GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. 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:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
012860,000002: ## Copyright: Public domain.
012861,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012862,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
012863,000005: ## It is part of the source code for the Command Module's (CM)
012864,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
012865,000007: ## Assembler: yaYUL
012866,000008: ## Contact: Ron Burkey <info@sandroid.org>.
012867,000009: ## Website: www.ibiblio.org/apollo.
012868,000010: ## Pages: 297-306
012869,000011: ## Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
012870,000012: ## same name, using Comanche055 page images/
012871,000013: ## 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21.
012872,000014: ## 2010-08-24 JL Fixed page 306 number.
012873,000015: ## 2016-12-10 RSB Proofed comments with octopus/ProoferComments
012874,000016: ## and fixed the errors found.
012875,000017: ## 2017-01-14 RSB Fixed comment-text errors located while
012876,000018: ## diff'ing against Colossus 249.
012877,000019: ##
012878,000020: ## This source code has been transcribed or otherwise adapted from digitized
012879,000021: ## images of a hardcopy from the MIT Museum. The digitization was performed
012880,000022: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
012881,000023: ## thanks to both. The images (with suitable reduction in storage size and
012882,000024: ## consequent reduction in image quality as well) are available online at
012883,000025: ## www.ibiblio.org/apollo. If for some reason you find that the images are
012884,000026: ## illegible, contact me at info@sandroid.org about getting access to the
012885,000027: ## (much) higher-quality images which Paul actually created.
012886,000028: ##
012887,000029: ## Notations on the hardcopy document read, in part:
012888,000030: ##
012889,000031: ## Assemble revision 055 of AGC program Comanche by NASA
012890,000032: ## 2021113-051. 10:28 APR. 1, 1969
012891,000033: ##
012892,000034: ## This AGC program shall also be referred to as
012893,000035: ## Colossus 2A
012894,000036:
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Page 297 |
012896,000038: 07,2441 BANK 7
012897,000039: 06,2000 SETLOC IMUCOMP
012898,000040: 06,2000 BANK
012899,000041: 06,3262 E3,1460 EBANK= NBDX
012900,000042:
012901,000043: 06,3262 COUNT 06/ICOMP
012902,000044:
012903,000045: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012904,000046: 06,3263 56003 XCH EBANK
012905,000047: 06,3264 54163 TS MODE
012906,000048:
012907,000049: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012908,000050: 06,3266 13271 TCF +3
012909,000051: 06,3267 13271 TCF +2
012910,000052: 06,3270 13407 TCF IRIG1 # RETURN
012911,000053:
012912,000054: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012913,000055: # FOR DOWNLINK.
012914,000056:
012915,000057: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012916,000058: 06,3273 54132 TS BUF +2
012917,000059:
012918,000060: 06,3274 50132 INDEX BUF +2
012919,000061: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012920,000062: 06,3276 00006 EXTEND
012921,000063: 06,3277 50132 INDEX BUF +2
012922,000064: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012923,000065: 06,3301 54002 TS Q # SAVE MAJOR PART
012924,000066:
012925,000067: 06,3302 30001 CA L # MINOR PART
012926,000068: 06,3303 00006 EXTEND
012927,000069: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012928,000070: 06,3305 50132 INDEX BUF +2
012929,000071: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012930,000072:
012931,000073: 06,3307 30002 CA Q # MAJOR PART
012932,000074: 06,3310 00006 EXTEND
012933,000075: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012934,000076: 06,3312 50132 INDEX BUF +2
012935,000077: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012936,000078:
012937,000079: 06,3314 50132 INDEX BUF +2
012938,000080: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012939,000081: 06,3316 00006 EXTEND
012940,000082: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012941,000083: 06,3320 00006 EXTEND
012942,000084: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012943,000085: 06,3322 50132 INDEX BUF +2
012944,000086: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012945,000087:
012946,000088: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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Page 298 |
012948,000090: 06,3325 67716 AD NEG1
012949,000091: 06,3326 13273 TCF 1/PIPA1 +1
012950,000092: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012951,000093: 06,3330 00003 RELINT
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Page 299 |
012953,000095:
012954,000096: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012955,000097: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012956,000098:
012957,000099: 06,3333 00006 IRIGX EXTEND
012958,000100: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012959,000101: 06,3335 52155 DXCH MPAC
012960,000102: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012961,000103: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012962,000104:
012963,000105: 06,3340 00006 EXTEND #
012964,000106: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012965,000107: 06,3342 52155 DXCH MPAC #
012966,000108: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012967,000109: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012968,000110:
012969,000111: # EXTEND ***
012970,000112: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012971,000113: # DXCH MPAC ***
012972,000114: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012973,000115: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012974,000116:
012975,000117: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012976,000118: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012977,000119:
012978,000120: 06,3347 00006 IRIGY EXTEND
012979,000121: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012980,000122: 06,3351 52155 DXCH MPAC
012981,000123: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012982,000124: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012983,000125:
012984,000126: 06,3354 00006 EXTEND
012985,000127: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012986,000128: 06,3356 52155 DXCH MPAC
012987,000129: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012988,000130: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012989,000131:
012990,000132: # EXTEND ***
012991,000133: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012992,000134: # DXCH MPAC ***
012993,000135: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012994,000136: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012995,000137:
012996,000138: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012997,000139: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012998,000140:
012999,000141: 06,3363 00006 IRIGZ EXTEND
013000,000142: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
013001,000143: 06,3365 52155 DXCH MPAC
013002,000144: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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Page 300 |
013004,000146: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013005,000147:
013006,000148: 06,3370 00006 EXTEND
013007,000149: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
013008,000150: 06,3372 52155 DXCH MPAC
013009,000151: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013010,000152: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013011,000153:
013012,000154: # EXTEND ***
013013,000155: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013014,000156: # DXCH MPAC ***
013015,000157: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013016,000158: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013017,000159:
013018,000160: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013019,000161: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013020,000162:
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Page 301 |
013022,000164: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013023,000165: 06,3400 13402 TCF +2 # YES
013024,000166: 06,3401 13407 TCF IRIG1 # NO
013025,000167:
013026,000168: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
013027,000169: 06,3403 05134 TC NOVAC
013028,000170: 06,3404 E3,1460 EBANK= NBDX
013029,000171: 06,3404 03474 14063 2CADR 1/GYRO
013030,000172:
013031,000173: 06,3406 00003 RELINT
013032,000174: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
013033,000175: 06,3410 54003 TS EBANK
013034,000176: 06,3411 14675 TCF SWRETURN
013035,000177:
013036,000178: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013037,000179: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013038,000180: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013039,000181: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
013040,000182:
013041,000183: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013042,000184: 06,3417 00006 EXTEND
013043,000185: 06,3420 70154 MP MPAC # ADIA OR ADSRA
013044,000186: 06,3421 54001 TS L
013045,000187: 06,3422 35021 CAF ZERO
013046,000188: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
013047,000189:
013048,000190: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
013049,000191: 06,3425 00006 EXTEND
013050,000192: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013051,000193: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013052,000194: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013053,000195:
013054,000196: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013055,000197: 06,3432 00006 EXTEND
013056,000198: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013057,000199: 06,3434 54001 TS L
013058,000200: 06,3435 35021 CAF ZERO
013059,000201: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013060,000202: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013061,000203:
013062,000204: 06,3440 00002 TC Q
013063,000205:
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Page 302 |
013065,000207: 06,3441 00006 DRIFTSUB EXTEND
013066,000208: 06,3442 22131 QXCH BUF +1
013067,000209:
013068,000210: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013069,000211: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013070,000212: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013071,000213: 06,3446 00006 EXTEND
013072,000214: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013073,000215: 06,3450 50130 INDEX BUF
013074,000216: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013075,000217:
013076,000218: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
013077,000219: 06,3453 00006 EXTEND
013078,000220: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013079,000221: 06,3455 54001 TS L
013080,000222: 06,3456 35021 CAF ZERO
013081,000223: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013082,000224: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013083,000225:
013084,000226: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013085,000227: 06,3462 60130 AD BUF
013086,000228: 06,3463 56130 XCH BUF
013087,000229: 06,3464 50000 INDEX A
013088,000230: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013089,000231: 06,3466 13470 TCF +2 # YES
013090,000232: 06,3467 00131 TC BUF +1 # NO
013091,000233:
013092,000234: 06,3470 77716 MASK NEGONE
013093,000235: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013094,000236: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013095,000237: 06,3473 00131 TC BUF +1 # NO
013096,000238:
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Page 303 |
013098,000240: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013099,000241: 06,3475 54130 TS BUF
013100,000242:
013101,000243: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013102,000244: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
013103,000245: 06,3500 00006 EXTEND
013104,000246: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
013105,000247: 06,3502 50130 INDEX BUF
013106,000248: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013107,000249:
013108,000250: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013109,000251: 06,3505 50130 INDEX BUF
013110,000252: 06,3506 57471 XCH GCOMP # GYRO PULSES
013111,000253: 06,3507 00006 EXTEND
013112,000254: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
013113,000255: 06,3511 50130 INDEX BUF
013114,000256: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013115,000257:
013116,000258: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013117,000259: 06,3514 67716 AD NEG1
013118,000260: 06,3515 13475 TCF 1/GYRO +1
013119,000261: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013120,000262:
013121,000263: 06,3517 33516 CAF LGCOMP
013122,000264: 06,3520 04662 TC BANKCALL
013123,000265: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013124,000266: 06,3522 04662 TC BANKCALL
013125,000267: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013126,000268: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
013127,000269:
013128,000270: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013129,000271: 06,3526 54130 TS BUF
013130,000272:
013131,000273: 06,3527 50130 INDEX BUF # RESCALE
013132,000274: 06,3530 31472 CA GCOMP +1
013133,000275: 06,3531 00006 EXTEND
013134,000276: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013135,000277: 06,3533 50130 INDEX BUF
013136,000278: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013137,000279:
013138,000280: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013139,000281: 06,3536 67716 AD NEG1
013140,000282: 06,3537 13526 TCF GCOMP1 +1
013141,000283:
013142,000284: 06,3540 01436 V06N30S VN 0630
013143,000285: 06,3541 15217 TCF ENDOFJOB
013144,000286:
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Page 304 |
013146,000288: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013147,000289: 06,3543 13546 TCF +3
013148,000290: 06,3544 13546 TCF +2
013149,000291: 06,3545 15217 TCF ENDOFJOB
013150,000292:
013151,000293: 06,3546 00004 INHINT
013152,000294: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013153,000295: 06,3550 15217 TCF ENDOFJOB
013154,000296: 06,3551 15217 TCF ENDOFJOB
013155,000297: 06,3552 13553 TCF +1
013156,000298:
013157,000299: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
013158,000300: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
013159,000301: 06,3555 00003 RELINT
013160,000302: 06,3556 40000 COM
013161,000303: 06,3557 61074 AD 1/PIPADT
013162,000304: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
013163,000305: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
013164,000306: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
013165,000307: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
013166,000308: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013167,000309:
013168,000310: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
013169,000311: 06,3566 64777 AD POSMAX
013170,000312:
013171,000313: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013172,000314: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
013173,000315: 06,3571 52123 DXCH VBUF
013174,000316: 06,3572 00006 EXTEND
013175,000317: 06,3573 30123 DCA VBUF
013176,000318: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013177,000319:
013178,000320: 06,3575 35021 CAF ZERO
013179,000321: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
013180,000322: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
013181,000323:
013182,000324: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013183,000325: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
013184,000326:
013185,000327: 06,3602 00006 EXTEND
013186,000328: 06,3603 40123 DCS VBUF
013187,000329: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013188,000330: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013189,000331: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013190,000332:
013191,000333: 06,3607 00006 EXTEND
013192,000334: 06,3610 40123 DCS VBUF
013193,000335: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013194,000336: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013195,000337: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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Page 305 |
013197,000339: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013198,000340: 06,3615 13474 TCF 1/GYRO # YES
013199,000341: 06,3616 15217 TCF ENDOFJOB # NO
013200,000342:
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Page 306 |
013202,000344: 06,3617 56002 FBIASSUB XCH Q
013203,000345: 06,3620 54131 TS BUF +1
013204,000346:
013205,000347: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013206,000348: 06,3622 00006 EXTEND
013207,000349: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013208,000350: 06,3624 50130 INDEX BUF
013209,000351: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013210,000352:
013211,000353: 06,3626 30002 CA Q # NOW FRACTIONAL PART
013212,000354: 06,3627 00006 EXTEND
013213,000355: 06,3630 70155 MP MPAC +1
013214,000356: 06,3631 54001 TS L
013215,000357: 06,3632 35021 CAF ZERO
013216,000358: 06,3633 50130 INDEX BUF
013217,000359: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013218,000360:
013219,000361: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013220,000362:
013221,000363: 06,3636 04662 LASTBIAS TC BANKCALL
013222,000364: 06,3637 17156 CADR PIPUSE
013223,000365:
013224,000366: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013225,000367: 06,3641 13644 TCF +3
013226,000368: 06,3642 13644 TCF +2
013227,000369: 06,3643 15217 TCF ENDOFJOB
013228,000370:
013229,000371: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013230,000372: 06,3645 57074 XCH 1/PIPADT
013231,000373: 06,3646 40000 COM
013232,000374: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013233,000375: 06,3650 13560 TCF NBD2
013234,000376:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc