(ADOAZ)(PIPAX)     (GYRO PULSES) X 2(+14)
013680,000139: 
013681,000140: 06,3410           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013682,000141: 06,3411           03454                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
013683,000142: 

Page 312

013685,000144: 06,3412           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013686,000145: 06,3413           13415                           TCF      +2                                    #  YES
013687,000146: 06,3414           13422                           TCF      IRIG1                                 #  NO
013688,000147: 
013689,000148: 06,3415           35057                           CA       PRIO21                                #  HIGHER THAN SERVICER-LESS THAN PRELAUNCH
013690,000149: 06,3416           05121                           TC       NOVAC                                 
013691,000150: 06,3417  E3,1460                                  EBANK=   NBDX                                  
013692,000151: 06,3417           03507 14063                     2CADR    1/CHECK                               
013693,000152: 
013694,000153: 06,3421           00003                           RELINT                                         
013695,000154: 06,3422           30163        IRIG1              CA       MODE                                  #  SET EBANK FOR RETURN
013696,000155: 06,3423           54003                           TS       EBANK                                 
013697,000156: 06,3424           14651                           TCF      SWRETURN                              
013698,000157: 
013699,000158: 06,3425           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013700,000159: 06,3426           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
013701,000160: 06,3427           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013702,000161: 06,3430           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
013703,000162: 
013704,000163: 06,3431           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
013705,000164: 06,3432           00006                           EXTEND                                         
013706,000165: 06,3433           70154                           MP       MPAC                                  #  ADIA OR ADSRA
013707,000166: 06,3434           54001                           TS       L                                     
013708,000167: 06,3435           34772                           CAF      ZERO                                  
013709,000168: 06,3436           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
013710,000169: 
013711,000170: 06,3437           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
013712,000171: 06,3440           00006                           EXTEND                                         
013713,000172: 06,3441           74755                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
013714,000173: 06,3442           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013715,000174: 06,3443           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
013716,000175: 
013717,000176: 06,3444           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
013718,000177: 06,3445           00006                           EXTEND                                         
013719,000178: 06,3446           74755                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
013720,000179: 06,3447           54001                           TS       L                                     
013721,000180: 06,3450           34772                           CAF      ZERO                                  
013722,000181: 06,3451           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013723,000182: 06,3452           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
013724,000183: 
013725,000184: 06,3453           00002                           TC       Q                                     
013726,000185: 

Page 313

013728,000187: 06,3454           00006        DRIFTSUB           EXTEND                                         
013729,000188: 06,3455           22131                           QXCH     BUF        +1                         
013730,000189: 
013731,000190: 06,3456           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
013732,000191: 06,3457           71277                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
013733,000192: 06,3460           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
013734,000193: 06,3461           00006                           EXTEND                                         
013735,000194: 06,3462           74765                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013736,000195: 06,3463           50130                           INDEX    BUF                                   
013737,000196: 06,3464           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013738,000197: 
013739,000198: 06,3465           30155                           CA       MPAC       +1                         #  NOW MINOR PART
013740,000199: 06,3466           00006                           EXTEND                                         
013741,000200: 06,3467           74765                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013742,000201: 06,3470           54001                           TS       L                                     
013743,000202: 06,3471           34772                           CAF      ZERO                                  
013744,000203: 06,3472           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
013745,000204: 06,3473           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013746,000205: 
013747,000206: 06,3474           34767        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
013748,000207: 06,3475           60130                           AD       BUF                                   
013749,000208: 06,3476           56130                           XCH      BUF                                   
013750,000209: 06,3477           50000                           INDEX    A                                     
013751,000210: 06,3500           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
013752,000211: 06,3501           13503                           TCF      +2                                    #  YES
013753,000212: 06,3502           00131                           TC       BUF        +1                         #  NO
013754,000213: 
013755,000214: 06,3503           77702                           MASK     NEGONE                                
013756,000215: 06,3504           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013757,000216: 06,3505           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
013758,000217: 06,3506           00131                           TC       BUF        +1                         #  NO
013759,000218: 

Page 314

013761,000220: 06,3507           31335        1/CHECK            CA       MODECADR                              
013762,000221: 06,3510           00006                           EXTEND                                         
013763,000222: 06,3511           13513                           BZF      1/GYRO                                
013764,000223: 06,3512           15205                           TCF      ENDOFJOB                              
013765,000224: 
013766,000225: 06,3513           34766        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013767,000226: 06,3514           54130                 +1        TS       BUF                                   
013768,000227: 
013769,000228: 06,3515           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
013770,000229: 06,3516           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
013771,000230: 06,3517           00006                           EXTEND                                         
013772,000231: 06,3520           74761                           MP       BIT8                                  #  SHIFT RIGHT 7
013773,000232: 06,3521           50130                           INDEX    BUF                                   
013774,000233: 06,3522           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
013775,000234: 
013776,000235: 06,3523           34772                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
013777,000236: 06,3524           50130                           INDEX    BUF                                   
013778,000237: 06,3525           57471                           XCH      GCOMP                                 #  GYRO PULSES
013779,000238: 06,3526           00006                           EXTEND                                         
013780,000239: 06,3527           74761                           MP       BIT8                                  #  SHIFT RIGHT 7
013781,000240: 06,3530           50130                           INDEX    BUF                                   
013782,000241: 06,3531           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
013783,000242: 
013784,000243: 06,3532           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013785,000244: 06,3533           67702                           AD       NEG1                                  
013786,000245: 06,3534           13514                           TCF      1/GYRO     +1                         
013787,000246: 06,3535           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
013788,000247: 
013789,000248: 06,3536           33535                           CAF      LGCOMP                                
013790,000249: 06,3537           04636                           TC       BANKCALL                              
013791,000250: 06,3540           17244                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
013792,000251: 06,3541           04636                           TC       BANKCALL                              
013793,000252: 06,3542           17644                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
013794,000253: 06,3543           13544                           TCF      +1                                    
013795,000254: 
013796,000255: 06,3544           34766        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013797,000256: 06,3545           54130                 +1        TS       BUF                                   
013798,000257: 
013799,000258: 06,3546           50130                           INDEX    BUF                                   #  RESCALE
013800,000259: 06,3547           31472                           CA       GCOMP      +1                         
013801,000260: 06,3550           00006                           EXTEND                                         
013802,000261: 06,3551           74761                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013803,000262: 06,3552           50130                           INDEX    BUF                                   
013804,000263: 06,3553           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
013805,000264: 
013806,000265: 06,3554           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013807,000266: 06,3555           67702                           AD       NEG1                                  
013808,000267: 06,3556           13545                           TCF      GCOMP1     +1                         
013809,000268: 06,3557           75252        OCT75252           OCT      75252                                 #  -15 DEGREES USED BY T4RUPT
013810,000269: 06,3560           15205                           TCF      ENDOFJOB                              
013811,000270: 

Page 315

013813,000272: 06,3561           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013814,000273: 06,3562           13565                           TCF      +3                                    
013815,000274: 06,3563           13565                           TCF      +2                                    
013816,000275: 06,3564           15205                           TCF      ENDOFJOB                              
013817,000276: 
013818,000277: 06,3565           00004                           INHINT                                         
013819,000278: 06,3566           30076                           CA       FLAGWRD2                              
013820,000279: 06,3567           74752                           MASK     DRFTBIT                               
013821,000280: 06,3570           00006                           EXTEND                                         
013822,000281: 06,3571           15205                           BZF      ENDOFJOB                              
013823,000282: 
013824,000283: 06,3572           30025                           CA       TIME1                                 #  (CS) X 2(+14)
013825,000284: 06,3573           57277                           XCH      1/PIPADT                              #  PREVIOUS TIME
013826,000285: 06,3574           00003                           RELINT                                         
013827,000286: 06,3575           40000                           COM                                            
013828,000287: 06,3576           61277                           AD       1/PIPADT                              
013829,000288: 06,3577           10000        NBD2               CCS      A                                     #  CALCULATE ELAPSED TIME
013830,000289: 06,3600           64770                           AD       ONE                                   #  NO TIME1 OVERFLOW
013831,000290: 06,3601           13606                           TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
013832,000291: 06,3602           13604                           TCF      +2                                    #  TIME1 OVERFLOW
013833,000292: 06,3603           15205                           TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013834,000293: 
013835,000294: 06,3604           40000                           COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
013836,000295: 06,3605           64750                           AD       POSMAX                                
013837,000296: 
013838,000297: 06,3606           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
013839,000298: 06,3607           74757                           MP       BIT10                                 #  SHIFT RIGHT 5
013840,000299: 06,3610           52123                           DXCH     VBUF                                  
013841,000300: 06,3611           00006                           EXTEND                                         
013842,000301: 06,3612           30123                           DCA      VBUF                                  
013843,000302: 06,3613           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
013844,000303: 
013845,000304: 06,3614           34772                           CAF      ZERO                                  
013846,000305: 06,3615           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
013847,000306: 06,3616           54130                           TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
013848,000307: 
013849,000308: 06,3617           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013850,000309: 06,3620           03636                           TC       FBIASSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
013851,000310: 
013852,000311: 06,3621           00006                           EXTEND                                         
013853,000312: 06,3622           40123                           DCS      VBUF                                  
013854,000313: 06,3623           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013855,000314: 06,3624           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013856,000315: 06,3625           03636                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013857,000316: 
013858,000317: 06,3626           00006                           EXTEND                                         
013859,000318: 06,3627           40123                           DCS      VBUF                                  
013860,000319: 06,3630           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013861,000320: 06,3631           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013862,000321: 06,3632           03636                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)

Page 316

013864,000323: 06,3633           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013865,000324: 06,3634           13513                           TCF      1/GYRO                                #  YES
013866,000325: 06,3635           15205                           TCF      ENDOFJOB                              #  NO
013867,000326: 

Page 317

013869,000328: 06,3636           56002        FBIASSUB           XCH      Q                                     
013870,000329: 06,3637           54131                           TS       BUF        +1                         
013871,000330: 
013872,000331: 06,3640           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013873,000332: 06,3641           00006                           EXTEND                                         
013874,000333: 06,3642           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013875,000334: 06,3643           50130                           INDEX    BUF                                   
013876,000335: 06,3644           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013877,000336: 
013878,000337: 06,3645           30002                           CA       Q                                     #  NOW FRACTIONAL PART
013879,000338: 06,3646           00006                           EXTEND                                         
013880,000339: 06,3647           70155                           MP       MPAC       +1                         
013881,000340: 06,3650           54001                           TS       L                                     
013882,000341: 06,3651           34772                           CAF      ZERO                                  
013883,000342: 06,3652           50130                           INDEX    BUF                                   
013884,000343: 06,3653           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013885,000344: 
013886,000345: 06,3654           13474                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
013887,000346: 
013888,000347: 06,3655           04636        LASTBIAS           TC       BANKCALL                              
013889,000348: 06,3656           17214                           CADR     PIPUSE                                
013890,000349: 
013891,000350: 06,3657           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013892,000351: 06,3660           13663                           TCF      +3                                    
013893,000352: 06,3661           13663                           TCF      +2                                    
013894,000353: 06,3662           15205                           TCF      ENDOFJOB                              
013895,000354: 
013896,000355: 06,3663           37652                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
013897,000356: 06,3664           57277                           XCH      1/PIPADT                              
013898,000357: 06,3665           40000                           COM                                            
013899,000358: 06,3666           61105                           AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
013900,000359: 06,3667           13577                           TCF      NBD2                                  
013901,000360: 
013902,000361: 06,3670           21450        90SECS             DEC      9000       B-14                       
013903,000362: 06,3671           16037        20DEGS             DEC      7199       B-14                       

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