Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
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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014674,000002: ## Copyright: Public domain.
014675,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014676,000004: ## Purpose: A section of LUM69 revision 2.
014677,000005: ## It is part of the reconstructed source code for the flown
014678,000006: ## version of the flight software for the Lunar Module's (LM)
014679,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
014680,000008: ## been recreated from a copy of Luminary revsion 069, using
014681,000009: ## changes present in Luminary 099 which were described in
014682,000010: ## Luminary memos 75 and 78. The code has been adapted such
014683,000011: ## that the resulting bugger words exactly match those specified
014684,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
014685,000013: ## relatively high confidence that the reconstruction is correct.
014686,000014: ## Reference: pp. 339-350
014687,000015: ## Assembler: yaYUL
014688,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014689,000017: ## Website: www.ibiblio.org/apollo/index.html
014690,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
014691,000019:
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Page 339
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014693,000021: 07,2667 BANK 7
014694,000022: 06,2000 SETLOC IMUCOMP
014695,000023: 06,2000 BANK
014696,000024:
014697,000025: 06,3263 E3,1460 EBANK= NBDX
014698,000026:
014699,000027: 06,3263 COUNT* $$/ICOMP
014700,000028: 06,3263 33531 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014701,000029: 06,3264 56003 XCH EBANK
014702,000030: 06,3265 54163 TS MODE
014703,000031:
014704,000032: 06,3266 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014705,000033: 06,3267 13272 TCF +3
014706,000034: 06,3270 13272 TCF +2
014707,000035: 06,3271 13353 TCF IRIG1 # RETURN
014708,000036:
014709,000037: 06,3272 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014710,000038: 06,3273 54132 TS BUF +2
014711,000039:
014712,000040: 06,3274 50132 INDEX BUF +2
014713,000041: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014714,000042: 06,3276 00006 EXTEND
014715,000043: 06,3277 50132 INDEX BUF +2
014716,000044: 06,3300 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014717,000045: 06,3301 54002 TS Q # SAVE MAJOR PART
014718,000046:
014719,000047: 06,3302 30001 CA L # MINOR PART
014720,000048: 06,3303 00006 EXTEND
014721,000049: 06,3304 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014722,000050: 06,3305 50132 INDEX BUF +2
014723,000051: 06,3306 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014724,000052:
014725,000053: 06,3307 30002 CA Q # MAJOR PART
014726,000054: 06,3310 00006 EXTEND
014727,000055: 06,3311 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014728,000056: 06,3312 50132 INDEX BUF +2
014729,000057: 06,3313 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014730,000058:
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Lines from here to the bottom of the page angle and start to overlap. The code until the MP BIT4 is legible.
It is assumed that the illegible portions are identical to their Luminary 99 counterparts. - RRB 2017
The comments are legible, except that the last line is rather tricky, and can be verified directly. - RSB 2017
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014734,000062: 06,3314 50132 INDEX BUF +2
014735,000063: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
014736,000064: 06,3316 00006 EXTEND
014737,000065: 06,3317 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
014738,000066: 06,3320 00006 EXTEND
014739,000067: 06,3321 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
014740,000068: 06,3322 50132 INDEX BUF +2
014741,000069: 06,3323 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014742,000070:
014743,000071: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014744,000072: 06,3325 67746 AD NEG1
014745,000073: 06,3326 13273 TCF 1/PIPA1 +1
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Page 340
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014747,000075: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
014748,000076:
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Page 341
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014750,000078: 06,3330 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014751,000079: 06,3331 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014752,000080:
014753,000081: 06,3332 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS
014754,000082:
014755,000083: 06,3333 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014756,000084: 06,3334 03454 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014757,000085:
014758,000086: 06,3335 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS
014759,000087:
014760,000088: 06,3336 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014761,000089: 06,3337 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014762,000090:
014763,000091: 06,3340 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014764,000092:
014765,000093: 06,3341 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014766,000094: 06,3342 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014767,000095:
014768,000096: 06,3343 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014769,000097: 06,3344 13346 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014770,000098: 06,3345 13353 TCF IRIG1 # NO RETURN
014771,000099:
014772,000100: 06,3346 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014773,000101: 06,3347 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014774,000102: 06,3350 E3,1460 EBANK= NBDX
014775,000103: 06,3350 03507 14063 2CADR 1/GYRO
014776,000104:
014777,000105: 06,3352 00003 RELINT
014778,000106: 06,3353 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014779,000107: 06,3354 54003 TS EBANK
014780,000108: 06,3355 14631 TCF SWRETURN
014781,000109:
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Page 342
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014783,000111: 06,3356 00006 IRIGX EXTEND
014784,000112: 06,3357 22156 QXCH MPAC +2 # SAVE Q
014785,000113: 06,3360 00006 EXTEND
014786,000114: 06,3361 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014787,000115: 06,3362 52155 DXCH MPAC
014788,000116: 06,3363 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014789,000117: 06,3364 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014790,000118:
014791,000119: 06,3365 00006 EXTEND #
014792,000120: 06,3366 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014793,000121: 06,3367 52155 DXCH MPAC #
014794,000122: 06,3370 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014795,000123: 06,3371 03425 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014796,000124:
014797,000125: # EXTEND ***
014798,000126: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014799,000127: # DXCH MPAC ***
014800,000128: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014801,000129: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014802,000130:
014803,000131: 06,3372 00156 TC MPAC +2
014804,000132:
014805,000133: 06,3373 00006 IRIGY EXTEND
014806,000134: 06,3374 22156 QXCH MPAC +2 # SAVE Q
014807,000135: 06,3375 00006 EXTEND
014808,000136: 06,3376 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014809,000137: 06,3377 52155 DXCH MPAC
014810,000138: 06,3400 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014811,000139: 06,3401 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014812,000140:
014813,000141: 06,3402 00006 EXTEND
014814,000142: 06,3403 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014815,000143: 06,3404 52155 DXCH MPAC
014816,000144: 06,3405 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014817,000145: 06,3406 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014818,000146:
014819,000147: # EXTEND ***
014820,000148: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014821,000149: # DXCH MPAC ***
014822,000150: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014823,000151: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014824,000152:
014825,000153: 06,3407 00156 TC MPAC +2
014826,000154:
014827,000155: 06,3410 00006 IRIGZ EXTEND
014828,000156: 06,3411 22156 QXCH MPAC +2 # SAVE Q
014829,000157: 06,3412 00006 EXTEND
014830,000158: 06,3413 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014831,000159: 06,3414 52155 DXCH MPAC
014832,000160: 06,3415 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 343
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014834,000162: 06,3416 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014835,000163:
014836,000164: 06,3417 00006 EXTEND
014837,000165: 06,3420 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014838,000166: 06,3421 52155 DXCH MPAC
014839,000167: 06,3422 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014840,000168: 06,3423 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014841,000169:
014842,000170: # EXTEND ***
014843,000171: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014844,000172: # DXCH MPAC ***
014845,000173: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014846,000174: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014847,000175:
014848,000176: 06,3424 00156 TC MPAC +2
014849,000177:
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Page 344
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014851,000179: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014852,000180: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014853,000181: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014854,000182: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014855,000183:
014856,000184: 06,3431 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014857,000185: 06,3432 00006 EXTEND
014858,000186: 06,3433 70154 MP MPAC # ADIA OR ADSRA
014859,000187: 06,3434 54001 TS L
014860,000188: 06,3435 34755 CAF ZERO
014861,000189: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014862,000190:
014863,000191: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
014864,000192: 06,3440 00006 EXTEND
014865,000193: 06,3441 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014866,000194: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014867,000195: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014868,000196:
014869,000197: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014870,000198: 06,3445 00006 EXTEND
014871,000199: 06,3446 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014872,000200: 06,3447 54001 TS L
014873,000201: 06,3450 34755 CAF ZERO
014874,000202: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014875,000203: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014876,000204:
014877,000205: 06,3453 00002 TC Q
014878,000206:
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Page 345
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014880,000208: 06,3454 00006 DRIFTSUB EXTEND
014881,000209: 06,3455 22131 QXCH BUF +1
014882,000210:
014883,000211: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014884,000212: 06,3457 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014885,000213: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014886,000214: 06,3461 00006 EXTEND
014887,000215: 06,3462 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014888,000216: 06,3463 50130 INDEX BUF
014889,000217: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014890,000218:
014891,000219: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
014892,000220: 06,3466 00006 EXTEND
014893,000221: 06,3467 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014894,000222: 06,3470 54001 TS L
014895,000223: 06,3471 34755 CAF ZERO
014896,000224: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014897,000225: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014898,000226:
014899,000227: 06,3474 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014900,000228: 06,3475 60130 AD BUF
014901,000229: 06,3476 56130 XCH BUF
014902,000230: 06,3477 50000 INDEX A
014903,000231: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014904,000232: 06,3501 13503 TCF +2 # YES
014905,000233: 06,3502 00131 TC BUF +1 # NO
014906,000234:
014907,000235: 06,3503 73553 MASK COMPCHK # DEC -1
014908,000236: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014909,000237: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014910,000238: 06,3506 00131 TC BUF +1 # NO
014911,000239:
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Page 346
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014913,000241: 06,3507 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014914,000242: 06,3510 54130 TS BUF
014915,000243:
014916,000244: 06,3511 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014917,000245: 06,3512 31472 CA GCOMP +1 # FRACTIONAL PULSES
014918,000246: 06,3513 00006 EXTEND
014919,000247: 06,3514 74744 MP BIT8 # SHIFT RIGHT 7
014920,000248: 06,3515 50130 INDEX BUF
014921,000249: 06,3516 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014922,000250:
014923,000251: 06,3517 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
014924,000252: 06,3520 50130 INDEX BUF
014925,000253: 06,3521 57471 XCH GCOMP # GYRO PULSES
014926,000254: 06,3522 00006 EXTEND
014927,000255: 06,3523 74744 MP BIT8 # SHIFT RIGHT 7
014928,000256: 06,3524 50130 INDEX BUF
014929,000257: 06,3525 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
014930,000258:
014931,000259: 06,3526 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014932,000260: 06,3527 67746 AD NEG1
014933,000261: 06,3530 13510 TCF 1/GYRO +1
014934,000262: 06,3531 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
014935,000263:
014936,000264: 06,3532 33531 CAF LGCOMP
014937,000265: 06,3533 04616 TC BANKCALL
014938,000266: 06,3534 17276 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
014939,000267: 06,3535 04616 TC BANKCALL
014940,000268: 06,3536 17671 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
014941,000269: 06,3537 15155 TCF ENDOFJOB # TEMPORARY
014942,000270:
014943,000271: 06,3540 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014944,000272: 06,3541 54130 TS BUF
014945,000273:
014946,000274: 06,3542 50130 INDEX BUF # RESCALE
014947,000275: 06,3543 31472 CA GCOMP +1
014948,000276: 06,3544 00006 EXTEND
014949,000277: 06,3545 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014950,000278: 06,3546 50130 INDEX BUF
014951,000279: 06,3547 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
014952,000280:
014953,000281: 06,3550 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014954,000282: 06,3551 67746 AD NEG1
014955,000283: 06,3552 13541 TCF GCOMP1 +1
014956,000284: 06,3553 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
014957,000285: 06,3554 15155 TCF ENDOFJOB
014958,000286:
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Page 347
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014960,000288: 06,3555 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014961,000289: 06,3556 13561 TCF +3
014962,000290: 06,3557 13561 TCF +2
014963,000291: 06,3560 15155 TCF ENDOFJOB
014964,000292:
014965,000293: 06,3561 00004 INHINT
014966,000294: 06,3562 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
014967,000295: 06,3563 15155 TCF ENDOFJOB
014968,000296: 06,3564 15155 TCF ENDOFJOB
014969,000297: 06,3565 13566 TCF +1
014970,000298:
014971,000299: 06,3566 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014972,000300: 06,3567 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
014973,000301: 06,3570 54141 TS TEM1 # WILL BE COMPENSATED.
014974,000302: 06,3571 00006 EXTEND
014975,000303: 06,3572 13575 BZF +3 # ARE WE ON THE SURFACE
014976,000304:
014977,000305: 06,3573 04674 TC IBNKCALL # ON THE SURFACE
014978,000306: 06,3574 77533 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
014979,000307:
014980,000308: 06,3575 30025 CA TIME1 # (CS) X 2(+14)
014981,000309: 06,3576 57075 XCH 1/PIPADT # PREVIOUS TIME
014982,000310: 06,3577 00003 RELINT
014983,000311: 06,3600 40000 COM
014984,000312: 06,3601 61075 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
014985,000313: 06,3602 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
014986,000314: 06,3603 64736 AD HALF
014987,000315: 06,3604 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
014988,000316: 06,3605 56001 XCH L # OVERFLOW.
014989,000317:
014990,000318: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
014991,000319: 06,3607 74742 MP BIT10 # SHIFT RIGHT 5
014992,000320: 06,3610 52125 DXCH VBUF +2
014993,000321:
014994,000322: 06,3611 34755 CA ZERO
014995,000323: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014996,000324: 06,3613 54130 TS BUF # INDEX X, Y, Z.
014997,000325:
014998,000326: 06,3614 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014999,000327: 06,3615 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS.
015000,000328:
015001,000329: 06,3616 00006 EXTEND
015002,000330: 06,3617 30125 DCA VBUF +2
015003,000331: 06,3620 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
015004,000332:
015005,000333: 06,3621 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
015006,000334: 06,3622 03644 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
015007,000335:
015008,000336: 06,3623 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015009,000337: 06,3624 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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Page 348
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015011,000339: 06,3625 00006 EXTEND
015012,000340: 06,3626 40125 DCS VBUF +2
015013,000341: 06,3627 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015014,000342: 06,3630 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
015015,000343: 06,3631 03644 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
015016,000344:
015017,000345: 06,3632 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015018,000346: 06,3633 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
015019,000347:
015020,000348: 06,3634 00006 EXTEND
015021,000349: 06,3635 40125 DCS VBUF +2
015022,000350: 06,3636 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015023,000351: 06,3637 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
015024,000352: 06,3640 03644 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
015025,000353:
015026,000354: 06,3641 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
015027,000355: 06,3642 13507 TCF 1/GYRO # YES
015028,000356: 06,3643 15155 TCF ENDOFJOB # NO
015029,000357:
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Page 349
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015031,000359: 06,3644 56002 FBIASSUB XCH Q
015032,000360: 06,3645 54131 TS BUF +1
015033,000361:
015034,000362: 06,3646 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
015035,000363: 06,3647 00006 EXTEND
015036,000364: 06,3650 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
015037,000365: 06,3651 50130 INDEX BUF
015038,000366: 06,3652 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015039,000367:
015040,000368: 06,3653 30002 CA Q # NOW FRACTIONAL PART
015041,000369: 06,3654 00006 EXTEND
015042,000370: 06,3655 70155 MP MPAC +1
015043,000371: 06,3656 54001 TS L
015044,000372: 06,3657 34755 CAF ZERO
015045,000373: 06,3660 50130 INDEX BUF
015046,000374: 06,3661 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015047,000375:
015048,000376: 06,3662 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
015049,000377:
015050,000378: 06,3663 04616 LASTBIAS TC BANKCALL
015051,000379: 06,3664 17252 CADR PIPUSE1
015052,000380:
015053,000381: 06,3665 11477 CCS GCOMPSW
015054,000382: 06,3666 13671 TCF +3
015055,000383: 06,3667 13671 TCF +2
015056,000384: 06,3670 15155 TCF ENDOFJOB
015057,000385:
015058,000386: 06,3671 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015059,000387: 06,3672 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
015060,000388: 06,3673 54141 TS TEM1 # WILL BE COMPENSATED.
015061,000389:
015062,000390: 06,3674 37715 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
015063,000391: 06,3675 57075 XCH 1/PIPADT
015064,000392: 06,3676 40000 COM
015065,000393: 06,3677 61235 AD PIPTIME +1
015066,000394: 06,3700 13602 TCF NBD2
015067,000395:
015068,000396: 06,3701 33531 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
015069,000397: 06,3702 56003 XCH EBANK # CALL TO 1/PIPA
015070,000398: 06,3703 54163 TS MODE
015071,000399:
015072,000400: 06,3704 34755 CAF ZERO
015073,000401: 06,3705 55477 TS GCOMPSW
015074,000402: 06,3706 55471 TS GCOMP
015075,000403: 06,3707 55472 TS GCOMP +1
015076,000404: 06,3710 55473 TS GCOMP +2
015077,000405: 06,3711 55474 TS GCOMP +3
015078,000406: 06,3712 55475 TS GCOMP +4
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015080,000408: 06,3713 55476 TS GCOMP +5
015081,000409:
015082,000410: 06,3714 13353 TCF IRIG1 # RESTORE EBANK AND RETURN
015083,000411:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc