Source Code

These source-code files derive from a printout of Luminary 116 (the Apollo 12 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Ron Burkey, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071
	19:09 AUG. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

013678,000002:                                                                                                  ## Copyright:   Public domain.
013679,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
013680,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
013681,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
013682,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
013683,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
013684,000008:                                                                                                  ##              that the code format has been changed to conform to the
013685,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
013686,000010:                                                                                                  ##              original YUL assembler.
013687,000011:                                                                                                  ## Reference:   pp. 327-338
013688,000012:                                                                                                  ## Assembler:   yaYUL
013689,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
013690,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
013691,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
013692,000016:                                                                                                  ##              2017-03-07 RSB  Transcribed, and then proofed comment-text using
013693,000017:                                                                                                  ##                              3-way diff vs Luminary 99 and Luminary 131.
013694,000018:                                                                                                  ##                              (Admittedly, the former is more for detecting errors
013695,000019:                                                                                                  ##                              in Luminary 99 than the other way around.)
013696,000020:                                                                                                  ##              2017-03-13 HG   Fix operand BIT4 --> BIT6
013697,000021: 

Page 327

013699,000023: 07,2667                                           BANK     7                                     
013700,000024: 06,2000                                           SETLOC   IMUCOMP                               
013701,000025: 06,2000                                           BANK                                           
013702,000026: 
013703,000027: 06,3271  E3,1460                                  EBANK=   NBDX                                  
013704,000028: 
013705,000029: 06,3271                                           COUNT*   $$/ICOMP                              
013706,000030: 06,3271           33537        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
013707,000031: 06,3272           56003                           XCH      EBANK                                 
013708,000032: 06,3273           54163                           TS       MODE                                  
013709,000033: 
013710,000034: 06,3274           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013711,000035: 06,3275           13300                           TCF      +3                                    
013712,000036: 06,3276           13300                           TCF      +2                                    
013713,000037: 06,3277           13361                           TCF      IRIG1                                 #  RETURN
013714,000038: 
013715,000039: 06,3300           34751        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013716,000040: 06,3301           54132                           TS       BUF        +2                         
013717,000041: 
013718,000042: 06,3302           50132                           INDEX    BUF        +2                         
013719,000043: 06,3303           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
013720,000044: 06,3304           00006                           EXTEND                                         
013721,000045: 06,3305           50132                           INDEX    BUF        +2                         
013722,000046: 06,3306           70324                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013723,000047: 06,3307           54002                           TS       Q                                     #  SAVE MAJOR PART
013724,000048: 
013725,000049: 06,3310           30001                           CA       L                                     #  MINOR PART
013726,000050: 06,3311           00006                           EXTEND                                         
013727,000051: 06,3312           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013728,000052: 06,3313           50132                           INDEX    BUF        +2                         
013729,000053: 06,3314           54325                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
013730,000054: 
013731,000055: 06,3315           30002                           CA       Q                                     #  MAJOR PART
013732,000056: 06,3316           00006                           EXTEND                                         
013733,000057: 06,3317           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
013734,000058: 06,3320           50132                           INDEX    BUF        +2                         
013735,000059: 06,3321           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
013736,000060: 
013737,000061: 06,3322           50132                           INDEX    BUF        +2                         
013738,000062: 06,3323           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-3)             *
013739,000063: 06,3324           00006                           EXTEND                                         
013740,000064: 06,3325           71074                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013741,000065: 06,3326           00006                           EXTEND                                         
013742,000066: 06,3327           74746                           MP       BIT6                                  #  SCALE 2(+9) SHIFT RIGHT 9              *
013743,000067: 06,3330           50132                           INDEX    BUF        +2                         
013744,000068: 06,3331           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013745,000069: 
013746,000070: 06,3332           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
013747,000071: 06,3333           67752                           AD       NEG1                                  
013748,000072: 06,3334           13301                           TCF      1/PIPA1    +1                         

Page 328

013750,000074: 06,3335           13336                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE
013751,000075: 

Page 329

013753,000077: 06,3336           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
013754,000078: 06,3337           54130                           TS       BUF                                   #  INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
013755,000079: 
013756,000080: 06,3340           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS
013757,000081: 
013758,000082: 06,3341           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013759,000083: 06,3342           03462                           TC       DRIFTSUB                              #  -(NBOX)(DELTAT)       (GYRO PULSES) X 2(+14)
013760,000084: 
013761,000085: 06,3343           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS
013762,000086: 
013763,000087: 06,3344           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013764,000088: 06,3345           03462                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
013765,000089: 
013766,000090: 06,3346           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
013767,000091: 
013768,000092: 06,3347           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013769,000093: 06,3350           03462                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
013770,000094: 
013771,000095: 06,3351           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013772,000096: 06,3352           13354                           TCF      +2                                    #  YES   SEND OUT GYRO TORQUING COMMANDS.
013773,000097: 06,3353           13361                           TCF      IRIG1                                 #  NO    RETURN
013774,000098: 
013775,000099: 06,3354           35031                           CA       PRIO21                                #  PRIO GREATER THAN SERVICER
013776,000100: 06,3355           05072                           TC       NOVAC                                 #  SEND OUT GYRO TORQUING COMMANDS.
013777,000101: 06,3356  E3,1460                                  EBANK=   NBDX                                  
013778,000102: 06,3356           03515 14063                     2CADR    1/GYRO                                
013779,000103: 
013780,000104: 06,3360           00003                           RELINT                                         
013781,000105: 06,3361           30163        IRIG1              CA       MODE                                  #  RESTORE CALLERS EBANK
013782,000106: 06,3362           54003                           TS       EBANK                                 
013783,000107: 06,3363           14631                           TCF      SWRETURN                              
013784,000108: 

Page 330

013786,000110: 06,3364           00006        IRIGX              EXTEND                                         
013787,000111: 06,3365           22156                           QXCH     MPAC       +2                         #  SAVE Q
013788,000112: 06,3366           00006                           EXTEND                                         
013789,000113: 06,3367           40325                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
013790,000114: 06,3370           52155                           DXCH     MPAC                                  
013791,000115: 06,3371           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013792,000116: 06,3372           03433                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)          (GYRO PULSES) X 2(+14)
013793,000117: 
013794,000118: 06,3373           00006                           EXTEND                                         
013795,000119: 06,3374           40327                           DCS      DELVY                                 #        (PIPA PULSES) X 2(+14)
013796,000120: 06,3375           52155                           DXCH     MPAC                                  
013797,000121: 06,3376           41466                           CS       ADSRAX                                #        (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013798,000122: 06,3377           03433                           TC       GCOMPSUB                              #        -(ADSRAX)(PIPAY)   (GYRO PULSES) X 2(+14)
013799,000123: 
013800,000124:                                                                                                  #                EXTEND                  ***
013801,000125:                                                                                                  #                DCS     DELVZ           ***     (PIPA PULSES) X 2(+14)
013802,000126:                                                                                                  #                DXCH    MPAC            ***
013803,000127:                                                                                                  #                CA      ADOAX           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013804,000128:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAX)(PIPAZ)    (GYRO PULSES) X 2(+14)
013805,000129: 
013806,000130: 06,3400           00156                           TC       MPAC       +2                         
013807,000131: 
013808,000132: 06,3401           00006        IRIGY              EXTEND                                         
013809,000133: 06,3402           22156                           QXCH     MPAC       +2                         #  SAVE Q
013810,000134: 06,3403           00006                           EXTEND                                         
013811,000135: 06,3404           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013812,000136: 06,3405           52155                           DXCH     MPAC                                  
013813,000137: 06,3406           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013814,000138: 06,3407           03433                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)          (GYRO PULSES) X 2(+14)
013815,000139: 
013816,000140: 06,3410           00006                           EXTEND                                         
013817,000141: 06,3411           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013818,000142: 06,3412           52155                           DXCH     MPAC                                  
013819,000143: 06,3413           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013820,000144: 06,3414           03433                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)         (GYRO PULSES) X 2(+14)
013821,000145: 
013822,000146:                                                                                                  #                EXTEND                  ***
013823,000147:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSES) X 2(+14)
013824,000148:                                                                                                  #                DXCH    MPAC            ***
013825,000149:                                                                                                  #                CA      ADOAY           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013826,000150:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAY)(PIPAX)   (GYRO PULSES) X 2(+14)
013827,000151: 
013828,000152: 06,3415           00156                           TC       MPAC       +2                         
013829,000153: 
013830,000154: 06,3416           00006        IRIGZ              EXTEND                                         
013831,000155: 06,3417           22156                           QXCH     MPAC       +2                         #  SAVE Q
013832,000156: 06,3420           00006                           EXTEND                                         
013833,000157: 06,3421           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013834,000158: 06,3422           52155                           DXCH     MPAC                                  
013835,000159: 06,3423           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *

Page 331

013837,000161: 06,3424           03433                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)        (GYRO PULSES) X 2(+14)
013838,000162: 
013839,000163: 06,3425           00006                           EXTEND                                         
013840,000164: 06,3426           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013841,000165: 06,3427           52155                           DXCH     MPAC                                  
013842,000166: 06,3430           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013843,000167: 06,3431           03433                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)          (GYRO PULSES) X 2(+14)
013844,000168: 
013845,000169:                                                                                                  #                EXTEND                  ***
013846,000170:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSE) X 2(+14)
013847,000171:                                                                                                  #                DXCH    MPAC            ***
013848,000172:                                                                                                  #                CS      ADOAZ           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
013849,000173:                                                                                                  #                TC      GCOMPSUB        ***     +(ADOAZ)(PIPAX)    (GYRO PULSES) X 2(+14)
013850,000174: 
013851,000175: 06,3432           00156                           TC       MPAC       +2                         
013852,000176: 

Page 332

013854,000178: 06,3433           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013855,000179: 06,3434           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
013856,000180: 06,3435           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)            *
013857,000181: 06,3436           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)                   *
013858,000182: 
013859,000183: 06,3437           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
013860,000184: 06,3440           00006                           EXTEND                                         
013861,000185: 06,3441           70154                           MP       MPAC                                  #  ADIA OR ADSRA
013862,000186: 06,3442           54001                           TS       L                                     
013863,000187: 06,3443           34755                           CAF      ZERO                                  
013864,000188: 06,3444           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)                   *
013865,000189: 
013866,000190: 06,3445           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
013867,000191: 06,3446           00006                           EXTEND                                         
013868,000192: 06,3447           74743                           MP       BIT9                                  #  SCALE 2(+6)   SHIFT RIGHT 6                   *
013869,000193: 06,3450           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013870,000194: 06,3451           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
013871,000195: 
013872,000196: 06,3452           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
013873,000197: 06,3453           00006                           EXTEND                                         
013874,000198: 06,3454           74743                           MP       BIT9                                  #  SCALE 2(+6)   SHIFT RIGHT 6                   *
013875,000199: 06,3455           54001                           TS       L                                     
013876,000200: 06,3456           34755                           CAF      ZERO                                  
013877,000201: 06,3457           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013878,000202: 06,3460           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
013879,000203: 
013880,000204: 06,3461           00002                           TC       Q                                     
013881,000205: 

Page 333

013883,000207: 06,3462           00006        DRIFTSUB           EXTEND                                         
013884,000208: 06,3463           22131                           QXCH     BUF        +1                         
013885,000209: 
013886,000210: 06,3464           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
013887,000211: 06,3465           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)  NOW (GYRO PULSES) X 2(+3)
013888,000212: 06,3466           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
013889,000213: 06,3467           00006                           EXTEND                                         
013890,000214: 06,3470           74750                           MP       BIT4                                  #  SCALE 2(+11)  SHIFT RIGHT 11
013891,000215: 06,3471           50130                           INDEX    BUF                                   
013892,000216: 06,3472           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
013893,000217: 
013894,000218: 06,3473           30155                           CA       MPAC       +1                         #  NOW MINOR PART
013895,000219: 06,3474           00006                           EXTEND                                         
013896,000220: 06,3475           74750                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
013897,000221: 06,3476           54001                           TS       L                                     
013898,000222: 06,3477           34755                           CAF      ZERO                                  
013899,000223: 06,3500           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
013900,000224: 06,3501           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
013901,000225: 
013902,000226: 06,3502           34752        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
013903,000227: 06,3503           60130                           AD       BUF                                   
013904,000228: 06,3504           56130                           XCH      BUF                                   
013905,000229: 06,3505           50000                           INDEX    A                                     
013906,000230: 06,3506           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
013907,000231: 06,3507           13511                           TCF      +2                                    #  YES
013908,000232: 06,3510           00131                           TC       BUF        +1                         #  NO
013909,000233: 
013910,000234: 06,3511           73561                           MASK     COMPCHK                               #  DEC -1
013911,000235: 06,3512           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013912,000236: 06,3513           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
013913,000237: 06,3514           00131                           TC       BUF        +1                         #  NO
013914,000238: 

Page 334

013916,000240: 06,3515           34751        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013917,000241: 06,3516           54130                           TS       BUF                                   
013918,000242: 
013919,000243: 06,3517           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
013920,000244: 06,3520           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
013921,000245: 06,3521           00006                           EXTEND                                         
013922,000246: 06,3522           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
013923,000247: 06,3523           50130                           INDEX    BUF                                   
013924,000248: 06,3524           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
013925,000249: 
013926,000250: 06,3525           34755                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
013927,000251: 06,3526           50130                           INDEX    BUF                                   
013928,000252: 06,3527           57471                           XCH      GCOMP                                 #  GYRO PULSES
013929,000253: 06,3530           00006                           EXTEND                                         
013930,000254: 06,3531           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
013931,000255: 06,3532           50130                           INDEX    BUF                                   
013932,000256: 06,3533           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
013933,000257: 
013934,000258: 06,3534           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013935,000259: 06,3535           67752                           AD       NEG1                                  
013936,000260: 06,3536           13516                           TCF      1/GYRO     +1                         
013937,000261: 06,3537           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
013938,000262: 
013939,000263: 06,3540           33537                           CAF      LGCOMP                                
013940,000264: 06,3541           04616                           TC       BANKCALL                              
013941,000265: 06,3542           17315                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
013942,000266: 06,3543           04616                           TC       BANKCALL                              
013943,000267: 06,3544           17710                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
013944,000268: 06,3545           15155                           TCF      ENDOFJOB                              #  TEMPORARY
013945,000269: 
013946,000270: 06,3546           34751        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013947,000271: 06,3547           54130                           TS       BUF                                   
013948,000272: 
013949,000273: 06,3550           50130                           INDEX    BUF                                   #  RESCALE
013950,000274: 06,3551           31472                           CA       GCOMP      +1                         
013951,000275: 06,3552           00006                           EXTEND                                         
013952,000276: 06,3553           74744                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013953,000277: 06,3554           50130                           INDEX    BUF                                   
013954,000278: 06,3555           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
013955,000279: 
013956,000280: 06,3556           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013957,000281: 06,3557           67752                           AD       NEG1                                  
013958,000282: 06,3560           13547                           TCF      GCOMP1     +1                         
013959,000283: 06,3561           77776        COMPCHK            DEC      -1         B-14                       #  LESS THAN ZERO IMPOSSIBLE
013960,000284: 06,3562           15155                           TCF      ENDOFJOB                              
013961,000285: 

Page 335

013963,000287: 06,3563           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013964,000288: 06,3564           13567                           TCF      +3                                    
013965,000289: 06,3565           13567                           TCF      +2                                    
013966,000290: 06,3566           15155                           TCF      ENDOFJOB                              
013967,000291: 
013968,000292: 06,3567           00004                           INHINT                                         
013969,000293: 06,3570           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
013970,000294: 06,3571           15155                           TCF      ENDOFJOB                              
013971,000295: 06,3572           15155                           TCF      ENDOFJOB                              
013972,000296: 06,3573           13574                           TCF      +1                                    
013973,000297: 
013974,000298: 06,3574           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
013975,000299: 06,3575           74744                           MASK     BIT8                                  #  POSITIVE SO THAT THE ACCELERATION TERMS
013976,000300: 06,3576           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
013977,000301: 06,3577           00006                           EXTEND                                         
013978,000302: 06,3600           13603                           BZF      +3                                    #  ARE WE ON THE SURFACE
013979,000303: 
013980,000304: 06,3601           04674                           TC       IBNKCALL                              #  ON THE SURFACE
013981,000305: 06,3602           77541                           CADR     PIPASR     +3                         #  READ PIPAS, BUT DO NOT SCALE THEM
013982,000306: 
013983,000307: 06,3603           30025                           CA       TIME1                                 #  (CS) X 2(+14)
013984,000308: 06,3604           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
013985,000309: 06,3605           00003                           RELINT                                         
013986,000310: 06,3606           40000                           COM                                            
013987,000311: 06,3607           61074                           AD       1/PIPADT                              #  PRESENT TIME - PREVIOUS TIME
013988,000312: 06,3610           64736        NBD2               AD       HALF                                  #  CORRECT FOR POSSIBLE TIME1 TICK
013989,000313: 06,3611           64736                           AD       HALF                                  
013990,000314: 06,3612           56001                           XCH      L                                     #  IF TIME1 DID NOT TICK, REMOVE RESULTING
013991,000315: 06,3613           56001                           XCH      L                                     #  OVERFLOW.
013992,000316: 
013993,000317: 06,3614           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
013994,000318: 06,3615           74742                           MP       BIT10                                 #  SHIFT RIGHT 5
013995,000319: 06,3616           52125                           DXCH     VBUF       +2                         
013996,000320: 
013997,000321: 06,3617           34755                           CA       ZERO                                  
013998,000322: 06,3620           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
013999,000323: 06,3621           54130                           TS       BUF                                   #  INDEX  X, Y, Z.
014000,000324: 
014001,000325: 06,3622           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014002,000326: 06,3623           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS.
014003,000327: 
014004,000328: 06,3624           00006                           EXTEND                                         
014005,000329: 06,3625           30125                           DCA      VBUF       +2                         
014006,000330: 06,3626           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
014007,000331: 
014008,000332: 06,3627           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
014009,000333: 06,3630           03652                           TC       FBIASSUB                              #  -(NBOX)(DELTAT)       (GYRO PULSES) X 2(+14)
014010,000334: 
014011,000335: 06,3631           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014012,000336: 06,3632           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS.

Page 336

014014,000338: 06,3633           00006                           EXTEND                                         
014015,000339: 06,3634           40125                           DCS      VBUF       +2                         
014016,000340: 06,3635           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014017,000341: 06,3636           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
014018,000342: 06,3637           03652                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
014019,000343: 
014020,000344: 06,3640           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014021,000345: 06,3641           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
014022,000346: 
014023,000347: 06,3642           00006                           EXTEND                                         
014024,000348: 06,3643           40125                           DCS      VBUF       +2                         
014025,000349: 06,3644           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014026,000350: 06,3645           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
014027,000351: 06,3646           03652                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
014028,000352: 
014029,000353: 06,3647           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014030,000354: 06,3650           13515                           TCF      1/GYRO                                #  YES
014031,000355: 06,3651           15155                           TCF      ENDOFJOB                              #  NO
014032,000356: 

Page 337

014034,000358: 06,3652           56002        FBIASSUB           XCH      Q                                     
014035,000359: 06,3653           54131                           TS       BUF        +1                         
014036,000360: 
014037,000361: 06,3654           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014038,000362: 06,3655           00006                           EXTEND                                         
014039,000363: 06,3656           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014040,000364: 06,3657           50130                           INDEX    BUF                                   
014041,000365: 06,3660           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
014042,000366: 
014043,000367: 06,3661           30002                           CA       Q                                     #  NOW FRACTIONAL PART
014044,000368: 06,3662           00006                           EXTEND                                         
014045,000369: 06,3663           70155                           MP       MPAC       +1                         
014046,000370: 06,3664           54001                           TS       L                                     
014047,000371: 06,3665           34755                           CAF      ZERO                                  
014048,000372: 06,3666           50130                           INDEX    BUF                                   
014049,000373: 06,3667           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
014050,000374: 
014051,000375: 06,3670           13502                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
014052,000376: 
014053,000377: 06,3671           04616        LASTBIAS           TC       BANKCALL                              
014054,000378: 06,3672           17271                           CADR     PIPUSE1                               
014055,000379: 
014056,000380: 06,3673           11477                           CCS      GCOMPSW                               
014057,000381: 06,3674           13677                           TCF      +3                                    
014058,000382: 06,3675           13677                           TCF      +2                                    
014059,000383: 06,3676           15155                           TCF      ENDOFJOB                              
014060,000384: 
014061,000385: 06,3677           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
014062,000386: 06,3700           74744                           MASK     SURFFBIT                              #  POSITIVE SO THAT THE ACCELERATION TERMS
014063,000387: 06,3701           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
014064,000388: 
014065,000389: 06,3702           37721                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
014066,000390: 06,3703           57074                           XCH      1/PIPADT                              
014067,000391: 06,3704           40000                           COM                                            
014068,000392: 06,3705           61234                           AD       PIPTIME    +1                         
014069,000393: 06,3706           13610                           TCF      NBD2                                  
014070,000394: 
014071,000395: 06,3707           33537        GCOMPZER           CAF      LGCOMP                                #  ROUTINE TO ZERO GCOMP BEFORE FIRST
014072,000396: 06,3710           56003                           XCH      EBANK                                 #  CALL TO 1/PIPA
014073,000397: 06,3711           54163                           TS       MODE                                  
014074,000398: 
014075,000399: 06,3712           34755                           CAF      ZERO                                  
014076,000400: 06,3713           55477                           TS       GCOMPSW                               
014077,000401: 06,3714           55471                           TS       GCOMP                                 
014078,000402: 06,3715           55472                           TS       GCOMP      +1                         
014079,000403: 06,3716           55473                           TS       GCOMP      +2                         
014080,000404: 06,3717           55474                           TS       GCOMP      +3                         
014081,000405: 06,3720           55475                           TS       GCOMP      +4                         

Page 338

014083,000407: 06,3721           55476                           TS       GCOMP      +5                         
014084,000408: 
014085,000409: 06,3722           13361                           TCF      IRIG1                                 #  RESTORE EBANK AND RETURN
014086,000410: 

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