Source Code
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These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3),
the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72
source code was then modified by incorporating changes known from contemporary documentation to have
been made between revisions 72 and 72/3. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72/3 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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012377,000002: ## Copyright: Public domain.
012378,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012379,000004: ## Purpose: A section of Manche72 revision 3.
012380,000005: ## It is part of the reconstructed source code for the final, flown
012381,000006: ## release of the software for the Command Module's (CM) Apollo
012382,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
012383,000008: ## of this program are available; instead, this file was recreated
012384,000009: ## from a reconstructed copy of Comanche 072. It has been adapted
012385,000010: ## such that the resulting bugger words exactly match those
012386,000011: ## specified for Manche72 revision 3 in NASA drawing 2021153G,
012387,000012: ## which gives relatively high confidence that the reconstruction
012388,000013: ## is correct.
012389,000014: ## Assembler: yaYUL
012390,000015: ## Contact: Ron Burkey <info@sandroid.org>.
012391,000016: ## Website: www.ibiblio.org/apollo/index.html
012392,000017: ## Mod history: 2024-05-19 MAS Created from Comanche 072.
012393,000018:
012394,000019: 07,2441 BANK 7
012395,000020: 06,2000 SETLOC IMUCOMP
012396,000021: 06,2000 BANK
012397,000022: 06,3262 E3,1460 EBANK= NBDX
012398,000023:
012399,000024: 06,3262 COUNT 06/ICOMP
012400,000025:
012401,000026: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012402,000027: 06,3263 56003 XCH EBANK
012403,000028: 06,3264 54163 TS MODE
012404,000029:
012405,000030: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012406,000031: 06,3266 13271 TCF +3
012407,000032: 06,3267 13271 TCF +2
012408,000033: 06,3270 13407 TCF IRIG1 # RETURN
012409,000034:
012410,000035: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012411,000036: # FOR DOWNLINK.
012412,000037:
012413,000038: 06,3272 35031 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012414,000039: 06,3273 54132 TS BUF +2
012415,000040:
012416,000041: 06,3274 50132 INDEX BUF +2
012417,000042: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012418,000043: 06,3276 00006 EXTEND
012419,000044: 06,3277 50132 INDEX BUF +2
012420,000045: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012421,000046: 06,3301 54002 TS Q # SAVE MAJOR PART
012422,000047:
012423,000048: 06,3302 30001 CA L # MINOR PART
012424,000049: 06,3303 00006 EXTEND
012425,000050: 06,3304 75026 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012426,000051: 06,3305 50132 INDEX BUF +2
012427,000052: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012428,000053:
012429,000054: 06,3307 30002 CA Q # MAJOR PART
012430,000055: 06,3310 00006 EXTEND
012431,000056: 06,3311 75026 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012432,000057: 06,3312 50132 INDEX BUF +2
012433,000058: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012434,000059:
012435,000060: 06,3314 50132 INDEX BUF +2
012436,000061: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-6)
012437,000062: 06,3316 00006 EXTEND
012438,000063: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
012439,000064: 06,3320 00006 EXTEND
012440,000065: 06,3321 75031 MP BIT3 # SCALE 2(+12) SHIFT RIGHT 12
012441,000066: 06,3322 50132 INDEX BUF +2
012442,000067: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012443,000068:
012444,000069: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
012445,000070: 06,3325 67716 AD NEG1
012446,000071: 06,3326 13273 TCF 1/PIPA1 +1
012447,000072: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012448,000073: 06,3330 00003 RELINT
012449,000074:
012450,000075: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012451,000076: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012452,000077:
012453,000078: 06,3333 00006 IRIGX EXTEND
012454,000079: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012455,000080: 06,3335 52155 DXCH MPAC
012456,000081: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012457,000082: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012458,000083:
012459,000084: 06,3340 00006 EXTEND #
012460,000085: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012461,000086: 06,3342 52155 DXCH MPAC #
012462,000087: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012463,000088: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012464,000089:
012465,000090: # EXTEND ***
012466,000091: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012467,000092: # DXCH MPAC ***
012468,000093: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012469,000094: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012470,000095:
012471,000096: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012472,000097: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012473,000098:
012474,000099: 06,3347 00006 IRIGY EXTEND
012475,000100: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012476,000101: 06,3351 52155 DXCH MPAC
012477,000102: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012478,000103: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012479,000104:
012480,000105: 06,3354 00006 EXTEND
012481,000106: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012482,000107: 06,3356 52155 DXCH MPAC
012483,000108: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012484,000109: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012485,000110:
012486,000111: # EXTEND ***
012487,000112: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012488,000113: # DXCH MPAC ***
012489,000114: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012490,000115: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012491,000116:
012492,000117: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012493,000118: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012494,000119:
012495,000120: 06,3363 00006 IRIGZ EXTEND
012496,000121: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012497,000122: 06,3365 52155 DXCH MPAC
012498,000123: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012499,000124: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012500,000125:
012501,000126: 06,3370 00006 EXTEND
012502,000127: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012503,000128: 06,3372 52155 DXCH MPAC
012504,000129: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012505,000130: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012506,000131:
012507,000132: # EXTEND ***
012508,000133: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012509,000134: # DXCH MPAC ***
012510,000135: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012511,000136: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012512,000137:
012513,000138: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012514,000139: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012515,000140:
012516,000141: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012517,000142: 06,3400 13402 TCF +2 # YES
012518,000143: 06,3401 13407 TCF IRIG1 # NO
012519,000144:
012520,000145: 06,3402 35107 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012521,000146: 06,3403 05150 TC NOVAC
012522,000147: 06,3404 E3,1460 EBANK= NBDX
012523,000148: 06,3404 03474 14063 2CADR 1/GYRO
012524,000149:
012525,000150: 06,3406 00003 RELINT
012526,000151: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012527,000152: 06,3410 54003 TS EBANK
012528,000153: 06,3411 14711 TCF SWRETURN
012529,000154:
012530,000155: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012531,000156: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012532,000157: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012533,000158: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012534,000159:
012535,000160: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012536,000161: 06,3417 00006 EXTEND
012537,000162: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012538,000163: 06,3421 54001 TS L
012539,000164: 06,3422 35035 CAF ZERO
012540,000165: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012541,000166:
012542,000167: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012543,000168: 06,3425 00006 EXTEND
012544,000169: 06,3426 75020 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012545,000170: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012546,000171: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012547,000172:
012548,000173: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012549,000174: 06,3432 00006 EXTEND
012550,000175: 06,3433 75020 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012551,000176: 06,3434 54001 TS L
012552,000177: 06,3435 35035 CAF ZERO
012553,000178: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012554,000179: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012555,000180:
012556,000181: 06,3440 00002 TC Q
012557,000182:
012558,000183: 06,3441 00006 DRIFTSUB EXTEND
012559,000184: 06,3442 22131 QXCH BUF +1
012560,000185:
012561,000186: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012562,000187: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012563,000188: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012564,000189: 06,3446 00006 EXTEND
012565,000190: 06,3447 75030 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012566,000191: 06,3450 50130 INDEX BUF
012567,000192: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012568,000193:
012569,000194: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012570,000195: 06,3453 00006 EXTEND
012571,000196: 06,3454 75030 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012572,000197: 06,3455 54001 TS L
012573,000198: 06,3456 35035 CAF ZERO
012574,000199: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012575,000200: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012576,000201:
012577,000202: 06,3461 35032 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012578,000203: 06,3462 60130 AD BUF
012579,000204: 06,3463 56130 XCH BUF
012580,000205: 06,3464 50000 INDEX A
012581,000206: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012582,000207: 06,3466 13470 TCF +2 # YES
012583,000208: 06,3467 00131 TC BUF +1 # NO
012584,000209:
012585,000210: 06,3470 77716 MASK NEGONE
012586,000211: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012587,000212: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012588,000213: 06,3473 00131 TC BUF +1 # NO
012589,000214:
012590,000215: 06,3474 35031 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012591,000216: 06,3475 54130 TS BUF
012592,000217:
012593,000218: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012594,000219: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012595,000220: 06,3500 00006 EXTEND
012596,000221: 06,3501 75024 MP BIT8 # SHIFT RIGHT 7
012597,000222: 06,3502 50130 INDEX BUF
012598,000223: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012599,000224:
012600,000225: 06,3504 35035 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012601,000226: 06,3505 50130 INDEX BUF
012602,000227: 06,3506 57471 XCH GCOMP # GYRO PULSES
012603,000228: 06,3507 00006 EXTEND
012604,000229: 06,3510 75024 MP BIT8 # SHIFT RIGHT 7
012605,000230: 06,3511 50130 INDEX BUF
012606,000231: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012607,000232:
012608,000233: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012609,000234: 06,3514 67716 AD NEG1
012610,000235: 06,3515 13475 TCF 1/GYRO +1
012611,000236: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012612,000237:
012613,000238: 06,3517 33516 CAF LGCOMP
012614,000239: 06,3520 04676 TC BANKCALL
012615,000240: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012616,000241: 06,3522 04676 TC BANKCALL
012617,000242: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012618,000243: 06,3524 15233 TCF ENDOFJOB # TEMPORARY
012619,000244:
012620,000245: 06,3525 35031 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012621,000246: 06,3526 54130 TS BUF
012622,000247:
012623,000248: 06,3527 50130 INDEX BUF # RESCALE
012624,000249: 06,3530 31472 CA GCOMP +1
012625,000250: 06,3531 00006 EXTEND
012626,000251: 06,3532 75024 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012627,000252: 06,3533 50130 INDEX BUF
012628,000253: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012629,000254:
012630,000255: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012631,000256: 06,3536 67716 AD NEG1
012632,000257: 06,3537 13526 TCF GCOMP1 +1
012633,000258:
012634,000259: 06,3540 01436 V06N30S VN 0630
012635,000260: 06,3541 15233 TCF ENDOFJOB
012636,000261:
012637,000262: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012638,000263: 06,3543 13546 TCF +3
012639,000264: 06,3544 13546 TCF +2
012640,000265: 06,3545 15233 TCF ENDOFJOB
012641,000266:
012642,000267: 06,3546 00004 INHINT
012643,000268: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012644,000269: 06,3550 15233 TCF ENDOFJOB
012645,000270: 06,3551 15233 TCF ENDOFJOB
012646,000271: 06,3552 13553 TCF +1
012647,000272:
012648,000273: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012649,000274: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012650,000275: 06,3555 00003 RELINT
012651,000276: 06,3556 40000 COM
012652,000277: 06,3557 61074 AD 1/PIPADT
012653,000278: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012654,000279: 06,3561 65033 AD ONE # NO TIME1 OVERFLOW
012655,000280: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012656,000281: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012657,000282: 06,3564 15233 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012658,000283:
012659,000284: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012660,000285: 06,3566 65013 AD POSMAX
012661,000286:
012662,000287: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012663,000288: 06,3570 75022 MP BIT10 # SHIFT RIGHT 5
012664,000289: 06,3571 52123 DXCH VBUF
012665,000290: 06,3572 00006 EXTEND
012666,000291: 06,3573 30123 DCA VBUF
012667,000292: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012668,000293:
012669,000294: 06,3575 35035 CAF ZERO
012670,000295: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012671,000296: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012672,000297:
012673,000298: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012674,000299: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012675,000300:
012676,000301: 06,3602 00006 EXTEND
012677,000302: 06,3603 40123 DCS VBUF
012678,000303: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012679,000304: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
012680,000305: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012681,000306:
012682,000307: 06,3607 00006 EXTEND
012683,000308: 06,3610 40123 DCS VBUF
012684,000309: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012685,000310: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012686,000311: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012687,000312: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012688,000313: 06,3615 13474 TCF 1/GYRO # YES
012689,000314: 06,3616 15233 TCF ENDOFJOB # NO
012690,000315:
012691,000316: 06,3617 56002 FBIASSUB XCH Q
012692,000317: 06,3620 54131 TS BUF +1
012693,000318:
012694,000319: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012695,000320: 06,3622 00006 EXTEND
012696,000321: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
012697,000322: 06,3624 50130 INDEX BUF
012698,000323: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012699,000324:
012700,000325: 06,3626 30002 CA Q # NOW FRACTIONAL PART
012701,000326: 06,3627 00006 EXTEND
012702,000327: 06,3630 70155 MP MPAC +1
012703,000328: 06,3631 54001 TS L
012704,000329: 06,3632 35035 CAF ZERO
012705,000330: 06,3633 50130 INDEX BUF
012706,000331: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012707,000332:
012708,000333: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
012709,000334:
012710,000335: 06,3636 04676 LASTBIAS TC BANKCALL
012711,000336: 06,3637 17156 CADR PIPUSE
012712,000337:
012713,000338: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012714,000339: 06,3641 13644 TCF +3
012715,000340: 06,3642 13644 TCF +2
012716,000341: 06,3643 15233 TCF ENDOFJOB
012717,000342:
012718,000343: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
012719,000344: 06,3645 57074 XCH 1/PIPADT
012720,000345: 06,3646 40000 COM
012721,000346: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
012722,000347: 06,3650 13560 TCF NBD2
012723,000348:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc