Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from 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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013478,000002: ## Copyright: Public domain.
013479,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013480,000004: ## Purpose: A section of LM131 revision 1.
013481,000005: ## It is part of the reconstructed source code for the final
013482,000006: ## release of the flight software for the Lunar Module's (LM)
013483,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
013484,000008: ## been reconstructed from a listing of Luminary 131 and a dump
013485,000009: ## of a core rope memory module B5, part number 2010802-171,
013486,000010: ## which is the only module different between LM131 revision 1
013487,000011: ## and Luminary 131. The executable generated from this source
013488,000012: ## has been verified against the module dump, so while the names,
013489,000013: ## comments, and ordering may not be exactly correct, the
013490,000014: ## resulting binary is.
013491,000015: ## Reference: pp. 328-339
013492,000016: ## Assembler: yaYUL
013493,000017: ## Contact: Ron Burkey <info@sandroid.org>.
013494,000018: ## Website: www.ibiblio.org/apollo/index.html
013495,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
013496,000020:
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Page 328
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013498,000022: 07,2666 BANK 7
013499,000023: 06,2000 SETLOC IMUCOMP
013500,000024: 06,2000 BANK
013501,000025:
013502,000026: 06,3271 E3,1460 EBANK= NBDX
013503,000027:
013504,000028: 06,3271 COUNT* $$/ICOMP
013505,000029: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013506,000030: 06,3272 56003 XCH EBANK
013507,000031: 06,3273 54163 TS MODE
013508,000032:
013509,000033: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013510,000034: 06,3275 13300 TCF +3
013511,000035: 06,3276 13300 TCF +2
013512,000036: 06,3277 13361 TCF IRIG1 # RETURN
013513,000037:
013514,000038: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013515,000039: 06,3301 54132 TS BUF +2
013516,000040:
013517,000041: 06,3302 50132 INDEX BUF +2
013518,000042: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013519,000043: 06,3304 00006 EXTEND
013520,000044: 06,3305 50132 INDEX BUF +2
013521,000045: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013522,000046: 06,3307 54002 TS Q # SAVE MAJOR PART
013523,000047:
013524,000048: 06,3310 30001 CA L # MINOR PART
013525,000049: 06,3311 00006 EXTEND
013526,000050: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013527,000051:
013528,000052: 06,3313 50132 INDEX BUF +2
013529,000053: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013530,000054:
013531,000055: 06,3315 30002 CA Q # MAJOR PART
013532,000056: 06,3316 00006 EXTEND
013533,000057: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013534,000058: 06,3320 50132 INDEX BUF +2
013535,000059: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013536,000060:
013537,000061: 06,3322 50132 INDEX BUF +2
013538,000062: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013539,000063: 06,3324 00006 EXTEND
013540,000064: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013541,000065: 06,3326 00006 EXTEND
013542,000066: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013543,000067: 06,3330 50132 INDEX BUF +2
013544,000068: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013545,000069:
013546,000070: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013547,000071: 06,3333 67752 AD NEG1
013548,000072: 06,3334 13301 TCF 1/PIPA1 +1
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Page 329
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013550,000074: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013551,000075:
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Page 330
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013553,000077: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013554,000078: 06,3337 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013555,000079:
013556,000080: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013557,000081:
013558,000082: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013559,000083: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013560,000084:
013561,000085: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013562,000086:
013563,000087: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013564,000088: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013565,000089:
013566,000090: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013567,000091:
013568,000092: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013569,000093: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013570,000094:
013571,000095: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013572,000096: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013573,000097: 06,3353 13361 TCF IRIG1 # NO RETURN
013574,000098:
013575,000099: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013576,000100: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013577,000101: 06,3356 E3,1460 EBANK= NBDX
013578,000102: 06,3356 03515 14063 2CADR 1/GYRO
013579,000103:
013580,000104: 06,3360 00003 RELINT
013581,000105: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLER S EBANK
013582,000106: 06,3362 54003 TS EBANK
013583,000107: 06,3363 14631 TCF SWRETURN
013584,000108:
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Page 331
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013586,000110: 06,3364 00006 IRIGX EXTEND
013587,000111: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013588,000112: 06,3366 00006 EXTEND
013589,000113: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013590,000114: 06,3370 52155 DXCH MPAC
013591,000115: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013592,000116: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013593,000117:
013594,000118: 06,3373 00006 EXTEND #
013595,000119: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013596,000120: 06,3375 52155 DXCH MPAC #
013597,000121: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013598,000122: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013599,000123:
013600,000124: # EXTEND ***
013601,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013602,000126: # DXCH MPAC ***
013603,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013604,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013605,000129:
013606,000130: 06,3400 00156 TC MPAC +2
013607,000131:
013608,000132: 06,3401 00006 IRIGY EXTEND
013609,000133: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013610,000134: 06,3403 00006 EXTEND
013611,000135: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013612,000136: 06,3405 52155 DXCH MPAC
013613,000137: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013614,000138: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013615,000139:
013616,000140: 06,3410 00006 EXTEND
013617,000141: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013618,000142: 06,3412 52155 DXCH MPAC
013619,000143: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013620,000144: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013621,000145:
013622,000146: # EXTEND ***
013623,000147: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013624,000148: # DXCH MPAC ***
013625,000149: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013626,000150: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013627,000151:
013628,000152: 06,3415 00156 TC MPAC +2
013629,000153:
013630,000154: 06,3416 00006 IRIGZ EXTEND
013631,000155: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013632,000156: 06,3420 00006 EXTEND
013633,000157: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013634,000158: 06,3422 52155 DXCH MPAC
013635,000159: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 332
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013637,000161: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013638,000162:
013639,000163: 06,3425 00006 EXTEND
013640,000164: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013641,000165: 06,3427 52155 DXCH MPAC
013642,000166: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013643,000167: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013644,000168:
013645,000169: # EXTEND ***
013646,000170: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013647,000171: # DXCH MPAC ***
013648,000172: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013649,000173: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013650,000174:
013651,000175: 06,3432 00156 TC MPAC +2
013652,000176:
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Page 333
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013654,000178: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013655,000179: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013656,000180: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013657,000181: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013658,000182:
013659,000183: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013660,000184: 06,3440 00006 EXTEND
013661,000185: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013662,000186: 06,3442 54001 TS L
013663,000187: 06,3443 34755 CAF ZERO
013664,000188: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013665,000189:
013666,000190: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
013667,000191: 06,3446 00006 EXTEND
013668,000192: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013669,000193: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013670,000194: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013671,000195:
013672,000196: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013673,000197: 06,3453 00006 EXTEND
013674,000198: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013675,000199: 06,3455 54001 TS L
013676,000200: 06,3456 34755 CAF ZERO
013677,000201: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013678,000202: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013679,000203:
013680,000204: 06,3461 00002 TC Q
013681,000205:
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Page 334
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013683,000207: 06,3462 00006 DRIFTSUB EXTEND
013684,000208: 06,3463 22131 QXCH BUF +1
013685,000209:
013686,000210: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013687,000211: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013688,000212: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013689,000213: 06,3467 00006 EXTEND
013690,000214: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013691,000215: 06,3471 50130 INDEX BUF
013692,000216: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013693,000217:
013694,000218: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
013695,000219: 06,3474 00006 EXTEND
013696,000220: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013697,000221: 06,3476 54001 TS L
013698,000222: 06,3477 34755 CAF ZERO
013699,000223: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013700,000224: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013701,000225:
013702,000226: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013703,000227: 06,3503 60130 AD BUF
013704,000228: 06,3504 56130 XCH BUF
013705,000229: 06,3505 50000 INDEX A
013706,000230: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013707,000231: 06,3507 13511 TCF +2 # YES
013708,000232: 06,3510 00131 TC BUF +1 # NO
013709,000233:
013710,000234: 06,3511 73561 MASK COMPCHK # DEC -1
013711,000235: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013712,000236: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013713,000237: 06,3514 00131 TC BUF +1 # NO
013714,000238:
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Page 335
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013716,000240: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013717,000241: 06,3516 54130 TS BUF
013718,000242:
013719,000243: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013720,000244: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013721,000245: 06,3521 00006 EXTEND
013722,000246: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013723,000247: 06,3523 50130 INDEX BUF
013724,000248: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013725,000249:
013726,000250: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013727,000251: 06,3526 50130 INDEX BUF
013728,000252: 06,3527 57471 XCH GCOMP # GYRO PULSES
013729,000253: 06,3530 00006 EXTEND
013730,000254: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013731,000255: 06,3532 50130 INDEX BUF
013732,000256: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013733,000257:
013734,000258: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013735,000259: 06,3535 67752 AD NEG1
013736,000260: 06,3536 13516 TCF 1/GYRO +1
013737,000261: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013738,000262:
013739,000263: 06,3540 33537 CAF LGCOMP
013740,000264: 06,3541 04616 TC BANKCALL
013741,000265: 06,3542 17314 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013742,000266: 06,3543 04616 TC BANKCALL
013743,000267: 06,3544 17707 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013744,000268: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013745,000269:
013746,000270: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013747,000271: 06,3547 54130 TS BUF
013748,000272:
013749,000273: 06,3550 50130 INDEX BUF # RESCALE
013750,000274: 06,3551 31472 CA GCOMP +1
013751,000275: 06,3552 00006 EXTEND
013752,000276: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013753,000277: 06,3554 50130 INDEX BUF
013754,000278: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013755,000279:
013756,000280: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013757,000281: 06,3557 67752 AD NEG1
013758,000282: 06,3560 13547 TCF GCOMP1 +1
013759,000283: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013760,000284: 06,3562 15155 TCF ENDOFJOB
013761,000285:
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Page 336
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013763,000287: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013764,000288: 06,3564 13567 TCF +3
013765,000289: 06,3565 13567 TCF +2
013766,000290: 06,3566 15155 TCF ENDOFJOB
013767,000291:
013768,000292: 06,3567 00004 INHINT
013769,000293: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013770,000294: 06,3571 15155 TCF ENDOFJOB
013771,000295: 06,3572 15155 TCF ENDOFJOB
013772,000296: 06,3573 13574 TCF +1
013773,000297:
013774,000298: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013775,000299: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013776,000300: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013777,000301: 06,3577 00006 EXTEND
013778,000302: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013779,000303:
013780,000304: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013781,000305: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013782,000306:
013783,000307: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013784,000308: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013785,000309: 06,3605 00003 RELINT
013786,000310: 06,3606 40000 COM
013787,000311: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013788,000312: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013789,000313: 06,3611 64736 AD HALF
013790,000314: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013791,000315: 06,3613 56001 XCH L # OVERFLOW.
013792,000316:
013793,000317: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013794,000318: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013795,000319: 06,3616 52125 DXCH VBUF +2
013796,000320:
013797,000321: 06,3617 34755 CA ZERO
013798,000322: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013799,000323: 06,3621 54130 TS BUF # INDEX X, Y, Z.
013800,000324:
013801,000325: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013802,000326: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013803,000327:
013804,000328: 06,3624 00006 EXTEND
013805,000329: 06,3625 30125 DCA VBUF +2
013806,000330: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013807,000331:
013808,000332: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013809,000333: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013810,000334:
013811,000335: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013812,000336: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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Page 337
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013814,000338: 06,3633 00006 EXTEND
013815,000339: 06,3634 40125 DCS VBUF +2
013816,000340: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013817,000341: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013818,000342: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013819,000343:
013820,000344: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013821,000345: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013822,000346:
013823,000347: 06,3642 00006 EXTEND
013824,000348: 06,3643 40125 DCS VBUF +2
013825,000349: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013826,000350: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013827,000351: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013828,000352:
013829,000353: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013830,000354: 06,3650 13515 TCF 1/GYRO # YES
013831,000355: 06,3651 15155 TCF ENDOFJOB # NO
013832,000356:
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Page 338
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013834,000358: 06,3652 56002 FBIASSUB XCH Q
013835,000359: 06,3653 54131 TS BUF +1
013836,000360:
013837,000361: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013838,000362: 06,3655 00006 EXTEND
013839,000363: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013840,000364: 06,3657 50130 INDEX BUF
013841,000365: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013842,000366:
013843,000367: 06,3661 30002 CA Q # NOW FRACTIONAL PART
013844,000368: 06,3662 00006 EXTEND
013845,000369: 06,3663 70155 MP MPAC +1
013846,000370: 06,3664 54001 TS L
013847,000371: 06,3665 34755 CAF ZERO
013848,000372: 06,3666 50130 INDEX BUF
013849,000373: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013850,000374:
013851,000375: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013852,000376:
013853,000377: 06,3671 04616 LASTBIAS TC BANKCALL
013854,000378: 06,3672 17270 CADR PIPUSE1
013855,000379:
013856,000380: 06,3673 11477 CCS GCOMPSW
013857,000381: 06,3674 13677 TCF +3
013858,000382: 06,3675 13677 TCF +2
013859,000383: 06,3676 15155 TCF ENDOFJOB
013860,000384:
013861,000385: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013862,000386: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
013863,000387: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
013864,000388:
013865,000389: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013866,000390: 06,3703 57074 XCH 1/PIPADT
013867,000391: 06,3704 40000 COM
013868,000392: 06,3705 61234 AD PIPTIME +1
013869,000393: 06,3706 13610 TCF NBD2
013870,000394:
013871,000395: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
013872,000396: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
013873,000397: 06,3711 54163 TS MODE
013874,000398:
013875,000399: 06,3712 34755 CAF ZERO
013876,000400: 06,3713 55477 TS GCOMPSW
013877,000401: 06,3714 55471 TS GCOMP
013878,000402: 06,3715 55472 TS GCOMP +1
013879,000403: 06,3716 55473 TS GCOMP +2
013880,000404: 06,3717 55474 TS GCOMP +3
013881,000405: 06,3720 55475 TS GCOMP +4
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Page 339
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013883,000407: 06,3721 55476 TS GCOMP +5
013884,000408:
013885,000409: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
013886,000410:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc