Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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014128,000002: ## Copyright: Public domain.
014129,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014130,000004: ## Purpose: A section of Luminary revision 163.
014131,000005: ## It is part of the reconstructed source code for the first
014132,000006: ## (unflown) release of the flight software for the Lunar
014133,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
014134,000008: ## The code has been recreated from a reconstructed copy of
014135,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
014136,000010: ## It has been adapted such that the resulting bugger words
014137,000011: ## exactly match those specified for Luminary 163 in NASA
014138,000012: ## drawing 2021152N, which gives relatively high confidence
014139,000013: ## that the reconstruction is correct.
014140,000014: ## Reference: pp. 331-342
014141,000015: ## Assembler: yaYUL
014142,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014143,000017: ## Website: www.ibiblio.org/apollo/index.html
014144,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
014145,000019:
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Page 331
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014147,000021: 07,2661 BANK 7
014148,000022: 06,2000 SETLOC IMUCOMP
014149,000023: 06,2000 BANK
014150,000024:
014151,000025: 06,3271 E3,1460 EBANK= NBDX
014152,000026:
014153,000027: 06,3271 COUNT* $$/ICOMP
014154,000028: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014155,000029: 06,3272 56003 XCH EBANK
014156,000030: 06,3273 54163 TS MODE
014157,000031:
014158,000032: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014159,000033: 06,3275 13300 TCF +3
014160,000034: 06,3276 13300 TCF +2
014161,000035: 06,3277 13361 TCF IRIG1 # RETURN
014162,000036:
014163,000037: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014164,000038: 06,3301 54132 TS BUF +2
014165,000039:
014166,000040: 06,3302 50132 INDEX BUF +2
014167,000041: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014168,000042: 06,3304 00006 EXTEND
014169,000043: 06,3305 50132 INDEX BUF +2
014170,000044: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014171,000045: 06,3307 54002 TS Q # SAVE MAJOR PART
014172,000046:
014173,000047: 06,3310 30001 CA L # MINOR PART
014174,000048: 06,3311 00006 EXTEND
014175,000049: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014176,000050: 06,3313 50132 INDEX BUF +2
014177,000051: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014178,000052:
014179,000053: 06,3315 30002 CA Q # MAJOR PART
014180,000054: 06,3316 00006 EXTEND
014181,000055: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014182,000056: 06,3320 50132 INDEX BUF +2
014183,000057: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014184,000058:
014185,000059: 06,3322 50132 INDEX BUF +2
014186,000060: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
014187,000061: 06,3324 00006 EXTEND
014188,000062: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014189,000063: 06,3326 00006 EXTEND
014190,000064: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
014191,000065: 06,3330 50132 INDEX BUF +2
014192,000066: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014193,000067:
014194,000068: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014195,000069: 06,3333 67752 AD NEG1
014196,000070: 06,3334 13301 TCF 1/PIPA1 +1
014197,000071:
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Page 332
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014199,000073: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
014200,000074:
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Page 333
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014202,000076: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014203,000077: 06,3337 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014204,000078:
014205,000079: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
014206,000080:
014207,000081: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014208,000082: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014209,000083:
014210,000084: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
014211,000085:
014212,000086: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014213,000087: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014214,000088:
014215,000089: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014216,000090:
014217,000091: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014218,000092: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014219,000093:
014220,000094: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014221,000095: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014222,000096: 06,3353 13361 TCF IRIG1 # NO RETURN
014223,000097:
014224,000098: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014225,000099: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014226,000100: 06,3356 E3,1460 EBANK= NBDX
014227,000101: 06,3356 03515 14063 2CADR 1/GYRO
014228,000102:
014229,000103: 06,3360 00003 RELINT
014230,000104: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014231,000105: 06,3362 54003 TS EBANK
014232,000106: 06,3363 14631 TCF SWRETURN
014233,000107:
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Page 334
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014235,000109: 06,3364 00006 IRIGX EXTEND
014236,000110: 06,3365 22156 QXCH MPAC +2 # SAVE Q
014237,000111: 06,3366 00006 EXTEND
014238,000112: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014239,000113: 06,3370 52155 DXCH MPAC
014240,000114: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014241,000115: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014242,000116:
014243,000117: 06,3373 00006 EXTEND
014244,000118: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014245,000119: 06,3375 52155 DXCH MPAC
014246,000120: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014247,000121: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014248,000122:
014249,000123: # EXTEND ***
014250,000124: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014251,000125: # DXCH MPAC ***
014252,000126: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014253,000127: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014254,000128:
014255,000129: 06,3400 00156 TC MPAC +2
014256,000130:
014257,000131: 06,3401 00006 IRIGY EXTEND
014258,000132: 06,3402 22156 QXCH MPAC +2 # SAVE Q
014259,000133: 06,3403 00006 EXTEND
014260,000134: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014261,000135: 06,3405 52155 DXCH MPAC
014262,000136: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014263,000137: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014264,000138:
014265,000139: 06,3410 00006 EXTEND
014266,000140: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014267,000141: 06,3412 52155 DXCH MPAC
014268,000142: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014269,000143: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014270,000144:
014271,000145: # EXTEND ***
014272,000146: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014273,000147: # DXCH MPAC ***
014274,000148: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014275,000149: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014276,000150:
014277,000151: 06,3415 00156 TC MPAC +2
014278,000152:
014279,000153: 06,3416 00006 IRIGZ EXTEND
014280,000154: 06,3417 22156 QXCH MPAC +2 # SAVE Q
014281,000155: 06,3420 00006 EXTEND
014282,000156: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014283,000157: 06,3422 52155 DXCH MPAC
014284,000158: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014285,000159:
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Page 335
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014287,000161: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014288,000162:
014289,000163: 06,3425 00006 EXTEND
014290,000164: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014291,000165: 06,3427 52155 DXCH MPAC
014292,000166: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014293,000167: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014294,000168:
014295,000169: # EXTEND ***
014296,000170: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014297,000171: # DXCH MPAC ***
014298,000172: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014299,000173: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014300,000174:
014301,000175: 06,3432 00156 TC MPAC +2
014302,000176:
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Page 336
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014304,000178: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014305,000179: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014306,000180: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014307,000181: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014308,000182:
014309,000183: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014310,000184: 06,3440 00006 EXTEND
014311,000185: 06,3441 70154 MP MPAC # ADIA OR ADSRA
014312,000186: 06,3442 54001 TS L
014313,000187: 06,3443 34755 CAF ZERO
014314,000188: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014315,000189:
014316,000190: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
014317,000191: 06,3446 00006 EXTEND
014318,000192: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014319,000193: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014320,000194: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014321,000195:
014322,000196: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014323,000197: 06,3453 00006 EXTEND
014324,000198: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014325,000199: 06,3455 54001 TS L
014326,000200: 06,3456 34755 CAF ZERO
014327,000201: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014328,000202: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014329,000203:
014330,000204: 06,3461 00002 TC Q
014331,000205:
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Page 337
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014333,000207: 06,3462 00006 DRIFTSUB EXTEND
014334,000208: 06,3463 22131 QXCH BUF +1
014335,000209:
014336,000210: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014337,000211: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014338,000212: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014339,000213: 06,3467 00006 EXTEND
014340,000214: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014341,000215: 06,3471 50130 INDEX BUF
014342,000216: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014343,000217:
014344,000218: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
014345,000219: 06,3474 00006 EXTEND
014346,000220: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014347,000221: 06,3476 54001 TS L
014348,000222: 06,3477 34755 CAF ZERO
014349,000223: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014350,000224: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014351,000225:
014352,000226: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014353,000227: 06,3503 60130 AD BUF
014354,000228: 06,3504 56130 XCH BUF
014355,000229: 06,3505 50000 INDEX A
014356,000230: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014357,000231: 06,3507 13511 TCF +2 # YES
014358,000232: 06,3510 00131 TC BUF +1 # NO
014359,000233:
014360,000234: 06,3511 73561 MASK COMPCHK # DEC -1
014361,000235: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014362,000236: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014363,000237: 06,3514 00131 TC BUF +1 # NO
014364,000238:
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Page 338
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014366,000240: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014367,000241: 06,3516 54130 TS BUF
014368,000242:
014369,000243: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014370,000244: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
014371,000245: 06,3521 00006 EXTEND
014372,000246: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
014373,000247: 06,3523 50130 INDEX BUF
014374,000248: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014375,000249:
014376,000250: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
014377,000251: 06,3526 50130 INDEX BUF
014378,000252: 06,3527 57471 XCH GCOMP # GYRO PULSES
014379,000253: 06,3530 00006 EXTEND
014380,000254: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
014381,000255: 06,3532 50130 INDEX BUF
014382,000256: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
014383,000257:
014384,000258: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014385,000259: 06,3535 67752 AD NEG1
014386,000260: 06,3536 13516 TCF 1/GYRO +1
014387,000261: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
014388,000262:
014389,000263: 06,3540 33537 CAF LGCOMP
014390,000264: 06,3541 04616 TC BANKCALL
014391,000265: 06,3542 17307 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
014392,000266: 06,3543 04616 TC BANKCALL
014393,000267: 06,3544 17722 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
014394,000268: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
014395,000269:
014396,000270: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014397,000271: 06,3547 54130 TS BUF
014398,000272:
014399,000273: 06,3550 50130 INDEX BUF # RESCALE
014400,000274: 06,3551 31472 CA GCOMP +1
014401,000275: 06,3552 00006 EXTEND
014402,000276: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014403,000277: 06,3554 50130 INDEX BUF
014404,000278: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
014405,000279:
014406,000280: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014407,000281: 06,3557 67752 AD NEG1
014408,000282: 06,3560 13547 TCF GCOMP1 +1
014409,000283: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
014410,000284: 06,3562 15155 TCF ENDOFJOB
014411,000285:
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Page 339
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014413,000287: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014414,000288: 06,3564 13567 TCF +3
014415,000289: 06,3565 13567 TCF +2
014416,000290: 06,3566 15155 TCF ENDOFJOB
014417,000291:
014418,000292: 06,3567 00004 INHINT
014419,000293: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
014420,000294: 06,3571 15155 TCF ENDOFJOB
014421,000295: 06,3572 15155 TCF ENDOFJOB
014422,000296: 06,3573 13574 TCF +1
014423,000297:
014424,000298: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014425,000299: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
014426,000300: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
014427,000301: 06,3577 00006 EXTEND
014428,000302: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
014429,000303:
014430,000304: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
014431,000305: 06,3602 77543 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
014432,000306:
014433,000307: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
014434,000308: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
014435,000309: 06,3605 00003 RELINT
014436,000310: 06,3606 40000 COM
014437,000311: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
014438,000312: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
014439,000313: 06,3611 64736 AD HALF
014440,000314: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
014441,000315: 06,3613 56001 XCH L # OVERFLOW.
014442,000316:
014443,000317: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
014444,000318: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
014445,000319: 06,3616 52125 DXCH VBUF +2
014446,000320:
014447,000321: 06,3617 34755 CA ZERO
014448,000322: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014449,000323: 06,3621 54130 TS BUF # INDEX X, Y, Z.
014450,000324:
014451,000325: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014452,000326: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
014453,000327:
014454,000328: 06,3624 00006 EXTEND
014455,000329: 06,3625 30125 DCA VBUF +2
014456,000330: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
014457,000331:
014458,000332: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014459,000333: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014460,000334:
014461,000335: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014462,000336: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
014463,000337:
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Page 340
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014465,000339: 06,3633 00006 EXTEND
014466,000340: 06,3634 40125 DCS VBUF +2
014467,000341: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014468,000342: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
014469,000343: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014470,000344:
014471,000345: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014472,000346: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014473,000347:
014474,000348: 06,3642 00006 EXTEND
014475,000349: 06,3643 40125 DCS VBUF +2
014476,000350: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014477,000351: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014478,000352: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014479,000353:
014480,000354: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014481,000355: 06,3650 13515 TCF 1/GYRO # YES
014482,000356: 06,3651 15155 TCF ENDOFJOB # NO
014483,000357:
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Page 341
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014485,000359: 06,3652 56002 FBIASSUB XCH Q
014486,000360: 06,3653 54131 TS BUF +1
014487,000361:
014488,000362: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014489,000363: 06,3655 00006 EXTEND
014490,000364: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014491,000365: 06,3657 50130 INDEX BUF
014492,000366: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014493,000367:
014494,000368: 06,3661 30002 CA Q # NOW FRACTIONAL PART
014495,000369: 06,3662 00006 EXTEND
014496,000370: 06,3663 70155 MP MPAC +1
014497,000371: 06,3664 54001 TS L
014498,000372: 06,3665 34755 CAF ZERO
014499,000373: 06,3666 50130 INDEX BUF
014500,000374: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014501,000375:
014502,000376: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014503,000377:
014504,000378: 06,3671 04616 LASTBIAS TC BANKCALL
014505,000379: 06,3672 17263 CADR PIPUSE1
014506,000380:
014507,000381: 06,3673 11477 CCS GCOMPSW
014508,000382: 06,3674 13677 TCF +3
014509,000383: 06,3675 13677 TCF +2
014510,000384: 06,3676 15155 TCF ENDOFJOB
014511,000385:
014512,000386: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014513,000387: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014514,000388: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
014515,000389:
014516,000390: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014517,000391: 06,3703 57074 XCH 1/PIPADT
014518,000392: 06,3704 40000 COM
014519,000393: 06,3705 61234 AD PIPTIME +1
014520,000394: 06,3706 13610 TCF NBD2
014521,000395:
014522,000396: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014523,000397: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
014524,000398: 06,3711 54163 TS MODE
014525,000399:
014526,000400: 06,3712 34755 CAF ZERO
014527,000401: 06,3713 55477 TS GCOMPSW
014528,000402: 06,3714 55471 TS GCOMP
014529,000403: 06,3715 55472 TS GCOMP +1
014530,000404: 06,3716 55473 TS GCOMP +2
014531,000405: 06,3717 55474 TS GCOMP +3
014532,000406: 06,3720 55475 TS GCOMP +4
014533,000407:
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Page 342
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014535,000409: 06,3721 55476 TS GCOMP +5
014536,000410:
014537,000411: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
014538,000412:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc