Source Code
|
These source-code files are part of a reconstructed copy of Comanche 72, the
first release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
They have been adapted from sources files created from a listing of Comanche 55.
These source files were updated to match binary dumps of a set of Comanche 67 rope modules.
They were then further modified by applying known changes between Comanche 67 and Comanche 72.
A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used
to validate changes made to banks 05-13. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
|
012391,000002: ## Copyright: Public domain.
012392,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012393,000004: ## Purpose: A section of Comanche revision 072.
012394,000005: ## It is part of the reconstructed source code for the first
012395,000006: ## release of the software for the Command Module's (CM) Apollo
012396,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
012397,000008: ## of this program are available; instead, this file was recreated
012398,000009: ## from a printout of Comanche 055, binary dumps of a set of
012399,000010: ## Comanche 067 rope modules, and changelogs between Comanche 067
012400,000011: ## and 072. It has been adapted such that the resulting bugger words
012401,000012: ## exactly match those specified for Comanche 072 in NASA drawing
012402,000013: ## 2021153G, which gives relatively high confidence that the
012403,000014: ## reconstruction is correct.
012404,000015: ## Assembler: yaYUL
012405,000016: ## Contact: Ron Burkey <info@sandroid.org>.
012406,000017: ## Website: www.ibiblio.org/apollo/index.html
012407,000018: ## Mod history: 2024-05-13 MAS Created from Comanche 067.
012408,000019:
012409,000020: 07,2441 BANK 7
012410,000021: 06,2000 SETLOC IMUCOMP
012411,000022: 06,2000 BANK
012412,000023: 06,3262 E3,1460 EBANK= NBDX
012413,000024:
012414,000025: 06,3262 COUNT 06/ICOMP
012415,000026:
012416,000027: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012417,000028: 06,3263 56003 XCH EBANK
012418,000029: 06,3264 54163 TS MODE
012419,000030:
012420,000031: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012421,000032: 06,3266 13271 TCF +3
012422,000033: 06,3267 13271 TCF +2
012423,000034: 06,3270 13407 TCF IRIG1 # RETURN
012424,000035:
012425,000036: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012426,000037: # FOR DOWNLINK.
012427,000038:
012428,000039: 06,3272 35031 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012429,000040: 06,3273 54132 TS BUF +2
012430,000041:
012431,000042: 06,3274 50132 INDEX BUF +2
012432,000043: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012433,000044: 06,3276 00006 EXTEND
012434,000045: 06,3277 50132 INDEX BUF +2
012435,000046: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012436,000047: 06,3301 54002 TS Q # SAVE MAJOR PART
012437,000048:
012438,000049: 06,3302 30001 CA L # MINOR PART
012439,000050: 06,3303 00006 EXTEND
012440,000051: 06,3304 75026 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012441,000052: 06,3305 50132 INDEX BUF +2
012442,000053: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012443,000054:
012444,000055: 06,3307 30002 CA Q # MAJOR PART
012445,000056: 06,3310 00006 EXTEND
012446,000057: 06,3311 75026 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012447,000058: 06,3312 50132 INDEX BUF +2
012448,000059: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012449,000060:
012450,000061: 06,3314 50132 INDEX BUF +2
012451,000062: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-6)
012452,000063: 06,3316 00006 EXTEND
012453,000064: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
012454,000065: 06,3320 00006 EXTEND
012455,000066: 06,3321 75031 MP BIT3 # SCALE 2(+12) SHIFT RIGHT 12
012456,000067: 06,3322 50132 INDEX BUF +2
012457,000068: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012458,000069:
012459,000070: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
012460,000071: 06,3325 67716 AD NEG1
012461,000072: 06,3326 13273 TCF 1/PIPA1 +1
012462,000073: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012463,000074: 06,3330 00003 RELINT
012464,000075:
012465,000076: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012466,000077: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012467,000078:
012468,000079: 06,3333 00006 IRIGX EXTEND
012469,000080: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012470,000081: 06,3335 52155 DXCH MPAC
012471,000082: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012472,000083: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012473,000084:
012474,000085: 06,3340 00006 EXTEND #
012475,000086: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012476,000087: 06,3342 52155 DXCH MPAC #
012477,000088: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012478,000089: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012479,000090:
012480,000091: # EXTEND ***
012481,000092: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012482,000093: # DXCH MPAC ***
012483,000094: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012484,000095: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012485,000096:
012486,000097: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012487,000098: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012488,000099:
012489,000100: 06,3347 00006 IRIGY EXTEND
012490,000101: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012491,000102: 06,3351 52155 DXCH MPAC
012492,000103: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012493,000104: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012494,000105:
012495,000106: 06,3354 00006 EXTEND
012496,000107: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012497,000108: 06,3356 52155 DXCH MPAC
012498,000109: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012499,000110: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012500,000111:
012501,000112: # EXTEND ***
012502,000113: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012503,000114: # DXCH MPAC ***
012504,000115: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012505,000116: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012506,000117:
012507,000118: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012508,000119: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012509,000120:
012510,000121: 06,3363 00006 IRIGZ EXTEND
012511,000122: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012512,000123: 06,3365 52155 DXCH MPAC
012513,000124: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012514,000125: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012515,000126:
012516,000127: 06,3370 00006 EXTEND
012517,000128: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012518,000129: 06,3372 52155 DXCH MPAC
012519,000130: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012520,000131: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012521,000132:
012522,000133: # EXTEND ***
012523,000134: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012524,000135: # DXCH MPAC ***
012525,000136: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012526,000137: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012527,000138:
012528,000139: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012529,000140: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012530,000141:
012531,000142: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012532,000143: 06,3400 13402 TCF +2 # YES
012533,000144: 06,3401 13407 TCF IRIG1 # NO
012534,000145:
012535,000146: 06,3402 35107 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012536,000147: 06,3403 05150 TC NOVAC
012537,000148: 06,3404 E3,1460 EBANK= NBDX
012538,000149: 06,3404 03474 14063 2CADR 1/GYRO
012539,000150:
012540,000151: 06,3406 00003 RELINT
012541,000152: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012542,000153: 06,3410 54003 TS EBANK
012543,000154: 06,3411 14711 TCF SWRETURN
012544,000155:
012545,000156: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012546,000157: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012547,000158: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012548,000159: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012549,000160:
012550,000161: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012551,000162: 06,3417 00006 EXTEND
012552,000163: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012553,000164: 06,3421 54001 TS L
012554,000165: 06,3422 35035 CAF ZERO
012555,000166: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012556,000167:
012557,000168: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012558,000169: 06,3425 00006 EXTEND
012559,000170: 06,3426 75020 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012560,000171: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012561,000172: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012562,000173:
012563,000174: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012564,000175: 06,3432 00006 EXTEND
012565,000176: 06,3433 75020 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012566,000177: 06,3434 54001 TS L
012567,000178: 06,3435 35035 CAF ZERO
012568,000179: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012569,000180: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012570,000181:
012571,000182: 06,3440 00002 TC Q
012572,000183:
012573,000184: 06,3441 00006 DRIFTSUB EXTEND
012574,000185: 06,3442 22131 QXCH BUF +1
012575,000186:
012576,000187: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012577,000188: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012578,000189: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012579,000190: 06,3446 00006 EXTEND
012580,000191: 06,3447 75030 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012581,000192: 06,3450 50130 INDEX BUF
012582,000193: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012583,000194:
012584,000195: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012585,000196: 06,3453 00006 EXTEND
012586,000197: 06,3454 75030 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012587,000198: 06,3455 54001 TS L
012588,000199: 06,3456 35035 CAF ZERO
012589,000200: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012590,000201: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012591,000202:
012592,000203: 06,3461 35032 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012593,000204: 06,3462 60130 AD BUF
012594,000205: 06,3463 56130 XCH BUF
012595,000206: 06,3464 50000 INDEX A
012596,000207: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012597,000208: 06,3466 13470 TCF +2 # YES
012598,000209: 06,3467 00131 TC BUF +1 # NO
012599,000210:
012600,000211: 06,3470 77716 MASK NEGONE
012601,000212: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012602,000213: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012603,000214: 06,3473 00131 TC BUF +1 # NO
012604,000215:
012605,000216: 06,3474 35031 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012606,000217: 06,3475 54130 TS BUF
012607,000218:
012608,000219: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012609,000220: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012610,000221: 06,3500 00006 EXTEND
012611,000222: 06,3501 75024 MP BIT8 # SHIFT RIGHT 7
012612,000223: 06,3502 50130 INDEX BUF
012613,000224: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012614,000225:
012615,000226: 06,3504 35035 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012616,000227: 06,3505 50130 INDEX BUF
012617,000228: 06,3506 57471 XCH GCOMP # GYRO PULSES
012618,000229: 06,3507 00006 EXTEND
012619,000230: 06,3510 75024 MP BIT8 # SHIFT RIGHT 7
012620,000231: 06,3511 50130 INDEX BUF
012621,000232: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012622,000233:
012623,000234: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012624,000235: 06,3514 67716 AD NEG1
012625,000236: 06,3515 13475 TCF 1/GYRO +1
012626,000237: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012627,000238:
012628,000239: 06,3517 33516 CAF LGCOMP
012629,000240: 06,3520 04676 TC BANKCALL
012630,000241: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012631,000242: 06,3522 04676 TC BANKCALL
012632,000243: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012633,000244: 06,3524 15233 TCF ENDOFJOB # TEMPORARY
012634,000245:
012635,000246: 06,3525 35031 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012636,000247: 06,3526 54130 TS BUF
012637,000248:
012638,000249: 06,3527 50130 INDEX BUF # RESCALE
012639,000250: 06,3530 31472 CA GCOMP +1
012640,000251: 06,3531 00006 EXTEND
012641,000252: 06,3532 75024 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012642,000253: 06,3533 50130 INDEX BUF
012643,000254: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012644,000255:
012645,000256: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012646,000257: 06,3536 67716 AD NEG1
012647,000258: 06,3537 13526 TCF GCOMP1 +1
012648,000259:
012649,000260: 06,3540 01436 V06N30S VN 0630
012650,000261: 06,3541 15233 TCF ENDOFJOB
012651,000262:
012652,000263: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012653,000264: 06,3543 13546 TCF +3
012654,000265: 06,3544 13546 TCF +2
012655,000266: 06,3545 15233 TCF ENDOFJOB
012656,000267:
012657,000268: 06,3546 00004 INHINT
012658,000269: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012659,000270: 06,3550 15233 TCF ENDOFJOB
012660,000271: 06,3551 15233 TCF ENDOFJOB
012661,000272: 06,3552 13553 TCF +1
012662,000273:
012663,000274: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012664,000275: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012665,000276: 06,3555 00003 RELINT
012666,000277: 06,3556 40000 COM
012667,000278: 06,3557 61074 AD 1/PIPADT
012668,000279: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012669,000280: 06,3561 65033 AD ONE # NO TIME1 OVERFLOW
012670,000281: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012671,000282: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012672,000283: 06,3564 15233 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012673,000284:
012674,000285: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012675,000286: 06,3566 65013 AD POSMAX
012676,000287:
012677,000288: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012678,000289: 06,3570 75022 MP BIT10 # SHIFT RIGHT 5
012679,000290: 06,3571 52123 DXCH VBUF
012680,000291: 06,3572 00006 EXTEND
012681,000292: 06,3573 30123 DCA VBUF
012682,000293: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012683,000294:
012684,000295: 06,3575 35035 CAF ZERO
012685,000296: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012686,000297: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012687,000298:
012688,000299: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012689,000300: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012690,000301:
012691,000302: 06,3602 00006 EXTEND
012692,000303: 06,3603 40123 DCS VBUF
012693,000304: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012694,000305: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
012695,000306: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012696,000307:
012697,000308: 06,3607 00006 EXTEND
012698,000309: 06,3610 40123 DCS VBUF
012699,000310: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012700,000311: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012701,000312: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012702,000313: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012703,000314: 06,3615 13474 TCF 1/GYRO # YES
012704,000315: 06,3616 15233 TCF ENDOFJOB # NO
012705,000316:
012706,000317: 06,3617 56002 FBIASSUB XCH Q
012707,000318: 06,3620 54131 TS BUF +1
012708,000319:
012709,000320: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012710,000321: 06,3622 00006 EXTEND
012711,000322: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
012712,000323: 06,3624 50130 INDEX BUF
012713,000324: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012714,000325:
012715,000326: 06,3626 30002 CA Q # NOW FRACTIONAL PART
012716,000327: 06,3627 00006 EXTEND
012717,000328: 06,3630 70155 MP MPAC +1
012718,000329: 06,3631 54001 TS L
012719,000330: 06,3632 35035 CAF ZERO
012720,000331: 06,3633 50130 INDEX BUF
012721,000332: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012722,000333:
012723,000334: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
012724,000335:
012725,000336: 06,3636 04676 LASTBIAS TC BANKCALL
012726,000337: 06,3637 17156 CADR PIPUSE
012727,000338:
012728,000339: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012729,000340: 06,3641 13644 TCF +3
012730,000341: 06,3642 13644 TCF +2
012731,000342: 06,3643 15233 TCF ENDOFJOB
012732,000343:
012733,000344: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
012734,000345: 06,3645 57074 XCH 1/PIPADT
012735,000346: 06,3646 40000 COM
012736,000347: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
012737,000348: 06,3650 13560 TCF NBD2
012738,000349:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc