GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
013609,000002: ## Copyright: Public domain.
013610,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013611,000004: ## Purpose: A section of Luminary 1C, revision 131.
013612,000005: ## It is part of the source code for the Lunar Module's (LM)
013613,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
013614,000007: ## This file is intended to be a faithful transcription, except
013615,000008: ## that the code format has been changed to conform to the
013616,000009: ## requirements of the yaYUL assembler rather than the
013617,000010: ## original YUL assembler.
013618,000011: ## Reference: pp. 328-339
013619,000012: ## Contact: Ron Burkey <info@sandroid.org>.
013620,000013: ## Website: www.ibiblio.org/apollo/index.html
013621,000014: ## Mod history: 05/10/03 RSB. Began transcribing.
013622,000015: ## 05/14/05 RSB Corrected website reference above.
013623,000016: ## 2016-12-30 RSB Backported BYRO->GYRO from Colossus 237.
013624,000017: ## (There's lots more that needs to be backported,
013625,000018: ## but I found this one particularly annoying.)
013626,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
013627,000020: ## original harcopy, as opposed to the PDF page
013628,000021: ## numbers in 1701.pdf.
013629,000022: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
013630,000023: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
013631,000024:
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Page 328 |
013633,000026: 07,2666 BANK 7
013634,000027: 06,2000 SETLOC IMUCOMP
013635,000028: 06,2000 BANK
013636,000029:
013637,000030: 06,3271 E3,1460 EBANK= NBDX
013638,000031:
013639,000032: 06,3271 COUNT* $$/ICOMP
013640,000033: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013641,000034: 06,3272 56003 XCH EBANK
013642,000035: 06,3273 54163 TS MODE
013643,000036:
013644,000037: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013645,000038: 06,3275 13300 TCF +3
013646,000039: 06,3276 13300 TCF +2
013647,000040: 06,3277 13361 TCF IRIG1 # RETURN
013648,000041:
013649,000042: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013650,000043: 06,3301 54132 TS BUF +2
013651,000044:
013652,000045: 06,3302 50132 INDEX BUF +2
013653,000046: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013654,000047: 06,3304 00006 EXTEND
013655,000048: 06,3305 50132 INDEX BUF +2
013656,000049: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013657,000050: 06,3307 54002 TS Q # SAVE MAJOR PART
013658,000051:
013659,000052: 06,3310 30001 CA L # MINOR PART
013660,000053: 06,3311 00006 EXTEND
013661,000054: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013662,000055:
013663,000056: 06,3313 50132 INDEX BUF +2
013664,000057: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013665,000058:
013666,000059: 06,3315 30002 CA Q # MAJOR PART
013667,000060: 06,3316 00006 EXTEND
013668,000061: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013669,000062: 06,3320 50132 INDEX BUF +2
013670,000063: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013671,000064:
013672,000065: 06,3322 50132 INDEX BUF +2
013673,000066: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013674,000067: 06,3324 00006 EXTEND
013675,000068: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013676,000069: 06,3326 00006 EXTEND
013677,000070: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013678,000071: 06,3330 50132 INDEX BUF +2
013679,000072: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013680,000073:
013681,000074: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013682,000075: 06,3333 67752 AD NEG1
013683,000076: 06,3334 13301 TCF 1/PIPA1 +1
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Page 329 |
013685,000078: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013686,000079:
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Page 330 |
013688,000081: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013689,000082: 06,3337 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013690,000083:
013691,000084: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013692,000085:
013693,000086: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013694,000087: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013695,000088:
013696,000089: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013697,000090:
013698,000091: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013699,000092: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013700,000093:
013701,000094: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013702,000095:
013703,000096: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013704,000097: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013705,000098:
013706,000099: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013707,000100: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013708,000101: 06,3353 13361 TCF IRIG1 # NO RETURN
013709,000102:
013710,000103: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013711,000104: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013712,000105: 06,3356 E3,1460 EBANK= NBDX
013713,000106: 06,3356 03515 14063 2CADR 1/GYRO
013714,000107:
013715,000108: 06,3360 00003 RELINT
013716,000109: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLER S EBANK
013717,000110: 06,3362 54003 TS EBANK
013718,000111: 06,3363 14631 TCF SWRETURN
013719,000112:
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Page 331 |
013721,000114: 06,3364 00006 IRIGX EXTEND
013722,000115: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013723,000116: 06,3366 00006 EXTEND
013724,000117: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013725,000118: 06,3370 52155 DXCH MPAC
013726,000119: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013727,000120: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013728,000121:
013729,000122: 06,3373 00006 EXTEND #
013730,000123: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013731,000124: 06,3375 52155 DXCH MPAC #
013732,000125: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013733,000126: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013734,000127:
013735,000128: # EXTEND ***
013736,000129: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013737,000130: # DXCH MPAC ***
013738,000131: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013739,000132: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013740,000133:
013741,000134: 06,3400 00156 TC MPAC +2
013742,000135:
013743,000136: 06,3401 00006 IRIGY EXTEND
013744,000137: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013745,000138: 06,3403 00006 EXTEND
013746,000139: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013747,000140: 06,3405 52155 DXCH MPAC
013748,000141: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013749,000142: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013750,000143:
013751,000144: 06,3410 00006 EXTEND
013752,000145: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013753,000146: 06,3412 52155 DXCH MPAC
013754,000147: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013755,000148: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013756,000149:
013757,000150: # EXTEND ***
013758,000151: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013759,000152: # DXCH MPAC ***
013760,000153: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013761,000154: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013762,000155:
013763,000156: 06,3415 00156 TC MPAC +2
013764,000157:
013765,000158: 06,3416 00006 IRIGZ EXTEND
013766,000159: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013767,000160: 06,3420 00006 EXTEND
013768,000161: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013769,000162: 06,3422 52155 DXCH MPAC
013770,000163: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 332 |
013772,000165: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013773,000166:
013774,000167: 06,3425 00006 EXTEND
013775,000168: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013776,000169: 06,3427 52155 DXCH MPAC
013777,000170: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013778,000171: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013779,000172:
013780,000173: # EXTEND ***
013781,000174: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013782,000175: # DXCH MPAC ***
013783,000176: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013784,000177: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013785,000178:
013786,000179: 06,3432 00156 TC MPAC +2
013787,000180:
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Page 333 |
013789,000182: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013790,000183: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013791,000184: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013792,000185: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013793,000186:
013794,000187: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013795,000188: 06,3440 00006 EXTEND
013796,000189: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013797,000190: 06,3442 54001 TS L
013798,000191: 06,3443 34755 CAF ZERO
013799,000192: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013800,000193:
013801,000194: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
013802,000195: 06,3446 00006 EXTEND
013803,000196: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013804,000197: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013805,000198: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013806,000199:
013807,000200: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013808,000201: 06,3453 00006 EXTEND
013809,000202: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013810,000203: 06,3455 54001 TS L
013811,000204: 06,3456 34755 CAF ZERO
013812,000205: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013813,000206: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013814,000207:
013815,000208: 06,3461 00002 TC Q
013816,000209:
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Page 334 |
013818,000211: 06,3462 00006 DRIFTSUB EXTEND
013819,000212: 06,3463 22131 QXCH BUF +1
013820,000213:
013821,000214: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013822,000215: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013823,000216: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013824,000217: 06,3467 00006 EXTEND
013825,000218: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013826,000219: 06,3471 50130 INDEX BUF
013827,000220: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013828,000221:
013829,000222: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
013830,000223: 06,3474 00006 EXTEND
013831,000224: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013832,000225: 06,3476 54001 TS L
013833,000226: 06,3477 34755 CAF ZERO
013834,000227: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013835,000228: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013836,000229:
013837,000230: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013838,000231: 06,3503 60130 AD BUF
013839,000232: 06,3504 56130 XCH BUF
013840,000233: 06,3505 50000 INDEX A
013841,000234: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013842,000235: 06,3507 13511 TCF +2 # YES
013843,000236: 06,3510 00131 TC BUF +1 # NO
013844,000237:
013845,000238: 06,3511 73561 MASK COMPCHK # DEC -1
013846,000239: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013847,000240: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013848,000241: 06,3514 00131 TC BUF +1 # NO
013849,000242:
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Page 335 |
013851,000244: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013852,000245: 06,3516 54130 TS BUF
013853,000246:
013854,000247: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013855,000248: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013856,000249: 06,3521 00006 EXTEND
013857,000250: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013858,000251: 06,3523 50130 INDEX BUF
013859,000252: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013860,000253:
013861,000254: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013862,000255: 06,3526 50130 INDEX BUF
013863,000256: 06,3527 57471 XCH GCOMP # GYRO PULSES
013864,000257: 06,3530 00006 EXTEND
013865,000258: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013866,000259: 06,3532 50130 INDEX BUF
013867,000260: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013868,000261:
013869,000262: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013870,000263: 06,3535 67752 AD NEG1
013871,000264: 06,3536 13516 TCF 1/GYRO +1
013872,000265: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013873,000266:
013874,000267: 06,3540 33537 CAF LGCOMP
013875,000268: 06,3541 04616 TC BANKCALL
013876,000269: 06,3542 17314 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013877,000270: 06,3543 04616 TC BANKCALL
013878,000271: 06,3544 17707 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013879,000272: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013880,000273:
013881,000274: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013882,000275: 06,3547 54130 TS BUF
013883,000276:
013884,000277: 06,3550 50130 INDEX BUF # RESCALE
013885,000278: 06,3551 31472 CA GCOMP +1
013886,000279: 06,3552 00006 EXTEND
013887,000280: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013888,000281: 06,3554 50130 INDEX BUF
013889,000282: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013890,000283:
013891,000284: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013892,000285: 06,3557 67752 AD NEG1
013893,000286: 06,3560 13547 TCF GCOMP1 +1
013894,000287: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013895,000288: 06,3562 15155 TCF ENDOFJOB
013896,000289:
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Page 336 |
013898,000291: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013899,000292: 06,3564 13567 TCF +3
013900,000293: 06,3565 13567 TCF +2
013901,000294: 06,3566 15155 TCF ENDOFJOB
013902,000295:
013903,000296: 06,3567 00004 INHINT
013904,000297: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013905,000298: 06,3571 15155 TCF ENDOFJOB
013906,000299: 06,3572 15155 TCF ENDOFJOB
013907,000300: 06,3573 13574 TCF +1
013908,000301:
013909,000302: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013910,000303: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013911,000304: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013912,000305: 06,3577 00006 EXTEND
013913,000306: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013914,000307:
013915,000308: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013916,000309: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013917,000310:
013918,000311: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013919,000312: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013920,000313: 06,3605 00003 RELINT
013921,000314: 06,3606 40000 COM
013922,000315: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013923,000316: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013924,000317: 06,3611 64736 AD HALF
013925,000318: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013926,000319: 06,3613 56001 XCH L # OVERFLOW.
013927,000320:
013928,000321: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013929,000322: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013930,000323: 06,3616 52125 DXCH VBUF +2
013931,000324:
013932,000325: 06,3617 34755 CA ZERO
013933,000326: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013934,000327: 06,3621 54130 TS BUF # INDEX X, Y, Z.
013935,000328:
013936,000329: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013937,000330: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013938,000331:
013939,000332: 06,3624 00006 EXTEND
013940,000333: 06,3625 30125 DCA VBUF +2
013941,000334: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013942,000335:
013943,000336: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013944,000337: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013945,000338:
013946,000339: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013947,000340: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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013949,000342: 06,3633 00006 EXTEND
013950,000343: 06,3634 40125 DCS VBUF +2
013951,000344: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013952,000345: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013953,000346: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013954,000347:
013955,000348: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013956,000349: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013957,000350:
013958,000351: 06,3642 00006 EXTEND
013959,000352: 06,3643 40125 DCS VBUF +2
013960,000353: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013961,000354: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013962,000355: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013963,000356:
013964,000357: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013965,000358: 06,3650 13515 TCF 1/GYRO # YES
013966,000359: 06,3651 15155 TCF ENDOFJOB # NO
013967,000360:
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013969,000362: 06,3652 56002 FBIASSUB XCH Q
013970,000363: 06,3653 54131 TS BUF +1
013971,000364:
013972,000365: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013973,000366: 06,3655 00006 EXTEND
013974,000367: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013975,000368: 06,3657 50130 INDEX BUF
013976,000369: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013977,000370:
013978,000371: 06,3661 30002 CA Q # NOW FRACTIONAL PART
013979,000372: 06,3662 00006 EXTEND
013980,000373: 06,3663 70155 MP MPAC +1
013981,000374: 06,3664 54001 TS L
013982,000375: 06,3665 34755 CAF ZERO
013983,000376: 06,3666 50130 INDEX BUF
013984,000377: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013985,000378:
013986,000379: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013987,000380:
013988,000381: 06,3671 04616 LASTBIAS TC BANKCALL
013989,000382: 06,3672 17270 CADR PIPUSE1
013990,000383:
013991,000384: 06,3673 11477 CCS GCOMPSW
013992,000385: 06,3674 13677 TCF +3
013993,000386: 06,3675 13677 TCF +2
013994,000387: 06,3676 15155 TCF ENDOFJOB
013995,000388:
013996,000389: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013997,000390: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
013998,000391: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
013999,000392:
014000,000393: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014001,000394: 06,3703 57074 XCH 1/PIPADT
014002,000395: 06,3704 40000 COM
014003,000396: 06,3705 61234 AD PIPTIME +1
014004,000397: 06,3706 13610 TCF NBD2
014005,000398:
014006,000399: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014007,000400: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
014008,000401: 06,3711 54163 TS MODE
014009,000402:
014010,000403: 06,3712 34755 CAF ZERO
014011,000404: 06,3713 55477 TS GCOMPSW
014012,000405: 06,3714 55471 TS GCOMP
014013,000406: 06,3715 55472 TS GCOMP +1
014014,000407: 06,3716 55473 TS GCOMP +2
014015,000408: 06,3717 55474 TS GCOMP +3
014016,000409: 06,3720 55475 TS GCOMP +4
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014018,000411: 06,3721 55476 TS GCOMP +5
014019,000412:
014020,000413: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
014021,000414:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc