Source Code
|
These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 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 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 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 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
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.
|
012562,000002: ## Copyright: Public domain.
012563,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012564,000004: ## Purpose: A section of Comanche revision 051.
012565,000005: ## It is part of the reconstructed source code for the
012566,000006: ## original release of the flight software for the Command
012567,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
012568,000008: ## The code has been recreated from a copy of Comanche 055. It
012569,000009: ## has been adapted such that the resulting bugger words
012570,000010: ## exactly match those specified for Comanche 51 in NASA drawing
012571,000011: ## 2021153D, which gives relatively high confidence that the
012572,000012: ## reconstruction is correct.
012573,000013: ## Reference: pp. 297-306
012574,000014: ## Assembler: yaYUL
012575,000015: ## Contact: Ron Burkey <info@sandroid.org>.
012576,000016: ## Website: www.ibiblio.org/apollo/index.html
012577,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
012578,000018:
|
|
Page 297
|
012580,000020: 07,2441 BANK 7
012581,000021: 06,2000 SETLOC IMUCOMP
012582,000022: 06,2000 BANK
012583,000023: 06,3262 E3,1460 EBANK= NBDX
012584,000024:
012585,000025: 06,3262 COUNT 06/ICOMP
012586,000026:
012587,000027: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012588,000028: 06,3263 56003 XCH EBANK
012589,000029: 06,3264 54163 TS MODE
012590,000030:
012591,000031: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012592,000032: 06,3266 13271 TCF +3
012593,000033: 06,3267 13271 TCF +2
012594,000034: 06,3270 13407 TCF IRIG1 # RETURN
012595,000035:
012596,000036: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012597,000037: # FOR DOWNLINK.
012598,000038:
012599,000039: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012600,000040: 06,3273 54132 TS BUF +2
012601,000041:
012602,000042: 06,3274 50132 INDEX BUF +2
012603,000043: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012604,000044: 06,3276 00006 EXTEND
012605,000045: 06,3277 50132 INDEX BUF +2
012606,000046: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012607,000047: 06,3301 54002 TS Q # SAVE MAJOR PART
012608,000048:
012609,000049: 06,3302 30001 CA L # MINOR PART
012610,000050: 06,3303 00006 EXTEND
012611,000051: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012612,000052: 06,3305 50132 INDEX BUF +2
012613,000053: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012614,000054:
012615,000055: 06,3307 30002 CA Q # MAJOR PART
012616,000056: 06,3310 00006 EXTEND
012617,000057: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012618,000058: 06,3312 50132 INDEX BUF +2
012619,000059: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012620,000060:
012621,000061: 06,3314 50132 INDEX BUF +2
012622,000062: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012623,000063: 06,3316 00006 EXTEND
012624,000064: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012625,000065: 06,3320 00006 EXTEND
012626,000066: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012627,000067: 06,3322 50132 INDEX BUF +2
012628,000068: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012629,000069:
012630,000070: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
|
|
Page 298
|
012632,000072: 06,3325 67716 AD NEG1
012633,000073: 06,3326 13273 TCF 1/PIPA1 +1
012634,000074: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012635,000075: 06,3330 00003 RELINT
|
|
Page 299
|
012637,000077:
012638,000078: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012639,000079: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012640,000080:
012641,000081: 06,3333 00006 IRIGX EXTEND
012642,000082: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012643,000083: 06,3335 52155 DXCH MPAC
012644,000084: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012645,000085: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012646,000086:
012647,000087: 06,3340 00006 EXTEND #
012648,000088: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012649,000089: 06,3342 52155 DXCH MPAC #
012650,000090: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012651,000091: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012652,000092:
012653,000093: # EXTEND ***
012654,000094: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012655,000095: # DXCH MPAC ***
012656,000096: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012657,000097: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012658,000098:
012659,000099: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012660,000100: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012661,000101:
012662,000102: 06,3347 00006 IRIGY EXTEND
012663,000103: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012664,000104: 06,3351 52155 DXCH MPAC
012665,000105: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012666,000106: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012667,000107:
012668,000108: 06,3354 00006 EXTEND
012669,000109: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012670,000110: 06,3356 52155 DXCH MPAC
012671,000111: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012672,000112: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012673,000113:
012674,000114: # EXTEND ***
012675,000115: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012676,000116: # DXCH MPAC ***
012677,000117: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012678,000118: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012679,000119:
012680,000120: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012681,000121: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012682,000122:
012683,000123: 06,3363 00006 IRIGZ EXTEND
012684,000124: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012685,000125: 06,3365 52155 DXCH MPAC
012686,000126: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
|
|
Page 300
|
012688,000128: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012689,000129:
012690,000130: 06,3370 00006 EXTEND
012691,000131: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012692,000132: 06,3372 52155 DXCH MPAC
012693,000133: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012694,000134: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012695,000135:
012696,000136: # EXTEND ***
012697,000137: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012698,000138: # DXCH MPAC ***
012699,000139: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012700,000140: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012701,000141:
012702,000142: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012703,000143: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012704,000144:
|
|
Page 301
|
012706,000146: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012707,000147: 06,3400 13402 TCF +2 # YES
012708,000148: 06,3401 13407 TCF IRIG1 # NO
012709,000149:
012710,000150: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012711,000151: 06,3403 05134 TC NOVAC
012712,000152: 06,3404 E3,1460 EBANK= NBDX
012713,000153: 06,3404 03474 14063 2CADR 1/GYRO
012714,000154:
012715,000155: 06,3406 00003 RELINT
012716,000156: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012717,000157: 06,3410 54003 TS EBANK
012718,000158: 06,3411 14675 TCF SWRETURN
012719,000159:
012720,000160: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012721,000161: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012722,000162: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012723,000163: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012724,000164:
012725,000165: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012726,000166: 06,3417 00006 EXTEND
012727,000167: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012728,000168: 06,3421 54001 TS L
012729,000169: 06,3422 35021 CAF ZERO
012730,000170: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012731,000171:
012732,000172: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012733,000173: 06,3425 00006 EXTEND
012734,000174: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012735,000175: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012736,000176: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012737,000177:
012738,000178: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012739,000179: 06,3432 00006 EXTEND
012740,000180: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012741,000181: 06,3434 54001 TS L
012742,000182: 06,3435 35021 CAF ZERO
012743,000183: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012744,000184: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012745,000185:
012746,000186: 06,3440 00002 TC Q
012747,000187:
|
|
Page 302
|
012749,000189: 06,3441 00006 DRIFTSUB EXTEND
012750,000190: 06,3442 22131 QXCH BUF +1
012751,000191:
012752,000192: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012753,000193: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012754,000194: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012755,000195: 06,3446 00006 EXTEND
012756,000196: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012757,000197: 06,3450 50130 INDEX BUF
012758,000198: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012759,000199:
012760,000200: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012761,000201: 06,3453 00006 EXTEND
012762,000202: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012763,000203: 06,3455 54001 TS L
012764,000204: 06,3456 35021 CAF ZERO
012765,000205: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012766,000206: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012767,000207:
012768,000208: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012769,000209: 06,3462 60130 AD BUF
012770,000210: 06,3463 56130 XCH BUF
012771,000211: 06,3464 50000 INDEX A
012772,000212: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012773,000213: 06,3466 13470 TCF +2 # YES
012774,000214: 06,3467 00131 TC BUF +1 # NO
012775,000215:
012776,000216: 06,3470 77716 MASK NEGONE
012777,000217: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012778,000218: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012779,000219: 06,3473 00131 TC BUF +1 # NO
012780,000220:
|
|
Page 303
|
012782,000222: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012783,000223: 06,3475 54130 TS BUF
012784,000224:
012785,000225: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012786,000226: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012787,000227: 06,3500 00006 EXTEND
012788,000228: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
012789,000229: 06,3502 50130 INDEX BUF
012790,000230: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012791,000231:
012792,000232: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012793,000233: 06,3505 50130 INDEX BUF
012794,000234: 06,3506 57471 XCH GCOMP # GYRO PULSES
012795,000235: 06,3507 00006 EXTEND
012796,000236: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
012797,000237: 06,3511 50130 INDEX BUF
012798,000238: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012799,000239:
012800,000240: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012801,000241: 06,3514 67716 AD NEG1
012802,000242: 06,3515 13475 TCF 1/GYRO +1
012803,000243: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012804,000244:
012805,000245: 06,3517 33516 CAF LGCOMP
012806,000246: 06,3520 04662 TC BANKCALL
012807,000247: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012808,000248: 06,3522 04662 TC BANKCALL
012809,000249: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012810,000250: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
012811,000251:
012812,000252: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012813,000253: 06,3526 54130 TS BUF
012814,000254:
012815,000255: 06,3527 50130 INDEX BUF # RESCALE
012816,000256: 06,3530 31472 CA GCOMP +1
012817,000257: 06,3531 00006 EXTEND
012818,000258: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012819,000259: 06,3533 50130 INDEX BUF
012820,000260: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012821,000261:
012822,000262: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012823,000263: 06,3536 67716 AD NEG1
012824,000264: 06,3537 13526 TCF GCOMP1 +1
012825,000265:
012826,000266: 06,3540 01436 V06N30S VN 0630
012827,000267: 06,3541 15217 TCF ENDOFJOB
012828,000268:
|
|
Page 304
|
012830,000270: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012831,000271: 06,3543 13546 TCF +3
012832,000272: 06,3544 13546 TCF +2
012833,000273: 06,3545 15217 TCF ENDOFJOB
012834,000274:
012835,000275: 06,3546 00004 INHINT
012836,000276: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012837,000277: 06,3550 15217 TCF ENDOFJOB
012838,000278: 06,3551 15217 TCF ENDOFJOB
012839,000279: 06,3552 13553 TCF +1
012840,000280:
012841,000281: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012842,000282: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012843,000283: 06,3555 00003 RELINT
012844,000284: 06,3556 40000 COM
012845,000285: 06,3557 61074 AD 1/PIPADT
012846,000286: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012847,000287: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
012848,000288: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012849,000289: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012850,000290: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012851,000291:
012852,000292: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012853,000293: 06,3566 64777 AD POSMAX
012854,000294:
012855,000295: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012856,000296: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
012857,000297: 06,3571 52123 DXCH VBUF
012858,000298: 06,3572 00006 EXTEND
012859,000299: 06,3573 30123 DCA VBUF
012860,000300: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012861,000301:
012862,000302: 06,3575 35021 CAF ZERO
012863,000303: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012864,000304: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012865,000305:
012866,000306: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012867,000307: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012868,000308:
012869,000309: 06,3602 00006 EXTEND
012870,000310: 06,3603 40123 DCS VBUF
012871,000311: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012872,000312: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
012873,000313: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012874,000314:
012875,000315: 06,3607 00006 EXTEND
012876,000316: 06,3610 40123 DCS VBUF
012877,000317: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012878,000318: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012879,000319: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
|
|
Page 305
|
012881,000321: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012882,000322: 06,3615 13474 TCF 1/GYRO # YES
012883,000323: 06,3616 15217 TCF ENDOFJOB # NO
012884,000324:
|
|
Page 306
|
012886,000326: 06,3617 56002 FBIASSUB XCH Q
012887,000327: 06,3620 54131 TS BUF +1
012888,000328:
012889,000329: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012890,000330: 06,3622 00006 EXTEND
012891,000331: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
012892,000332: 06,3624 50130 INDEX BUF
012893,000333: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012894,000334:
012895,000335: 06,3626 30002 CA Q # NOW FRACTIONAL PART
012896,000336: 06,3627 00006 EXTEND
012897,000337: 06,3630 70155 MP MPAC +1
012898,000338: 06,3631 54001 TS L
012899,000339: 06,3632 35021 CAF ZERO
012900,000340: 06,3633 50130 INDEX BUF
012901,000341: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012902,000342:
012903,000343: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
012904,000344:
012905,000345: 06,3636 04662 LASTBIAS TC BANKCALL
012906,000346: 06,3637 17156 CADR PIPUSE
012907,000347:
012908,000348: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012909,000349: 06,3641 13644 TCF +3
012910,000350: 06,3642 13644 TCF +2
012911,000351: 06,3643 15217 TCF ENDOFJOB
012912,000352:
012913,000353: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
012914,000354: 06,3645 57074 XCH 1/PIPADT
012915,000355: 06,3646 40000 COM
012916,000356: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
012917,000357: 06,3650 13560 TCF NBD2
012918,000358:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc