Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 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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013313,000002: ## Copyright: Public domain.
013314,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013315,000004: ## Purpose: A section of Luminary revision 96.
013316,000005: ## It is part of the reconstructed source code for the
013317,000006: ## original release of the flight software for the Lunar
013318,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
013319,000008: ## The code has been recreated from a previously reconstructed
013320,000009: ## copy of Luminary 97 by undoing changes described in anomaly
013321,000010: ## report LNY-59. The code has been adapted such that the
013322,000011: ## resulting bugger words exactly match those specified for
013323,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
013324,000013: ## high confidence that the reconstruction is correct.
013325,000014: ## Reference: pp. 326-337
013326,000015: ## Assembler: yaYUL
013327,000016: ## Contact: Ron Burkey <info@sandroid.org>.
013328,000017: ## Website: www.ibiblio.org/apollo/index.html
013329,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
013330,000019:
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Page 326
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013332,000021: 07,2667 BANK 7
013333,000022: 06,2000 SETLOC IMUCOMP
013334,000023: 06,2000 BANK
013335,000024:
013336,000025: 06,3263 E3,1460 EBANK= NBDX
013337,000026:
013338,000027: 06,3263 COUNT* $$/ICOMP
013339,000028: 06,3263 33531 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013340,000029: 06,3264 56003 XCH EBANK
013341,000030: 06,3265 54163 TS MODE
013342,000031:
013343,000032: 06,3266 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013344,000033: 06,3267 13272 TCF +3
013345,000034: 06,3270 13272 TCF +2
013346,000035: 06,3271 13353 TCF IRIG1 # RETURN
013347,000036:
013348,000037: 06,3272 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013349,000038: 06,3273 54132 TS BUF +2
013350,000039:
013351,000040: 06,3274 50132 INDEX BUF +2
013352,000041: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013353,000042: 06,3276 00006 EXTEND
013354,000043: 06,3277 50132 INDEX BUF +2
013355,000044: 06,3300 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013356,000045: 06,3301 54002 TS Q # SAVE MAJOR PART
013357,000046:
013358,000047: 06,3302 30001 CA L # MINOR PART
013359,000048: 06,3303 00006 EXTEND
013360,000049: 06,3304 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013361,000050: 06,3305 50132 INDEX BUF +2
013362,000051: 06,3306 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013363,000052:
013364,000053: 06,3307 30002 CA Q # MAJOR PART
013365,000054: 06,3310 00006 EXTEND
013366,000055: 06,3311 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013367,000056: 06,3312 50132 INDEX BUF +2
013368,000057: 06,3313 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013369,000058:
013370,000059: 06,3314 50132 INDEX BUF +2
013371,000060: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
013372,000061: 06,3316 00006 EXTEND
013373,000062: 06,3317 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
013374,000063: 06,3320 00006 EXTEND
013375,000064: 06,3321 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
013376,000065: 06,3322 50132 INDEX BUF +2
013377,000066: 06,3323 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013378,000067:
013379,000068: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013380,000069: 06,3325 67747 AD NEG1
013381,000070: 06,3326 13273 TCF 1/PIPA1 +1
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Page 327
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013383,000072: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
013384,000073:
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Page 328
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013386,000075: 06,3330 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013387,000076: 06,3331 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013388,000077:
013389,000078: 06,3332 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS
013390,000079:
013391,000080: 06,3333 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013392,000081: 06,3334 03454 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013393,000082:
013394,000083: 06,3335 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS
013395,000084:
013396,000085: 06,3336 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013397,000086: 06,3337 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013398,000087:
013399,000088: 06,3340 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013400,000089:
013401,000090: 06,3341 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013402,000091: 06,3342 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013403,000092:
013404,000093: 06,3343 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013405,000094: 06,3344 13346 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013406,000095: 06,3345 13353 TCF IRIG1 # NO RETURN
013407,000096:
013408,000097: 06,3346 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013409,000098: 06,3347 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013410,000099: 06,3350 E3,1460 EBANK= NBDX
013411,000100: 06,3350 03507 14063 2CADR 1/GYRO
013412,000101:
013413,000102: 06,3352 00003 RELINT
013414,000103: 06,3353 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
013415,000104: 06,3354 54003 TS EBANK
013416,000105: 06,3355 14631 TCF SWRETURN
013417,000106:
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Page 329
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013419,000108: 06,3356 00006 IRIGX EXTEND
013420,000109: 06,3357 22156 QXCH MPAC +2 # SAVE Q
013421,000110: 06,3360 00006 EXTEND
013422,000111: 06,3361 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013423,000112: 06,3362 52155 DXCH MPAC
013424,000113: 06,3363 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013425,000114: 06,3364 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013426,000115:
013427,000116: 06,3365 00006 EXTEND #
013428,000117: 06,3366 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013429,000118: 06,3367 52155 DXCH MPAC #
013430,000119: 06,3370 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013431,000120: 06,3371 03425 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013432,000121:
013433,000122: # EXTEND ***
013434,000123: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013435,000124: # DXCH MPAC ***
013436,000125: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013437,000126: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013438,000127:
013439,000128: 06,3372 00156 TC MPAC +2
013440,000129:
013441,000130: 06,3373 00006 IRIGY EXTEND
013442,000131: 06,3374 22156 QXCH MPAC +2 # SAVE Q
013443,000132: 06,3375 00006 EXTEND
013444,000133: 06,3376 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013445,000134: 06,3377 52155 DXCH MPAC
013446,000135: 06,3400 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013447,000136: 06,3401 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013448,000137:
013449,000138: 06,3402 00006 EXTEND
013450,000139: 06,3403 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013451,000140: 06,3404 52155 DXCH MPAC
013452,000141: 06,3405 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013453,000142: 06,3406 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013454,000143:
013455,000144: # EXTEND ***
013456,000145: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013457,000146: # DXCH MPAC ***
013458,000147: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013459,000148: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013460,000149:
013461,000150: 06,3407 00156 TC MPAC +2
013462,000151:
013463,000152: 06,3410 00006 IRIGZ EXTEND
013464,000153: 06,3411 22156 QXCH MPAC +2 # SAVE Q
013465,000154: 06,3412 00006 EXTEND
013466,000155: 06,3413 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013467,000156: 06,3414 52155 DXCH MPAC
013468,000157: 06,3415 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 330
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013470,000159: 06,3416 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013471,000160:
013472,000161: 06,3417 00006 EXTEND
013473,000162: 06,3420 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013474,000163: 06,3421 52155 DXCH MPAC
013475,000164: 06,3422 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013476,000165: 06,3423 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013477,000166:
013478,000167: # EXTEND ***
013479,000168: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013480,000169: # DXCH MPAC ***
013481,000170: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013482,000171: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013483,000172:
013484,000173: 06,3424 00156 TC MPAC +2
013485,000174:
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Page 331
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013487,000176: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013488,000177: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013489,000178: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013490,000179: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013491,000180:
013492,000181: 06,3431 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013493,000182: 06,3432 00006 EXTEND
013494,000183: 06,3433 70154 MP MPAC # ADIA OR ADSRA
013495,000184: 06,3434 54001 TS L
013496,000185: 06,3435 34755 CAF ZERO
013497,000186: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013498,000187:
013499,000188: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
013500,000189: 06,3440 00006 EXTEND
013501,000190: 06,3441 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013502,000191: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013503,000192: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013504,000193:
013505,000194: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013506,000195: 06,3445 00006 EXTEND
013507,000196: 06,3446 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013508,000197: 06,3447 54001 TS L
013509,000198: 06,3450 34755 CAF ZERO
013510,000199: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013511,000200: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013512,000201:
013513,000202: 06,3453 00002 TC Q
013514,000203:
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Page 332
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013516,000205: 06,3454 00006 DRIFTSUB EXTEND
013517,000206: 06,3455 22131 QXCH BUF +1
013518,000207:
013519,000208: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013520,000209: 06,3457 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013521,000210: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013522,000211: 06,3461 00006 EXTEND
013523,000212: 06,3462 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013524,000213: 06,3463 50130 INDEX BUF
013525,000214: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013526,000215:
013527,000216: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
013528,000217: 06,3466 00006 EXTEND
013529,000218: 06,3467 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013530,000219: 06,3470 54001 TS L
013531,000220: 06,3471 34755 CAF ZERO
013532,000221: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013533,000222: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013534,000223:
013535,000224: 06,3474 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013536,000225: 06,3475 60130 AD BUF
013537,000226: 06,3476 56130 XCH BUF
013538,000227: 06,3477 50000 INDEX A
013539,000228: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013540,000229: 06,3501 13503 TCF +2 # YES
013541,000230: 06,3502 00131 TC BUF +1 # NO
013542,000231:
013543,000232: 06,3503 73553 MASK COMPCHK # DEC -1
013544,000233: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013545,000234: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013546,000235: 06,3506 00131 TC BUF +1 # NO
013547,000236:
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Page 333
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013549,000238: 06,3507 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013550,000239: 06,3510 54130 TS BUF
013551,000240:
013552,000241: 06,3511 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013553,000242: 06,3512 31472 CA GCOMP +1 # FRACTIONAL PULSES
013554,000243: 06,3513 00006 EXTEND
013555,000244: 06,3514 74744 MP BIT8 # SHIFT RIGHT 7
013556,000245: 06,3515 50130 INDEX BUF
013557,000246: 06,3516 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013558,000247:
013559,000248: 06,3517 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013560,000249: 06,3520 50130 INDEX BUF
013561,000250: 06,3521 57471 XCH GCOMP # GYRO PULSES
013562,000251: 06,3522 00006 EXTEND
013563,000252: 06,3523 74744 MP BIT8 # SHIFT RIGHT 7
013564,000253: 06,3524 50130 INDEX BUF
013565,000254: 06,3525 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013566,000255:
013567,000256: 06,3526 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013568,000257: 06,3527 67747 AD NEG1
013569,000258: 06,3530 13510 TCF 1/GYRO +1
013570,000259: 06,3531 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013571,000260:
013572,000261: 06,3532 33531 CAF LGCOMP
013573,000262: 06,3533 04616 TC BANKCALL
013574,000263: 06,3534 17323 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013575,000264: 06,3535 04616 TC BANKCALL
013576,000265: 06,3536 17716 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013577,000266: 06,3537 15155 TCF ENDOFJOB # TEMPORARY
013578,000267:
013579,000268: 06,3540 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013580,000269: 06,3541 54130 TS BUF
013581,000270:
013582,000271: 06,3542 50130 INDEX BUF # RESCALE
013583,000272: 06,3543 31472 CA GCOMP +1
013584,000273: 06,3544 00006 EXTEND
013585,000274: 06,3545 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013586,000275: 06,3546 50130 INDEX BUF
013587,000276: 06,3547 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013588,000277:
013589,000278: 06,3550 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013590,000279: 06,3551 67747 AD NEG1
013591,000280: 06,3552 13541 TCF GCOMP1 +1
013592,000281: 06,3553 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013593,000282: 06,3554 15155 TCF ENDOFJOB
013594,000283:
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Page 334
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013596,000285: 06,3555 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013597,000286: 06,3556 13561 TCF +3
013598,000287: 06,3557 13561 TCF +2
013599,000288: 06,3560 15155 TCF ENDOFJOB
013600,000289:
013601,000290: 06,3561 00004 INHINT
013602,000291: 06,3562 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013603,000292: 06,3563 15155 TCF ENDOFJOB
013604,000293: 06,3564 15155 TCF ENDOFJOB
013605,000294: 06,3565 13566 TCF +1
013606,000295:
013607,000296: 06,3566 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013608,000297: 06,3567 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013609,000298: 06,3570 54141 TS TEM1 # WILL BE COMPENSATED.
013610,000299: 06,3571 00006 EXTEND
013611,000300: 06,3572 13575 BZF +3 # ARE WE ON THE SURFACE
013612,000301:
013613,000302: 06,3573 04674 TC IBNKCALL # ON THE SURFACE
013614,000303: 06,3574 77544 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013615,000304:
013616,000305: 06,3575 30025 CA TIME1 # (CS) X 2(+14)
013617,000306: 06,3576 57075 XCH 1/PIPADT # PREVIOUS TIME
013618,000307: 06,3577 00003 RELINT
013619,000308: 06,3600 40000 COM
013620,000309: 06,3601 61075 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013621,000310: 06,3602 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013622,000311: 06,3603 64736 AD HALF
013623,000312: 06,3604 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013624,000313: 06,3605 56001 XCH L # OVERFLOW.
013625,000314:
013626,000315: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013627,000316: 06,3607 74742 MP BIT10 # SHIFT RIGHT 5
013628,000317: 06,3610 52125 DXCH VBUF +2
013629,000318:
013630,000319: 06,3611 34755 CA ZERO
013631,000320: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013632,000321: 06,3613 54130 TS BUF # INDEX X, Y, Z.
013633,000322:
013634,000323: 06,3614 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013635,000324: 06,3615 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013636,000325:
013637,000326: 06,3616 00006 EXTEND
013638,000327: 06,3617 30125 DCA VBUF +2
013639,000328: 06,3620 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013640,000329:
013641,000330: 06,3621 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013642,000331: 06,3622 03644 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013643,000332:
013644,000333: 06,3623 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013645,000334: 06,3624 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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Page 335
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013647,000336: 06,3625 00006 EXTEND
013648,000337: 06,3626 40125 DCS VBUF +2
013649,000338: 06,3627 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013650,000339: 06,3630 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013651,000340: 06,3631 03644 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013652,000341:
013653,000342: 06,3632 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013654,000343: 06,3633 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013655,000344:
013656,000345: 06,3634 00006 EXTEND
013657,000346: 06,3635 40125 DCS VBUF +2
013658,000347: 06,3636 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013659,000348: 06,3637 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013660,000349: 06,3640 03644 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013661,000350:
013662,000351: 06,3641 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013663,000352: 06,3642 13507 TCF 1/GYRO # YES
013664,000353: 06,3643 15155 TCF ENDOFJOB # NO
013665,000354:
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Page 336
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013667,000356: 06,3644 56002 FBIASSUB XCH Q
013668,000357: 06,3645 54131 TS BUF +1
013669,000358:
013670,000359: 06,3646 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013671,000360: 06,3647 00006 EXTEND
013672,000361: 06,3650 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013673,000362: 06,3651 50130 INDEX BUF
013674,000363: 06,3652 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013675,000364:
013676,000365: 06,3653 30002 CA Q # NOW FRACTIONAL PART
013677,000366: 06,3654 00006 EXTEND
013678,000367: 06,3655 70155 MP MPAC +1
013679,000368: 06,3656 54001 TS L
013680,000369: 06,3657 34755 CAF ZERO
013681,000370: 06,3660 50130 INDEX BUF
013682,000371: 06,3661 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013683,000372:
013684,000373: 06,3662 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013685,000374:
013686,000375: 06,3663 04616 LASTBIAS TC BANKCALL
013687,000376: 06,3664 17277 CADR PIPUSE1
013688,000377:
013689,000378: 06,3665 11477 CCS GCOMPSW
013690,000379: 06,3666 13671 TCF +3
013691,000380: 06,3667 13671 TCF +2
013692,000381: 06,3670 15155 TCF ENDOFJOB
013693,000382:
013694,000383: 06,3671 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013695,000384: 06,3672 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
013696,000385: 06,3673 54141 TS TEM1 # WILL BE COMPENSATED.
013697,000386:
013698,000387: 06,3674 37716 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013699,000388: 06,3675 57075 XCH 1/PIPADT
013700,000389: 06,3676 40000 COM
013701,000390: 06,3677 61235 AD PIPTIME +1
013702,000391: 06,3700 13602 TCF NBD2
013703,000392:
013704,000393: 06,3701 33531 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
013705,000394: 06,3702 56003 XCH EBANK # CALL TO 1/PIPA
013706,000395: 06,3703 54163 TS MODE
013707,000396:
013708,000397: 06,3704 34755 CAF ZERO
013709,000398: 06,3705 55477 TS GCOMPSW
013710,000399: 06,3706 55471 TS GCOMP
013711,000400: 06,3707 55472 TS GCOMP +1
013712,000401: 06,3710 55473 TS GCOMP +2
013713,000402: 06,3711 55474 TS GCOMP +3
013714,000403: 06,3712 55475 TS GCOMP +4
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013716,000405: 06,3713 55476 TS GCOMP +5
013717,000406:
013718,000407: 06,3714 13353 TCF IRIG1 # RESTORE EBANK AND RETURN
013719,000408:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc