Source Code
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These source-code files are part of a reconstructed copy of Comanche 44, the
initial release (though not the final mission release) of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases
were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 44, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 51
(separately previously reconstructed from an Apollo-era listing of Comanche 55,
flown on Apollo 11). Comanche 51 source code was then modified
by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed
Comanche 44 source code was verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code match those on the Comanche 55 printout,
although the source code would likely have different page numbers in a contemporary
Comanche 44 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced
in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the
explanatory annotations, there is also
a step-by-step commentary about the reconstruction process.
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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012697,000002: ## Copyright: Public domain.
012698,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012699,000004: ## Purpose: A section of Comanche revision 044.
012700,000005: ## It is part of the reconstructed source code for the
012701,000006: ## original release of the flight software for the Command
012702,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
012703,000008: ## The code has been recreated from a copy of Comanche 055. It
012704,000009: ## has been adapted such that the resulting bugger words
012705,000010: ## exactly match those specified for Comanche 44 in NASA drawing
012706,000011: ## 2021153D, which gives relatively high confidence that the
012707,000012: ## reconstruction is correct.
012708,000013: ## Assembler: yaYUL
012709,000014: ## Contact: Ron Burkey <info@sandroid.org>.
012710,000015: ## Website: www.ibiblio.org/apollo/index.html
012711,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
012712,000017:
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Page 297
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012714,000019: 07,2441 BANK 7
012715,000020: 06,2000 SETLOC IMUCOMP
012716,000021: 06,2000 BANK
012717,000022: 06,3262 E3,1460 EBANK= NBDX
012718,000023:
012719,000024: 06,3262 COUNT 06/ICOMP
012720,000025:
012721,000026: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012722,000027: 06,3263 56003 XCH EBANK
012723,000028: 06,3264 54163 TS MODE
012724,000029:
012725,000030: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012726,000031: 06,3266 13271 TCF +3
012727,000032: 06,3267 13271 TCF +2
012728,000033: 06,3270 13407 TCF IRIG1 # RETURN
012729,000034:
012730,000035: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012731,000036: # FOR DOWNLINK.
012732,000037:
012733,000038: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012734,000039: 06,3273 54132 TS BUF +2
012735,000040:
012736,000041: 06,3274 50132 INDEX BUF +2
012737,000042: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012738,000043: 06,3276 00006 EXTEND
012739,000044: 06,3277 50132 INDEX BUF +2
012740,000045: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012741,000046: 06,3301 54002 TS Q # SAVE MAJOR PART
012742,000047:
012743,000048: 06,3302 30001 CA L # MINOR PART
012744,000049: 06,3303 00006 EXTEND
012745,000050: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012746,000051: 06,3305 50132 INDEX BUF +2
012747,000052: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012748,000053:
012749,000054: 06,3307 30002 CA Q # MAJOR PART
012750,000055: 06,3310 00006 EXTEND
012751,000056: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012752,000057: 06,3312 50132 INDEX BUF +2
012753,000058: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012754,000059:
012755,000060: 06,3314 50132 INDEX BUF +2
012756,000061: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012757,000062: 06,3316 00006 EXTEND
012758,000063: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012759,000064: 06,3320 00006 EXTEND
012760,000065: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012761,000066: 06,3322 50132 INDEX BUF +2
012762,000067: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012763,000068:
012764,000069: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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012766,000071: 06,3325 67716 AD NEG1
012767,000072: 06,3326 13273 TCF 1/PIPA1 +1
012768,000073: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012769,000074: 06,3330 00003 RELINT
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012771,000076:
012772,000077: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012773,000078: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012774,000079:
012775,000080: 06,3333 00006 IRIGX EXTEND
012776,000081: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012777,000082: 06,3335 52155 DXCH MPAC
012778,000083: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012779,000084: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012780,000085:
012781,000086: 06,3340 00006 EXTEND #
012782,000087: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012783,000088: 06,3342 52155 DXCH MPAC #
012784,000089: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012785,000090: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012786,000091:
012787,000092: # EXTEND ***
012788,000093: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012789,000094: # DXCH MPAC ***
012790,000095: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012791,000096: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012792,000097:
012793,000098: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012794,000099: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012795,000100:
012796,000101: 06,3347 00006 IRIGY EXTEND
012797,000102: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012798,000103: 06,3351 52155 DXCH MPAC
012799,000104: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012800,000105: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012801,000106:
012802,000107: 06,3354 00006 EXTEND
012803,000108: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012804,000109: 06,3356 52155 DXCH MPAC
012805,000110: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012806,000111: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012807,000112:
012808,000113: # EXTEND ***
012809,000114: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012810,000115: # DXCH MPAC ***
012811,000116: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012812,000117: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012813,000118:
012814,000119: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012815,000120: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012816,000121:
012817,000122: 06,3363 00006 IRIGZ EXTEND
012818,000123: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012819,000124: 06,3365 52155 DXCH MPAC
012820,000125: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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012822,000127: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012823,000128:
012824,000129: 06,3370 00006 EXTEND
012825,000130: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012826,000131: 06,3372 52155 DXCH MPAC
012827,000132: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012828,000133: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012829,000134:
012830,000135: # EXTEND ***
012831,000136: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012832,000137: # DXCH MPAC ***
012833,000138: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012834,000139: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012835,000140:
012836,000141: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012837,000142: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012838,000143:
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012840,000145: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012841,000146: 06,3400 13402 TCF +2 # YES
012842,000147: 06,3401 13407 TCF IRIG1 # NO
012843,000148:
012844,000149: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012845,000150: 06,3403 05134 TC NOVAC
012846,000151: 06,3404 E3,1460 EBANK= NBDX
012847,000152: 06,3404 03474 14063 2CADR 1/GYRO
012848,000153:
012849,000154: 06,3406 00003 RELINT
012850,000155: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012851,000156: 06,3410 54003 TS EBANK
012852,000157: 06,3411 14675 TCF SWRETURN
012853,000158:
012854,000159: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012855,000160: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012856,000161: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012857,000162: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012858,000163:
012859,000164: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012860,000165: 06,3417 00006 EXTEND
012861,000166: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012862,000167: 06,3421 54001 TS L
012863,000168: 06,3422 35021 CAF ZERO
012864,000169: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012865,000170:
012866,000171: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012867,000172: 06,3425 00006 EXTEND
012868,000173: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012869,000174: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012870,000175: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012871,000176:
012872,000177: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012873,000178: 06,3432 00006 EXTEND
012874,000179: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012875,000180: 06,3434 54001 TS L
012876,000181: 06,3435 35021 CAF ZERO
012877,000182: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012878,000183: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012879,000184:
012880,000185: 06,3440 00002 TC Q
012881,000186:
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012883,000188: 06,3441 00006 DRIFTSUB EXTEND
012884,000189: 06,3442 22131 QXCH BUF +1
012885,000190:
012886,000191: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012887,000192: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012888,000193: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012889,000194: 06,3446 00006 EXTEND
012890,000195: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012891,000196: 06,3450 50130 INDEX BUF
012892,000197: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012893,000198:
012894,000199: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012895,000200: 06,3453 00006 EXTEND
012896,000201: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012897,000202: 06,3455 54001 TS L
012898,000203: 06,3456 35021 CAF ZERO
012899,000204: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012900,000205: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012901,000206:
012902,000207: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012903,000208: 06,3462 60130 AD BUF
012904,000209: 06,3463 56130 XCH BUF
012905,000210: 06,3464 50000 INDEX A
012906,000211: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012907,000212: 06,3466 13470 TCF +2 # YES
012908,000213: 06,3467 00131 TC BUF +1 # NO
012909,000214:
012910,000215: 06,3470 77716 MASK NEGONE
012911,000216: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012912,000217: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012913,000218: 06,3473 00131 TC BUF +1 # NO
012914,000219:
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012916,000221: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012917,000222: 06,3475 54130 TS BUF
012918,000223:
012919,000224: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012920,000225: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012921,000226: 06,3500 00006 EXTEND
012922,000227: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
012923,000228: 06,3502 50130 INDEX BUF
012924,000229: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012925,000230:
012926,000231: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012927,000232: 06,3505 50130 INDEX BUF
012928,000233: 06,3506 57471 XCH GCOMP # GYRO PULSES
012929,000234: 06,3507 00006 EXTEND
012930,000235: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
012931,000236: 06,3511 50130 INDEX BUF
012932,000237: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012933,000238:
012934,000239: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012935,000240: 06,3514 67716 AD NEG1
012936,000241: 06,3515 13475 TCF 1/GYRO +1
012937,000242: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012938,000243:
012939,000244: 06,3517 33516 CAF LGCOMP
012940,000245: 06,3520 04662 TC BANKCALL
012941,000246: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012942,000247: 06,3522 04662 TC BANKCALL
012943,000248: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012944,000249: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
012945,000250:
012946,000251: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012947,000252: 06,3526 54130 TS BUF
012948,000253:
012949,000254: 06,3527 50130 INDEX BUF # RESCALE
012950,000255: 06,3530 31472 CA GCOMP +1
012951,000256: 06,3531 00006 EXTEND
012952,000257: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012953,000258: 06,3533 50130 INDEX BUF
012954,000259: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012955,000260:
012956,000261: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012957,000262: 06,3536 67716 AD NEG1
012958,000263: 06,3537 13526 TCF GCOMP1 +1
012959,000264:
012960,000265: 06,3540 01436 V06N30S VN 0630
012961,000266: 06,3541 15217 TCF ENDOFJOB
012962,000267:
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012964,000269: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012965,000270: 06,3543 13546 TCF +3
012966,000271: 06,3544 13546 TCF +2
012967,000272: 06,3545 15217 TCF ENDOFJOB
012968,000273:
012969,000274: 06,3546 00004 INHINT
012970,000275: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012971,000276: 06,3550 15217 TCF ENDOFJOB
012972,000277: 06,3551 15217 TCF ENDOFJOB
012973,000278: 06,3552 13553 TCF +1
012974,000279:
012975,000280: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012976,000281: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012977,000282: 06,3555 00003 RELINT
012978,000283: 06,3556 40000 COM
012979,000284: 06,3557 61074 AD 1/PIPADT
012980,000285: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012981,000286: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
012982,000287: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012983,000288: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012984,000289: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012985,000290:
012986,000291: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012987,000292: 06,3566 64777 AD POSMAX
012988,000293:
012989,000294: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012990,000295: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
012991,000296: 06,3571 52123 DXCH VBUF
012992,000297: 06,3572 00006 EXTEND
012993,000298: 06,3573 30123 DCA VBUF
012994,000299: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012995,000300:
012996,000301: 06,3575 35021 CAF ZERO
012997,000302: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012998,000303: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012999,000304:
013000,000305: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013001,000306: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
013002,000307:
013003,000308: 06,3602 00006 EXTEND
013004,000309: 06,3603 40123 DCS VBUF
013005,000310: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013006,000311: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013007,000312: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013008,000313:
013009,000314: 06,3607 00006 EXTEND
013010,000315: 06,3610 40123 DCS VBUF
013011,000316: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013012,000317: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013013,000318: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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013015,000320: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013016,000321: 06,3615 13474 TCF 1/GYRO # YES
013017,000322: 06,3616 15217 TCF ENDOFJOB # NO
013018,000323:
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013020,000325: 06,3617 56002 FBIASSUB XCH Q
013021,000326: 06,3620 54131 TS BUF +1
013022,000327:
013023,000328: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013024,000329: 06,3622 00006 EXTEND
013025,000330: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013026,000331: 06,3624 50130 INDEX BUF
013027,000332: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013028,000333:
013029,000334: 06,3626 30002 CA Q # NOW FRACTIONAL PART
013030,000335: 06,3627 00006 EXTEND
013031,000336: 06,3630 70155 MP MPAC +1
013032,000337: 06,3631 54001 TS L
013033,000338: 06,3632 35021 CAF ZERO
013034,000339: 06,3633 50130 INDEX BUF
013035,000340: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013036,000341:
013037,000342: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013038,000343:
013039,000344: 06,3636 04662 LASTBIAS TC BANKCALL
013040,000345: 06,3637 17156 CADR PIPUSE
013041,000346:
013042,000347: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013043,000348: 06,3641 13644 TCF +3
013044,000349: 06,3642 13644 TCF +2
013045,000350: 06,3643 15217 TCF ENDOFJOB
013046,000351:
013047,000352: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013048,000353: 06,3645 57074 XCH 1/PIPADT
013049,000354: 06,3646 40000 COM
013050,000355: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013051,000356: 06,3650 13560 TCF NBD2
013052,000357:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc