Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Luminary 99 revision 1 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes described in original Luminary memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. 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 98 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.

013275,000002:                                                                                                  ## Copyright:   Public domain.
013276,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
013277,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
013278,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
013279,000006:                                                                                                  ##              development version of the flight software for the Lunar 
013280,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
013281,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
013282,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
013283,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
013284,000011:                                                                                                  ##              Luminary 98 and 99.
013285,000012:                                                                                                  ## Reference:   pp. 326-337
013286,000013:                                                                                                  ## Assembler:   yaYUL
013287,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
013288,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
013289,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
013290,000017: 

Page 326

013292,000019: 07,2667                                           BANK     7                                     
013293,000020: 06,2000                                           SETLOC   IMUCOMP                               
013294,000021: 06,2000                                           BANK                                           
013295,000022: 
013296,000023: 06,3263  E3,1460                                  EBANK=   NBDX                                  
013297,000024: 
013298,000025: 06,3263                                           COUNT*   $$/ICOMP                              
013299,000026: 06,3263           33531        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
013300,000027: 06,3264           56003                           XCH      EBANK                                 
013301,000028: 06,3265           54163                           TS       MODE                                  
013302,000029: 
013303,000030: 06,3266           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013304,000031: 06,3267           13272                           TCF      +3                                    
013305,000032: 06,3270           13272                           TCF      +2                                    
013306,000033: 06,3271           13353                           TCF      IRIG1                                 #  RETURN
013307,000034: 
013308,000035: 06,3272           34751        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013309,000036: 06,3273           54132                           TS       BUF        +2                         
013310,000037: 
013311,000038: 06,3274           50132                           INDEX    BUF        +2                         
013312,000039: 06,3275           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
013313,000040: 06,3276           00006                           EXTEND                                         
013314,000041: 06,3277           50132                           INDEX    BUF        +2                         
013315,000042: 06,3300           70324                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013316,000043: 06,3301           54002                           TS       Q                                     #  SAVE MAJOR PART
013317,000044: 
013318,000045: 06,3302           30001                           CA       L                                     #  MINOR PART
013319,000046: 06,3303           00006                           EXTEND                                         
013320,000047: 06,3304           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013321,000048: 06,3305           50132                           INDEX    BUF        +2                         
013322,000049: 06,3306           54325                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
013323,000050: 
013324,000051: 06,3307           30002                           CA       Q                                     #  MAJOR PART
013325,000052: 06,3310           00006                           EXTEND                                         
013326,000053: 06,3311           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013327,000054: 06,3312           50132                           INDEX    BUF        +2                         
013328,000055: 06,3313           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
013329,000056: 
013330,000057: 06,3314           50132                           INDEX    BUF        +2                         
013331,000058: 06,3315           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-5)             *
013332,000059: 06,3316           00006                           EXTEND                                         
013333,000060: 06,3317           71075                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
013334,000061: 06,3320           00006                           EXTEND                                         
013335,000062: 06,3321           74750                           MP       BIT4                                  #  SCALE 2(+11) SHIFT RIGHT 11            *
013336,000063: 06,3322           50132                           INDEX    BUF        +2                         
013337,000064: 06,3323           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013338,000065: 
013339,000066: 06,3324           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
013340,000067: 06,3325           67747                           AD       NEG1                                  
013341,000068: 06,3326           13273                           TCF      1/PIPA1    +1                         

Page 327

013343,000070: 06,3327           13330                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE
013344,000071: 

Page 328

013346,000073: 06,3330           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
013347,000074: 06,3331           54130                           TS       BUF                                   #  INDEX COUNTER.  IRIGX, IRIGY, IRIGZ.
013348,000075: 
013349,000076: 06,3332           03356                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS
013350,000077: 
013351,000078: 06,3333           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013352,000079: 06,3334           03454                           TC       DRIFTSUB                              #  -(NBOX)(DELTAT)       (GYRO PULSES) X 2(+14)
013353,000080: 
013354,000081: 06,3335           03373                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS
013355,000082: 
013356,000083: 06,3336           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013357,000084: 06,3337           03454                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013358,000085: 
013359,000086: 06,3340           03410                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
013360,000087: 
013361,000088: 06,3341           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013362,000089: 06,3342           03454                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
013363,000090: 
013364,000091: 06,3343           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013365,000092: 06,3344           13346                           TCF      +2                                    #  YES   SEND OUT GYRO TORQUING COMMANDS.
013366,000093: 06,3345           13353                           TCF      IRIG1                                 #  NO    RETURN
013367,000094: 
013368,000095: 06,3346           35031                           CA       PRIO21                                #  PRIO GREATER THAN SERVICER
013369,000096: 06,3347           05072                           TC       NOVAC                                 #  SEND OUT GYRO TORQUING COMMANDS.
013370,000097: 06,3350  E3,1460                                  EBANK=   NBDX                                  
013371,000098: 06,3350           03507 14063                     2CADR    1/GYRO                                
013372,000099: 
013373,000100: 06,3352           00003                           RELINT                                         
013374,000101: 06,3353           30163        IRIG1              CA       MODE                                  #  RESTORE CALLERS EBANK
013375,000102: 06,3354           54003                           TS       EBANK                                 
013376,000103: 06,3355           14631                           TCF      SWRETURN                              
013377,000104: 

Page 329

013379,000106: 06,3356           00006        IRIGX              EXTEND                                         
013380,000107: 06,3357           22156                           QXCH     MPAC       +2                         #  SAVE Q
013381,000108: 06,3360           00006                           EXTEND                                         
013382,000109: 06,3361           40325                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
013383,000110: 06,3362           52155                           DXCH     MPAC                                  
013384,000111: 06,3363           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013385,000112: 06,3364           03425                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)          (GYRO PULSES) X 2(+14)
013386,000113: 
013387,000114: 06,3365           00006                           EXTEND                                         #  
013388,000115: 06,3366           40327                           DCS      DELVY                                 #        (PIPA PULSES) X 2(+14)
013389,000116: 06,3367           52155                           DXCH     MPAC                                  #  
013390,000117: 06,3370           41466                           CS       ADSRAX                                #        (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013391,000118: 06,3371           03425                           TC       GCOMPSUB                              #        -(ADSRAX)(PIPAY)   (GYRO PULSES) X 2(+14)
013392,000119: 
013393,000120:                                                                                                  #                EXTEND                  ***
013394,000121:                                                                                                  #                DCS     DELVZ           ***     (PIPA PULSES) X 2(+14)
013395,000122:                                                                                                  #                DXCH    MPAC            ***
013396,000123:                                                                                                  #                CA      ADOAX           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013397,000124:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAX)(PIPAZ)    (GYRO PULSES) X 2(+14)
013398,000125: 
013399,000126: 06,3372           00156                           TC       MPAC       +2                         
013400,000127: 
013401,000128: 06,3373           00006        IRIGY              EXTEND                                         
013402,000129: 06,3374           22156                           QXCH     MPAC       +2                         #  SAVE Q
013403,000130: 06,3375           00006                           EXTEND                                         
013404,000131: 06,3376           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013405,000132: 06,3377           52155                           DXCH     MPAC                                  
013406,000133: 06,3400           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013407,000134: 06,3401           03425                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)          (GYRO PULSES) X 2(+14)
013408,000135: 
013409,000136: 06,3402           00006                           EXTEND                                         
013410,000137: 06,3403           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013411,000138: 06,3404           52155                           DXCH     MPAC                                  
013412,000139: 06,3405           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013413,000140: 06,3406           03425                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)              (GYRO PULSES) X 2(+14)
013414,000141: 
013415,000142:                                                                                                  #                EXTEND                  ***
013416,000143:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSES) X 2(+14)
013417,000144:                                                                                                  #                DXCH    MPAC            ***
013418,000145:                                                                                                  #                CA      ADOAY           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013419,000146:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAY)(PIPAX)   (GYRO PULSES) X 2(+14)
013420,000147: 
013421,000148: 06,3407           00156                           TC       MPAC       +2                         
013422,000149: 
013423,000150: 06,3410           00006        IRIGZ              EXTEND                                         
013424,000151: 06,3411           22156                           QXCH     MPAC       +2                         #  SAVE Q
013425,000152: 06,3412           00006                           EXTEND                                         
013426,000153: 06,3413           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013427,000154: 06,3414           52155                           DXCH     MPAC                                  
013428,000155: 06,3415           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *

Page 330

013430,000157: 06,3416           03425                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)        (GYRO PULSES) X 2(+14)
013431,000158: 
013432,000159: 06,3417           00006                           EXTEND                                         
013433,000160: 06,3420           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013434,000161: 06,3421           52155                           DXCH     MPAC                                  
013435,000162: 06,3422           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013436,000163: 06,3423           03425                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)          (GYRO PULSES) X 2(+14)
013437,000164: 
013438,000165:                                                                                                  #                EXTEND                  ***
013439,000166:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSE) X 2(+14)
013440,000167:                                                                                                  #                DXCH    MPAC            ***
013441,000168:                                                                                                  #                CS      ADOAZ           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013442,000169:                                                                                                  #                TC      GCOMPSUB        ***     +(ADOAZ)(PIPAX)    (GYRO PULSES) X 2(+14)
013443,000170: 
013444,000171: 06,3424           00156                           TC       MPAC       +2                         
013445,000172: 

Page 331

013447,000174: 06,3425           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013448,000175: 06,3426           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
013449,000176: 06,3427           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013450,000177: 06,3430           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)                   *
013451,000178: 
013452,000179: 06,3431           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
013453,000180: 06,3432           00006                           EXTEND                                         
013454,000181: 06,3433           70154                           MP       MPAC                                  #  ADIA OR ADSRA
013455,000182: 06,3434           54001                           TS       L                                     
013456,000183: 06,3435           34755                           CAF      ZERO                                  
013457,000184: 06,3436           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)                   *
013458,000185: 
013459,000186: 06,3437           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
013460,000187: 06,3440           00006                           EXTEND                                         
013461,000188: 06,3441           74743                           MP       BIT9                                  #  SCALE 2(+6)   SHIFT RIGHT 6                   *
013462,000189: 06,3442           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013463,000190: 06,3443           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013464,000191: 
013465,000192: 06,3444           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
013466,000193: 06,3445           00006                           EXTEND                                         
013467,000194: 06,3446           74743                           MP       BIT9                                  #  SCALE 2(+6)   SHIFT RIGHT 6                   *
013468,000195: 06,3447           54001                           TS       L                                     
013469,000196: 06,3450           34755                           CAF      ZERO                                  
013470,000197: 06,3451           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013471,000198: 06,3452           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013472,000199: 
013473,000200: 06,3453           00002                           TC       Q                                     
013474,000201: 

Page 332

013476,000203: 06,3454           00006        DRIFTSUB           EXTEND                                         
013477,000204: 06,3455           22131                           QXCH     BUF        +1                         
013478,000205: 
013479,000206: 06,3456           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
013480,000207: 06,3457           71075                           MP       1/PIPADT                              #  (CS) X 2(+8)  NOW (GYRO PULSES) X 2(+3)
013481,000208: 06,3460           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
013482,000209: 06,3461           00006                           EXTEND                                         
013483,000210: 06,3462           74750                           MP       BIT4                                  #  SCALE 2(+11)  SHIFT RIGHT 11
013484,000211: 06,3463           50130                           INDEX    BUF                                   
013485,000212: 06,3464           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013486,000213: 
013487,000214: 06,3465           30155                           CA       MPAC       +1                         #  NOW MINOR PART
013488,000215: 06,3466           00006                           EXTEND                                         
013489,000216: 06,3467           74750                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013490,000217: 06,3470           54001                           TS       L                                     
013491,000218: 06,3471           34755                           CAF      ZERO                                  
013492,000219: 06,3472           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
013493,000220: 06,3473           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013494,000221: 
013495,000222: 06,3474           34752        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
013496,000223: 06,3475           60130                           AD       BUF                                   
013497,000224: 06,3476           56130                           XCH      BUF                                   
013498,000225: 06,3477           50000                           INDEX    A                                     
013499,000226: 06,3500           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
013500,000227: 06,3501           13503                           TCF      +2                                    #  YES
013501,000228: 06,3502           00131                           TC       BUF        +1                         #  NO
013502,000229: 
013503,000230: 06,3503           73553                           MASK     COMPCHK                               #  DEC -1
013504,000231: 06,3504           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013505,000232: 06,3505           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
013506,000233: 06,3506           00131                           TC       BUF        +1                         #  NO
013507,000234: 

Page 333

013509,000236: 06,3507           34751        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013510,000237: 06,3510           54130                           TS       BUF                                   
013511,000238: 
013512,000239: 06,3511           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
013513,000240: 06,3512           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
013514,000241: 06,3513           00006                           EXTEND                                         
013515,000242: 06,3514           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
013516,000243: 06,3515           50130                           INDEX    BUF                                   
013517,000244: 06,3516           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
013518,000245: 
013519,000246: 06,3517           34755                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
013520,000247: 06,3520           50130                           INDEX    BUF                                   
013521,000248: 06,3521           57471                           XCH      GCOMP                                 #  GYRO PULSES
013522,000249: 06,3522           00006                           EXTEND                                         
013523,000250: 06,3523           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
013524,000251: 06,3524           50130                           INDEX    BUF                                   
013525,000252: 06,3525           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
013526,000253: 
013527,000254: 06,3526           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013528,000255: 06,3527           67747                           AD       NEG1                                  
013529,000256: 06,3530           13510                           TCF      1/GYRO     +1                         
013530,000257: 06,3531           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
013531,000258: 
013532,000259: 06,3532           33531                           CAF      LGCOMP                                
013533,000260: 06,3533           04616                           TC       BANKCALL                              
013534,000261: 06,3534           17323                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
013535,000262: 06,3535           04616                           TC       BANKCALL                              
013536,000263: 06,3536           17716                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
013537,000264: 06,3537           15155                           TCF      ENDOFJOB                              #  TEMPORARY
013538,000265: 
013539,000266: 06,3540           34751        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013540,000267: 06,3541           54130                           TS       BUF                                   
013541,000268: 
013542,000269: 06,3542           50130                           INDEX    BUF                                   #  RESCALE
013543,000270: 06,3543           31472                           CA       GCOMP      +1                         
013544,000271: 06,3544           00006                           EXTEND                                         
013545,000272: 06,3545           74744                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013546,000273: 06,3546           50130                           INDEX    BUF                                   
013547,000274: 06,3547           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
013548,000275: 
013549,000276: 06,3550           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013550,000277: 06,3551           67747                           AD       NEG1                                  
013551,000278: 06,3552           13541                           TCF      GCOMP1     +1                         
013552,000279: 06,3553           77776        COMPCHK            DEC      -1         B-14                       #  LESS THAN ZERO IMPOSSIBLE
013553,000280: 06,3554           15155                           TCF      ENDOFJOB                              
013554,000281: 

Page 334

013556,000283: 06,3555           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013557,000284: 06,3556           13561                           TCF      +3                                    
013558,000285: 06,3557           13561                           TCF      +2                                    
013559,000286: 06,3560           15155                           TCF      ENDOFJOB                              
013560,000287: 
013561,000288: 06,3561           00004                           INHINT                                         
013562,000289: 06,3562           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
013563,000290: 06,3563           15155                           TCF      ENDOFJOB                              
013564,000291: 06,3564           15155                           TCF      ENDOFJOB                              
013565,000292: 06,3565           13566                           TCF      +1                                    
013566,000293: 
013567,000294: 06,3566           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
013568,000295: 06,3567           74744                           MASK     BIT8                                  #  POSITIVE SO THAT THE ACCELERATION TERMS
013569,000296: 06,3570           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
013570,000297: 06,3571           00006                           EXTEND                                         
013571,000298: 06,3572           13575                           BZF      +3                                    #  ARE WE ON THE SURFACE
013572,000299: 
013573,000300: 06,3573           04674                           TC       IBNKCALL                              #  ON THE SURFACE
013574,000301: 06,3574           77544                           CADR     PIPASR     +3                         #  READ PIPAS, BUT DO NOT SCALE THEM
013575,000302: 
013576,000303: 06,3575           30025                           CA       TIME1                                 #  (CS) X 2(+14)
013577,000304: 06,3576           57075                           XCH      1/PIPADT                              #  PREVIOUS TIME
013578,000305: 06,3577           00003                           RELINT                                         
013579,000306: 06,3600           40000                           COM                                            
013580,000307: 06,3601           61075                           AD       1/PIPADT                              #  PRESENT TIME - PREVIOUS TIME
013581,000308: 06,3602           64736        NBD2               AD       HALF                                  #  CORRECT FOR POSSIBLE TIME1 TICK
013582,000309: 06,3603           64736                           AD       HALF                                  
013583,000310: 06,3604           56001                           XCH      L                                     #  IF TIME1 DID NOT TICK, REMOVE RESULTING
013584,000311: 06,3605           56001                           XCH      L                                     #  OVERFLOW.
013585,000312: 
013586,000313: 06,3606           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
013587,000314: 06,3607           74742                           MP       BIT10                                 #  SHIFT RIGHT 5
013588,000315: 06,3610           52125                           DXCH     VBUF       +2                         
013589,000316: 
013590,000317: 06,3611           34755                           CA       ZERO                                  
013591,000318: 06,3612           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
013592,000319: 06,3613           54130                           TS       BUF                                   #  INDEX X, Y, Z.
013593,000320: 
013594,000321: 06,3614           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
013595,000322: 06,3615           03356                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS.
013596,000323: 
013597,000324: 06,3616           00006                           EXTEND                                         
013598,000325: 06,3617           30125                           DCA      VBUF       +2                         
013599,000326: 06,3620           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
013600,000327: 
013601,000328: 06,3621           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013602,000329: 06,3622           03644                           TC       FBIASSUB                              #  -(NBOX)(DELTAT)       (GYRO PULSES) X 2(+14)
013603,000330: 
013604,000331: 06,3623           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
013605,000332: 06,3624           03373                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS.

Page 335

013607,000334: 06,3625           00006                           EXTEND                                         
013608,000335: 06,3626           40125                           DCS      VBUF       +2                         
013609,000336: 06,3627           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013610,000337: 06,3630           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013611,000338: 06,3631           03644                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013612,000339: 
013613,000340: 06,3632           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
013614,000341: 06,3633           03410                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
013615,000342: 
013616,000343: 06,3634           00006                           EXTEND                                         
013617,000344: 06,3635           40125                           DCS      VBUF       +2                         
013618,000345: 06,3636           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013619,000346: 06,3637           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013620,000347: 06,3640           03644                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
013621,000348: 
013622,000349: 06,3641           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013623,000350: 06,3642           13507                           TCF      1/GYRO                                #  YES
013624,000351: 06,3643           15155                           TCF      ENDOFJOB                              #  NO
013625,000352: 

Page 336

013627,000354: 06,3644           56002        FBIASSUB           XCH      Q                                     
013628,000355: 06,3645           54131                           TS       BUF        +1                         
013629,000356: 
013630,000357: 06,3646           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013631,000358: 06,3647           00006                           EXTEND                                         
013632,000359: 06,3650           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013633,000360: 06,3651           50130                           INDEX    BUF                                   
013634,000361: 06,3652           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013635,000362: 
013636,000363: 06,3653           30002                           CA       Q                                     #  NOW FRACTIONAL PART
013637,000364: 06,3654           00006                           EXTEND                                         
013638,000365: 06,3655           70155                           MP       MPAC       +1                         
013639,000366: 06,3656           54001                           TS       L                                     
013640,000367: 06,3657           34755                           CAF      ZERO                                  
013641,000368: 06,3660           50130                           INDEX    BUF                                   
013642,000369: 06,3661           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013643,000370: 
013644,000371: 06,3662           13474                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
013645,000372: 
013646,000373: 06,3663           04616        LASTBIAS           TC       BANKCALL                              
013647,000374: 06,3664           17277                           CADR     PIPUSE1                               
013648,000375: 
013649,000376: 06,3665           11477                           CCS      GCOMPSW                               
013650,000377: 06,3666           13671                           TCF      +3                                    
013651,000378: 06,3667           13671                           TCF      +2                                    
013652,000379: 06,3670           15155                           TCF      ENDOFJOB                              
013653,000380: 
013654,000381: 06,3671           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
013655,000382: 06,3672           74744                           MASK     SURFFBIT                              #  POSITIVE SO THAT THE ACCELERATION TERMS
013656,000383: 06,3673           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
013657,000384: 
013658,000385: 06,3674           37716                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
013659,000386: 06,3675           57075                           XCH      1/PIPADT                              
013660,000387: 06,3676           40000                           COM                                            
013661,000388: 06,3677           61235                           AD       PIPTIME    +1                         
013662,000389: 06,3700           13602                           TCF      NBD2                                  
013663,000390: 
013664,000391: 06,3701           33531        GCOMPZER           CAF      LGCOMP                                #  ROUTINE TO ZERO GCOMP BEFORE FIRST
013665,000392: 06,3702           56003                           XCH      EBANK                                 #  CALL TO 1/PIPA
013666,000393: 06,3703           54163                           TS       MODE                                  
013667,000394: 
013668,000395: 06,3704           34755                           CAF      ZERO                                  
013669,000396: 06,3705           55477                           TS       GCOMPSW                               
013670,000397: 06,3706           55471                           TS       GCOMP                                 
013671,000398: 06,3707           55472                           TS       GCOMP      +1                         
013672,000399: 06,3710           55473                           TS       GCOMP      +2                         
013673,000400: 06,3711           55474                           TS       GCOMP      +3                         
013674,000401: 06,3712           55475                           TS       GCOMP      +4                         

Page 337

013676,000403: 06,3713           55476                           TS       GCOMP      +5                         
013677,000404: 
013678,000405: 06,3714           13353                           TCF      IRIG1                                 #  RESTORE EBANK AND RETURN
013679,000406: 

End of include-file IMU_COMPENSATION_PACKAGE.agc.  Parent file is MAIN.agc