Source Code

These source-code files are part of a reconstructed copy of Luminary 173, the second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 178. Changes between revision 173 and 178 were backed out, as described by Luminary memo 167 (revision 1). 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 173 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.

014122,000002:                                                                                                  ## Copyright:   Public domain.
014123,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
014124,000004:                                                                                                  ## Purpose:     A section of Luminary revision 173.
014125,000005:                                                                                                  ##              It is part of the reconstructed source code for the second
014126,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
014127,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
014128,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
014129,000009:                                                                                                  ##              Luminary 178, as well as Luminary memo 167 (revision 1).
014130,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
014131,000011:                                                                                                  ##              exactly match those specified for Luminary 173 in NASA
014132,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
014133,000013:                                                                                                  ##              that the reconstruction is correct.
014134,000014:                                                                                                  ## Reference:   pp. 331-342
014135,000015:                                                                                                  ## Assembler:   yaYUL
014136,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
014137,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
014138,000018:                                                                                                  ## Mod history: 2019-09-18 MAS  Created from Luminary 178.
014139,000019: 

Page 331

014141,000021: 07,2661                                           BANK     7                                     
014142,000022: 06,2000                                           SETLOC   IMUCOMP                               
014143,000023: 06,2000                                           BANK                                           
014144,000024: 
014145,000025: 06,3271  E3,1460                                  EBANK=   NBDX                                  
014146,000026: 
014147,000027: 06,3271                                           COUNT*   $$/ICOMP                              
014148,000028: 06,3271           33537        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
014149,000029: 06,3272           56003                           XCH      EBANK                                 
014150,000030: 06,3273           54163                           TS       MODE                                  
014151,000031: 
014152,000032: 06,3274           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
014153,000033: 06,3275           13300                           TCF      +3                                    
014154,000034: 06,3276           13300                           TCF      +2                                    
014155,000035: 06,3277           13361                           TCF      IRIG1                                 #  RETURN
014156,000036: 
014157,000037: 06,3300           34751        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
014158,000038: 06,3301           54132                           TS       BUF        +2                         
014159,000039: 
014160,000040: 06,3302           50132                           INDEX    BUF        +2                         
014161,000041: 06,3303           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
014162,000042: 06,3304           00006                           EXTEND                                         
014163,000043: 06,3305           50132                           INDEX    BUF        +2                         
014164,000044: 06,3306           70324                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014165,000045: 06,3307           54002                           TS       Q                                     #  SAVE MAJOR PART
014166,000046: 
014167,000047: 06,3310           30001                           CA       L                                     #  MINOR PART
014168,000048: 06,3311           00006                           EXTEND                                         
014169,000049: 06,3312           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
014170,000050: 06,3313           50132                           INDEX    BUF        +2                         
014171,000051: 06,3314           54325                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
014172,000052: 
014173,000053: 06,3315           30002                           CA       Q                                     #  MAJOR PART
014174,000054: 06,3316           00006                           EXTEND                                         
014175,000055: 06,3317           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
014176,000056: 06,3320           50132                           INDEX    BUF        +2                         
014177,000057: 06,3321           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
014178,000058: 
014179,000059: 06,3322           50132                           INDEX    BUF        +2                         
014180,000060: 06,3323           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-3)            *
014181,000061: 06,3324           00006                           EXTEND                                         
014182,000062: 06,3325           71074                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014183,000063: 06,3326           00006                           EXTEND                                         
014184,000064: 06,3327           74746                           MP       BIT6                                  #  SCALE 2(+9) SHIFT RIGHT 9             *
014185,000065: 06,3330           50132                           INDEX    BUF        +2                         
014186,000066: 06,3331           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014187,000067: 
014188,000068: 06,3332           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
014189,000069: 06,3333           67752                           AD       NEG1                                  
014190,000070: 06,3334           13301                           TCF      1/PIPA1    +1                         
014191,000071: 

Page 332

014193,000073: 06,3335           13336                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE
014194,000074: 

Page 333

014196,000076: 06,3336           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
014197,000077: 06,3337           54130                           TS       BUF                                   #  INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014198,000078: 
014199,000079: 06,3340           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS
014200,000080: 
014201,000081: 06,3341           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
014202,000082: 06,3342           03462                           TC       DRIFTSUB                              #  -(NBOX)(DELTAT)   (GYRO PULSES) X 2(+14)
014203,000083: 
014204,000084: 06,3343           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS
014205,000085: 
014206,000086: 06,3344           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
014207,000087: 06,3345           03462                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
014208,000088: 
014209,000089: 06,3346           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
014210,000090: 
014211,000091: 06,3347           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
014212,000092: 06,3350           03462                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
014213,000093: 
014214,000094: 06,3351           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014215,000095: 06,3352           13354                           TCF      +2                                    #  YES  SEND OUT GYRO TORQUING COMMANDS.
014216,000096: 06,3353           13361                           TCF      IRIG1                                 #  NO   RETURN
014217,000097: 
014218,000098: 06,3354           35031                           CA       PRIO21                                #  PRIO GREATER THAN SERVICER
014219,000099: 06,3355           05072                           TC       NOVAC                                 #  SEND OUT GYRO TORQUING COMMANDS.
014220,000100: 06,3356  E3,1460                                  EBANK=   NBDX                                  
014221,000101: 06,3356           03515 14063                     2CADR    1/GYRO                                
014222,000102: 
014223,000103: 06,3360           00003                           RELINT                                         
014224,000104: 06,3361           30163        IRIG1              CA       MODE                                  #  RESTORE CALLERS EBANK
014225,000105: 06,3362           54003                           TS       EBANK                                 
014226,000106: 06,3363           14631                           TCF      SWRETURN                              
014227,000107: 

Page 334

014229,000109: 06,3364           00006        IRIGX              EXTEND                                         
014230,000110: 06,3365           22156                           QXCH     MPAC       +2                         #  SAVE Q
014231,000111: 06,3366           00006                           EXTEND                                         
014232,000112: 06,3367           40325                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
014233,000113: 06,3370           52155                           DXCH     MPAC                                  
014234,000114: 06,3371           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014235,000115: 06,3372           03433                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)   (GYRO PULSES) X 2(+14)
014236,000116: 
014237,000117: 06,3373           00006                           EXTEND                                         
014238,000118: 06,3374           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014239,000119: 06,3375           52155                           DXCH     MPAC                                  
014240,000120: 06,3376           41466                           CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014241,000121: 06,3377           03433                           TC       GCOMPSUB                              #  -(ADSRAX)(PIPAY)  (GYRO PULSES) X 2(+14)
014242,000122: 
014243,000123:                                                                                                  #                EXTEND                             ***
014244,000124:                                                                                                  #                DCS             DELVZ              ***    (PIPA PULSES) X 2(+14)
014245,000125:                                                                                                  #                DXCH            MPAC               ***
014246,000126:                                                                                                  #                CA              ADOAX              ***    (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014247,000127:                                                                                                  #                TC              GCOMPSUB           ***    -(ADOAX)(PIPAZ)   (GYRO PULSES) X 2(+14)
014248,000128: 
014249,000129: 06,3400           00156                           TC       MPAC       +2                         
014250,000130: 
014251,000131: 06,3401           00006        IRIGY              EXTEND                                         
014252,000132: 06,3402           22156                           QXCH     MPAC       +2                         #  SAVE Q
014253,000133: 06,3403           00006                           EXTEND                                         
014254,000134: 06,3404           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014255,000135: 06,3405           52155                           DXCH     MPAC                                  
014256,000136: 06,3406           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)    *
014257,000137: 06,3407           03433                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)   (GYRO PULSES) X 2(+14)
014258,000138: 
014259,000139: 06,3410           00006                           EXTEND                                         
014260,000140: 06,3411           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
014261,000141: 06,3412           52155                           DXCH     MPAC                                  
014262,000142: 06,3413           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014263,000143: 06,3414           03433                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)  (GYRO PULSES) X 2(+14)
014264,000144: 
014265,000145:                                                                                                  #                EXTEND                              ***
014266,000146:                                                                                                  #                DCS             DELVX               ***   (PIPA PULSES) X 2(+14)
014267,000147:                                                                                                  #                DXCH            MPAC                ***
014268,000148:                                                                                                  #                CA              ADOAY               ***   (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014269,000149:                                                                                                  #                TC              GCOMPSUB            ***   -(ADOAY)(PIPAX)   (GYRO PULSES) X 2(+14)
014270,000150: 
014271,000151: 06,3415           00156                           TC       MPAC       +2                         
014272,000152: 
014273,000153: 06,3416           00006        IRIGZ              EXTEND                                         
014274,000154: 06,3417           22156                           QXCH     MPAC       +2                         #  SAVE Q
014275,000155: 06,3420           00006                           EXTEND                                         
014276,000156: 06,3421           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014277,000157: 06,3422           52155                           DXCH     MPAC                                  
014278,000158: 06,3423           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)    *
014279,000159: 

Page 335

014281,000161: 06,3424           03433                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)  (GYRO PULSES) X 2(+14)
014282,000162: 
014283,000163: 06,3425           00006                           EXTEND                                         
014284,000164: 06,3426           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
014285,000165: 06,3427           52155                           DXCH     MPAC                                  
014286,000166: 06,3430           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014287,000167: 06,3431           03433                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)   (GYRO PULSES) X 2(+14)
014288,000168: 
014289,000169:                                                                                                  #                EXTEND                              ***
014290,000170:                                                                                                  #                DCS             DELVX               ***   (PIPA PULSE) X 2(+14)
014291,000171:                                                                                                  #                DXCH            MPAC                ***
014292,000172:                                                                                                  #                CS              ADOAZ               ***   (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014293,000173:                                                                                                  #                TC              GCOMPSUB            ***   +(ADOAZ)(PIPAX)   (GYRO PULSES) X 2(+14)
014294,000174: 
014295,000175: 06,3432           00156                           TC       MPAC       +2                         
014296,000176: 

Page 336

014298,000178: 06,3433           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014299,000179: 06,3434           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
014300,000180: 06,3435           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
014301,000181: 06,3436           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)             *
014302,000182: 
014303,000183: 06,3437           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
014304,000184: 06,3440           00006                           EXTEND                                         
014305,000185: 06,3441           70154                           MP       MPAC                                  #  ADIA OR ADSRA
014306,000186: 06,3442           54001                           TS       L                                     
014307,000187: 06,3443           34755                           CAF      ZERO                                  
014308,000188: 06,3444           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)             *
014309,000189: 
014310,000190: 06,3445           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
014311,000191: 06,3446           00006                           EXTEND                                         
014312,000192: 06,3447           74743                           MP       BIT9                                  #  SCALE 2(+6)      SHIFT RIGHT 6          *
014313,000193: 06,3450           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
014314,000194: 06,3451           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
014315,000195: 
014316,000196: 06,3452           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
014317,000197: 06,3453           00006                           EXTEND                                         
014318,000198: 06,3454           74743                           MP       BIT9                                  #  SCALE 2(+6)      SHIFT RIGHT 6          *
014319,000199: 06,3455           54001                           TS       L                                     
014320,000200: 06,3456           34755                           CAF      ZERO                                  
014321,000201: 06,3457           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
014322,000202: 06,3460           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
014323,000203: 
014324,000204: 06,3461           00002                           TC       Q                                     
014325,000205: 

Page 337

014327,000207: 06,3462           00006        DRIFTSUB           EXTEND                                         
014328,000208: 06,3463           22131                           QXCH     BUF        +1                         
014329,000209: 
014330,000210: 06,3464           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
014331,000211: 06,3465           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
014332,000212: 06,3466           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
014333,000213: 06,3467           00006                           EXTEND                                         
014334,000214: 06,3470           74750                           MP       BIT4                                  #  SCALE 2(+11)     SHIFT RIGHT 11
014335,000215: 06,3471           50130                           INDEX    BUF                                   
014336,000216: 06,3472           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
014337,000217: 
014338,000218: 06,3473           30155                           CA       MPAC       +1                         #  NOW MINOR PART
014339,000219: 06,3474           00006                           EXTEND                                         
014340,000220: 06,3475           74750                           MP       BIT4                                  #  SCALE 2(+11)     SHIFT RIGHT 11
014341,000221: 06,3476           54001                           TS       L                                     
014342,000222: 06,3477           34755                           CAF      ZERO                                  
014343,000223: 06,3500           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
014344,000224: 06,3501           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
014345,000225: 
014346,000226: 06,3502           34752        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
014347,000227: 06,3503           60130                           AD       BUF                                   
014348,000228: 06,3504           56130                           XCH      BUF                                   
014349,000229: 06,3505           50000                           INDEX    A                                     
014350,000230: 06,3506           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
014351,000231: 06,3507           13511                           TCF      +2                                    #  YES
014352,000232: 06,3510           00131                           TC       BUF        +1                         #  NO
014353,000233: 
014354,000234: 06,3511           73561                           MASK     COMPCHK                               #  DEC -1
014355,000235: 06,3512           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014356,000236: 06,3513           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
014357,000237: 06,3514           00131                           TC       BUF        +1                         #  NO
014358,000238: 

Page 338

014360,000240: 06,3515           34751        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
014361,000241: 06,3516           54130                           TS       BUF                                   
014362,000242: 
014363,000243: 06,3517           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
014364,000244: 06,3520           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
014365,000245: 06,3521           00006                           EXTEND                                         
014366,000246: 06,3522           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
014367,000247: 06,3523           50130                           INDEX    BUF                                   
014368,000248: 06,3524           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
014369,000249: 
014370,000250: 06,3525           34755                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
014371,000251: 06,3526           50130                           INDEX    BUF                                   
014372,000252: 06,3527           57471                           XCH      GCOMP                                 #  GYRO PULSES
014373,000253: 06,3530           00006                           EXTEND                                         
014374,000254: 06,3531           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
014375,000255: 06,3532           50130                           INDEX    BUF                                   
014376,000256: 06,3533           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
014377,000257: 
014378,000258: 06,3534           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
014379,000259: 06,3535           67752                           AD       NEG1                                  
014380,000260: 06,3536           13516                           TCF      1/GYRO     +1                         
014381,000261: 06,3537           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
014382,000262: 
014383,000263: 06,3540           33537                           CAF      LGCOMP                                
014384,000264: 06,3541           04616                           TC       BANKCALL                              
014385,000265: 06,3542           17307                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
014386,000266: 06,3543           04616                           TC       BANKCALL                              
014387,000267: 06,3544           17722                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
014388,000268: 06,3545           15155                           TCF      ENDOFJOB                              #  TEMPORARY
014389,000269: 
014390,000270: 06,3546           34751        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
014391,000271: 06,3547           54130                           TS       BUF                                   
014392,000272: 
014393,000273: 06,3550           50130                           INDEX    BUF                                   #  RESCALE
014394,000274: 06,3551           31472                           CA       GCOMP      +1                         
014395,000275: 06,3552           00006                           EXTEND                                         
014396,000276: 06,3553           74744                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014397,000277: 06,3554           50130                           INDEX    BUF                                   
014398,000278: 06,3555           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
014399,000279: 
014400,000280: 06,3556           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
014401,000281: 06,3557           67752                           AD       NEG1                                  
014402,000282: 06,3560           13547                           TCF      GCOMP1     +1                         
014403,000283: 06,3561           77776        COMPCHK            DEC      -1         B-14                       #  LESS THAN ZERO IMPOSSIBLE
014404,000284: 06,3562           15155                           TCF      ENDOFJOB                              
014405,000285: 

Page 339

014407,000287: 06,3563           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
014408,000288: 06,3564           13567                           TCF      +3                                    
014409,000289: 06,3565           13567                           TCF      +2                                    
014410,000290: 06,3566           15155                           TCF      ENDOFJOB                              
014411,000291: 
014412,000292: 06,3567           00004                           INHINT                                         
014413,000293: 06,3570           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
014414,000294: 06,3571           15155                           TCF      ENDOFJOB                              
014415,000295: 06,3572           15155                           TCF      ENDOFJOB                              
014416,000296: 06,3573           13574                           TCF      +1                                    
014417,000297: 
014418,000298: 06,3574           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
014419,000299: 06,3575           74744                           MASK     BIT8                                  #  POSITIVE SO THAT THE ACCELERATION TERMS
014420,000300: 06,3576           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
014421,000301: 06,3577           00006                           EXTEND                                         
014422,000302: 06,3600           13603                           BZF      +3                                    #  ARE WE ON THE SURFACE
014423,000303: 
014424,000304: 06,3601           04674                           TC       IBNKCALL                              #  ON THE SURFACE
014425,000305: 06,3602           77543                           CADR     PIPASR     +3                         #  READ PIPAS, BUT DO NOT SCALE THEM
014426,000306: 
014427,000307: 06,3603           30025                           CA       TIME1                                 #  (CS) X 2(+14)
014428,000308: 06,3604           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
014429,000309: 06,3605           00003                           RELINT                                         
014430,000310: 06,3606           40000                           COM                                            
014431,000311: 06,3607           61074                           AD       1/PIPADT                              #  PRESENT TIME - PREVIOUS TIME
014432,000312: 06,3610           64736        NBD2               AD       HALF                                  #  CORRECT FOR POSSIBLE TIME1 TICK
014433,000313: 06,3611           64736                           AD       HALF                                  
014434,000314: 06,3612           56001                           XCH      L                                     #  IF TIME1 DID NOT TICK, REMOVE RESULTING
014435,000315: 06,3613           56001                           XCH      L                                     #  OVERFLOW.
014436,000316: 
014437,000317: 06,3614           00006        NBD3               EXTEND                                         #  C(A) = DELTAT    (CS) X 2(+14)
014438,000318: 06,3615           74742                           MP       BIT10                                 #  SHIFT RIGHT 5
014439,000319: 06,3616           52125                           DXCH     VBUF       +2                         
014440,000320: 
014441,000321: 06,3617           34755                           CA       ZERO                                  
014442,000322: 06,3620           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
014443,000323: 06,3621           54130                           TS       BUF                                   #  INDEX  X, Y, Z.
014444,000324: 
014445,000325: 06,3622           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014446,000326: 06,3623           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS.
014447,000327: 
014448,000328: 06,3624           00006                           EXTEND                                         
014449,000329: 06,3625           30125                           DCA      VBUF       +2                         
014450,000330: 06,3626           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
014451,000331: 
014452,000332: 06,3627           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
014453,000333: 06,3630           03652                           TC       FBIASSUB                              #  -(NBOX)(DELTAT)   (GYRO PULSES) X 2(+14)
014454,000334: 
014455,000335: 06,3631           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014456,000336: 06,3632           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS.
014457,000337: 

Page 340

014459,000339: 06,3633           00006                           EXTEND                                         
014460,000340: 06,3634           40125                           DCS      VBUF       +2                         
014461,000341: 06,3635           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014462,000342: 06,3636           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
014463,000343: 06,3637           03652                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
014464,000344: 
014465,000345: 06,3640           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
014466,000346: 06,3641           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
014467,000347: 
014468,000348: 06,3642           00006                           EXTEND                                         
014469,000349: 06,3643           40125                           DCS      VBUF       +2                         
014470,000350: 06,3644           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014471,000351: 06,3645           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
014472,000352: 06,3646           03652                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
014473,000353: 
014474,000354: 06,3647           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014475,000355: 06,3650           13515                           TCF      1/GYRO                                #  YES
014476,000356: 06,3651           15155                           TCF      ENDOFJOB                              #  NO
014477,000357: 

Page 341

014479,000359: 06,3652           56002        FBIASSUB           XCH      Q                                     
014480,000360: 06,3653           54131                           TS       BUF        +1                         
014481,000361: 
014482,000362: 06,3654           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014483,000363: 06,3655           00006                           EXTEND                                         
014484,000364: 06,3656           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
014485,000365: 06,3657           50130                           INDEX    BUF                                   
014486,000366: 06,3660           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
014487,000367: 
014488,000368: 06,3661           30002                           CA       Q                                     #  NOW FRACTIONAL PART
014489,000369: 06,3662           00006                           EXTEND                                         
014490,000370: 06,3663           70155                           MP       MPAC       +1                         
014491,000371: 06,3664           54001                           TS       L                                     
014492,000372: 06,3665           34755                           CAF      ZERO                                  
014493,000373: 06,3666           50130                           INDEX    BUF                                   
014494,000374: 06,3667           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
014495,000375: 
014496,000376: 06,3670           13502                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
014497,000377: 
014498,000378: 06,3671           04616        LASTBIAS           TC       BANKCALL                              
014499,000379: 06,3672           17263                           CADR     PIPUSE1                               
014500,000380: 
014501,000381: 06,3673           11477                           CCS      GCOMPSW                               
014502,000382: 06,3674           13677                           TCF      +3                                    
014503,000383: 06,3675           13677                           TCF      +2                                    
014504,000384: 06,3676           15155                           TCF      ENDOFJOB                              
014505,000385: 
014506,000386: 06,3677           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
014507,000387: 06,3700           74744                           MASK     SURFFBIT                              #  POSITIVE SO THAT THE ACCELERATION TERMS
014508,000388: 06,3701           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
014509,000389: 
014510,000390: 06,3702           37721                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
014511,000391: 06,3703           57074                           XCH      1/PIPADT                              
014512,000392: 06,3704           40000                           COM                                            
014513,000393: 06,3705           61234                           AD       PIPTIME    +1                         
014514,000394: 06,3706           13610                           TCF      NBD2                                  
014515,000395: 
014516,000396: 06,3707           33537        GCOMPZER           CAF      LGCOMP                                #  ROUTINE TO ZERO GCOMP BEFORE FIRST
014517,000397: 06,3710           56003                           XCH      EBANK                                 #  CALL TO 1/PIPA
014518,000398: 06,3711           54163                           TS       MODE                                  
014519,000399: 
014520,000400: 06,3712           34755                           CAF      ZERO                                  
014521,000401: 06,3713           55477                           TS       GCOMPSW                               
014522,000402: 06,3714           55471                           TS       GCOMP                                 
014523,000403: 06,3715           55472                           TS       GCOMP      +1                         
014524,000404: 06,3716           55473                           TS       GCOMP      +2                         
014525,000405: 06,3717           55474                           TS       GCOMP      +3                         
014526,000406: 06,3720           55475                           TS       GCOMP      +4                         
014527,000407: 

Page 342

014529,000409: 06,3721           55476                           TS       GCOMP      +5                         
014530,000410: 
014531,000411: 06,3722           13361                           TCF      IRIG1                                 #  RESTORE EBANK AND RETURN
014532,000412: 

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