Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files 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. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
013682,000002: ## Copyright: Public domain.
013683,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013684,000004: ## Purpose: A section of Luminary revision 116.
013685,000005: ## It is part of the source code for the Lunar Module's (LM)
013686,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
013687,000007: ## This file is intended to be a faithful transcription, except
013688,000008: ## that the code format has been changed to conform to the
013689,000009: ## requirements of the yaYUL assembler rather than the
013690,000010: ## original YUL assembler.
013691,000011: ## Reference: pp. 327-338
013692,000012: ## Assembler: yaYUL
013693,000013: ## Contact: Ron Burkey <info@sandroid.org>.
013694,000014: ## Website: www.ibiblio.org/apollo/index.html
013695,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
013696,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
013697,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
013698,000018: ## (Admittedly, the former is more for detecting errors
013699,000019: ## in Luminary 99 than the other way around.)
013700,000020: ## 2017-03-13 HG Fix operand BIT4 --> BIT6
013701,000021:
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Page 327 |
013703,000023: 07,2667 BANK 7
013704,000024: 06,2000 SETLOC IMUCOMP
013705,000025: 06,2000 BANK
013706,000026:
013707,000027: 06,3271 E3,1460 EBANK= NBDX
013708,000028:
013709,000029: 06,3271 COUNT* $$/ICOMP
013710,000030: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013711,000031: 06,3272 56003 XCH EBANK
013712,000032: 06,3273 54163 TS MODE
013713,000033:
013714,000034: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013715,000035: 06,3275 13300 TCF +3
013716,000036: 06,3276 13300 TCF +2
013717,000037: 06,3277 13361 TCF IRIG1 # RETURN
013718,000038:
013719,000039: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013720,000040: 06,3301 54132 TS BUF +2
013721,000041:
013722,000042: 06,3302 50132 INDEX BUF +2
013723,000043: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013724,000044: 06,3304 00006 EXTEND
013725,000045: 06,3305 50132 INDEX BUF +2
013726,000046: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013727,000047: 06,3307 54002 TS Q # SAVE MAJOR PART
013728,000048:
013729,000049: 06,3310 30001 CA L # MINOR PART
013730,000050: 06,3311 00006 EXTEND
013731,000051: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013732,000052: 06,3313 50132 INDEX BUF +2
013733,000053: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013734,000054:
013735,000055: 06,3315 30002 CA Q # MAJOR PART
013736,000056: 06,3316 00006 EXTEND
013737,000057: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013738,000058: 06,3320 50132 INDEX BUF +2
013739,000059: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013740,000060:
013741,000061: 06,3322 50132 INDEX BUF +2
013742,000062: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013743,000063: 06,3324 00006 EXTEND
013744,000064: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013745,000065: 06,3326 00006 EXTEND
013746,000066: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013747,000067: 06,3330 50132 INDEX BUF +2
013748,000068: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013749,000069:
013750,000070: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013751,000071: 06,3333 67752 AD NEG1
013752,000072: 06,3334 13301 TCF 1/PIPA1 +1
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Page 328 |
013754,000074: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013755,000075:
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Page 329 |
013757,000077: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013758,000078: 06,3337 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
013759,000079:
013760,000080: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013761,000081:
013762,000082: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013763,000083: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013764,000084:
013765,000085: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013766,000086:
013767,000087: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013768,000088: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013769,000089:
013770,000090: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013771,000091:
013772,000092: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013773,000093: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013774,000094:
013775,000095: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013776,000096: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013777,000097: 06,3353 13361 TCF IRIG1 # NO RETURN
013778,000098:
013779,000099: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013780,000100: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013781,000101: 06,3356 E3,1460 EBANK= NBDX
013782,000102: 06,3356 03515 14063 2CADR 1/GYRO
013783,000103:
013784,000104: 06,3360 00003 RELINT
013785,000105: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
013786,000106: 06,3362 54003 TS EBANK
013787,000107: 06,3363 14631 TCF SWRETURN
013788,000108:
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Page 330 |
013790,000110: 06,3364 00006 IRIGX EXTEND
013791,000111: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013792,000112: 06,3366 00006 EXTEND
013793,000113: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013794,000114: 06,3370 52155 DXCH MPAC
013795,000115: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013796,000116: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013797,000117:
013798,000118: 06,3373 00006 EXTEND
013799,000119: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013800,000120: 06,3375 52155 DXCH MPAC
013801,000121: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013802,000122: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013803,000123:
013804,000124: # EXTEND ***
013805,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013806,000126: # DXCH MPAC ***
013807,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013808,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013809,000129:
013810,000130: 06,3400 00156 TC MPAC +2
013811,000131:
013812,000132: 06,3401 00006 IRIGY EXTEND
013813,000133: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013814,000134: 06,3403 00006 EXTEND
013815,000135: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013816,000136: 06,3405 52155 DXCH MPAC
013817,000137: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013818,000138: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013819,000139:
013820,000140: 06,3410 00006 EXTEND
013821,000141: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013822,000142: 06,3412 52155 DXCH MPAC
013823,000143: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013824,000144: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013825,000145:
013826,000146: # EXTEND ***
013827,000147: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013828,000148: # DXCH MPAC ***
013829,000149: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013830,000150: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013831,000151:
013832,000152: 06,3415 00156 TC MPAC +2
013833,000153:
013834,000154: 06,3416 00006 IRIGZ EXTEND
013835,000155: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013836,000156: 06,3420 00006 EXTEND
013837,000157: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013838,000158: 06,3422 52155 DXCH MPAC
013839,000159: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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013841,000161: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013842,000162:
013843,000163: 06,3425 00006 EXTEND
013844,000164: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013845,000165: 06,3427 52155 DXCH MPAC
013846,000166: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013847,000167: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013848,000168:
013849,000169: # EXTEND ***
013850,000170: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013851,000171: # DXCH MPAC ***
013852,000172: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013853,000173: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013854,000174:
013855,000175: 06,3432 00156 TC MPAC +2
013856,000176:
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Page 332 |
013858,000178: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013859,000179: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013860,000180: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013861,000181: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013862,000182:
013863,000183: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013864,000184: 06,3440 00006 EXTEND
013865,000185: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013866,000186: 06,3442 54001 TS L
013867,000187: 06,3443 34755 CAF ZERO
013868,000188: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013869,000189:
013870,000190: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
013871,000191: 06,3446 00006 EXTEND
013872,000192: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013873,000193: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013874,000194: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013875,000195:
013876,000196: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013877,000197: 06,3453 00006 EXTEND
013878,000198: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013879,000199: 06,3455 54001 TS L
013880,000200: 06,3456 34755 CAF ZERO
013881,000201: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013882,000202: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013883,000203:
013884,000204: 06,3461 00002 TC Q
013885,000205:
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Page 333 |
013887,000207: 06,3462 00006 DRIFTSUB EXTEND
013888,000208: 06,3463 22131 QXCH BUF +1
013889,000209:
013890,000210: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013891,000211: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013892,000212: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013893,000213: 06,3467 00006 EXTEND
013894,000214: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013895,000215: 06,3471 50130 INDEX BUF
013896,000216: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013897,000217:
013898,000218: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
013899,000219: 06,3474 00006 EXTEND
013900,000220: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013901,000221: 06,3476 54001 TS L
013902,000222: 06,3477 34755 CAF ZERO
013903,000223: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013904,000224: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013905,000225:
013906,000226: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013907,000227: 06,3503 60130 AD BUF
013908,000228: 06,3504 56130 XCH BUF
013909,000229: 06,3505 50000 INDEX A
013910,000230: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013911,000231: 06,3507 13511 TCF +2 # YES
013912,000232: 06,3510 00131 TC BUF +1 # NO
013913,000233:
013914,000234: 06,3511 73561 MASK COMPCHK # DEC -1
013915,000235: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013916,000236: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013917,000237: 06,3514 00131 TC BUF +1 # NO
013918,000238:
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Page 334 |
013920,000240: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013921,000241: 06,3516 54130 TS BUF
013922,000242:
013923,000243: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013924,000244: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013925,000245: 06,3521 00006 EXTEND
013926,000246: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013927,000247: 06,3523 50130 INDEX BUF
013928,000248: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013929,000249:
013930,000250: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013931,000251: 06,3526 50130 INDEX BUF
013932,000252: 06,3527 57471 XCH GCOMP # GYRO PULSES
013933,000253: 06,3530 00006 EXTEND
013934,000254: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013935,000255: 06,3532 50130 INDEX BUF
013936,000256: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013937,000257:
013938,000258: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013939,000259: 06,3535 67752 AD NEG1
013940,000260: 06,3536 13516 TCF 1/GYRO +1
013941,000261: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013942,000262:
013943,000263: 06,3540 33537 CAF LGCOMP
013944,000264: 06,3541 04616 TC BANKCALL
013945,000265: 06,3542 17315 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013946,000266: 06,3543 04616 TC BANKCALL
013947,000267: 06,3544 17710 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013948,000268: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013949,000269:
013950,000270: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013951,000271: 06,3547 54130 TS BUF
013952,000272:
013953,000273: 06,3550 50130 INDEX BUF # RESCALE
013954,000274: 06,3551 31472 CA GCOMP +1
013955,000275: 06,3552 00006 EXTEND
013956,000276: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013957,000277: 06,3554 50130 INDEX BUF
013958,000278: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013959,000279:
013960,000280: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013961,000281: 06,3557 67752 AD NEG1
013962,000282: 06,3560 13547 TCF GCOMP1 +1
013963,000283: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013964,000284: 06,3562 15155 TCF ENDOFJOB
013965,000285:
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Page 335 |
013967,000287: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013968,000288: 06,3564 13567 TCF +3
013969,000289: 06,3565 13567 TCF +2
013970,000290: 06,3566 15155 TCF ENDOFJOB
013971,000291:
013972,000292: 06,3567 00004 INHINT
013973,000293: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013974,000294: 06,3571 15155 TCF ENDOFJOB
013975,000295: 06,3572 15155 TCF ENDOFJOB
013976,000296: 06,3573 13574 TCF +1
013977,000297:
013978,000298: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013979,000299: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013980,000300: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013981,000301: 06,3577 00006 EXTEND
013982,000302: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013983,000303:
013984,000304: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013985,000305: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013986,000306:
013987,000307: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013988,000308: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013989,000309: 06,3605 00003 RELINT
013990,000310: 06,3606 40000 COM
013991,000311: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013992,000312: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013993,000313: 06,3611 64736 AD HALF
013994,000314: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013995,000315: 06,3613 56001 XCH L # OVERFLOW.
013996,000316:
013997,000317: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013998,000318: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013999,000319: 06,3616 52125 DXCH VBUF +2
014000,000320:
014001,000321: 06,3617 34755 CA ZERO
014002,000322: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014003,000323: 06,3621 54130 TS BUF # INDEX X, Y, Z.
014004,000324:
014005,000325: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014006,000326: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
014007,000327:
014008,000328: 06,3624 00006 EXTEND
014009,000329: 06,3625 30125 DCA VBUF +2
014010,000330: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
014011,000331:
014012,000332: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014013,000333: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014014,000334:
014015,000335: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014016,000336: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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Page 336 |
014018,000338: 06,3633 00006 EXTEND
014019,000339: 06,3634 40125 DCS VBUF +2
014020,000340: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014021,000341: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
014022,000342: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014023,000343:
014024,000344: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014025,000345: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014026,000346:
014027,000347: 06,3642 00006 EXTEND
014028,000348: 06,3643 40125 DCS VBUF +2
014029,000349: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014030,000350: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014031,000351: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014032,000352:
014033,000353: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014034,000354: 06,3650 13515 TCF 1/GYRO # YES
014035,000355: 06,3651 15155 TCF ENDOFJOB # NO
014036,000356:
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014038,000358: 06,3652 56002 FBIASSUB XCH Q
014039,000359: 06,3653 54131 TS BUF +1
014040,000360:
014041,000361: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014042,000362: 06,3655 00006 EXTEND
014043,000363: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014044,000364: 06,3657 50130 INDEX BUF
014045,000365: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014046,000366:
014047,000367: 06,3661 30002 CA Q # NOW FRACTIONAL PART
014048,000368: 06,3662 00006 EXTEND
014049,000369: 06,3663 70155 MP MPAC +1
014050,000370: 06,3664 54001 TS L
014051,000371: 06,3665 34755 CAF ZERO
014052,000372: 06,3666 50130 INDEX BUF
014053,000373: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014054,000374:
014055,000375: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014056,000376:
014057,000377: 06,3671 04616 LASTBIAS TC BANKCALL
014058,000378: 06,3672 17271 CADR PIPUSE1
014059,000379:
014060,000380: 06,3673 11477 CCS GCOMPSW
014061,000381: 06,3674 13677 TCF +3
014062,000382: 06,3675 13677 TCF +2
014063,000383: 06,3676 15155 TCF ENDOFJOB
014064,000384:
014065,000385: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014066,000386: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014067,000387: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
014068,000388:
014069,000389: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014070,000390: 06,3703 57074 XCH 1/PIPADT
014071,000391: 06,3704 40000 COM
014072,000392: 06,3705 61234 AD PIPTIME +1
014073,000393: 06,3706 13610 TCF NBD2
014074,000394:
014075,000395: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014076,000396: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
014077,000397: 06,3711 54163 TS MODE
014078,000398:
014079,000399: 06,3712 34755 CAF ZERO
014080,000400: 06,3713 55477 TS GCOMPSW
014081,000401: 06,3714 55471 TS GCOMP
014082,000402: 06,3715 55472 TS GCOMP +1
014083,000403: 06,3716 55473 TS GCOMP +2
014084,000404: 06,3717 55474 TS GCOMP +3
014085,000405: 06,3720 55475 TS GCOMP +4
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014087,000407: 06,3721 55476 TS GCOMP +5
014088,000408:
014089,000409: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
014090,000410:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc