GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
013638,000002: ## Copyright: Public domain.
013639,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013640,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
013641,000005: ## It is part of the source code for the Lunar Module's (LM)
013642,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
013643,000007: ## Assembler: yaYUL
013644,000008: ## Contact: Ron Burkey <info@sandroid.org>.
013645,000009: ## Website: www.ibiblio.org/apollo.
013646,000010: ## Pages: 326-337
013647,000011: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
013648,000012: ## Luminary131 file, using page
013649,000013: ## images from Luminary 1A.
013650,000014: ## 2009-06-07 RSB Corrected a typo.
013651,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
013652,000016: ## and corrected the errors found.
013653,000017: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
013654,000018: ##
013655,000019: ## This source code has been transcribed or otherwise adapted from
013656,000020: ## digitized images of a hardcopy from the MIT Museum. The digitization
013657,000021: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
013658,000022: ## the Museum. Many thanks to both. The images (with suitable reduction
013659,000023: ## in storage size and consequent reduction in image quality as well) are
013660,000024: ## available online at www.ibiblio.org/apollo. If for some reason you
013661,000025: ## find that the images are illegible, contact me at info@sandroid.org
013662,000026: ## about getting access to the (much) higher-quality images which Paul
013663,000027: ## actually created.
013664,000028: ##
013665,000029: ## Notations on the hardcopy document read, in part:
013666,000030: ##
013667,000031: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
013668,000032: ## 16:27 JULY 14, 1969
013669,000033:
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Page 326 |
013671,000035: 07,2667 BANK 7
013672,000036: 06,2000 SETLOC IMUCOMP
013673,000037: 06,2000 BANK
013674,000038:
013675,000039: 06,3263 E3,1460 EBANK= NBDX
013676,000040:
013677,000041: 06,3263 COUNT* $$/ICOMP
013678,000042: 06,3263 33531 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013679,000043: 06,3264 56003 XCH EBANK
013680,000044: 06,3265 54163 TS MODE
013681,000045:
013682,000046: 06,3266 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013683,000047: 06,3267 13272 TCF +3
013684,000048: 06,3270 13272 TCF +2
013685,000049: 06,3271 13353 TCF IRIG1 # RETURN
013686,000050:
013687,000051: 06,3272 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013688,000052: 06,3273 54132 TS BUF +2
013689,000053:
013690,000054: 06,3274 50132 INDEX BUF +2
013691,000055: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013692,000056: 06,3276 00006 EXTEND
013693,000057: 06,3277 50132 INDEX BUF +2
013694,000058: 06,3300 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013695,000059: 06,3301 54002 TS Q # SAVE MAJOR PART
013696,000060:
013697,000061: 06,3302 30001 CA L # MINOR PART
013698,000062: 06,3303 00006 EXTEND
013699,000063: 06,3304 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013700,000064: 06,3305 50132 INDEX BUF +2
013701,000065: 06,3306 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013702,000066:
013703,000067: 06,3307 30002 CA Q # MAJOR PART
013704,000068: 06,3310 00006 EXTEND
013705,000069: 06,3311 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013706,000070: 06,3312 50132 INDEX BUF +2
013707,000071: 06,3313 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013708,000072:
013709,000073: 06,3314 50132 INDEX BUF +2
013710,000074: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
013711,000075: 06,3316 00006 EXTEND
013712,000076: 06,3317 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
013713,000077: 06,3320 00006 EXTEND
013714,000078: 06,3321 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
013715,000079: 06,3322 50132 INDEX BUF +2
013716,000080: 06,3323 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013717,000081:
013718,000082: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013719,000083: 06,3325 67747 AD NEG1
013720,000084: 06,3326 13273 TCF 1/PIPA1 +1
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Page 327 |
013722,000086: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
013723,000087:
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Page 328 |
013725,000089: 06,3330 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013726,000090: 06,3331 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013727,000091:
013728,000092: 06,3332 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS
013729,000093:
013730,000094: 06,3333 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013731,000095: 06,3334 03454 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013732,000096:
013733,000097: 06,3335 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS
013734,000098:
013735,000099: 06,3336 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013736,000100: 06,3337 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013737,000101:
013738,000102: 06,3340 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013739,000103:
013740,000104: 06,3341 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013741,000105: 06,3342 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013742,000106:
013743,000107: 06,3343 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013744,000108: 06,3344 13346 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013745,000109: 06,3345 13353 TCF IRIG1 # NO RETURN
013746,000110:
013747,000111: 06,3346 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013748,000112: 06,3347 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013749,000113: 06,3350 E3,1460 EBANK= NBDX
013750,000114: 06,3350 03507 14063 2CADR 1/GYRO
013751,000115:
013752,000116: 06,3352 00003 RELINT
013753,000117: 06,3353 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
013754,000118: 06,3354 54003 TS EBANK
013755,000119: 06,3355 14631 TCF SWRETURN
013756,000120:
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Page 329 |
013758,000122: 06,3356 00006 IRIGX EXTEND
013759,000123: 06,3357 22156 QXCH MPAC +2 # SAVE Q
013760,000124: 06,3360 00006 EXTEND
013761,000125: 06,3361 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013762,000126: 06,3362 52155 DXCH MPAC
013763,000127: 06,3363 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013764,000128: 06,3364 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013765,000129:
013766,000130: 06,3365 00006 EXTEND #
013767,000131: 06,3366 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013768,000132: 06,3367 52155 DXCH MPAC #
013769,000133: 06,3370 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013770,000134: 06,3371 03425 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013771,000135:
013772,000136: # EXTEND ***
013773,000137: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013774,000138: # DXCH MPAC ***
013775,000139: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013776,000140: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013777,000141:
013778,000142: 06,3372 00156 TC MPAC +2
013779,000143:
013780,000144: 06,3373 00006 IRIGY EXTEND
013781,000145: 06,3374 22156 QXCH MPAC +2 # SAVE Q
013782,000146: 06,3375 00006 EXTEND
013783,000147: 06,3376 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013784,000148: 06,3377 52155 DXCH MPAC
013785,000149: 06,3400 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013786,000150: 06,3401 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013787,000151:
013788,000152: 06,3402 00006 EXTEND
013789,000153: 06,3403 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013790,000154: 06,3404 52155 DXCH MPAC
013791,000155: 06,3405 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013792,000156: 06,3406 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013793,000157:
013794,000158: # EXTEND ***
013795,000159: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013796,000160: # DXCH MPAC ***
013797,000161: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013798,000162: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013799,000163:
013800,000164: 06,3407 00156 TC MPAC +2
013801,000165:
013802,000166: 06,3410 00006 IRIGZ EXTEND
013803,000167: 06,3411 22156 QXCH MPAC +2 # SAVE Q
013804,000168: 06,3412 00006 EXTEND
013805,000169: 06,3413 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013806,000170: 06,3414 52155 DXCH MPAC
013807,000171: 06,3415 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 330 |
013809,000173: 06,3416 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013810,000174:
013811,000175: 06,3417 00006 EXTEND
013812,000176: 06,3420 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013813,000177: 06,3421 52155 DXCH MPAC
013814,000178: 06,3422 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013815,000179: 06,3423 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013816,000180:
013817,000181: # EXTEND ***
013818,000182: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013819,000183: # DXCH MPAC ***
013820,000184: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013821,000185: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013822,000186:
013823,000187: 06,3424 00156 TC MPAC +2
013824,000188:
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Page 331 |
013826,000190: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013827,000191: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013828,000192: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013829,000193: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013830,000194:
013831,000195: 06,3431 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013832,000196: 06,3432 00006 EXTEND
013833,000197: 06,3433 70154 MP MPAC # ADIA OR ADSRA
013834,000198: 06,3434 54001 TS L
013835,000199: 06,3435 34755 CAF ZERO
013836,000200: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013837,000201:
013838,000202: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
013839,000203: 06,3440 00006 EXTEND
013840,000204: 06,3441 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013841,000205: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013842,000206: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013843,000207:
013844,000208: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013845,000209: 06,3445 00006 EXTEND
013846,000210: 06,3446 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013847,000211: 06,3447 54001 TS L
013848,000212: 06,3450 34755 CAF ZERO
013849,000213: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013850,000214: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013851,000215:
013852,000216: 06,3453 00002 TC Q
013853,000217:
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Page 332 |
013855,000219: 06,3454 00006 DRIFTSUB EXTEND
013856,000220: 06,3455 22131 QXCH BUF +1
013857,000221:
013858,000222: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013859,000223: 06,3457 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013860,000224: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013861,000225: 06,3461 00006 EXTEND
013862,000226: 06,3462 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013863,000227: 06,3463 50130 INDEX BUF
013864,000228: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013865,000229:
013866,000230: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
013867,000231: 06,3466 00006 EXTEND
013868,000232: 06,3467 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013869,000233: 06,3470 54001 TS L
013870,000234: 06,3471 34755 CAF ZERO
013871,000235: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013872,000236: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013873,000237:
013874,000238: 06,3474 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013875,000239: 06,3475 60130 AD BUF
013876,000240: 06,3476 56130 XCH BUF
013877,000241: 06,3477 50000 INDEX A
013878,000242: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013879,000243: 06,3501 13503 TCF +2 # YES
013880,000244: 06,3502 00131 TC BUF +1 # NO
013881,000245:
013882,000246: 06,3503 73553 MASK COMPCHK # DEC -1
013883,000247: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013884,000248: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013885,000249: 06,3506 00131 TC BUF +1 # NO
013886,000250:
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Page 333 |
013888,000252: 06,3507 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013889,000253: 06,3510 54130 TS BUF
013890,000254:
013891,000255: 06,3511 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013892,000256: 06,3512 31472 CA GCOMP +1 # FRACTIONAL PULSES
013893,000257: 06,3513 00006 EXTEND
013894,000258: 06,3514 74744 MP BIT8 # SHIFT RIGHT 7
013895,000259: 06,3515 50130 INDEX BUF
013896,000260: 06,3516 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013897,000261:
013898,000262: 06,3517 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013899,000263: 06,3520 50130 INDEX BUF
013900,000264: 06,3521 57471 XCH GCOMP # GYRO PULSES
013901,000265: 06,3522 00006 EXTEND
013902,000266: 06,3523 74744 MP BIT8 # SHIFT RIGHT 7
013903,000267: 06,3524 50130 INDEX BUF
013904,000268: 06,3525 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013905,000269:
013906,000270: 06,3526 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013907,000271: 06,3527 67747 AD NEG1
013908,000272: 06,3530 13510 TCF 1/GYRO +1
013909,000273: 06,3531 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013910,000274:
013911,000275: 06,3532 33531 CAF LGCOMP
013912,000276: 06,3533 04616 TC BANKCALL
013913,000277: 06,3534 17323 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013914,000278: 06,3535 04616 TC BANKCALL
013915,000279: 06,3536 17716 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013916,000280: 06,3537 15155 TCF ENDOFJOB # TEMPORARY
013917,000281:
013918,000282: 06,3540 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013919,000283: 06,3541 54130 TS BUF
013920,000284:
013921,000285: 06,3542 50130 INDEX BUF # RESCALE
013922,000286: 06,3543 31472 CA GCOMP +1
013923,000287: 06,3544 00006 EXTEND
013924,000288: 06,3545 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013925,000289: 06,3546 50130 INDEX BUF
013926,000290: 06,3547 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013927,000291:
013928,000292: 06,3550 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013929,000293: 06,3551 67747 AD NEG1
013930,000294: 06,3552 13541 TCF GCOMP1 +1
013931,000295: 06,3553 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013932,000296: 06,3554 15155 TCF ENDOFJOB
013933,000297:
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Page 334 |
013935,000299: 06,3555 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013936,000300: 06,3556 13561 TCF +3
013937,000301: 06,3557 13561 TCF +2
013938,000302: 06,3560 15155 TCF ENDOFJOB
013939,000303:
013940,000304: 06,3561 00004 INHINT
013941,000305: 06,3562 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013942,000306: 06,3563 15155 TCF ENDOFJOB
013943,000307: 06,3564 15155 TCF ENDOFJOB
013944,000308: 06,3565 13566 TCF +1
013945,000309:
013946,000310: 06,3566 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013947,000311: 06,3567 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013948,000312: 06,3570 54141 TS TEM1 # WILL BE COMPENSATED.
013949,000313: 06,3571 00006 EXTEND
013950,000314: 06,3572 13575 BZF +3 # ARE WE ON THE SURFACE
013951,000315:
013952,000316: 06,3573 04674 TC IBNKCALL # ON THE SURFACE
013953,000317: 06,3574 77544 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013954,000318:
013955,000319: 06,3575 30025 CA TIME1 # (CS) X 2(+14)
013956,000320: 06,3576 57075 XCH 1/PIPADT # PREVIOUS TIME
013957,000321: 06,3577 00003 RELINT
013958,000322: 06,3600 40000 COM
013959,000323: 06,3601 61075 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013960,000324: 06,3602 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013961,000325: 06,3603 64736 AD HALF
013962,000326: 06,3604 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013963,000327: 06,3605 56001 XCH L # OVERFLOW.
013964,000328:
013965,000329: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013966,000330: 06,3607 74742 MP BIT10 # SHIFT RIGHT 5
013967,000331: 06,3610 52125 DXCH VBUF +2
013968,000332:
013969,000333: 06,3611 34755 CA ZERO
013970,000334: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013971,000335: 06,3613 54130 TS BUF # INDEX X, Y, Z.
013972,000336:
013973,000337: 06,3614 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013974,000338: 06,3615 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013975,000339:
013976,000340: 06,3616 00006 EXTEND
013977,000341: 06,3617 30125 DCA VBUF +2
013978,000342: 06,3620 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013979,000343:
013980,000344: 06,3621 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013981,000345: 06,3622 03644 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013982,000346:
013983,000347: 06,3623 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013984,000348: 06,3624 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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013986,000350: 06,3625 00006 EXTEND
013987,000351: 06,3626 40125 DCS VBUF +2
013988,000352: 06,3627 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013989,000353: 06,3630 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013990,000354: 06,3631 03644 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013991,000355:
013992,000356: 06,3632 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013993,000357: 06,3633 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013994,000358:
013995,000359: 06,3634 00006 EXTEND
013996,000360: 06,3635 40125 DCS VBUF +2
013997,000361: 06,3636 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013998,000362: 06,3637 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013999,000363: 06,3640 03644 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014000,000364:
014001,000365: 06,3641 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014002,000366: 06,3642 13507 TCF 1/GYRO # YES
014003,000367: 06,3643 15155 TCF ENDOFJOB # NO
014004,000368:
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014006,000370: 06,3644 56002 FBIASSUB XCH Q
014007,000371: 06,3645 54131 TS BUF +1
014008,000372:
014009,000373: 06,3646 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014010,000374: 06,3647 00006 EXTEND
014011,000375: 06,3650 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014012,000376: 06,3651 50130 INDEX BUF
014013,000377: 06,3652 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014014,000378:
014015,000379: 06,3653 30002 CA Q # NOW FRACTIONAL PART
014016,000380: 06,3654 00006 EXTEND
014017,000381: 06,3655 70155 MP MPAC +1
014018,000382: 06,3656 54001 TS L
014019,000383: 06,3657 34755 CAF ZERO
014020,000384: 06,3660 50130 INDEX BUF
014021,000385: 06,3661 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014022,000386:
014023,000387: 06,3662 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014024,000388:
014025,000389: 06,3663 04616 LASTBIAS TC BANKCALL
014026,000390: 06,3664 17277 CADR PIPUSE1
014027,000391:
014028,000392: 06,3665 11477 CCS GCOMPSW
014029,000393: 06,3666 13671 TCF +3
014030,000394: 06,3667 13671 TCF +2
014031,000395: 06,3670 15155 TCF ENDOFJOB
014032,000396:
014033,000397: 06,3671 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014034,000398: 06,3672 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014035,000399: 06,3673 54141 TS TEM1 # WILL BE COMPENSATED.
014036,000400:
014037,000401: 06,3674 37716 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014038,000402: 06,3675 57075 XCH 1/PIPADT
014039,000403: 06,3676 40000 COM
014040,000404: 06,3677 61235 AD PIPTIME +1
014041,000405: 06,3700 13602 TCF NBD2
014042,000406:
014043,000407: 06,3701 33531 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014044,000408: 06,3702 56003 XCH EBANK # CALL TO 1/PIPA
014045,000409: 06,3703 54163 TS MODE
014046,000410:
014047,000411: 06,3704 34755 CAF ZERO
014048,000412: 06,3705 55477 TS GCOMPSW
014049,000413: 06,3706 55471 TS GCOMP
014050,000414: 06,3707 55472 TS GCOMP +1
014051,000415: 06,3710 55473 TS GCOMP +2
014052,000416: 06,3711 55474 TS GCOMP +3
014053,000417: 06,3712 55475 TS GCOMP +4
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014055,000419: 06,3713 55476 TS GCOMP +5
014056,000420:
014057,000421: 06,3714 13353 TCF IRIG1 # RESTORE EBANK AND RETURN
014058,000422:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc