Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

013603,000002:                                                                                                  ## Copyright:   Public domain.
013604,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
013605,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
013606,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
013607,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
013608,000007:                                                                                                  ##              Apollo 15-17.
013609,000008:                                                                                                  ## Assembler:   yaYUL
013610,000009:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
013611,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
013612,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
013613,000012:                                                                                                  ## Mod history: 2009-08-09 JL   Adapted from corresponding Comanche 055 file.
013614,000013:                                                                                                  ##              2010-02-11 JL   Fixed error on p315.
013615,000014:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
013616,000015:                                                                                                  ##              2017-02-05 RSB  Proofed comment text by diff'ing vs Comanche 55
013617,000016:                                                                                                  ##                              and corrected errors found.
013618,000017: 

Page 308

013620,000019: 
013621,000020: 06,2000                                           SETLOC   IMUCOMP                               
013622,000021: 06,2000                                           BANK                                           
013623,000022: 06,3276  E3,1460                                  EBANK=   NBDX                                  
013624,000023: 
013625,000024: 06,3276                                           COUNT*   $$/ICOMP                              
013626,000025: 06,3276           33535        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
013627,000026: 06,3277           56003                           XCH      EBANK                                 
013628,000027: 06,3300           54163                           TS       MODE                                  
013629,000028: 
013630,000029: 06,3301           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013631,000030: 06,3302           13305                           TCF      +3                                    
013632,000031: 06,3303           13305                           TCF      +2                                    
013633,000032: 06,3304           13422                           TCF      IRIG1                                 #  RETURN
013634,000033: 
013635,000034: 06,3305           00004                           INHINT                                         #  ASSURE COMPLETE COMPENSATION OF DELV'S
013636,000035:                                                                                                  #  FOR DOWNLINK.
013637,000036: 
013638,000037: 06,3306           34766        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013639,000038: 06,3307           77702                 +1        MASK     NEGONE                                
013640,000039: 06,3310           54132                           TS       BUF        +2                         
013641,000040: 
013642,000041: 06,3311           50132                           INDEX    BUF        +2                         
013643,000042: 06,3312           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
013644,000043: 06,3313           00006                           EXTEND                                         
013645,000044: 06,3314           50132                           INDEX    BUF        +2                         
013646,000045: 06,3315           71314                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013647,000046: 06,3316           54002                           TS       Q                                     #  SAVE MAJOR PART
013648,000047: 
013649,000048: 06,3317           30001                           CA       L                                     #  MINOR PART
013650,000049: 06,3320           00006                           EXTEND                                         
013651,000050: 06,3321           74763                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013652,000051: 06,3322           50132                           INDEX    BUF        +2                         
013653,000052: 06,3323           55315                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
013654,000053: 
013655,000054: 06,3324           30002                           CA       Q                                     #  MAJOR PART
013656,000055: 06,3325           00006                           EXTEND                                         
013657,000056: 06,3326           74763                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013658,000057: 06,3327           50132                           INDEX    BUF        +2                         
013659,000058: 06,3330           21315                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
013660,000059: 
013661,000060: 06,3331           50132                           INDEX    BUF        +2                         
013662,000061: 06,3332           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-6)
013663,000062: 06,3333           00006                           EXTEND                                         
013664,000063: 06,3334           71277                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
013665,000064: 06,3335           00006                           EXTEND                                         
013666,000065: 06,3336           74766                           MP       BIT3                                  #  SCALE 2(+12) SHIFT RIGHT 12
013667,000066: 06,3337           50132                           INDEX    BUF        +2                         
013668,000067: 06,3340           21315                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013669,000068: 
013670,000069: 06,3341           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
013671,000070: 06,3342           13307                           TCF      1/PIPA1    +1                         

Page 309

013673,000072: 06,3343           00003                           RELINT                                         

Page 310

013675,000074: 
013676,000075: 06,3344           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
013677,000076: 06,3345           54130                           TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
013678,000077: 
013679,000078: 06,3346           00006        IRIGX              EXTEND                                         
013680,000079: 06,3347           41315                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
013681,000080: 06,3350           52155                           DXCH     MPAC                                  
013682,000081: 06,3351           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013683,000082: 06,3352           03425                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)       (GYRO PULSES) X 2(+14)
013684,000083: 
013685,000084: 06,3353           00006                           EXTEND                                         
013686,000085: 06,3354           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013687,000086: 06,3355           52155                           DXCH     MPAC                                  
013688,000087: 06,3356           41466                           CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013689,000088: 06,3357           03425                           TC       GCOMPSUB                              #  +(ADSRAX)(PIPAY)      (GYRO PULSES) X 2(+14)
013690,000089: 
013691,000090:                                                                                                  #                EXTEND                  ***
013692,000091:                                                                                                  #                DCS     DELVZ           *** (PIPA PULSES) X 2(+14)
013693,000092:                                                                                                  #                DXCH    MPAC            ***
013694,000093:                                                                                                  #                CA      ADOAX           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013695,000094:                                                                                                  #                TC      GCOMPSUB        *** -(ADOAX)(PIPAZ)     (GYRO PULSES) X 2(+14)
013696,000095: 
013697,000096: 06,3360           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013698,000097: 06,3361           03454                           TC       DRIFTSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
013699,000098: 
013700,000099: 06,3362           00006        IRIGY              EXTEND                                         
013701,000100: 06,3363           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013702,000101: 06,3364           52155                           DXCH     MPAC                                  
013703,000102: 06,3365           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013704,000103: 06,3366           03425                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)       (GYRO PULSES) X 2(+14)
013705,000104: 
013706,000105: 06,3367           00006                           EXTEND                                         
013707,000106: 06,3370           41321                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013708,000107: 06,3371           52155                           DXCH     MPAC                                  
013709,000108: 06,3372           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013710,000109: 06,3373           03425                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)      (GYRO PULSES) X 2(+14)
013711,000110: 
013712,000111:                                                                                                  #                EXTEND                  ***
013713,000112:                                                                                                  #                DCS     DELVX           *** (PIPA PULSES) X 2(+14)
013714,000113:                                                                                                  #                DXCH    MPAC            ***
013715,000114:                                                                                                  #                CA      ADOAY           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013716,000115:                                                                                                  #                TC      GCOMPSUB        *** -(ADOAY)(PIPAX)     (GYRO PULSES) X 2(+14)
013717,000116: 
013718,000117: 06,3374           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013719,000118: 06,3375           03454                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013720,000119: 
013721,000120: 06,3376           00006        IRIGZ              EXTEND                                         
013722,000121: 06,3377           41317                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013723,000122: 06,3400           52155                           DXCH     MPAC                                  
013724,000123: 06,3401           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *

Page 311

013726,000125: 06,3402           03425                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)      (GYRO PULSES) X 2(+14)
013727,000126: 
013728,000127: 06,3403           00006                           EXTEND                                         
013729,000128: 06,3404           41321                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013730,000129: 06,3405           52155                           DXCH     MPAC                                  
013731,000130: 06,3406           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013732,000131: 06,3407           03425                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)       (GYRO PULSES) X 2(+14)
013733,000132: 
013734,000133:                                                                                                  #                EXTEND                  ***
013735,000134:                                                                                                  #                DCS     DELVX           *** (PIPA PULSE) X 2(+14)
013736,000135:                                                                                                  #                DXCH    MPAC            ***
013737,000136:                                                                                                  #                CS      ADOAZ           *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)  *
013738,000137:                                                                                                  #                TC      GCOMPSUB        *** +(ADOAZ)(PIPAX)     (GYRO PULSES) X 2(+14)
013739,000138: 
013740,000139: 06,3410           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013741,000140: 06,3411           03454                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
013742,000141: 

Page 312

013744,000143: 06,3412           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013745,000144: 06,3413           13415                           TCF      +2                                    #  YES
013746,000145: 06,3414           13422                           TCF      IRIG1                                 #  NO
013747,000146: 
013748,000147: 06,3415           35057                           CA       PRIO21                                #  HIGHER THAN SERVICER-LESS THAN PRELAUNCH
013749,000148: 06,3416           05121                           TC       NOVAC                                 
013750,000149: 06,3417  E3,1460                                  EBANK=   NBDX                                  
013751,000150: 06,3417           03507 14063                     2CADR    1/CHECK                               
013752,000151: 
013753,000152: 06,3421           00003                           RELINT                                         
013754,000153: 06,3422           30163        IRIG1              CA       MODE                                  #  SET EBANK FOR RETURN
013755,000154: 06,3423           54003                           TS       EBANK                                 
013756,000155: 06,3424           14651                           TCF      SWRETURN                              
013757,000156: 
013758,000157: 06,3425           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013759,000158: 06,3426           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
013760,000159: 06,3427           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
013761,000160: 06,3430           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
013762,000161: 
013763,000162: 06,3431           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
013764,000163: 06,3432           00006                           EXTEND                                         
013765,000164: 06,3433           70154                           MP       MPAC                                  #  ADIA OR ADSRA
013766,000165: 06,3434           54001                           TS       L                                     
013767,000166: 06,3435           34772                           CAF      ZERO                                  
013768,000167: 06,3436           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
013769,000168: 
013770,000169: 06,3437           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
013771,000170: 06,3440           00006                           EXTEND                                         
013772,000171: 06,3441           74755                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
013773,000172: 06,3442           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013774,000173: 06,3443           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
013775,000174: 
013776,000175: 06,3444           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
013777,000176: 06,3445           00006                           EXTEND                                         
013778,000177: 06,3446           74755                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
013779,000178: 06,3447           54001                           TS       L                                     
013780,000179: 06,3450           34772                           CAF      ZERO                                  
013781,000180: 06,3451           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013782,000181: 06,3452           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
013783,000182: 
013784,000183: 06,3453           00002                           TC       Q                                     
013785,000184: 

Page 313

013787,000186: 06,3454           00006        DRIFTSUB           EXTEND                                         
013788,000187: 06,3455           22131                           QXCH     BUF        +1                         
013789,000188: 
013790,000189: 06,3456           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
013791,000190: 06,3457           71277                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
013792,000191: 06,3460           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
013793,000192: 06,3461           00006                           EXTEND                                         
013794,000193: 06,3462           74765                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013795,000194: 06,3463           50130                           INDEX    BUF                                   
013796,000195: 06,3464           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013797,000196: 
013798,000197: 06,3465           30155                           CA       MPAC       +1                         #  NOW MINOR PART
013799,000198: 06,3466           00006                           EXTEND                                         
013800,000199: 06,3467           74765                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013801,000200: 06,3470           54001                           TS       L                                     
013802,000201: 06,3471           34772                           CAF      ZERO                                  
013803,000202: 06,3472           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
013804,000203: 06,3473           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013805,000204: 
013806,000205: 06,3474           34767        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
013807,000206: 06,3475           60130                           AD       BUF                                   
013808,000207: 06,3476           56130                           XCH      BUF                                   
013809,000208: 06,3477           50000                           INDEX    A                                     
013810,000209: 06,3500           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
013811,000210: 06,3501           13503                           TCF      +2                                    #  YES
013812,000211: 06,3502           00131                           TC       BUF        +1                         #  NO
013813,000212: 
013814,000213: 06,3503           77702                           MASK     NEGONE                                
013815,000214: 06,3504           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013816,000215: 06,3505           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
013817,000216: 06,3506           00131                           TC       BUF        +1                         #  NO
013818,000217: 

Page 314

013820,000219: 06,3507           31335        1/CHECK            CA       MODECADR                              
013821,000220: 06,3510           00006                           EXTEND                                         
013822,000221: 06,3511           13513                           BZF      1/GYRO                                
013823,000222: 06,3512           15205                           TCF      ENDOFJOB                              
013824,000223: 
013825,000224: 06,3513           34766        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013826,000225: 06,3514           54130                 +1        TS       BUF                                   
013827,000226: 
013828,000227: 06,3515           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
013829,000228: 06,3516           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
013830,000229: 06,3517           00006                           EXTEND                                         
013831,000230: 06,3520           74761                           MP       BIT8                                  #  SHIFT RIGHT 7
013832,000231: 06,3521           50130                           INDEX    BUF                                   
013833,000232: 06,3522           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
013834,000233: 
013835,000234: 06,3523           34772                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
013836,000235: 06,3524           50130                           INDEX    BUF                                   
013837,000236: 06,3525           57471                           XCH      GCOMP                                 #  GYRO PULSES
013838,000237: 06,3526           00006                           EXTEND                                         
013839,000238: 06,3527           74761                           MP       BIT8                                  #  SHIFT RIGHT 7
013840,000239: 06,3530           50130                           INDEX    BUF                                   
013841,000240: 06,3531           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
013842,000241: 
013843,000242: 06,3532           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013844,000243: 06,3533           67702                           AD       NEG1                                  
013845,000244: 06,3534           13514                           TCF      1/GYRO     +1                         
013846,000245: 06,3535           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
013847,000246: 
013848,000247: 06,3536           33535                           CAF      LGCOMP                                
013849,000248: 06,3537           04636                           TC       BANKCALL                              
013850,000249: 06,3540           17244                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
013851,000250: 06,3541           04636                           TC       BANKCALL                              
013852,000251: 06,3542           17644                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
013853,000252: 06,3543           13544                           TCF      +1                                    
013854,000253: 
013855,000254: 06,3544           34766        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013856,000255: 06,3545           54130                 +1        TS       BUF                                   
013857,000256: 
013858,000257: 06,3546           50130                           INDEX    BUF                                   #  RESCALE
013859,000258: 06,3547           31472                           CA       GCOMP      +1                         
013860,000259: 06,3550           00006                           EXTEND                                         
013861,000260: 06,3551           74761                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013862,000261: 06,3552           50130                           INDEX    BUF                                   
013863,000262: 06,3553           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
013864,000263: 
013865,000264: 06,3554           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013866,000265: 06,3555           67702                           AD       NEG1                                  
013867,000266: 06,3556           13545                           TCF      GCOMP1     +1                         
013868,000267: 06,3557           75252        OCT75252           OCT      75252                                 #  -15 DEGREES USED BY T4RUPT
013869,000268: 06,3560           15205                           TCF      ENDOFJOB                              
013870,000269: 

Page 315

013872,000271: 06,3561           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013873,000272: 06,3562           13565                           TCF      +3                                    
013874,000273: 06,3563           13565                           TCF      +2                                    
013875,000274: 06,3564           15205                           TCF      ENDOFJOB                              
013876,000275: 
013877,000276: 06,3565           00004                           INHINT                                         
013878,000277: 06,3566           30076                           CA       FLAGWRD2                              
013879,000278: 06,3567           74752                           MASK     DRFTBIT                               
013880,000279: 06,3570           00006                           EXTEND                                         
013881,000280: 06,3571           15205                           BZF      ENDOFJOB                              
013882,000281: 
013883,000282: 06,3572           30025                           CA       TIME1                                 #  (CS) X 2(+14)
013884,000283: 06,3573           57277                           XCH      1/PIPADT                              #  PREVIOUS TIME
013885,000284: 06,3574           00003                           RELINT                                         
013886,000285: 06,3575           40000                           COM                                            
013887,000286: 06,3576           61277                           AD       1/PIPADT                              
013888,000287: 06,3577           10000        NBD2               CCS      A                                     #  CALCULATE ELAPSED TIME
013889,000288: 06,3600           64770                           AD       ONE                                   #  NO TIME1 OVERFLOW
013890,000289: 06,3601           13606                           TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
013891,000290: 06,3602           13604                           TCF      +2                                    #  TIME1 OVERFLOW
013892,000291: 06,3603           15205                           TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013893,000292: 
013894,000293: 06,3604           40000                           COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
013895,000294: 06,3605           64750                           AD       POSMAX                                
013896,000295: 
013897,000296: 06,3606           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
013898,000297: 06,3607           74757                           MP       BIT10                                 #  SHIFT RIGHT 5
013899,000298: 06,3610           52123                           DXCH     VBUF                                  
013900,000299: 06,3611           00006                           EXTEND                                         
013901,000300: 06,3612           30123                           DCA      VBUF                                  
013902,000301: 06,3613           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
013903,000302: 
013904,000303: 06,3614           34772                           CAF      ZERO                                  
013905,000304: 06,3615           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
013906,000305: 06,3616           54130                           TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
013907,000306: 
013908,000307: 06,3617           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013909,000308: 06,3620           03636                           TC       FBIASSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
013910,000309: 
013911,000310: 06,3621           00006                           EXTEND                                         
013912,000311: 06,3622           40123                           DCS      VBUF                                  
013913,000312: 06,3623           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013914,000313: 06,3624           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013915,000314: 06,3625           03636                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013916,000315: 
013917,000316: 06,3626           00006                           EXTEND                                         
013918,000317: 06,3627           40123                           DCS      VBUF                                  
013919,000318: 06,3630           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013920,000319: 06,3631           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013921,000320: 06,3632           03636                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)

Page 316

013923,000322: 06,3633           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013924,000323: 06,3634           13513                           TCF      1/GYRO                                #  YES
013925,000324: 06,3635           15205                           TCF      ENDOFJOB                              #  NO
013926,000325: 

Page 317

013928,000327: 06,3636           56002        FBIASSUB           XCH      Q                                     
013929,000328: 06,3637           54131                           TS       BUF        +1                         
013930,000329: 
013931,000330: 06,3640           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013932,000331: 06,3641           00006                           EXTEND                                         
013933,000332: 06,3642           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013934,000333: 06,3643           50130                           INDEX    BUF                                   
013935,000334: 06,3644           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013936,000335: 
013937,000336: 06,3645           30002                           CA       Q                                     #  NOW FRACTIONAL PART
013938,000337: 06,3646           00006                           EXTEND                                         
013939,000338: 06,3647           70155                           MP       MPAC       +1                         
013940,000339: 06,3650           54001                           TS       L                                     
013941,000340: 06,3651           34772                           CAF      ZERO                                  
013942,000341: 06,3652           50130                           INDEX    BUF                                   
013943,000342: 06,3653           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013944,000343: 
013945,000344: 06,3654           13474                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
013946,000345: 
013947,000346: 06,3655           04636        LASTBIAS           TC       BANKCALL                              
013948,000347: 06,3656           17214                           CADR     PIPUSE                                
013949,000348: 
013950,000349: 06,3657           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013951,000350: 06,3660           13663                           TCF      +3                                    
013952,000351: 06,3661           13663                           TCF      +2                                    
013953,000352: 06,3662           15205                           TCF      ENDOFJOB                              
013954,000353: 
013955,000354: 06,3663           37652                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
013956,000355: 06,3664           57277                           XCH      1/PIPADT                              
013957,000356: 06,3665           40000                           COM                                            
013958,000357: 06,3666           61105                           AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
013959,000358: 06,3667           13577                           TCF      NBD2                                  
013960,000359: 
013961,000360: 06,3670           21450        90SECS             DEC      9000       B-14                       
013962,000361: 06,3671           16037        20DEGS             DEC      7199       B-14                       

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