Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
014774,000002: ## Copyright: Public domain.
014775,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014776,000004: ## Purpose: A section of Luminary revision 210.
014777,000005: ## It is part of the source code for the Lunar Module's (LM)
014778,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
014779,000007: ## This file is intended to be a faithful transcription, except
014780,000008: ## that the code format has been changed to conform to the
014781,000009: ## requirements of the yaYUL assembler rather than the
014782,000010: ## original YUL assembler.
014783,000011: ## Reference: pp. 338-349
014784,000012: ## Assembler: yaYUL
014785,000013: ## Contact: Ron Burkey <info@sandroid.org>.
014786,000014: ## Website: www.ibiblio.org/apollo/index.html
014787,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
014788,000016: ## 2016-11-24 HG Transcribed
014789,000017: ## 2016-12-23 RSB Proofed comment text with octopus/ProoferComments
014790,000018: ## and fixed all errors found.
014791,000019: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014792,000020: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
014793,000021: ## side-by-side diff of Sunburst 120 and Luminary
014794,000022: ## 69/99/116/131/210.
014795,000023:
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Page 338 |
014797,000025: 07,2607 BANK 7
014798,000026: 06,2000 SETLOC IMUCOMP
014799,000027: 06,2000 BANK
014800,000028:
014801,000029: 06,3333 E3,1460 EBANK= NBDX
014802,000030:
014803,000031: 06,3333 COUNT* $$/ICOMP
014804,000032: 06,3333 33601 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014805,000033: 06,3334 56003 XCH EBANK
014806,000034: 06,3335 54163 TS MODE
014807,000035:
014808,000036: 06,3336 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014809,000037: 06,3337 13342 TCF +3
014810,000038: 06,3340 13342 TCF +2
014811,000039: 06,3341 13423 TCF IRIG1 # RETURN
014812,000040:
014813,000041: 06,3342 34742 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014814,000042: 06,3343 54132 TS BUF +2
014815,000043:
014816,000044: 06,3344 50132 INDEX BUF +2
014817,000045: 06,3345 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014818,000046: 06,3346 00006 EXTEND
014819,000047: 06,3347 50132 INDEX BUF +2
014820,000048: 06,3350 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014821,000049: 06,3351 54002 TS Q # SAVE MAJOR PART
014822,000050:
014823,000051: 06,3352 30001 CA L # MINOR PART
014824,000052: 06,3353 00006 EXTEND
014825,000053: 06,3354 74737 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014826,000054: 06,3355 50132 INDEX BUF +2
014827,000055: 06,3356 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014828,000056:
014829,000057: 06,3357 30002 CA Q # MAJOR PART
014830,000058: 06,3360 00006 EXTEND
014831,000059: 06,3361 74737 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014832,000060: 06,3362 50132 INDEX BUF +2
014833,000061: 06,3363 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014834,000062:
014835,000063: 06,3364 50132 INDEX BUF +2
014836,000064: 06,3365 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
014837,000065: 06,3366 00006 EXTEND
014838,000066: 06,3367 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014839,000067: 06,3370 00006 EXTEND
014840,000068: 06,3371 74737 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
014841,000069: 06,3372 50132 INDEX BUF +2
014842,000070: 06,3373 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014843,000071:
014844,000072: 06,3374 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014845,000073: 06,3375 67770 AD NEG1
014846,000074: 06,3376 13343 TCF 1/PIPA1 +1
014847,000075:
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Page 339 |
014849,000077: 06,3377 13400 NOOP # LESS THAN ZERO IMPOSSIBLE
014850,000078:
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Page 340 |
014852,000080: 06,3400 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014853,000081: 06,3401 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014854,000082:
014855,000083: 06,3402 03426 TC IRIGX # COMPENSATE ACCELERATION TERMS
014856,000084:
014857,000085: 06,3403 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014858,000086: 06,3404 03524 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014859,000087:
014860,000088: 06,3405 03443 TC IRIGY # COMPENSATE ACCELERATION TERMS
014861,000089:
014862,000090: 06,3406 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014863,000091: 06,3407 03524 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014864,000092:
014865,000093: 06,3410 03460 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014866,000094:
014867,000095: 06,3411 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014868,000096: 06,3412 03524 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014869,000097:
014870,000098: 06,3413 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014871,000099: 06,3414 13416 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014872,000100: 06,3415 13423 TCF IRIG1 # NO RETURN
014873,000101:
014874,000102: 06,3416 35022 CA PRIO21 # PRIO GREATER THAN SERVICER
014875,000103: 06,3417 05063 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014876,000104: 06,3420 E3,1460 EBANK= NBDX
014877,000105: 06,3420 03557 14063 2CADR 1/GYRO
014878,000106:
014879,000107: 06,3422 00003 RELINT
014880,000108: 06,3423 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014881,000109: 06,3424 54003 TS EBANK
014882,000110: 06,3425 14622 TCF SWRETURN
014883,000111:
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Page 341 |
014885,000113: 06,3426 00006 IRIGX EXTEND
014886,000114: 06,3427 22156 QXCH MPAC +2 # SAVE Q
014887,000115: 06,3430 00006 EXTEND
014888,000116: 06,3431 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014889,000117: 06,3432 52155 DXCH MPAC
014890,000118: 06,3433 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014891,000119: 06,3434 03475 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014892,000120:
014893,000121: 06,3435 00006 EXTEND
014894,000122: 06,3436 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014895,000123: 06,3437 52155 DXCH MPAC
014896,000124: 06,3440 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014897,000125: 06,3441 03475 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014898,000126:
014899,000127: # EXTEND ***
014900,000128: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014901,000129: # DXCH MPAC ***
014902,000130: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014903,000131: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014904,000132:
014905,000133: 06,3442 00156 TC MPAC +2
014906,000134:
014907,000135: 06,3443 00006 IRIGY EXTEND
014908,000136: 06,3444 22156 QXCH MPAC +2 # SAVE Q
014909,000137: 06,3445 00006 EXTEND
014910,000138: 06,3446 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014911,000139: 06,3447 52155 DXCH MPAC
014912,000140: 06,3450 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014913,000141: 06,3451 03475 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014914,000142:
014915,000143: 06,3452 00006 EXTEND
014916,000144: 06,3453 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014917,000145: 06,3454 52155 DXCH MPAC
014918,000146: 06,3455 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014919,000147: 06,3456 03475 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014920,000148:
014921,000149: # EXTEND ***
014922,000150: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014923,000151: # DXCH MPAC ***
014924,000152: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014925,000153: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014926,000154:
014927,000155: 06,3457 00156 TC MPAC +2
014928,000156:
014929,000157: 06,3460 00006 IRIGZ EXTEND
014930,000158: 06,3461 22156 QXCH MPAC +2 # SAVE Q
014931,000159: 06,3462 00006 EXTEND
014932,000160: 06,3463 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014933,000161: 06,3464 52155 DXCH MPAC
014934,000162: 06,3465 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014935,000163:
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Page 342 |
014937,000165: 06,3466 03475 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014938,000166:
014939,000167: 06,3467 00006 EXTEND
014940,000168: 06,3470 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014941,000169: 06,3471 52155 DXCH MPAC
014942,000170: 06,3472 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014943,000171: 06,3473 03475 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014944,000172:
014945,000173: # EXTEND ***
014946,000174: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014947,000175: # DXCH MPAC ***
014948,000176: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014949,000177: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014950,000178:
014951,000179: 06,3474 00156 TC MPAC +2
014952,000180:
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Page 343 |
014954,000182: 06,3475 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014955,000183: 06,3476 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014956,000184: 06,3477 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014957,000185: 06,3500 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014958,000186:
014959,000187: 06,3501 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014960,000188: 06,3502 00006 EXTEND
014961,000189: 06,3503 70154 MP MPAC # ADIA OR ADSRA
014962,000190: 06,3504 54001 TS L
014963,000191: 06,3505 34746 CAF ZERO
014964,000192: 06,3506 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014965,000193:
014966,000194: 06,3507 30122 CA VBUF # PARTIAL RESULT - MAJOR
014967,000195: 06,3510 00006 EXTEND
014968,000196: 06,3511 74734 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014969,000197: 06,3512 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014970,000198: 06,3513 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014971,000199:
014972,000200: 06,3514 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014973,000201: 06,3515 00006 EXTEND
014974,000202: 06,3516 74734 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014975,000203: 06,3517 54001 TS L
014976,000204: 06,3520 34746 CAF ZERO
014977,000205: 06,3521 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014978,000206: 06,3522 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014979,000207:
014980,000208: 06,3523 00002 TC Q
014981,000209:
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Page 344 |
014983,000211: 06,3524 00006 DRIFTSUB EXTEND
014984,000212: 06,3525 22131 QXCH BUF +1
014985,000213:
014986,000214: 06,3526 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014987,000215: 06,3527 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014988,000216: 06,3530 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014989,000217: 06,3531 00006 EXTEND
014990,000218: 06,3532 74741 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014991,000219: 06,3533 50130 INDEX BUF
014992,000220: 06,3534 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014993,000221:
014994,000222: 06,3535 30155 CA MPAC +1 # NOW MINOR PART
014995,000223: 06,3536 00006 EXTEND
014996,000224: 06,3537 74741 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014997,000225: 06,3540 54001 TS L
014998,000226: 06,3541 34746 CAF ZERO
014999,000227: 06,3542 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
015000,000228: 06,3543 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015001,000229:
015002,000230: 06,3544 34743 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
015003,000231: 06,3545 60130 AD BUF
015004,000232: 06,3546 56130 XCH BUF
015005,000233: 06,3547 50000 INDEX A
015006,000234: 06,3550 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
015007,000235: 06,3551 13553 TCF +2 # YES
015008,000236: 06,3552 00131 TC BUF +1 # NO
015009,000237:
015010,000238: 06,3553 73623 MASK COMPCHK # DEC -1
015011,000239: 06,3554 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
015012,000240: 06,3555 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
015013,000241: 06,3556 00131 TC BUF +1 # NO
015014,000242:
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Page 345 |
015016,000244: 06,3557 34742 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
015017,000245: 06,3560 54130 TS BUF
015018,000246:
015019,000247: 06,3561 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
015020,000248: 06,3562 31472 CA GCOMP +1 # FRACTIONAL PULSES
015021,000249: 06,3563 00006 EXTEND
015022,000250: 06,3564 74735 MP BIT8 # SHIFT RIGHT 7
015023,000251: 06,3565 50130 INDEX BUF
015024,000252: 06,3566 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
015025,000253:
015026,000254: 06,3567 34746 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
015027,000255: 06,3570 50130 INDEX BUF
015028,000256: 06,3571 57471 XCH GCOMP # GYRO PULSES
015029,000257: 06,3572 00006 EXTEND
015030,000258: 06,3573 74735 MP BIT8 # SHIFT RIGHT 7
015031,000259: 06,3574 50130 INDEX BUF
015032,000260: 06,3575 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
015033,000261:
015034,000262: 06,3576 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
015035,000263: 06,3577 67770 AD NEG1
015036,000264: 06,3600 13560 TCF 1/GYRO +1
015037,000265: 06,3601 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
015038,000266:
015039,000267: 06,3602 33601 CAF LGCOMP
015040,000268: 06,3603 04607 TC BANKCALL
015041,000269: 06,3604 17310 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
015042,000270: 06,3605 04607 TC BANKCALL
015043,000271: 06,3606 17735 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
015044,000272: 06,3607 13610 TCF +1
015045,000273:
015046,000274: 06,3610 34742 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
015047,000275: 06,3611 54130 TS BUF
015048,000276:
015049,000277: 06,3612 50130 INDEX BUF # RESCALE
015050,000278: 06,3613 31472 CA GCOMP +1
015051,000279: 06,3614 00006 EXTEND
015052,000280: 06,3615 74735 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
015053,000281: 06,3616 50130 INDEX BUF
015054,000282: 06,3617 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
015055,000283:
015056,000284: 06,3620 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
015057,000285: 06,3621 67770 AD NEG1
015058,000286: 06,3622 13611 TCF GCOMP1 +1
015059,000287: 06,3623 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
015060,000288: 06,3624 15146 TCF ENDOFJOB
015061,000289:
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Page 346 |
015063,000291: 06,3625 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
015064,000292: 06,3626 13631 TCF +3
015065,000293: 06,3627 13631 TCF +2
015066,000294: 06,3630 15146 TCF ENDOFJOB
015067,000295:
015068,000296: 06,3631 00004 INHINT
015069,000297: 06,3632 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
015070,000298: 06,3633 15146 TCF ENDOFJOB
015071,000299: 06,3634 15146 TCF ENDOFJOB
015072,000300: 06,3635 13636 TCF +1
015073,000301:
015074,000302: 06,3636 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015075,000303: 06,3637 74735 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
015076,000304: 06,3640 54141 TS TEM1 # WILL BE COMPENSATED.
015077,000305: 06,3641 00006 EXTEND
015078,000306: 06,3642 13645 BZF +3 # ARE WE ON THE SURFACE
015079,000307:
015080,000308: 06,3643 04665 TC IBNKCALL # ON THE SURFACE
015081,000309: 06,3644 77543 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
015082,000310:
015083,000311: 06,3645 30025 CA TIME1 # (CS) X 2(+14)
015084,000312: 06,3646 57074 XCH 1/PIPADT # PREVIOUS TIME
015085,000313: 06,3647 00003 RELINT
015086,000314: 06,3650 40000 COM
015087,000315: 06,3651 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
015088,000316: 06,3652 64727 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
015089,000317: 06,3653 64727 AD HALF
015090,000318: 06,3654 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
015091,000319: 06,3655 56001 XCH L # OVERFLOW.
015092,000320:
015093,000321: 06,3656 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
015094,000322: 06,3657 74733 MP BIT10 # SHIFT RIGHT 5
015095,000323: 06,3660 52125 DXCH VBUF +2
015096,000324:
015097,000325: 06,3661 34746 CA ZERO
015098,000326: 06,3662 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
015099,000327: 06,3663 54130 TS BUF # INDEX X, Y, Z.
015100,000328:
015101,000329: 06,3664 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015102,000330: 06,3665 03426 TC IRIGX # COMPENSATE ACCELERATION TERMS.
015103,000331:
015104,000332: 06,3666 00006 EXTEND
015105,000333: 06,3667 30125 DCA VBUF +2
015106,000334: 06,3670 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
015107,000335:
015108,000336: 06,3671 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
015109,000337: 06,3672 03714 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
015110,000338:
015111,000339: 06,3673 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015112,000340: 06,3674 03443 TC IRIGY # COMPENSATE ACCELERATION TERMS.
015113,000341:
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Page 347 |
015115,000343: 06,3675 00006 EXTEND
015116,000344: 06,3676 40125 DCS VBUF +2
015117,000345: 06,3677 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015118,000346: 06,3700 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
015119,000347: 06,3701 03714 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
015120,000348:
015121,000349: 06,3702 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015122,000350: 06,3703 03460 TC IRIGZ # COMPENSATE ACCELERATION TERMS
015123,000351:
015124,000352: 06,3704 00006 EXTEND
015125,000353: 06,3705 40125 DCS VBUF +2
015126,000354: 06,3706 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015127,000355: 06,3707 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
015128,000356: 06,3710 03714 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
015129,000357:
015130,000358: 06,3711 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
015131,000359: 06,3712 13557 TCF 1/GYRO # YES
015132,000360: 06,3713 15146 TCF ENDOFJOB # NO
015133,000361:
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Page 348 |
015135,000363: 06,3714 56002 FBIASSUB XCH Q
015136,000364: 06,3715 54131 TS BUF +1
015137,000365:
015138,000366: 06,3716 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
015139,000367: 06,3717 00006 EXTEND
015140,000368: 06,3720 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
015141,000369: 06,3721 50130 INDEX BUF
015142,000370: 06,3722 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015143,000371:
015144,000372: 06,3723 30002 CA Q # NOW FRACTIONAL PART
015145,000373: 06,3724 00006 EXTEND
015146,000374: 06,3725 70155 MP MPAC +1
015147,000375: 06,3726 54001 TS L
015148,000376: 06,3727 34746 CAF ZERO
015149,000377: 06,3730 50130 INDEX BUF
015150,000378: 06,3731 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015151,000379:
015152,000380: 06,3732 13544 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
015153,000381:
015154,000382: 06,3733 04607 LASTBIAS TC BANKCALL
015155,000383: 06,3734 17264 CADR PIPUSE1
015156,000384:
015157,000385: 06,3735 11477 CCS GCOMPSW
015158,000386: 06,3736 13741 TCF +3
015159,000387: 06,3737 13741 TCF +2
015160,000388: 06,3740 15146 TCF ENDOFJOB
015161,000389:
015162,000390: 06,3741 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015163,000391: 06,3742 74735 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
015164,000392: 06,3743 54141 TS TEM1 # WILL BE COMPENSATED.
015165,000393:
015166,000394: 06,3744 37737 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
015167,000395: 06,3745 57074 XCH 1/PIPADT
015168,000396: 06,3746 40000 COM
015169,000397: 06,3747 61234 AD PIPTIME +1
015170,000398: 06,3750 13652 TCF NBD2
015171,000399:
015172,000400: 06,3751 33601 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
015173,000401: 06,3752 56003 XCH EBANK # CALL TO 1/PIPA
015174,000402: 06,3753 54163 TS MODE
015175,000403:
015176,000404: 06,3754 34746 CAF ZERO
015177,000405: 06,3755 55477 TS GCOMPSW
015178,000406: 06,3756 55471 TS GCOMP
015179,000407: 06,3757 55472 TS GCOMP +1
015180,000408: 06,3760 55473 TS GCOMP +2
015181,000409: 06,3761 55474 TS GCOMP +3
015182,000410: 06,3762 55475 TS GCOMP +4
015183,000411:
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Page 349 |
015185,000413: 06,3763 55476 TS GCOMP +5
015186,000414:
015187,000415: 06,3764 13423 TCF IRIG1 # RESTORE EBANK AND RETURN
015188,000416:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc