Source Code
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These source-code files are part of a reconstructed copy of Skylark 048, the
Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the
Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.
They have been created via disassembly of binary dumps of the original core rope
memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551,
2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules
was provided by the New Mexico Museum of Space History, who we are much indebted to.
The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as
a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations
for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document
contains pseudocode of essentially all of Skylark, using original program labels which
have been copied for this source reconstruction.
Since only binary dumps (rather than listings) of Skylark are available as source material,
all comments and labels are approximate.
They have been taken from the Programmed Guidance Equations or 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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012850,000002: ## Copyright: Public domain.
012851,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012852,000004: ## Purpose: A section of Skylark revision 048.
012853,000005: ## It is part of the source code for the Apollo Guidance Computer (AGC)
012854,000006: ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of
012855,000007: ## this software are available; instead, this file was created via
012856,000008: ## disassembly of dumps of the core rope modules actually flown on
012857,000009: ## Skylab-2. Access to these modules was provided by the New Mexico
012858,000010: ## Museum of Space History.
012859,000011: ## Assembler: yaYUL
012860,000012: ## Contact: Ron Burkey <info@sandroid.org>.
012861,000013: ## Website: www.ibiblio.org/apollo/index.html
012862,000014: ## Mod history: 2023-09-04 MAS Created from Artemis 072.
012863,000015:
012864,000016:
012865,000017: 06,2000 SETLOC IMUCOMP
012866,000018: 06,2000 BANK
012867,000019: 06,3273 E3,1460 EBANK= NBDX
012868,000020:
012869,000021: 06,3273 COUNT* $$/ICOMP
012870,000022: 06,3273 33532 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012871,000023: 06,3274 56003 XCH EBANK
012872,000024: 06,3275 54163 TS MODE
012873,000025:
012874,000026: 06,3276 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012875,000027: 06,3277 13302 TCF +3
012876,000028: 06,3300 13302 TCF +2
012877,000029: 06,3301 13417 TCF IRIG1 # RETURN
012878,000030:
012879,000031: 06,3302 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012880,000032: # FOR DOWNLINK.
012881,000033:
012882,000034: 06,3303 34777 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012883,000035: 06,3304 77702 +1 MASK NEGONE
012884,000036: 06,3305 54132 TS BUF +2
012885,000037:
012886,000038: 06,3306 50132 INDEX BUF +2
012887,000039: 06,3307 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012888,000040: 06,3310 00006 EXTEND
012889,000041: 06,3311 50132 INDEX BUF +2
012890,000042: 06,3312 71304 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012891,000043: 06,3313 54002 TS Q # SAVE MAJOR PART
012892,000044:
012893,000045: 06,3314 30001 CA L # MINOR PART
012894,000046: 06,3315 00006 EXTEND
012895,000047: 06,3316 74774 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012896,000048: 06,3317 50132 INDEX BUF +2
012897,000049: 06,3320 55305 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012898,000050:
012899,000051: 06,3321 30002 CA Q # MAJOR PART
012900,000052: 06,3322 00006 EXTEND
012901,000053: 06,3323 74774 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012902,000054: 06,3324 50132 INDEX BUF +2
012903,000055: 06,3325 21305 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012904,000056:
012905,000057: 06,3326 50132 INDEX BUF +2
012906,000058: 06,3327 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-6)
012907,000059: 06,3330 00006 EXTEND
012908,000060: 06,3331 71267 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
012909,000061: 06,3332 00006 EXTEND
012910,000062: 06,3333 74777 MP BIT3 # SCALE 2(+12) SHIFT RIGHT 12
012911,000063: 06,3334 50132 INDEX BUF +2
012912,000064: 06,3335 21305 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012913,000065:
012914,000066: 06,3336 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
012915,000067: 06,3337 13304 TCF 1/PIPA1 +1
012916,000068: 06,3340 00003 RELINT
012917,000069:
012918,000070: 06,3341 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012919,000071: 06,3342 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012920,000072:
012921,000073: 06,3343 00006 IRIGX EXTEND
012922,000074: 06,3344 41305 DCS DELVX # (PIPA PULSES) X 2(+14)
012923,000075: 06,3345 52155 DXCH MPAC
012924,000076: 06,3346 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012925,000077: 06,3347 03422 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012926,000078:
012927,000079: 06,3350 00006 EXTEND
012928,000080: 06,3351 41307 DCS DELVY # (PIPA PULSES) X 2(+14)
012929,000081: 06,3352 52155 DXCH MPAC
012930,000082: 06,3353 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012931,000083: 06,3354 03422 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012932,000084:
012933,000085: # EXTEND ***
012934,000086: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012935,000087: # DXCH MPAC ***
012936,000088: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012937,000089: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012938,000090:
012939,000091: 06,3355 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012940,000092: 06,3356 03451 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012941,000093:
012942,000094: 06,3357 00006 IRIGY EXTEND
012943,000095: 06,3360 41307 DCS DELVY # (PIPA PULSES) X 2(+14)
012944,000096: 06,3361 52155 DXCH MPAC
012945,000097: 06,3362 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012946,000098: 06,3363 03422 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012947,000099:
012948,000100: 06,3364 00006 EXTEND
012949,000101: 06,3365 41311 DCS DELVZ # (PIPA PULSES) X 2(+14)
012950,000102: 06,3366 52155 DXCH MPAC
012951,000103: 06,3367 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012952,000104: 06,3370 03422 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012953,000105:
012954,000106: # EXTEND ***
012955,000107: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012956,000108: # DXCH MPAC ***
012957,000109: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012958,000110: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012959,000111:
012960,000112: 06,3371 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012961,000113: 06,3372 03451 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012962,000114:
012963,000115: 06,3373 00006 IRIGZ EXTEND
012964,000116: 06,3374 41307 DCS DELVY # (PIPA PULSES) X 2(+14)
012965,000117: 06,3375 52155 DXCH MPAC
012966,000118: 06,3376 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012967,000119: 06,3377 03422 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012968,000120:
012969,000121: 06,3400 00006 EXTEND
012970,000122: 06,3401 41311 DCS DELVZ # (PIPA PULSES) X 2(+14)
012971,000123: 06,3402 52155 DXCH MPAC
012972,000124: 06,3403 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012973,000125: 06,3404 03422 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012974,000126:
012975,000127: # EXTEND ***
012976,000128: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012977,000129: # DXCH MPAC ***
012978,000130: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012979,000131: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012980,000132:
012981,000133: 06,3405 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012982,000134: 06,3406 03451 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012983,000135:
012984,000136: 06,3407 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012985,000137: 06,3410 13412 TCF +2 # YES
012986,000138: 06,3411 13417 TCF IRIG1 # NO
012987,000139:
012988,000140: 06,3412 35072 CA PRIO21 # HIGHER THAN SERVICER-LESS THAN PRELAUNCH
012989,000141: 06,3413 05134 TC NOVAC
012990,000142: 06,3414 E3,1460 EBANK= NBDX
012991,000143: 06,3414 03504 14063 2CADR 1/CHECK
012992,000144:
012993,000145: 06,3416 00003 RELINT
012994,000146: 06,3417 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012995,000147: 06,3420 54003 TS EBANK
012996,000148: 06,3421 14662 TCF SWRETURN
012997,000149:
012998,000150: 06,3422 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012999,000151: 06,3423 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013000,000152: 06,3424 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013001,000153: 06,3425 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
013002,000154:
013003,000155: 06,3426 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013004,000156: 06,3427 00006 EXTEND
013005,000157: 06,3430 70154 MP MPAC # ADIA OR ADSRA
013006,000158: 06,3431 54001 TS L
013007,000159: 06,3432 35003 CAF ZERO
013008,000160: 06,3433 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
013009,000161:
013010,000162: 06,3434 30122 CA VBUF # PARTIAL RESULT - MAJOR
013011,000163: 06,3435 00006 EXTEND
013012,000164: 06,3436 74766 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013013,000165: 06,3437 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013014,000166: 06,3440 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013015,000167:
013016,000168: 06,3441 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013017,000169: 06,3442 00006 EXTEND
013018,000170: 06,3443 74766 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013019,000171: 06,3444 54001 TS L
013020,000172: 06,3445 35003 CAF ZERO
013021,000173: 06,3446 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013022,000174: 06,3447 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013023,000175:
013024,000176: 06,3450 00002 TC Q
013025,000177:
013026,000178: 06,3451 00006 DRIFTSUB EXTEND
013027,000179: 06,3452 22131 QXCH BUF +1
013028,000180:
013029,000181: 06,3453 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013030,000182: 06,3454 71267 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013031,000183: 06,3455 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013032,000184: 06,3456 00006 EXTEND
013033,000185: 06,3457 74776 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013034,000186: 06,3460 50130 INDEX BUF
013035,000187: 06,3461 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013036,000188:
013037,000189: 06,3462 30155 CA MPAC +1 # NOW MINOR PART
013038,000190: 06,3463 00006 EXTEND
013039,000191: 06,3464 74776 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013040,000192: 06,3465 54001 TS L
013041,000193: 06,3466 35003 CAF ZERO
013042,000194: 06,3467 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013043,000195: 06,3470 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013044,000196:
013045,000197: 06,3471 35000 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013046,000198: 06,3472 60130 AD BUF
013047,000199: 06,3473 56130 XCH BUF
013048,000200: 06,3474 50000 INDEX A
013049,000201: 06,3475 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013050,000202: 06,3476 13500 TCF +2 # YES
013051,000203: 06,3477 00131 TC BUF +1 # NO
013052,000204:
013053,000205: 06,3500 77702 MASK NEGONE
013054,000206: 06,3501 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013055,000207: 06,3502 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013056,000208: 06,3503 00131 TC BUF +1 # NO
013057,000209:
013058,000210: 06,3504 31325 1/CHECK CA MODECADR
013059,000211: 06,3505 00006 EXTEND
013060,000212: 06,3506 13510 BZF 1/GYRO
013061,000213: 06,3507 15220 TCF ENDOFJOB
013062,000214:
013063,000215: 06,3510 34777 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013064,000216: 06,3511 54130 +1 TS BUF
013065,000217:
013066,000218: 06,3512 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013067,000219: 06,3513 31472 CA GCOMP +1 # FRACTIONAL PULSES
013068,000220: 06,3514 00006 EXTEND
013069,000221: 06,3515 74772 MP BIT8 # SHIFT RIGHT 7
013070,000222: 06,3516 50130 INDEX BUF
013071,000223: 06,3517 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013072,000224:
013073,000225: 06,3520 35003 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013074,000226: 06,3521 50130 INDEX BUF
013075,000227: 06,3522 57471 XCH GCOMP # GYRO PULSES
013076,000228: 06,3523 00006 EXTEND
013077,000229: 06,3524 74772 MP BIT8 # SHIFT RIGHT 7
013078,000230: 06,3525 50130 INDEX BUF
013079,000231: 06,3526 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013080,000232:
013081,000233: 06,3527 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013082,000234: 06,3530 67702 AD NEG1
013083,000235: 06,3531 13511 TCF 1/GYRO +1
013084,000236: 06,3532 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013085,000237:
013086,000238: 06,3533 33532 CAF LGCOMP
013087,000239: 06,3534 04647 TC BANKCALL
013088,000240: 06,3535 17175 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013089,000241: 06,3536 04647 TC BANKCALL
013090,000242: 06,3537 17575 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013091,000243: 06,3540 13541 TCF +1
013092,000244:
013093,000245: 06,3541 34777 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013094,000246: 06,3542 54130 +1 TS BUF
013095,000247:
013096,000248: 06,3543 50130 INDEX BUF # RESCALE
013097,000249: 06,3544 31472 CA GCOMP +1
013098,000250: 06,3545 00006 EXTEND
013099,000251: 06,3546 74772 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013100,000252: 06,3547 50130 INDEX BUF
013101,000253: 06,3550 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013102,000254:
013103,000255: 06,3551 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013104,000256: 06,3552 67702 AD NEG1
013105,000257: 06,3553 13542 TCF GCOMP1 +1
013106,000258: 06,3554 75252 OCT75252 OCT 75252 # -15 DEGREES USED BY T4RUPT
013107,000259: 06,3555 15220 TCF ENDOFJOB
013108,000260:
013109,000261: 06,3556 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013110,000262: 06,3557 13562 TCF +3
013111,000263: 06,3560 13562 TCF +2
013112,000264: 06,3561 15220 TCF ENDOFJOB
013113,000265:
013114,000266: 06,3562 00004 INHINT
013115,000267: 06,3563 30076 CA FLAGWRD2
013116,000268: 06,3564 74763 MASK DRFTBIT
013117,000269: 06,3565 00006 EXTEND
013118,000270: 06,3566 15220 BZF ENDOFJOB
013119,000271:
013120,000272: 06,3567 30025 CA TIME1 # (CS) X 2(+14)
013121,000273: 06,3570 57267 XCH 1/PIPADT # PREVIOUS TIME
013122,000274: 06,3571 00003 RELINT
013123,000275: 06,3572 40000 COM
013124,000276: 06,3573 61267 AD 1/PIPADT
013125,000277: 06,3574 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
013126,000278: 06,3575 65001 AD ONE # NO TIME1 OVERFLOW
013127,000279: 06,3576 13603 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
013128,000280: 06,3577 13601 TCF +2 # TIME1 OVERFLOW
013129,000281: 06,3600 15220 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013130,000282:
013131,000283: 06,3601 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
013132,000284: 06,3602 64761 AD POSMAX
013133,000285:
013134,000286: 06,3603 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013135,000287: 06,3604 74770 MP BIT10 # SHIFT RIGHT 5
013136,000288: 06,3605 52123 DXCH VBUF
013137,000289: 06,3606 00006 EXTEND
013138,000290: 06,3607 30123 DCA VBUF
013139,000291: 06,3610 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013140,000292:
013141,000293: 06,3611 35003 CAF ZERO
013142,000294: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
013143,000295: 06,3613 54130 TS BUF # PIPAX, PIPAY, PIPAZ
013144,000296:
013145,000297: 06,3614 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013146,000298: 06,3615 03633 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
013147,000299:
013148,000300: 06,3616 00006 EXTEND
013149,000301: 06,3617 40123 DCS VBUF
013150,000302: 06,3620 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013151,000303: 06,3621 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013152,000304: 06,3622 03633 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013153,000305:
013154,000306: 06,3623 00006 EXTEND
013155,000307: 06,3624 40123 DCS VBUF
013156,000308: 06,3625 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013157,000309: 06,3626 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013158,000310: 06,3627 03633 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013159,000311: 06,3630 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013160,000312: 06,3631 13510 TCF 1/GYRO # YES
013161,000313: 06,3632 15220 TCF ENDOFJOB # NO
013162,000314:
013163,000315: 06,3633 56002 FBIASSUB XCH Q
013164,000316: 06,3634 54131 TS BUF +1
013165,000317:
013166,000318: 06,3635 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013167,000319: 06,3636 00006 EXTEND
013168,000320: 06,3637 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013169,000321: 06,3640 50130 INDEX BUF
013170,000322: 06,3641 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013171,000323:
013172,000324: 06,3642 30002 CA Q # NOW FRACTIONAL PART
013173,000325: 06,3643 00006 EXTEND
013174,000326: 06,3644 70155 MP MPAC +1
013175,000327: 06,3645 54001 TS L
013176,000328: 06,3646 35003 CAF ZERO
013177,000329: 06,3647 50130 INDEX BUF
013178,000330: 06,3650 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013179,000331:
013180,000332: 06,3651 13471 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013181,000333:
013182,000334: 06,3652 04647 LASTBIAS TC BANKCALL
013183,000335: 06,3653 17145 CADR PIPUSE
013184,000336:
013185,000337: 06,3654 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013186,000338: 06,3655 13660 TCF +3
013187,000339: 06,3656 13660 TCF +2
013188,000340: 06,3657 15220 TCF ENDOFJOB
013189,000341:
013190,000342: 06,3660 37652 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013191,000343: 06,3661 57267 XCH 1/PIPADT
013192,000344: 06,3662 40000 COM
013193,000345: 06,3663 61077 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013194,000346: 06,3664 13574 TCF NBD2
013195,000347:
013196,000348: 06,3665 21450 90SECS DEC 9000 B-14
013197,000349: 06,3666 16037 20DEGS DEC 7199 B-14
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc