Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of Luminary 131, combined with Luminary memo #129 which describes the small difference between the Luminary 130 and 131. The reconstructed source code was verified by matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G. In this source code, program comments from the original (Luminary 131) code are prefixed with '#', while those added later by the Virtual AGC project are prefixed with '##'. |
013692,000002: ## Copyright: Public domain. 013693,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc 013694,000004: ## Purpose: A section of the reconstructed source code for Luminary 130. 013695,000005: ## This was the original program released for the Apollo 13 LM, 013696,000006: ## although several more revisions would follow. It has been 013697,000007: ## reconstructed from a listing of Luminary 131, from which it 013698,000008: ## differs on only two lines in P70-P71. The difference is 013699,000009: ## described in detail in Luminary memo #129, which was used 013700,000010: ## to perform the reconstruction. This file is intended to be a 013701,000011: ## faithful reconstruction, except that the code format has been 013702,000012: ## changed to conform to the requirements of the yaYUL assembler 013703,000013: ## rather than the original YUL assembler. 013704,000014: ## Reference: pp. 328-339 013705,000015: ## Contact: Ron Burkey <info@sandroid.org>. 013706,000016: ## Website: www.ibiblio.org/apollo/index.html 013707,000017: ## Mod history: 05/10/03 RSB. Began transcribing. 013708,000018: ## 05/14/05 RSB Corrected website reference above. 013709,000019: ## 2016-12-30 RSB Backported BYRO->GYRO from Colossus 237. 013710,000020: ## (There's lots more that needs to be backported, 013711,000021: ## but I found this one particularly annoying.) 013712,000022: ## 2017-01-06 RSB Page numbers now agree with those on the 013713,000023: ## original harcopy, as opposed to the PDF page 013714,000024: ## numbers in 1701.pdf. 013715,000025: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments. 013716,000026: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116. 013717,000027: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130. 013718,000028:
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013720,000030: 07,2666 BANK 7 013721,000031: 06,2000 SETLOC IMUCOMP 013722,000032: 06,2000 BANK 013723,000033: 013724,000034: 06,3271 E3,1460 EBANK= NBDX 013725,000035: 013726,000036: 06,3271 COUNT* $$/ICOMP 013727,000037: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM 013728,000038: 06,3272 56003 XCH EBANK 013729,000039: 06,3273 54163 TS MODE 013730,000040: 013731,000041: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 013732,000042: 06,3275 13300 TCF +3 013733,000043: 06,3276 13300 TCF +2 013734,000044: 06,3277 13361 TCF IRIG1 # RETURN 013735,000045: 013736,000046: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX 013737,000047: 06,3301 54132 TS BUF +2 013738,000048: 013739,000049: 06,3302 50132 INDEX BUF +2 013740,000050: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9) 013741,000051: 06,3304 00006 EXTEND 013742,000052: 06,3305 50132 INDEX BUF +2 013743,000053: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5) 013744,000054: 06,3307 54002 TS Q # SAVE MAJOR PART 013745,000055: 013746,000056: 06,3310 30001 CA L # MINOR PART 013747,000057: 06,3311 00006 EXTEND 013748,000058: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 013749,000059: 013750,000060: 06,3313 50132 INDEX BUF +2 013751,000061: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14) 013752,000062: 013753,000063: 06,3315 30002 CA Q # MAJOR PART 013754,000064: 06,3316 00006 EXTEND 013755,000065: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 013756,000066: 06,3320 50132 INDEX BUF +2 013757,000067: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) 013758,000068: 013759,000069: 06,3322 50132 INDEX BUF +2 013760,000070: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) * 013761,000071: 06,3324 00006 EXTEND 013762,000072: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) * 013763,000073: 06,3326 00006 EXTEND 013764,000074: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 * 013765,000075: 06,3330 50132 INDEX BUF +2 013766,000076: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT) 013767,000077: 013768,000078: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX 013769,000079: 06,3333 67752 AD NEG1 013770,000080: 06,3334 13301 TCF 1/PIPA1 +1
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013772,000082: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE 013773,000083:
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013775,000085: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 013776,000086: 06,3337 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ. 013777,000087: 013778,000088: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS 013779,000089: 013780,000090: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5) 013781,000091: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) 013782,000092: 013783,000093: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS 013784,000094: 013785,000095: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5) 013786,000096: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 013787,000097: 013788,000098: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS 013789,000099: 013790,000100: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) 013791,000101: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 013792,000102: 013793,000103: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 013794,000104: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS. 013795,000105: 06,3353 13361 TCF IRIG1 # NO RETURN 013796,000106: 013797,000107: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER 013798,000108: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS. 013799,000109: 06,3356 E3,1460 EBANK= NBDX 013800,000110: 06,3356 03515 14063 2CADR 1/GYRO 013801,000111: 013802,000112: 06,3360 00003 RELINT 013803,000113: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLER S EBANK 013804,000114: 06,3362 54003 TS EBANK 013805,000115: 06,3363 14631 TCF SWRETURN 013806,000116:
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013808,000118: 06,3364 00006 IRIGX EXTEND 013809,000119: 06,3365 22156 QXCH MPAC +2 # SAVE Q 013810,000120: 06,3366 00006 EXTEND 013811,000121: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14) 013812,000122: 06,3370 52155 DXCH MPAC 013813,000123: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013814,000124: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) 013815,000125: 013816,000126: 06,3373 00006 EXTEND # 013817,000127: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14) 013818,000128: 06,3375 52155 DXCH MPAC # 013819,000129: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013820,000130: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) 013821,000131: 013822,000132: # EXTEND *** 013823,000133: # DCS DELVZ *** (PIPA PULSES) X 2(+14) 013824,000134: # DXCH MPAC *** 013825,000135: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013826,000136: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) 013827,000137: 013828,000138: 06,3400 00156 TC MPAC +2 013829,000139: 013830,000140: 06,3401 00006 IRIGY EXTEND 013831,000141: 06,3402 22156 QXCH MPAC +2 # SAVE Q 013832,000142: 06,3403 00006 EXTEND 013833,000143: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14) 013834,000144: 06,3405 52155 DXCH MPAC 013835,000145: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013836,000146: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14) 013837,000147: 013838,000148: 06,3410 00006 EXTEND 013839,000149: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14) 013840,000150: 06,3412 52155 DXCH MPAC 013841,000151: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013842,000152: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14) 013843,000153: 013844,000154: # EXTEND *** 013845,000155: # DCS DELVX *** (PIPA PULSES) X 2(+14) 013846,000156: # DXCH MPAC *** 013847,000157: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013848,000158: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14) 013849,000159: 013850,000160: 06,3415 00156 TC MPAC +2 013851,000161: 013852,000162: 06,3416 00006 IRIGZ EXTEND 013853,000163: 06,3417 22156 QXCH MPAC +2 # SAVE Q 013854,000164: 06,3420 00006 EXTEND 013855,000165: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14) 013856,000166: 06,3422 52155 DXCH MPAC 013857,000167: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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013859,000169: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14) 013860,000170: 013861,000171: 06,3425 00006 EXTEND 013862,000172: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14) 013863,000173: 06,3427 52155 DXCH MPAC 013864,000174: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013865,000175: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14) 013866,000176: 013867,000177: # EXTEND *** 013868,000178: # DCS DELVX *** (PIPA PULSE) X 2(+14) 013869,000179: # DXCH MPAC *** 013870,000180: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013871,000181: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) 013872,000182: 013873,000183: 06,3432 00156 TC MPAC +2 013874,000184:
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013876,000186: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A 013877,000187: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14) 013878,000188: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 013879,000189: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) * 013880,000190: 013881,000191: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES 013882,000192: 06,3440 00006 EXTEND 013883,000193: 06,3441 70154 MP MPAC # ADIA OR ADSRA 013884,000194: 06,3442 54001 TS L 013885,000195: 06,3443 34755 CAF ZERO 013886,000196: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) * 013887,000197: 013888,000198: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR 013889,000199: 06,3446 00006 EXTEND 013890,000200: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 * 013891,000201: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) 013892,000202: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) 013893,000203: 013894,000204: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR 013895,000205: 06,3453 00006 EXTEND 013896,000206: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 * 013897,000207: 06,3455 54001 TS L 013898,000208: 06,3456 34755 CAF ZERO 013899,000209: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) 013900,000210: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) 013901,000211: 013902,000212: 06,3461 00002 TC Q 013903,000213:
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013905,000215: 06,3462 00006 DRIFTSUB EXTEND 013906,000216: 06,3463 22131 QXCH BUF +1 013907,000217: 013908,000218: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5) 013909,000219: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3) 013910,000220: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION 013911,000221: 06,3467 00006 EXTEND 013912,000222: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 013913,000223: 06,3471 50130 INDEX BUF 013914,000224: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 013915,000225: 013916,000226: 06,3473 30155 CA MPAC +1 # NOW MINOR PART 013917,000227: 06,3474 00006 EXTEND 013918,000228: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 013919,000229: 06,3476 54001 TS L 013920,000230: 06,3477 34755 CAF ZERO 013921,000231: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION 013922,000232: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 013923,000233: 013924,000234: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ 013925,000235: 06,3503 60130 AD BUF 013926,000236: 06,3504 56130 XCH BUF 013927,000237: 06,3505 50000 INDEX A 013928,000238: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER 013929,000239: 06,3507 13511 TCF +2 # YES 013930,000240: 06,3510 00131 TC BUF +1 # NO 013931,000241: 013932,000242: 06,3511 73561 MASK COMPCHK # DEC -1 013933,000243: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES 013934,000244: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE 013935,000245: 06,3514 00131 TC BUF +1 # NO 013936,000246:
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013938,000248: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX 013939,000249: 06,3516 54130 TS BUF 013940,000250: 013941,000251: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE 013942,000252: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES 013943,000253: 06,3521 00006 EXTEND 013944,000254: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7 013945,000255: 06,3523 50130 INDEX BUF 013946,000256: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED 013947,000257: 013948,000258: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION 013949,000259: 06,3526 50130 INDEX BUF 013950,000260: 06,3527 57471 XCH GCOMP # GYRO PULSES 013951,000261: 06,3530 00006 EXTEND 013952,000262: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7 013953,000263: 06,3532 50130 INDEX BUF 013954,000264: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE 013955,000265: 013956,000266: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 013957,000267: 06,3535 67752 AD NEG1 013958,000268: 06,3536 13516 TCF 1/GYRO +1 013959,000269: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE 013960,000270: 013961,000271: 06,3540 33537 CAF LGCOMP 013962,000272: 06,3541 04616 TC BANKCALL 013963,000273: 06,3542 17314 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE 013964,000274: 06,3543 04616 TC BANKCALL 013965,000275: 06,3544 17707 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT 013966,000276: 06,3545 15155 TCF ENDOFJOB # TEMPORARY 013967,000277: 013968,000278: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX 013969,000279: 06,3547 54130 TS BUF 013970,000280: 013971,000281: 06,3550 50130 INDEX BUF # RESCALE 013972,000282: 06,3551 31472 CA GCOMP +1 013973,000283: 06,3552 00006 EXTEND 013974,000284: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0 013975,000285: 06,3554 50130 INDEX BUF 013976,000286: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 013977,000287: 013978,000288: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 013979,000289: 06,3557 67752 AD NEG1 013980,000290: 06,3560 13547 TCF GCOMP1 +1 013981,000291: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE 013982,000292: 06,3562 15155 TCF ENDOFJOB 013983,000293:
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013985,000295: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 013986,000296: 06,3564 13567 TCF +3 013987,000297: 06,3565 13567 TCF +2 013988,000298: 06,3566 15155 TCF ENDOFJOB 013989,000299: 013990,000300: 06,3567 00004 INHINT 013991,000301: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE 013992,000302: 06,3571 15155 TCF ENDOFJOB 013993,000303: 06,3572 15155 TCF ENDOFJOB 013994,000304: 06,3573 13574 TCF +1 013995,000305: 013996,000306: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1 013997,000307: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS 013998,000308: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED. 013999,000309: 06,3577 00006 EXTEND 014000,000310: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE 014001,000311: 014002,000312: 06,3601 04674 TC IBNKCALL # ON THE SURFACE 014003,000313: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM 014004,000314: 014005,000315: 06,3603 30025 CA TIME1 # (CS) X 2(+14) 014006,000316: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME 014007,000317: 06,3605 00003 RELINT 014008,000318: 06,3606 40000 COM 014009,000319: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME 014010,000320: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK 014011,000321: 06,3611 64736 AD HALF 014012,000322: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING 014013,000323: 06,3613 56001 XCH L # OVERFLOW. 014014,000324: 014015,000325: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) 014016,000326: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5 014017,000327: 06,3616 52125 DXCH VBUF +2 014018,000328: 014019,000329: 06,3617 34755 CA ZERO 014020,000330: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 014021,000331: 06,3621 54130 TS BUF # INDEX X, Y, Z. 014022,000332: 014023,000333: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET, 014024,000334: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS. 014025,000335: 014026,000336: 06,3624 00006 EXTEND 014027,000337: 06,3625 30125 DCA VBUF +2 014028,000338: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) 014029,000339: 014030,000340: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5) 014031,000341: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) 014032,000342: 014033,000343: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET, 014034,000344: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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014036,000346: 06,3633 00006 EXTEND 014037,000347: 06,3634 40125 DCS VBUF +2 014038,000348: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 014039,000349: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5) 014040,000350: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 014041,000351: 014042,000352: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET, 014043,000353: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS 014044,000354: 014045,000355: 06,3642 00006 EXTEND 014046,000356: 06,3643 40125 DCS VBUF +2 014047,000357: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 014048,000358: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5) 014049,000359: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 014050,000360: 014051,000361: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 014052,000362: 06,3650 13515 TCF 1/GYRO # YES 014053,000363: 06,3651 15155 TCF ENDOFJOB # NO 014054,000364:
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014056,000366: 06,3652 56002 FBIASSUB XCH Q 014057,000367: 06,3653 54131 TS BUF +1 014058,000368: 014059,000369: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5) 014060,000370: 06,3655 00006 EXTEND 014061,000371: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19) 014062,000372: 06,3657 50130 INDEX BUF 014063,000373: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 014064,000374: 014065,000375: 06,3661 30002 CA Q # NOW FRACTIONAL PART 014066,000376: 06,3662 00006 EXTEND 014067,000377: 06,3663 70155 MP MPAC +1 014068,000378: 06,3664 54001 TS L 014069,000379: 06,3665 34755 CAF ZERO 014070,000380: 06,3666 50130 INDEX BUF 014071,000381: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 014072,000382: 014073,000383: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION 014074,000384: 014075,000385: 06,3671 04616 LASTBIAS TC BANKCALL 014076,000386: 06,3672 17270 CADR PIPUSE1 014077,000387: 014078,000388: 06,3673 11477 CCS GCOMPSW 014079,000389: 06,3674 13677 TCF +3 014080,000390: 06,3675 13677 TCF +2 014081,000391: 06,3676 15155 TCF ENDOFJOB 014082,000392: 014083,000393: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1 014084,000394: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS 014085,000395: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED. 014086,000396: 014087,000397: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8) 014088,000398: 06,3703 57074 XCH 1/PIPADT 014089,000399: 06,3704 40000 COM 014090,000400: 06,3705 61234 AD PIPTIME +1 014091,000401: 06,3706 13610 TCF NBD2 014092,000402: 014093,000403: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST 014094,000404: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA 014095,000405: 06,3711 54163 TS MODE 014096,000406: 014097,000407: 06,3712 34755 CAF ZERO 014098,000408: 06,3713 55477 TS GCOMPSW 014099,000409: 06,3714 55471 TS GCOMP 014100,000410: 06,3715 55472 TS GCOMP +1 014101,000411: 06,3716 55473 TS GCOMP +2 014102,000412: 06,3717 55474 TS GCOMP +3 014103,000413: 06,3720 55475 TS GCOMP +4
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014105,000415: 06,3721 55476 TS GCOMP +5 014106,000416: 014107,000417: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN 014108,000418: End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc