Source Code
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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.
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016130,000002: ## Copyright: Public domain.
016131,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
016132,000004: ## Purpose: A section of Luminary revision 173.
016133,000005: ## It is part of the reconstructed source code for the second
016134,000006: ## (unflown) release of the flight software for the Lunar
016135,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
016136,000008: ## The code has been recreated from a reconstructed copy of
016137,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
016138,000010: ## It has been adapted such that the resulting bugger words
016139,000011: ## exactly match those specified for Luminary 173 in NASA
016140,000012: ## drawing 2021152N, which gives relatively high confidence
016141,000013: ## that the reconstruction is correct.
016142,000014: ## Reference: pp. 378-386
016143,000015: ## Assembler: yaYUL
016144,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016145,000017: ## Website: www.ibiblio.org/apollo/index.html
016146,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
016147,000019:
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Page 378
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016149,000021: # NAME- IMU PERFORMANCE TESTS 2
016150,000022:
016151,000023: # DATE- MARCH 20,1967
016152,000024:
016153,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
016154,000026:
016155,000027: # MODNO.- ZERO
016156,000028:
016157,000029: # FUNCTIONAL DESCRIPTION
016158,000030:
016159,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
016160,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
016161,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
016162,000034:
016163,000035: 33,2117 BANK 33
016164,000036: 37,2000 SETLOC IMU2
016165,000037: 37,2000 BANK
016166,000038: 37,2002 E5,1416 EBANK= POSITON
016167,000039: 37,2002 COUNT* $$/P07
016168,000040:
016169,000041: 37,2002 05322 REDO TC NEWMODEX
016170,000042: 37,2003 00007 MM 07 B-14
016171,000043:
016172,000044: 37,2004 02325 GEOIMUTT TC IMUZERR
016173,000045: 37,2005 34755 IMUBACK CA ZERO
016174,000046: 37,2006 55414 TS NDXCTR
016175,000047: 37,2007 55440 TS TORQNDX
016176,000048: 37,2010 55441 TS TORQNDX +1
016177,000049: 37,2011 55576 TS OVFLOWCK
016178,000050: 37,2012 34361 NBPOSPL CA DEC17
016179,000051: 37,2013 55571 TS ZERONDX
016180,000052: 37,2014 32476 CA XNBADR
016181,000053: 37,2015 02367 TC ZEROING
016182,000054: 37,2016 34736 CA HALF
016183,000055: 37,2017 55664 TS XNB
016184,000056: 37,2020 06042 GUESS TC INTPRET
016185,000057: 37,2021 62545 LATAZCHK DLOAD SL2
016186,000058: 37,2022 02403 LATITUDE
016187,000059: 37,2023 15046 STODL DSPTEM1 +1
016188,000060: 37,2024 02401 AZIMUTH
016189,000061: 37,2025 77434 RTB EXIT
016190,000062: 37,2026 21615 1STO2S
016191,000063: 37,2027 56154 XCH MPAC
016192,000064: 37,2030 55044 TS DSPTEM1
016193,000065: 37,2031 32473 CAF VN0641
016194,000066: 37,2032 04616 TC BANKCALL
016195,000067: 37,2033 20477 CADR GOFLASH
016196,000068: 37,2034 02270 TC ENDTEST1
016197,000069: 37,2035 02037 TC +2
016198,000070: 37,2036 02031 TC -5
016199,000071:
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Page 379
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016201,000073: 37,2037 06042 TC INTPRET
016202,000074: 37,2040 47135 SLOAD RTB
016203,000075: 37,2041 01045 DSPTEM1
016204,000076: 37,2042 21577 CDULOGIC
016205,000077: 37,2043 02401 STORE AZIMUTH
016206,000078: 37,2044 60535 SLOAD SR2
016207,000079: 37,2045 01046 DSPTEM1 +1
016208,000080: 37,2046 02403 STORE LATITUDE
016209,000081: 37,2047 57546 COS DCOMP
016210,000082: 37,2050 77752 SL1
016211,000083: 37,2051 16437 STODL WANGI
016212,000084: 37,2052 02403 LATITUDE
016213,000085: 37,2053 72556 SIN SL1
016214,000086: 37,2054 16435 STODL WANGO
016215,000087: 37,2055 02401 AZIMUTH
016216,000088: 37,2056 73406 PUSH SIN
016217,000089: 37,2057 02675 STORE YNB +2
016218,000090: 37,2060 16705 STODL ZNB +4
016219,000091: 37,2061 77746 COS
016220,000092: 37,2062 02677 STORE YNB +4
016221,000093: 37,2063 77676 DCOMP
016222,000094: 37,2064 36703 POSGMBL STCALL ZNB +2
016223,000095: 37,2065 47351 CALCGA
016224,000096: 37,2066 77776 EXIT
016225,000097: 37,2067 04616 TC BANKCALL
016226,000098: 37,2070 16764 CADR IMUCOARS
016227,000099: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
016228,000100: 37,2072 70077 MASK FLAGWRD3
016229,000101: 37,2073 00006 EXTEND
016230,000102: 37,2074 12076 BZF +2
016231,000103: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK,OTHERWISE 0
016232,000104: 37,2076 05527 TC DOWNFLAG
016233,000105: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
016234,000106: 37,2100 02315 TC IMUSLLLG
016235,000107: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
016236,000108: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
016237,000109: 37,2103 02320 TC FINIMUDD
016238,000110: 37,2104 00006 EXTEND
016239,000111: 37,2105 31575 DCA PERFDLAY
016240,000112: 37,2106 05310 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
016241,000113: 37,2107 E5,1416 EBANK= POSITON
016242,000114: 37,2107 02113 76065 2CADR GOESTIMS
016243,000115:
016244,000116: 37,2111 32116 CA ESTICADR
016245,000117: 37,2112 05133 TC JOBSLEEP
016246,000118: 37,2113 32116 GOESTIMS CA ESTICADR
016247,000119: 37,2114 05137 TC JOBWAKE
016248,000120: 37,2115 05272 TC TASKOVER
016249,000121: 37,2116 76500 ESTICADR CADR ESTIMS
016250,000122: 37,2117 34755 TORQUE CA ZERO
016251,000123:
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Page 380
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016253,000125: 37,2120 55047 TS DSPTEM2
016254,000126: 37,2121 31504 CA DRIFTI
016255,000127: 37,2122 55050 TS DSPTEM2 +1
016256,000128: 37,2123 51416 INDEX POSITON
016257,000129: 37,2124 55420 TS SOUTHDR -1
016258,000130: 37,2125 02457 TC SHOW
016259,000131:
016260,000132: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
016261,000133: 37,2127 02130 TC +1
016262,000134: 37,2130 02447 TC EARTHR*
016263,000135: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
016264,000136: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
016265,000137: 37,2133 32474 CA DEC58
016266,000138: 37,2134 55412 TS LENGTHOT
016267,000139: 37,2135 34753 CA ONE
016268,000140: 37,2136 55537 TS RESULTCT
016269,000141: 37,2137 34755 CA ZERO
016270,000142: 37,2140 51415 INDEX PIPINDEX
016271,000143: 37,2141 54037 TS PIPAX
016272,000144: 37,2142 55472 TS DATAPL
016273,000145: 37,2143 02332 TC CHECKG
016274,000146: 37,2144 00004 INHINT
016275,000147: 37,2145 34752 CAF TWO
016276,000148: 37,2146 05204 TC TWIDDLE
016277,000149: 37,2147 E5,1642 EBANK= XSM
016278,000150: 37,2147 02151 ADRES PIPATASK
016279,000151: 37,2150 05155 TC ENDOFJOB
016280,000152:
016281,000153:
016282,000154: 37,2151 00006 PIPATASK EXTEND
016283,000155: 37,2152 27412 DIM LENGTHOT
016284,000156: 37,2153 31412 CA LENGTHOT
016285,000157: 37,2154 00006 EXTEND
016286,000158: 37,2155 62161 BZMF STARTPIP
016287,000159: 37,2156 34742 CAF BIT10
016288,000160: 37,2157 05204 TC TWIDDLE
016289,000161: 37,2160 E5,1642 EBANK= XSM
016290,000162: 37,2160 02151 ADRES PIPATASK
016291,000163: 37,2161 34736 STARTPIP CAF PRIO20
016292,000164: 37,2162 05105 TC FINDVAC
016293,000165: 37,2163 E5,1642 EBANK= XSM
016294,000166: 37,2163 02166 76065 2CADR PIPJOBB
016295,000167:
016296,000168: 37,2165 05272 TC TASKOVER
016297,000169:
016298,000170: 37,2166 51414 PIPJOBB INDEX NDXCTR
016299,000171: 37,2167 02170 TC +1
016300,000172: 37,2170 02447 TC EARTHR*
016301,000173: 37,2171 31412 CA LENGTHOT
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Page 381
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016303,000175: 37,2172 00006 EXTEND
016304,000176: 37,2173 62175 BZMF +2
016305,000177: 37,2174 05155 TC ENDOFJOB
016306,000178:
016307,000179: 37,2175 34756 CA FIVE
016308,000180: 37,2176 55537 TS RESULTCT
016309,000181: 37,2177 02332 TC CHECKG
016310,000182: 37,2200 11473 CCS DATAPL +1
016311,000183: 37,2201 02205 TC +4
016312,000184: 37,2202 05706 TC CCSHOLE
016313,000185: 37,2203 41476 CS DATAPL +4
016314,000186: 37,2204 55476 TS DATAPL +4
016315,000187: 37,2205 00006 EXTEND
016316,000188: 37,2206 41473 DCS DATAPL
016317,000189: 37,2207 21477 DAS DATAPL +4
016318,000190:
016319,000191: 37,2210 06042 TC INTPRET
016320,000192: 37,2211 45345 DLOAD DSU
016321,000193: 37,2212 02501 DATAPL +6
016322,000194: 37,2213 02475 DATAPL +2
016323,000195: 37,2214 45044 BPL CALL
016324,000196: 37,2215 76217 AINGOTN
016325,000197: 37,2216 76275 OVERFFIX
016326,000198: 37,2217 56325 AINGOTN PDDL DDV
016327,000199: 37,2220 02477 DATAPL +4
016328,000200: 37,2221 47075 DMPR RTB
016329,000201: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
016330,000202: 37,2223 21613 SGNAGREE
016331,000203: 37,2224 01050 STORE DSPTEM2
016332,000204: 37,2225 77776 EXIT
016333,000205: 37,2226 11414 CCS NDXCTR
016334,000206: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
016335,000207: 37,2230 02457 TC SHOW
016336,000208: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
016337,000209: 37,2232 55412 TS LENGTHOT
016338,000210: 37,2233 51416 INDEX POSITON
016339,000211: 37,2234 41417 CS SOUTHDR -2
016340,000212: 37,2235 55442 TS DRIFTT
016341,000213: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
016342,000214: 37,2237 12245 TCF PON4 # Z UP IN POS 4
016343,000215: 37,2240 44747 PON2 CS BIT5 # X UP
016344,000216: 37,2241 27565 ADS ERCOMP +2
016345,000217: 37,2242 34747 CA BIT5
016346,000218: 37,2243 27567 ADS ERCOMP +4
016347,000219: 37,2244 12251 TCF PON
016348,000220: 37,2245 44747 PON4 CS BIT5
016349,000221: 37,2246 27565 ADS ERCOMP +2
016350,000222: 37,2247 34747 CA BIT5
016351,000223: 37,2250 27563 ADS ERCOMP
016352,000224: 37,2251 02447 PON TC EARTHR*
016353,000225:
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Page 382
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016355,000227: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
016356,000228: 37,2253 55404 TS ERVECTOR
016357,000229: 37,2254 55405 TS ERVECTOR +1
016358,000230: 37,2255 34733 GUESS1 CAF POSMAX
016359,000231: 37,2256 55440 TS TORQNDX
016360,000232: 37,2257 55441 TS TORQNDX +1
016361,000233: 37,2260 30032 CA CDUX
016362,000234: 37,2261 55413 TS LOSVEC
016363,000235: 37,2262 02500 TC ESTIMS
016364,000236: 37,2263 31502 VALMIS CA DRIFTO
016365,000237: 37,2264 55050 TS DSPTEM2 +1
016366,000238: 37,2265 34755 CA ZERO
016367,000239: 37,2266 55047 TS DSPTEM2
016368,000240: 37,2267 02457 TC SHOW
016369,000241:
016370,000242: 37,2270 05527 ENDTEST1 TC DOWNFLAG
016371,000243: 37,2271 00007 ADRES IMUSE
016372,000244: 37,2272 44755 CS ZERO
016373,000245: 37,2273 05325 TC NEWMODEA
016374,000246: 37,2274 05503 TC ENDEXT
016375,000247:
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Page 383
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016377,000249: 37,2275 43215 OVERFFIX DAD DAD
016378,000250: 37,2276 06526 DPPOSMAX
016379,000251: 37,2277 37064 ONEDPP
016380,000252: 37,2300 77616 RVQ
016381,000253:
016382,000254: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
016383,000255: 37,2302 23571 QXCH ZERONDX
016384,000256: 37,2303 34755 CA ZERO
016385,000257: 37,2304 54321 TS THETAD
016386,000258: 37,2305 54322 TS THETAD +1
016387,000259: 37,2306 54323 TS THETAD +2
016388,000260: 37,2307 04616 TC BANKCALL
016389,000261: 37,2310 16764 CADR IMUCOARS
016390,000262: 37,2311 04616 ALIGNCOA TC BANKCALL
016391,000263: 37,2312 17722 CADR IMUSTALL
016392,000264: 37,2313 03047 TC SOMERR2
016393,000265: 37,2314 01571 TC ZERONDX
016394,000266:
016395,000267:
016396,000268: 37,2315 00006 IMUSLLLG EXTEND
016397,000269: 37,2316 23571 QXCH ZERONDX
016398,000270: 37,2317 02311 TC ALIGNCOA
016399,000271:
016400,000272: 37,2320 00006 FINIMUDD EXTEND
016401,000273: 37,2321 23571 QXCH ZERONDX
016402,000274: 37,2322 04616 TC BANKCALL
016403,000275: 37,2323 17174 CADR IMUFINE
016404,000276: 37,2324 02311 TC ALIGNCOA
016405,000277:
016406,000278: 37,2325 00006 IMUZERR EXTEND
016407,000279: 37,2326 23571 QXCH ZERONDX
016408,000280: 37,2327 04616 TC BANKCALL
016409,000281: 37,2330 16700 CADR IMUZERO
016410,000282: 37,2331 02311 TC ALIGNCOA
016411,000283:
016412,000284:
016413,000285: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
016414,000286: 37,2333 23417 QXCH QPLACE
016415,000287: 37,2334 02342 TC +6
016416,000288: 37,2335 00003 CHECKG1 RELINT
016417,000289: 37,2336 30067 CA NEWJOB
016418,000290: 37,2337 00006 EXTEND
016419,000291: 37,2340 62346 BZMF +6
016420,000292: 37,2341 05122 TC CHANG1
016421,000293: 37,2342 00004 INHINT
016422,000294: 37,2343 51415 INDEX PIPINDEX
016423,000295: 37,2344 40037 CS PIPAX
016424,000296: 37,2345 55571 TS ZERONDX
016425,000297: 37,2346 00004 INHINT
016426,000298:
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Page 384
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016428,000300: 37,2347 51415 INDEX PIPINDEX
016429,000301: 37,2350 30037 CA PIPAX
016430,000302: 37,2351 61571 AD ZERONDX
016431,000303: 37,2352 00006 EXTEND
016432,000304: 37,2353 12335 BZF CHECKG1
016433,000305: 37,2354 51415 INDEX PIPINDEX
016434,000306: 37,2355 30037 CA PIPAX
016435,000307: 37,2356 51537 INDEX RESULTCT
016436,000308: 37,2357 55472 TS DATAPL
016437,000309: 37,2360 04102 TC FINETIME
016438,000310: 37,2361 51537 INDEX RESULTCT
016439,000311: 37,2362 55473 TS DATAPL +1
016440,000312: 37,2363 51537 INDEX RESULTCT
016441,000313: 37,2364 23474 LXCH DATAPL +2
016442,000314: 37,2365 00003 RELINT
016443,000315: 37,2366 01417 ENDCHKG TC QPLACE
016444,000316:
016445,000317:
016446,000318: 37,2367 54001 ZEROING TS L
016447,000319: 37,2370 12372 TCF +2
016448,000320: 37,2371 55571 ZEROING1 TS ZERONDX
016449,000321: 37,2372 34755 CAF ZERO
016450,000322: 37,2373 50001 INDEX L
016451,000323: 37,2374 54000 TS 0
016452,000324: 37,2375 24001 INCR L
016453,000325: 37,2376 11571 CCS ZERONDX
016454,000326: 37,2377 12371 TCF ZEROING1
016455,000327: 37,2400 00002 TC Q
016456,000328:
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Page 385
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016458,000330: 37,2401 65345 ERTHRVSE DLOAD PDDL
016459,000331: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
016460,000332: 37,2403 02403 LATITUDE
016461,000333: 37,2404 57546 COS DCOMP
016462,000334: 37,2405 73525 PDDL SIN
016463,000335: 37,2406 02403 LATITUDE
016464,000336: 37,2407 74266 VDEF VXSC
016465,000337: 37,2410 36001 OMEG/MS
016466,000338: 37,2411 02405 STORE ERVECTOR
016467,000339: 37,2412 77634 RTB
016468,000340: 37,2413 21574 LOADTIME
016469,000341: 37,2414 26433 STOVL TMARK
016470,000342: 37,2415 37057 SCHZEROS
016471,000343: 37,2416 02564 STORE ERCOMP
016472,000344: 37,2417 77616 RVQ
016473,000345:
016474,000346: 37,2420 47020 EARTHR ITA RTB
016475,000347: 37,2421 00051 S2
016476,000348: 37,2422 21574 LOADTIME
016477,000349: 37,2423 02431 STORE TEMPTIME
016478,000350: 37,2424 51025 DSU BPL
016479,000351: 37,2425 02433 TMARK
016480,000352: 37,2426 76431 ERTHR
016481,000353: 37,2427 77624 CALL
016482,000354: 37,2430 76275 OVERFFIX
016483,000355: 37,2431 74261 ERTHR SL VXSC
016484,000356: 37,2432 20212 9D
016485,000357: 37,2433 02405 ERVECTOR
016486,000358: 37,2434 53321 MXV VAD
016487,000359: 37,2435 02643 XSM
016488,000360: 37,2436 02564 ERCOMP
016489,000361: 37,2437 16564 STODL ERCOMP
016490,000362: 37,2440 02431 TEMPTIME
016491,000363: 37,2441 02433 STORE TMARK
016492,000364: 37,2442 47170 AXT,1 RTB
016493,000365: 37,2443 02563 ECADR ERCOMP
016494,000366: 37,2444 21706 PULSEIMU
016495,000367: 37,2445 77650 GOTO
016496,000368: 37,2446 00051 S2
016497,000369:
016498,000370: 37,2447 00006 EARTHR* EXTEND
016499,000371: 37,2450 23420 QXCH QPLACES
016500,000372: 37,2451 06042 TC INTPRET
016501,000373: 37,2452 77624 CALL
016502,000374: 37,2453 76420 EARTHR
016503,000375: 37,2454 77776 EXIT
016504,000376: 37,2455 02315 TC IMUSLLLG
016505,000377: 37,2456 01420 TC QPLACES
016506,000378:
016507,000379: 37,2457 00006 SHOW EXTEND
016508,000380:
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Page 386
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016510,000382: 37,2460 23417 QXCH QPLACE
016511,000383: 37,2461 31416 SHOW1 CA POSITON
016512,000384: 37,2462 55051 TS DSPTEM2 +2
016513,000385: 37,2463 32472 CA VB06N98
016514,000386: 37,2464 04616 TC BANKCALL
016515,000387: 37,2465 20477 CADR GOFLASH
016516,000388: 37,2466 02270 TC ENDTEST1 # V 34
016517,000389: 37,2467 01417 TC QPLACE # V33
016518,000390: 37,2470 12461 TCF SHOW1
016519,000391:
016520,000392: 37,2471 07626 3990DEC DEC 3990 B-14
016521,000393: 37,2472 01542 VB06N98 VN 0698
016522,000394: 37,2473 01451 VN0641 VN 0641
016523,000395: 37,2474 4361 DEC17 = ND1
016524,000396: 37,2474 00072 DEC58 DEC 58 B-14
016525,000397: 37,2475 02737 OGCPL ECADR OGC
016526,000398: 37,2476 4777 1SECX = 1SEC
016527,000399: 37,2476 01664 XNBADR GENADR XNB
016528,000400: 37,2477 01642 XSMADR GENADR XSM
016529,000401: 4102 BLOCK 2
016530,000402: 4102 COUNT* $$/P07
016531,000403: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
016532,000404: 4103 00006 EXTEND
016533,000405: 4104 00004 READ LOSCALAR
016534,000406: 4105 54001 TS L
016535,000407: 4106 00006 EXTEND
016536,000408: 4107 06004 RXOR LOSCALAR
016537,000409: 4110 00006 EXTEND
016538,000410: 4111 14115 BZF +4
016539,000411: 4112 00006 EXTEND
016540,000412: 4113 00004 READ LOSCALAR
016541,000413: 4114 54001 TS L
016542,000414: 4115 44733 +4 CS POSMAX
016543,000415: 4116 60001 AD L
016544,000416: 4117 00006 EXTEND
016545,000417: 4120 14103 BZF FINETIME +1
016546,000418: 4121 00006 EXTEND
016547,000419: 4122 00003 READ HISCALAR
016548,000420: 4123 00002 TC Q
016549,000421:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc