Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are 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 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

012573,000002:                                                                                                  ## Copyright:   Public domain.
012574,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
012575,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
012576,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
012577,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
012578,000007:                                                                                                  ## Assembler:   yaYUL
012579,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
012580,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
012581,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
012582,000011:                                                                                                  ## Mod history: 2011-01-23 JL   Adapted from corresponding Colossus 249 file.
012583,000012:                                                                                                  ##              2016-12-30 RSB  Proofed comment text using octopus/ProoferComments,
012584,000013:                                                                                                  ##                              and corrected errors found.
012585,000014:                                                                                                  ##              2017-01-14 RSB  Fixed comment-text errors located while 
012586,000015:                                                                                                  ##                              diff'ing against Colossus 249.
012587,000016: 

Page 290

012589,000018: 
012590,000019: 07,2440                                           BANK     7                                     
012591,000020: 06,2000                                           SETLOC   IMUCOMP                               
012592,000021: 06,2000                                           BANK                                           
012593,000022: 06,3262  E3,1460                                  EBANK=   NBDX                                  
012594,000023: 
012595,000024: 06,3262                                           COUNT    06/ICOMP                              
012596,000025: 
012597,000026: 06,3262           33516        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
012598,000027: 06,3263           56003                           XCH      EBANK                                 
012599,000028: 06,3264           54163                           TS       MODE                                  
012600,000029: 
012601,000030: 06,3265           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012602,000031: 06,3266           13271                           TCF      +3                                    
012603,000032: 06,3267           13271                           TCF      +2                                    
012604,000033: 06,3270           13407                           TCF      IRIG1                                 #  RETURN
012605,000034: 
012606,000035: 06,3271           00004                           INHINT                                         #   ASSURE COMPLETE COMPENSATION OF DELV'S
012607,000036:                                                                                                  #                                          FOR DOWNLINK.
012608,000037: 06,3272           34710        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012609,000038: 06,3273           54132                           TS       BUF        +2                         
012610,000039: 
012611,000040: 06,3274           50132                           INDEX    BUF        +2                         
012612,000041: 06,3275           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
012613,000042: 06,3276           00006                           EXTEND                                         
012614,000043: 06,3277           50132                           INDEX    BUF        +2                         
012615,000044: 06,3300           71162                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012616,000045: 06,3301           54002                           TS       Q                                     #  SAVE MAJOR PART
012617,000046: 
012618,000047: 06,3302           30001                           CA       L                                     #  MINOR PART
012619,000048: 06,3303           00006                           EXTEND                                         
012620,000049: 06,3304           74705                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9   
012621,000050: 06,3305           50132                           INDEX    BUF        +2                         
012622,000051: 06,3306           55163                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
012623,000052: 
012624,000053: 06,3307           30002                           CA       Q                                     #  MAJOR PART
012625,000054: 06,3310           00006                           EXTEND                                         
012626,000055: 06,3311           74705                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
012627,000056: 06,3312           50132                           INDEX    BUF        +2                         
012628,000057: 06,3313           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
012629,000058: 
012630,000059: 06,3314           50132                           INDEX    BUF        +2                         
012631,000060: 06,3315           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-8)             *
012632,000061: 06,3316           00006                           EXTEND                                         
012633,000062: 06,3317           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)  NOW (PIPA PULSES) X 2(+0)*
012634,000063: 06,3320           00006                           EXTEND                                         
012635,000064: 06,3321           74712                           MP       BIT1                                  #  SCALE 2(+14)  SHIFT RIGHT 14           *
012636,000065: 06,3322           50132                           INDEX    BUF        +2                         
012637,000066: 06,3323           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012638,000067: 
012639,000068: 06,3324           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX

Page 291

012641,000070: 06,3325           67716                           AD       NEG1                                  
012642,000071: 06,3326           13273                           TCF      1/PIPA1    +1                         
012643,000072: 06,3327           13330                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE.
012644,000073: 06,3330           00003                           RELINT                                         
012645,000074: 

Page 292

012647,000076: 
012648,000077: 
012649,000078: 06,3331           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012650,000079: 06,3332           54130                           TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012651,000080: 
012652,000081: 06,3333           00006        IRIGX              EXTEND                                         
012653,000082: 06,3334           41163                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
012654,000083: 06,3335           52155                           DXCH     MPAC                                  
012655,000084: 06,3336           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012656,000085: 06,3337           03412                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)   (GYRO PULSES) X 2(+14)
012657,000086: 
012658,000087: 06,3340           00006                           EXTEND                                         #  
012659,000088: 06,3341           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012660,000089: 06,3342           52155                           DXCH     MPAC                                  #  
012661,000090: 06,3343           41466                           CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012662,000091: 06,3344           03412                           TC       GCOMPSUB                              #  +(ADSRAX)(PIPAY)  (GYRO PULSES) X 2(+14)
012663,000092: 
012664,000093:                                                                                                  #                EXTEND            ***
012665,000094:                                                                                                  #                DCS     DELVZ     ***   (PIPA PULSES) X 2(+14)
012666,000095:                                                                                                  #                DXCH    MPAC      ***
012667,000096:                                                                                                  #                CA      ADOAX     ***   (GYRO PULSES)/(PIPA PULSE) X 2(-3)       *
012668,000097:                                                                                                  #                TC      GCOMPSUB  ***   -(ADOAX)(PIPAZ)   (GYRO PULSES) X 2(+14)
012669,000098: 
012670,000099: 06,3345           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012671,000100: 06,3346           03441                           TC       DRIFTSUB                              #  -(NBDX)(DELTAT)   (GYRO PULSES) X 2(+14)
012672,000101: 
012673,000102: 06,3347           00006        IRIGY              EXTEND                                         
012674,000103: 06,3350           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012675,000104: 06,3351           52155                           DXCH     MPAC                                  
012676,000105: 06,3352           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012677,000106: 06,3353           03412                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)   (GYRO PULSES) X 2(+14)
012678,000107: 
012679,000108: 06,3354           00006                           EXTEND                                         
012680,000109: 06,3355           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012681,000110: 06,3356           52155                           DXCH     MPAC                                  
012682,000111: 06,3357           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012683,000112: 06,3360           03412                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)  (GYRO PULSES) X 2(+14)
012684,000113: 
012685,000114:                                                                                                  #                EXTEND            ***
012686,000115:                                                                                                  #                DCS     DELVX     ***   (PIPA PULSES) X 2(+14)
012687,000116:                                                                                                  #                DXCH    MPAC      ***
012688,000117:                                                                                                  #                CA      ADOAY     ***   (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012689,000118:                                                                                                  #                TC      GCOMPSUB  ***   -(ADOAY)(PIPAX)     (GYRO PULSES) X 2(+14)
012690,000119: 
012691,000120: 06,3361           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
012692,000121: 06,3362           03441                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
012693,000122: 
012694,000123: 06,3363           00006        IRIGZ              EXTEND                                         
012695,000124: 06,3364           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012696,000125: 06,3365           52155                           DXCH     MPAC                                  
012697,000126: 06,3366           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *

Page 293

012699,000128: 06,3367           03412                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)  (GYRO PULSES) X 2(+14)
012700,000129: 
012701,000130: 06,3370           00006                           EXTEND                                         
012702,000131: 06,3371           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012703,000132: 06,3372           52155                           DXCH     MPAC                                  
012704,000133: 06,3373           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012705,000134: 06,3374           03412                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)   (GYRO PULSES) X 2(+14)
012706,000135: 
012707,000136:                                                                                                  #                EXTEND            ***
012708,000137:                                                                                                  #                DCS     DELVX     ***   (PIPA PULSE) X 2(+14)
012709,000138:                                                                                                  #                DXCH    MPAC      ***
012710,000139:                                                                                                  #                CS      ADOAZ     ***   (GYRO PULSES)/(PIPA PULSE) X 2(-3)       *
012711,000140:                                                                                                  #                TC      GCOMPSUB  ***   +(ADOAZ)(PIPAX)     (GYRO PULSES) X 2(+14)
012712,000141: 
012713,000142: 06,3375           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012714,000143: 06,3376           03441                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)    (GYRO PULSES) X 2(+14)
012715,000144: 

Page 294

012717,000146: 06,3377           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012718,000147: 06,3400           13402                           TCF      +2                                    #  YES   
012719,000148: 06,3401           13407                           TCF      IRIG1                                 #  NO    
012720,000149: 
012721,000150: 06,3402           34764                           CA       PRIO17                                #  LEM PRIORITY HIGHER-THIS FOR PRELAUNCH
012722,000151: 06,3403           05027                           TC       NOVAC                                 
012723,000152: 06,3404  E3,1460                                  EBANK=   NBDX                                  
012724,000153: 06,3404           03474 14063                     2CADR    1/GYRO                                
012725,000154: 
012726,000155: 06,3406           00003                           RELINT                                         
012727,000156: 06,3407           30163        IRIG1              CA       MODE                                  #  SET EBANK FOR RETURN
012728,000157: 06,3410           54003                           TS       EBANK                                 
012729,000158: 06,3411           14570                           TCF      SWRETURN                              
012730,000159: 
012731,000160: 06,3412           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012732,000161: 06,3413           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
012733,000162: 06,3414           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012734,000163: 06,3415           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)           *
012735,000164: 
012736,000165: 06,3416           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
012737,000166: 06,3417           00006                           EXTEND                                         
012738,000167: 06,3420           70154                           MP       MPAC                                  #  ADIA OR ADSRA
012739,000168: 06,3421           54001                           TS       L                                     
012740,000169: 06,3422           34714                           CAF      ZERO                                  
012741,000170: 06,3423           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)           *
012742,000171: 
012743,000172: 06,3424           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
012744,000173: 06,3425           00006                           EXTEND                                         
012745,000174: 06,3426           74677                           MP       BIT12                                 #  SCALE 2(+3)      SHIFT RIGHT 3         *
012746,000175: 06,3427           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012747,000176: 06,3430           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012748,000177: 
012749,000178: 06,3431           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
012750,000179: 06,3432           00006                           EXTEND                                         
012751,000180: 06,3433           74677                           MP       BIT12                                 #  SCALE 2(+3)      SHIFT RIGHT 3         *
012752,000181: 06,3434           54001                           TS       L                                     
012753,000182: 06,3435           34714                           CAF      ZERO                                  
012754,000183: 06,3436           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012755,000184: 06,3437           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012756,000185: 
012757,000186: 06,3440           00002                           TC       Q                                     
012758,000187: 

Page 295

012760,000189: 06,3441           00006        DRIFTSUB           EXTEND                                         
012761,000190: 06,3442           22131                           QXCH     BUF        +1                         
012762,000191: 
012763,000192: 06,3443           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
012764,000193: 06,3444           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
012765,000194: 06,3445           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
012766,000195: 06,3446           00006                           EXTEND                                         
012767,000196: 06,3447           74707                           MP       BIT4                                  #  SCALE 2(+11)     SHIFT RIGHT 11
012768,000197: 06,3450           50130                           INDEX    BUF                                   
012769,000198: 06,3451           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
012770,000199: 
012771,000200: 06,3452           30155                           CA       MPAC       +1                         #  NOW MINOR PART
012772,000201: 06,3453           00006                           EXTEND                                         
012773,000202: 06,3454           74707                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
012774,000203: 06,3455           54001                           TS       L                                     
012775,000204: 06,3456           34714                           CAF      ZERO                                  
012776,000205: 06,3457           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
012777,000206: 06,3460           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
012778,000207: 
012779,000208: 06,3461           34711        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
012780,000209: 06,3462           60130                           AD       BUF                                   
012781,000210: 06,3463           56130                           XCH      BUF                                   
012782,000211: 06,3464           50000                           INDEX    A                                     
012783,000212: 06,3465           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
012784,000213: 06,3466           13470                           TCF      +2                                    #  YES
012785,000214: 06,3467           00131                           TC       BUF        +1                         #  NO
012786,000215: 
012787,000216: 06,3470           77716                           MASK     NEGONE                                
012788,000217: 06,3471           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012789,000218: 06,3472           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
012790,000219: 06,3473           00131                           TC       BUF        +1                         #  NO
012791,000220: 

Page 296

012793,000222: 06,3474           34710        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012794,000223: 06,3475           54130                           TS       BUF                                   
012795,000224: 
012796,000225: 06,3476           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
012797,000226: 06,3477           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
012798,000227: 06,3500           00006                           EXTEND                                         
012799,000228: 06,3501           74703                           MP       BIT8                                  #  SHIFT RIGHT 7
012800,000229: 06,3502           50130                           INDEX    BUF                                   
012801,000230: 06,3503           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
012802,000231: 
012803,000232: 06,3504           34714                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
012804,000233: 06,3505           50130                           INDEX    BUF                                   
012805,000234: 06,3506           57471                           XCH      GCOMP                                 #  GYRO PULSES
012806,000235: 06,3507           00006                           EXTEND                                         
012807,000236: 06,3510           74703                           MP       BIT8                                  #  SHIFT RIGHT 7
012808,000237: 06,3511           50130                           INDEX    BUF                                   
012809,000238: 06,3512           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
012810,000239: 
012811,000240: 06,3513           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012812,000241: 06,3514           67716                           AD       NEG1                                  
012813,000242: 06,3515           13475                           TCF      1/GYRO     +1                         
012814,000243: 06,3516           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
012815,000244: 
012816,000245: 06,3517           33516                           CAF      LGCOMP                                
012817,000246: 06,3520           04555                           TC       BANKCALL                              
012818,000247: 06,3521           17125                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
012819,000248: 06,3522           04555                           TC       BANKCALL                              
012820,000249: 06,3523           17516                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
012821,000250: 06,3524           15112                           TCF      ENDOFJOB                              #  TEMPORARY
012822,000251: 
012823,000252: 06,3525           34710        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012824,000253: 06,3526           54130                           TS       BUF                                   
012825,000254: 
012826,000255: 06,3527           50130                           INDEX    BUF                                   #  RESCALE
012827,000256: 06,3530           31472                           CA       GCOMP      +1                         
012828,000257: 06,3531           00006                           EXTEND                                         
012829,000258: 06,3532           74703                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012830,000259: 06,3533           50130                           INDEX    BUF                                   
012831,000260: 06,3534           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
012832,000261: 
012833,000262: 06,3535           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012834,000263: 06,3536           67716                           AD       NEG1                                  
012835,000264: 06,3537           13526                           TCF      GCOMP1     +1                         
012836,000265: 06,3540           01436        V06N30S            VN       0630                                  
012837,000266: 06,3541           15112                           TCF      ENDOFJOB                              
012838,000267: 

Page 297

012840,000269: 06,3542           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012841,000270: 06,3543           13546                           TCF      +3                                    
012842,000271: 06,3544           13546                           TCF      +2                                    
012843,000272: 06,3545           15112                           TCF      ENDOFJOB                              
012844,000273: 
012845,000274: 06,3546           00004                           INHINT                                         
012846,000275: 06,3547           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
012847,000276: 06,3550           15112                           TCF      ENDOFJOB                              
012848,000277: 06,3551           15112                           TCF      ENDOFJOB                              
012849,000278: 06,3552           13553                           TCF      +1                                    
012850,000279: 
012851,000280: 06,3553           30025                           CA       TIME1                                 #  (CS) X 2(+14)
012852,000281: 06,3554           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
012853,000282: 06,3555           00003                           RELINT                                         
012854,000283: 06,3556           40000                           COM                                            
012855,000284: 06,3557           61074                           AD       1/PIPADT                              
012856,000285: 06,3560           10000        NBD2               CCS      A                                     #  CALCULATE ELAPSED TIME
012857,000286: 06,3561           64712                           AD       ONE                                   #  NO TIME1 OVERFLOW
012858,000287: 06,3562           13567                           TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
012859,000288: 06,3563           13565                           TCF      +2                                    #  TIME1 OVERFLOW
012860,000289: 06,3564           15112                           TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0  (DIFFERENCE = -0)
012861,000290: 
012862,000291: 06,3565           40000                           COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
012863,000292: 06,3566           64672                           AD       POSMAX                                
012864,000293: 
012865,000294: 06,3567           00006        NBD3               EXTEND                                         #  C(A) = DELTAT    (CS) X 2(+14)
012866,000295: 06,3570           74701                           MP       BIT10                                 #  SHIFT RIGHT 5
012867,000296: 06,3571           52123                           DXCH     VBUF                                  
012868,000297: 06,3572           00006                           EXTEND                                         
012869,000298: 06,3573           30123                           DCA      VBUF                                  
012870,000299: 06,3574           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
012871,000300: 
012872,000301: 06,3575           34714                           CAF      ZERO                                  
012873,000302: 06,3576           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012874,000303: 06,3577           54130                           TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
012875,000304: 
012876,000305: 06,3600           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012877,000306: 06,3601           03617                           TC       FBIASSUB                              #  -(NBDX)(DELTAT)   (GYRO PULSES) X 2(+14)
012878,000307: 
012879,000308: 06,3602           00006                           EXTEND                                         
012880,000309: 06,3603           40123                           DCS      VBUF                                  
012881,000310: 06,3604           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012882,000311: 06,3605           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
012883,000312: 06,3606           03617                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
012884,000313: 
012885,000314: 06,3607           00006                           EXTEND                                         
012886,000315: 06,3610           40123                           DCS      VBUF                                  
012887,000316: 06,3611           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012888,000317: 06,3612           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012889,000318: 06,3613           03617                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)

Page 298

012891,000320: 06,3614           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012892,000321: 06,3615           13474                           TCF      1/GYRO                                #  YES
012893,000322: 06,3616           15112                           TCF      ENDOFJOB                              #  NO
012894,000323: 

Page 299

012896,000325: 06,3617           56002        FBIASSUB           XCH      Q                                     
012897,000326: 06,3620           54131                           TS       BUF        +1                         
012898,000327: 
012899,000328: 06,3621           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012900,000329: 06,3622           00006                           EXTEND                                         
012901,000330: 06,3623           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012902,000331: 06,3624           50130                           INDEX    BUF                                   
012903,000332: 06,3625           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
012904,000333: 
012905,000334: 06,3626           30002                           CA       Q                                     #  NOW FRACTIONAL PART
012906,000335: 06,3627           00006                           EXTEND                                         
012907,000336: 06,3630           70155                           MP       MPAC       +1                         
012908,000337: 06,3631           54001                           TS       L                                     
012909,000338: 06,3632           34714                           CAF      ZERO                                  
012910,000339: 06,3633           50130                           INDEX    BUF                                   
012911,000340: 06,3634           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
012912,000341: 
012913,000342: 06,3635           13461                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
012914,000343: 
012915,000344: 06,3636           04555        LASTBIAS           TC       BANKCALL                              
012916,000345: 06,3637           17075                           CADR     PIPUSE                                
012917,000346: 
012918,000347: 06,3640           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012919,000348: 06,3641           13644                           TCF      +3                                    
012920,000349: 06,3642           13644                           TCF      +2                                    
012921,000350: 06,3643           15112                           TCF      ENDOFJOB                              
012922,000351: 
012923,000352: 06,3644           37665                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
012924,000353: 06,3645           57074                           XCH      1/PIPADT                              
012925,000354: 06,3646           40000                           COM                                            
012926,000355: 06,3647           61246                           AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
012927,000356: 06,3650           13560                           TCF      NBD2                                  

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