ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
012659,000002: ## Copyright: Public domain.
012660,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012661,000004: ## Purpose: Part of the source code for Colossus, build 249.
012662,000005: ## It is part of the source code for the Command Module's (CM)
012663,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
012664,000007: ## Assembler: yaYUL
012665,000008: ## Reference: pp. 292-301.
012666,000009: ## Contact: Ron Burkey <info@sandroid.org>.
012667,000010: ## Website: www.ibiblio.org/apollo.
012668,000011: ## Mod history: 08/09/04 RSB. Began adapting from corresponding Luminary131
012669,000012: ## source file.
012670,000013: ## 2010-10-24 JL Fixed page numbers.
012671,000014: ## 2016-12-30 RSB Backported BYRO->GYRO from Colossus 237.
012672,000015: ## (There's lots more that needs to be backported,
012673,000016: ## but I found this one particularly annoying.)
012674,000017: ## 2017-01-05 RSB Page numbers now agree with those on the
012675,000018: ## original harcopy, as opposed to the PDF page
012676,000019: ## numbers in 1701.pdf.
012677,000020: ## 2017-01-14 RSB Cross-diff'd comment text (not whitespace)
012678,000021: ## vs the already-proofed corresponding Colossus
012679,000022: ## 237 and Comanche 55 source-code files
012680,000023: ## and corrected errors found.
012681,000024: ## 2017-03-16 RSB Comment-text fixes identified in 4-way side-by-side
012682,000025: ## diff of Colossus237/249/Comanche55/Artemis72.
012683,000026:
012684,000027: ## The contents of the "Colossus249" files, in general, are transcribed
012685,000028: ## from a scanned copy of the program listing. Notations on this
012686,000029: ## document read, in part:
012687,000030: ##
012688,000031: ## Assemble revision 249 of AGC program Colossus by NASA
012689,000032: ## 2021111-041. October 28, 1968.
012690,000033: ##
012691,000034: ## This AGC program shall also be referred to as
012692,000035: ## Colossus 1A
012693,000036: ##
012694,000037: ## Prepared by
012695,000038: ## Massachusetts Institute of Technology
012696,000039: ## 75 Cambridge Parkway
012697,000040: ## Cambridge, Massachusetts
012698,000041: ## under NASA contract NAS 9-4065.
012699,000042: ##
012700,000043: ## Refer directly to the online document mentioned above for further information.
012701,000044: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
012702,000045: ##
012703,000046: ## In some cases, where the source code for Luminary 131 overlaps that of
012704,000047: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
012705,000048: ## source file, and then is proofed to incorporate any changes.
012706,000049:
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Page 292 |
012708,000051: 07,2440 BANK 7
012709,000052: 06,2000 SETLOC IMUCOMP
012710,000053: 06,2000 BANK
012711,000054: 06,3262 E3,1460 EBANK= NBDX
012712,000055:
012713,000056: 06,3262 COUNT 06/ICOMP
012714,000057:
012715,000058: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012716,000059: 06,3263 56003 XCH EBANK
012717,000060: 06,3264 54163 TS MODE
012718,000061:
012719,000062: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012720,000063: 06,3266 13271 TCF +3
012721,000064: 06,3267 13271 TCF +2
012722,000065: 06,3270 13407 TCF IRIG1 # RETURN
012723,000066:
012724,000067: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012725,000068: # FOR DOWNLINK.
012726,000069:
012727,000070: 06,3272 34710 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012728,000071: 06,3273 54132 TS BUF +2
012729,000072:
012730,000073: 06,3274 50132 INDEX BUF +2
012731,000074: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012732,000075: 06,3276 00006 EXTEND
012733,000076: 06,3277 50132 INDEX BUF +2
012734,000077: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012735,000078: 06,3301 54002 TS Q # SAVE MAJOR PART
012736,000079:
012737,000080: 06,3302 30001 CA L # MINOR PART
012738,000081: 06,3303 00006 EXTEND
012739,000082: 06,3304 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012740,000083: 06,3305 50132 INDEX BUF +2
012741,000084: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012742,000085:
012743,000086: 06,3307 30002 CA Q # MAJOR PART
012744,000087: 06,3310 00006 EXTEND
012745,000088: 06,3311 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012746,000089: 06,3312 50132 INDEX BUF +2
012747,000090: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012748,000091:
012749,000092: 06,3314 50132 INDEX BUF +2
012750,000093: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012751,000094: 06,3316 00006 EXTEND
012752,000095: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012753,000096: 06,3320 00006 EXTEND
012754,000097: 06,3321 74712 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012755,000098: 06,3322 50132 INDEX BUF +2
012756,000099: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012757,000100:
012758,000101: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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Page 293 |
012760,000103: 06,3325 67716 AD NEG1
012761,000104: 06,3326 13273 TCF 1/PIPA1 +1
012762,000105: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012763,000106: 06,3330 00003 RELINT
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Page 294 |
012765,000108:
012766,000109: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012767,000110: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012768,000111:
012769,000112: 06,3333 00006 IRIGX EXTEND
012770,000113: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012771,000114: 06,3335 52155 DXCH MPAC
012772,000115: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012773,000116: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012774,000117:
012775,000118: 06,3340 00006 EXTEND #
012776,000119: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012777,000120: 06,3342 52155 DXCH MPAC #
012778,000121: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012779,000122: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012780,000123:
012781,000124: # EXTEND ***
012782,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012783,000126: # DXCH MPAC ***
012784,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012785,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012786,000129:
012787,000130: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012788,000131: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012789,000132:
012790,000133: 06,3347 00006 IRIGY EXTEND
012791,000134: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012792,000135: 06,3351 52155 DXCH MPAC
012793,000136: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012794,000137: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012795,000138:
012796,000139: 06,3354 00006 EXTEND
012797,000140: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012798,000141: 06,3356 52155 DXCH MPAC
012799,000142: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012800,000143: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012801,000144:
012802,000145: # EXTEND ***
012803,000146: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012804,000147: # DXCH MPAC ***
012805,000148: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012806,000149: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012807,000150:
012808,000151: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012809,000152: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012810,000153:
012811,000154: 06,3363 00006 IRIGZ EXTEND
012812,000155: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012813,000156: 06,3365 52155 DXCH MPAC
012814,000157: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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012816,000159: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012817,000160:
012818,000161: 06,3370 00006 EXTEND
012819,000162: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012820,000163: 06,3372 52155 DXCH MPAC
012821,000164: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012822,000165: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012823,000166:
012824,000167: # EXTEND ***
012825,000168: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012826,000169: # DXCH MPAC ***
012827,000170: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012828,000171: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012829,000172:
012830,000173: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012831,000174: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012832,000175:
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012834,000177: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012835,000178: 06,3400 13402 TCF +2 # YES
012836,000179: 06,3401 13407 TCF IRIG1 # NO
012837,000180:
012838,000181: 06,3402 34764 CA PRIO17 # LEM PRIORITY HIGHER-THIS FOR PRELAUNCH
012839,000182: 06,3403 05027 TC NOVAC
012840,000183: 06,3404 E3,1460 EBANK= NBDX
012841,000184: 06,3404 03474 14063 2CADR 1/GYRO
012842,000185:
012843,000186: 06,3406 00003 RELINT
012844,000187: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012845,000188: 06,3410 54003 TS EBANK
012846,000189: 06,3411 14570 TCF SWRETURN
012847,000190:
012848,000191: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012849,000192: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012850,000193: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012851,000194: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012852,000195:
012853,000196: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012854,000197: 06,3417 00006 EXTEND
012855,000198: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012856,000199: 06,3421 54001 TS L
012857,000200: 06,3422 34714 CAF ZERO
012858,000201: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012859,000202:
012860,000203: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012861,000204: 06,3425 00006 EXTEND
012862,000205: 06,3426 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012863,000206: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012864,000207: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012865,000208:
012866,000209: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012867,000210: 06,3432 00006 EXTEND
012868,000211: 06,3433 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012869,000212: 06,3434 54001 TS L
012870,000213: 06,3435 34714 CAF ZERO
012871,000214: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012872,000215: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012873,000216:
012874,000217: 06,3440 00002 TC Q
012875,000218:
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Page 297 |
012877,000220: 06,3441 00006 DRIFTSUB EXTEND
012878,000221: 06,3442 22131 QXCH BUF +1
012879,000222:
012880,000223: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012881,000224: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012882,000225: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012883,000226: 06,3446 00006 EXTEND
012884,000227: 06,3447 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012885,000228: 06,3450 50130 INDEX BUF
012886,000229: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012887,000230:
012888,000231: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012889,000232: 06,3453 00006 EXTEND
012890,000233: 06,3454 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012891,000234: 06,3455 54001 TS L
012892,000235: 06,3456 34714 CAF ZERO
012893,000236: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012894,000237: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012895,000238:
012896,000239: 06,3461 34711 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012897,000240: 06,3462 60130 AD BUF
012898,000241: 06,3463 56130 XCH BUF
012899,000242: 06,3464 50000 INDEX A
012900,000243: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012901,000244: 06,3466 13470 TCF +2 # YES
012902,000245: 06,3467 00131 TC BUF +1 # NO
012903,000246:
012904,000247: 06,3470 77716 MASK NEGONE
012905,000248: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012906,000249: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012907,000250: 06,3473 00131 TC BUF +1 # NO
012908,000251:
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012910,000253: 06,3474 34710 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012911,000254: 06,3475 54130 TS BUF
012912,000255:
012913,000256: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012914,000257: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012915,000258: 06,3500 00006 EXTEND
012916,000259: 06,3501 74703 MP BIT8 # SHIFT RIGHT 7
012917,000260: 06,3502 50130 INDEX BUF
012918,000261: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012919,000262:
012920,000263: 06,3504 34714 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012921,000264: 06,3505 50130 INDEX BUF
012922,000265: 06,3506 57471 XCH GCOMP # GYRO PULSES
012923,000266: 06,3507 00006 EXTEND
012924,000267: 06,3510 74703 MP BIT8 # SHIFT RIGHT 7
012925,000268: 06,3511 50130 INDEX BUF
012926,000269: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012927,000270:
012928,000271: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012929,000272: 06,3514 67716 AD NEG1
012930,000273: 06,3515 13475 TCF 1/GYRO +1
012931,000274: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012932,000275:
012933,000276: 06,3517 33516 CAF LGCOMP
012934,000277: 06,3520 04555 TC BANKCALL
012935,000278: 06,3521 17125 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012936,000279: 06,3522 04555 TC BANKCALL
012937,000280: 06,3523 17516 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012938,000281: 06,3524 15112 TCF ENDOFJOB # TEMPORARY
012939,000282:
012940,000283: 06,3525 34710 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012941,000284: 06,3526 54130 TS BUF
012942,000285:
012943,000286: 06,3527 50130 INDEX BUF # RESCALE
012944,000287: 06,3530 31472 CA GCOMP +1
012945,000288: 06,3531 00006 EXTEND
012946,000289: 06,3532 74703 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012947,000290: 06,3533 50130 INDEX BUF
012948,000291: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012949,000292:
012950,000293: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012951,000294: 06,3536 67716 AD NEG1
012952,000295: 06,3537 13526 TCF GCOMP1 +1
012953,000296:
012954,000297: 06,3540 01436 V06N30S VN 0630
012955,000298: 06,3541 15112 TCF ENDOFJOB
012956,000299:
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012958,000301: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012959,000302: 06,3543 13546 TCF +3
012960,000303: 06,3544 13546 TCF +2
012961,000304: 06,3545 15112 TCF ENDOFJOB
012962,000305:
012963,000306: 06,3546 00004 INHINT
012964,000307: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012965,000308: 06,3550 15112 TCF ENDOFJOB
012966,000309: 06,3551 15112 TCF ENDOFJOB
012967,000310: 06,3552 13553 TCF +1
012968,000311:
012969,000312: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012970,000313: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012971,000314: 06,3555 00003 RELINT
012972,000315: 06,3556 40000 COM
012973,000316: 06,3557 61074 AD 1/PIPADT
012974,000317: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012975,000318: 06,3561 64712 AD ONE # NO TIME1 OVERFLOW
012976,000319: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012977,000320: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012978,000321: 06,3564 15112 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012979,000322:
012980,000323: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012981,000324: 06,3566 64672 AD POSMAX
012982,000325:
012983,000326: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012984,000327: 06,3570 74701 MP BIT10 # SHIFT RIGHT 5
012985,000328: 06,3571 52123 DXCH VBUF
012986,000329: 06,3572 00006 EXTEND
012987,000330: 06,3573 30123 DCA VBUF
012988,000331: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012989,000332:
012990,000333: 06,3575 34714 CAF ZERO
012991,000334: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012992,000335: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012993,000336:
012994,000337: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012995,000338: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012996,000339:
012997,000340: 06,3602 00006 EXTEND
012998,000341: 06,3603 40123 DCS VBUF
012999,000342: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013000,000343: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013001,000344: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013002,000345:
013003,000346: 06,3607 00006 EXTEND
013004,000347: 06,3610 40123 DCS VBUF
013005,000348: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013006,000349: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013007,000350: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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Page 300 |
013009,000352: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013010,000353: 06,3615 13474 TCF 1/GYRO # YES
013011,000354: 06,3616 15112 TCF ENDOFJOB # NO
013012,000355:
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Page 301 |
013014,000357: 06,3617 56002 FBIASSUB XCH Q
013015,000358: 06,3620 54131 TS BUF +1
013016,000359:
013017,000360: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013018,000361: 06,3622 00006 EXTEND
013019,000362: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013020,000363: 06,3624 50130 INDEX BUF
013021,000364: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013022,000365:
013023,000366: 06,3626 30002 CA Q # NOW FRACTIONAL PART
013024,000367: 06,3627 00006 EXTEND
013025,000368: 06,3630 70155 MP MPAC +1
013026,000369: 06,3631 54001 TS L
013027,000370: 06,3632 34714 CAF ZERO
013028,000371: 06,3633 50130 INDEX BUF
013029,000372: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013030,000373:
013031,000374: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013032,000375:
013033,000376: 06,3636 04555 LASTBIAS TC BANKCALL
013034,000377: 06,3637 17075 CADR PIPUSE
013035,000378:
013036,000379: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013037,000380: 06,3641 13644 TCF +3
013038,000381: 06,3642 13644 TCF +2
013039,000382: 06,3643 15112 TCF ENDOFJOB
013040,000383:
013041,000384: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013042,000385: 06,3645 57074 XCH 1/PIPADT
013043,000386: 06,3646 40000 COM
013044,000387: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013045,000388: 06,3650 13560 TCF NBD2
013046,000389:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc