Source Code
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These source-code files are part of a reconstructed copy of Comanche 45, the
second release, though not the final mission release, of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45 was
preceded by Comanche 44 and followed by Comanche 45/2 (the flown release). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 44 (itself previously accurately
reconstructed). Comanche 44 source code was then modified
by incorporating changes known from contemporary documentation to have been
made between revisions 44 and 45. The now-reconstructed Comanche 45 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 tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 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 44. Here's a guide to the Apollo documentation referenced
in those annotations:
There is also
a detailed 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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012551,000002: ## Copyright: Public domain.
012552,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012553,000004: ## Purpose: A section of Comanche revision 045.
012554,000005: ## It is part of the reconstructed source code for the
012555,000006: ## second release of the flight software for the Command
012556,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
012557,000008: ## The code has been recreated from a copy of Comanche 055. It
012558,000009: ## has been adapted such that the resulting bugger words
012559,000010: ## exactly match those specified for Comanche 45 in NASA drawing
012560,000011: ## 2021153D, which gives relatively high confidence that the
012561,000012: ## reconstruction is correct.
012562,000013: ## Assembler: yaYUL
012563,000014: ## Contact: Ron Burkey <info@sandroid.org>.
012564,000015: ## Website: www.ibiblio.org/apollo/index.html
012565,000016: ## Mod history: 2020-12-06 MAS Created from Comanche 44.
012566,000017:
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Page 297
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012568,000019: 07,2441 BANK 7
012569,000020: 06,2000 SETLOC IMUCOMP
012570,000021: 06,2000 BANK
012571,000022: 06,3262 E3,1460 EBANK= NBDX
012572,000023:
012573,000024: 06,3262 COUNT 06/ICOMP
012574,000025:
012575,000026: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012576,000027: 06,3263 56003 XCH EBANK
012577,000028: 06,3264 54163 TS MODE
012578,000029:
012579,000030: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012580,000031: 06,3266 13271 TCF +3
012581,000032: 06,3267 13271 TCF +2
012582,000033: 06,3270 13407 TCF IRIG1 # RETURN
012583,000034:
012584,000035: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012585,000036: # FOR DOWNLINK.
012586,000037:
012587,000038: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012588,000039: 06,3273 54132 TS BUF +2
012589,000040:
012590,000041: 06,3274 50132 INDEX BUF +2
012591,000042: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012592,000043: 06,3276 00006 EXTEND
012593,000044: 06,3277 50132 INDEX BUF +2
012594,000045: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012595,000046: 06,3301 54002 TS Q # SAVE MAJOR PART
012596,000047:
012597,000048: 06,3302 30001 CA L # MINOR PART
012598,000049: 06,3303 00006 EXTEND
012599,000050: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012600,000051: 06,3305 50132 INDEX BUF +2
012601,000052: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012602,000053:
012603,000054: 06,3307 30002 CA Q # MAJOR PART
012604,000055: 06,3310 00006 EXTEND
012605,000056: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012606,000057: 06,3312 50132 INDEX BUF +2
012607,000058: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012608,000059:
012609,000060: 06,3314 50132 INDEX BUF +2
012610,000061: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012611,000062: 06,3316 00006 EXTEND
012612,000063: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012613,000064: 06,3320 00006 EXTEND
012614,000065: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012615,000066: 06,3322 50132 INDEX BUF +2
012616,000067: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012617,000068:
012618,000069: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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012620,000071: 06,3325 67716 AD NEG1
012621,000072: 06,3326 13273 TCF 1/PIPA1 +1
012622,000073: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012623,000074: 06,3330 00003 RELINT
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Page 299
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012625,000076:
012626,000077: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012627,000078: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012628,000079:
012629,000080: 06,3333 00006 IRIGX EXTEND
012630,000081: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012631,000082: 06,3335 52155 DXCH MPAC
012632,000083: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012633,000084: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012634,000085:
012635,000086: 06,3340 00006 EXTEND #
012636,000087: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012637,000088: 06,3342 52155 DXCH MPAC #
012638,000089: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012639,000090: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012640,000091:
012641,000092: # EXTEND ***
012642,000093: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012643,000094: # DXCH MPAC ***
012644,000095: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012645,000096: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012646,000097:
012647,000098: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012648,000099: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012649,000100:
012650,000101: 06,3347 00006 IRIGY EXTEND
012651,000102: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012652,000103: 06,3351 52155 DXCH MPAC
012653,000104: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012654,000105: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012655,000106:
012656,000107: 06,3354 00006 EXTEND
012657,000108: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012658,000109: 06,3356 52155 DXCH MPAC
012659,000110: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012660,000111: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012661,000112:
012662,000113: # EXTEND ***
012663,000114: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012664,000115: # DXCH MPAC ***
012665,000116: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012666,000117: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012667,000118:
012668,000119: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012669,000120: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012670,000121:
012671,000122: 06,3363 00006 IRIGZ EXTEND
012672,000123: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012673,000124: 06,3365 52155 DXCH MPAC
012674,000125: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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012676,000127: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012677,000128:
012678,000129: 06,3370 00006 EXTEND
012679,000130: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012680,000131: 06,3372 52155 DXCH MPAC
012681,000132: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012682,000133: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012683,000134:
012684,000135: # EXTEND ***
012685,000136: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012686,000137: # DXCH MPAC ***
012687,000138: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012688,000139: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012689,000140:
012690,000141: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012691,000142: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012692,000143:
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012694,000145: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012695,000146: 06,3400 13402 TCF +2 # YES
012696,000147: 06,3401 13407 TCF IRIG1 # NO
012697,000148:
012698,000149: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012699,000150: 06,3403 05134 TC NOVAC
012700,000151: 06,3404 E3,1460 EBANK= NBDX
012701,000152: 06,3404 03474 14063 2CADR 1/GYRO
012702,000153:
012703,000154: 06,3406 00003 RELINT
012704,000155: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012705,000156: 06,3410 54003 TS EBANK
012706,000157: 06,3411 14675 TCF SWRETURN
012707,000158:
012708,000159: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012709,000160: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012710,000161: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012711,000162: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012712,000163:
012713,000164: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012714,000165: 06,3417 00006 EXTEND
012715,000166: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012716,000167: 06,3421 54001 TS L
012717,000168: 06,3422 35021 CAF ZERO
012718,000169: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012719,000170:
012720,000171: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012721,000172: 06,3425 00006 EXTEND
012722,000173: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012723,000174: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012724,000175: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012725,000176:
012726,000177: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012727,000178: 06,3432 00006 EXTEND
012728,000179: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012729,000180: 06,3434 54001 TS L
012730,000181: 06,3435 35021 CAF ZERO
012731,000182: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012732,000183: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012733,000184:
012734,000185: 06,3440 00002 TC Q
012735,000186:
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012737,000188: 06,3441 00006 DRIFTSUB EXTEND
012738,000189: 06,3442 22131 QXCH BUF +1
012739,000190:
012740,000191: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012741,000192: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012742,000193: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012743,000194: 06,3446 00006 EXTEND
012744,000195: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012745,000196: 06,3450 50130 INDEX BUF
012746,000197: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012747,000198:
012748,000199: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012749,000200: 06,3453 00006 EXTEND
012750,000201: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012751,000202: 06,3455 54001 TS L
012752,000203: 06,3456 35021 CAF ZERO
012753,000204: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012754,000205: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012755,000206:
012756,000207: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012757,000208: 06,3462 60130 AD BUF
012758,000209: 06,3463 56130 XCH BUF
012759,000210: 06,3464 50000 INDEX A
012760,000211: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012761,000212: 06,3466 13470 TCF +2 # YES
012762,000213: 06,3467 00131 TC BUF +1 # NO
012763,000214:
012764,000215: 06,3470 77716 MASK NEGONE
012765,000216: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012766,000217: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012767,000218: 06,3473 00131 TC BUF +1 # NO
012768,000219:
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012770,000221: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012771,000222: 06,3475 54130 TS BUF
012772,000223:
012773,000224: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012774,000225: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012775,000226: 06,3500 00006 EXTEND
012776,000227: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
012777,000228: 06,3502 50130 INDEX BUF
012778,000229: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012779,000230:
012780,000231: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012781,000232: 06,3505 50130 INDEX BUF
012782,000233: 06,3506 57471 XCH GCOMP # GYRO PULSES
012783,000234: 06,3507 00006 EXTEND
012784,000235: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
012785,000236: 06,3511 50130 INDEX BUF
012786,000237: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012787,000238:
012788,000239: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012789,000240: 06,3514 67716 AD NEG1
012790,000241: 06,3515 13475 TCF 1/GYRO +1
012791,000242: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012792,000243:
012793,000244: 06,3517 33516 CAF LGCOMP
012794,000245: 06,3520 04662 TC BANKCALL
012795,000246: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012796,000247: 06,3522 04662 TC BANKCALL
012797,000248: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012798,000249: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
012799,000250:
012800,000251: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012801,000252: 06,3526 54130 TS BUF
012802,000253:
012803,000254: 06,3527 50130 INDEX BUF # RESCALE
012804,000255: 06,3530 31472 CA GCOMP +1
012805,000256: 06,3531 00006 EXTEND
012806,000257: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012807,000258: 06,3533 50130 INDEX BUF
012808,000259: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012809,000260:
012810,000261: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012811,000262: 06,3536 67716 AD NEG1
012812,000263: 06,3537 13526 TCF GCOMP1 +1
012813,000264:
012814,000265: 06,3540 01436 V06N30S VN 0630
012815,000266: 06,3541 15217 TCF ENDOFJOB
012816,000267:
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012818,000269: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012819,000270: 06,3543 13546 TCF +3
012820,000271: 06,3544 13546 TCF +2
012821,000272: 06,3545 15217 TCF ENDOFJOB
012822,000273:
012823,000274: 06,3546 00004 INHINT
012824,000275: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012825,000276: 06,3550 15217 TCF ENDOFJOB
012826,000277: 06,3551 15217 TCF ENDOFJOB
012827,000278: 06,3552 13553 TCF +1
012828,000279:
012829,000280: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012830,000281: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012831,000282: 06,3555 00003 RELINT
012832,000283: 06,3556 40000 COM
012833,000284: 06,3557 61074 AD 1/PIPADT
012834,000285: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012835,000286: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
012836,000287: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012837,000288: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012838,000289: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012839,000290:
012840,000291: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012841,000292: 06,3566 64777 AD POSMAX
012842,000293:
012843,000294: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012844,000295: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
012845,000296: 06,3571 52123 DXCH VBUF
012846,000297: 06,3572 00006 EXTEND
012847,000298: 06,3573 30123 DCA VBUF
012848,000299: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012849,000300:
012850,000301: 06,3575 35021 CAF ZERO
012851,000302: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012852,000303: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012853,000304:
012854,000305: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012855,000306: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012856,000307:
012857,000308: 06,3602 00006 EXTEND
012858,000309: 06,3603 40123 DCS VBUF
012859,000310: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012860,000311: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
012861,000312: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012862,000313:
012863,000314: 06,3607 00006 EXTEND
012864,000315: 06,3610 40123 DCS VBUF
012865,000316: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012866,000317: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012867,000318: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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012869,000320: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012870,000321: 06,3615 13474 TCF 1/GYRO # YES
012871,000322: 06,3616 15217 TCF ENDOFJOB # NO
012872,000323:
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012874,000325: 06,3617 56002 FBIASSUB XCH Q
012875,000326: 06,3620 54131 TS BUF +1
012876,000327:
012877,000328: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012878,000329: 06,3622 00006 EXTEND
012879,000330: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
012880,000331: 06,3624 50130 INDEX BUF
012881,000332: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012882,000333:
012883,000334: 06,3626 30002 CA Q # NOW FRACTIONAL PART
012884,000335: 06,3627 00006 EXTEND
012885,000336: 06,3630 70155 MP MPAC +1
012886,000337: 06,3631 54001 TS L
012887,000338: 06,3632 35021 CAF ZERO
012888,000339: 06,3633 50130 INDEX BUF
012889,000340: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012890,000341:
012891,000342: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
012892,000343:
012893,000344: 06,3636 04662 LASTBIAS TC BANKCALL
012894,000345: 06,3637 17156 CADR PIPUSE
012895,000346:
012896,000347: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012897,000348: 06,3641 13644 TCF +3
012898,000349: 06,3642 13644 TCF +2
012899,000350: 06,3643 15217 TCF ENDOFJOB
012900,000351:
012901,000352: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
012902,000353: 06,3645 57074 XCH 1/PIPADT
012903,000354: 06,3646 40000 COM
012904,000355: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
012905,000356: 06,3650 13560 TCF NBD2
012906,000357:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc