Source Code
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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.
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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:
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Page 308
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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
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Page 309
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013614,000073: 06,3343 00003 RELINT
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Page 310
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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) *
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Page 311
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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:
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Page 312
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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:
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Page 313
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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:
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Page 314
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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:
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Page 315
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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)
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Page 316
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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:
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Page 317
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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