Source Code

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 14,1969
Note 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: 

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                         

Page 327

013722,000086: 06,3327           13330                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE
013723,000087: 

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: 

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)            *

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: 

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: 

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: 

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: 

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.

Page 335

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: 

Page 336

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                         

Page 337

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