Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Linden Sims. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

014744,000002:                                                                                                  ## Copyright:   Public domain.
014745,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
014746,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
014747,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
014748,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
014749,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
014750,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
014751,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
014752,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
014753,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
014754,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
014755,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
014756,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
014757,000015:                                                                                                  ## Reference:   pp. 331-342
014758,000016:                                                                                                  ## Assembler:   yaYUL
014759,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
014760,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
014761,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
014762,000020:                                                                                                  ##              2017-08-21 RSB  Transcribed.
014763,000021: 

Page 331

014765,000023: 07,2661                                           BANK     7                                     
014766,000024: 06,2000                                           SETLOC   IMUCOMP                               
014767,000025: 06,2000                                           BANK                                           
014768,000026: 
014769,000027: 06,3271  E3,1460                                  EBANK=   NBDX                                  
014770,000028: 
014771,000029: 06,3271                                           COUNT*   $$/ICOMP                              
014772,000030: 06,3271           33537        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
014773,000031: 06,3272           56003                           XCH      EBANK                                 
014774,000032: 06,3273           54163                           TS       MODE                                  
014775,000033: 
014776,000034: 06,3274           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
014777,000035: 06,3275           13300                           TCF      +3                                    
014778,000036: 06,3276           13300                           TCF      +2                                    
014779,000037: 06,3277           13361                           TCF      IRIG1                                 #  RETURN
014780,000038: 
014781,000039: 06,3300           34751        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
014782,000040: 06,3301           54132                           TS       BUF        +2                         
014783,000041: 
014784,000042: 06,3302           50132                           INDEX    BUF        +2                         
014785,000043: 06,3303           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
014786,000044: 06,3304           00006                           EXTEND                                         
014787,000045: 06,3305           50132                           INDEX    BUF        +2                         
014788,000046: 06,3306           70324                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014789,000047: 06,3307           54002                           TS       Q                                     #  SAVE MAJOR PART
014790,000048: 
014791,000049: 06,3310           30001                           CA       L                                     #  MINOR PART
014792,000050: 06,3311           00006                           EXTEND                                         
014793,000051: 06,3312           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
014794,000052: 06,3313           50132                           INDEX    BUF        +2                         
014795,000053: 06,3314           54325                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
014796,000054: 
014797,000055: 06,3315           30002                           CA       Q                                     #  MAJOR PART
014798,000056: 06,3316           00006                           EXTEND                                         
014799,000057: 06,3317           74746                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
014800,000058: 06,3320           50132                           INDEX    BUF        +2                         
014801,000059: 06,3321           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
014802,000060: 
014803,000061: 06,3322           50132                           INDEX    BUF        +2                         
014804,000062: 06,3323           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-3)            *
014805,000063: 06,3324           00006                           EXTEND                                         
014806,000064: 06,3325           71074                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014807,000065: 06,3326           00006                           EXTEND                                         
014808,000066: 06,3327           74744                           MP       BIT8                                  #  SCALE 2(+9)   SHIFT RIGHT 7
014809,000067: 06,3330           50132                           INDEX    BUF        +2                         
014810,000068: 06,3331           20325                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014811,000069: 
014812,000070: 06,3332           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
014813,000071: 06,3333           67761                           AD       NEG1                                  
014814,000072: 06,3334           13301                           TCF      1/PIPA1    +1                         
014815,000073: 

Page 332

014817,000075: 06,3335           13336                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE
014818,000076: 

Page 333

014820,000078: 06,3336           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
014821,000079: 06,3337           54130                           TS       BUF                                   #  INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014822,000080: 
014823,000081: 06,3340           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS
014824,000082: 
014825,000083: 06,3341           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
014826,000084: 06,3342           03462                           TC       DRIFTSUB                              #  -(NBOX)(DELTAT)   (GYRO PULSES) X 2(+14)
014827,000085: 
014828,000086: 06,3343           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS
014829,000087: 
014830,000088: 06,3344           41461                           CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
014831,000089: 06,3345           03462                           TC       DRIFTSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
014832,000090: 
014833,000091: 06,3346           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
014834,000092: 
014835,000093: 06,3347           31462                           CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
014836,000094: 06,3350           03462                           TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
014837,000095: 
014838,000096: 06,3351           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014839,000097: 06,3352           13354                           TCF      +2                                    #  YES  SEND OUT GYRO TORQUING COMMANDS.
014840,000098: 06,3353           13361                           TCF      IRIG1                                 #  NO   RETURN
014841,000099: 
014842,000100: 06,3354           35031                           CA       PRIO21                                #  PRIO GREATER THAN SERVICER
014843,000101: 06,3355           05072                           TC       NOVAC                                 #  SEND OUT GYRO TORQUING COMMANDS.
014844,000102: 06,3356  E3,1460                                  EBANK=   NBDX                                  
014845,000103: 06,3356           03515 14063                     2CADR    1/GYRO                                
014846,000104: 
014847,000105: 06,3360           00003                           RELINT                                         
014848,000106: 06,3361           30163        IRIG1              CA       MODE                                  #  RESTORE CALLERS EBANK
014849,000107: 06,3362           54003                           TS       EBANK                                 
014850,000108: 06,3363           14631                           TCF      SWRETURN                              
014851,000109: 

Page 334

014853,000111: 06,3364           00006        IRIGX              EXTEND                                         
014854,000112: 06,3365           22156                           QXCH     MPAC       +2                         #  SAVE Q
014855,000113: 06,3366           00006                           EXTEND                                         
014856,000114: 06,3367           40325                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
014857,000115: 06,3370           52155                           DXCH     MPAC                                  
014858,000116: 06,3371           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014859,000117: 06,3372           03433                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)   (GYRO PULSES) X 2(+14)
014860,000118: 
014861,000119: 06,3373           00006                           EXTEND                                         
014862,000120: 06,3374           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014863,000121: 06,3375           52155                           DXCH     MPAC                                  
014864,000122: 06,3376           41466                           CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014865,000123: 06,3377           03433                           TC       GCOMPSUB                              #  -(ADSRAX)(PIPAY)  (GYRO PULSES) X 2(+14)
014866,000124: 
014867,000125:                                                                                                  #                EXTEND                             ***
014868,000126:                                                                                                  #                DCS             DELVZ              ***    (PIPA PULSES) X 2(+14)
014869,000127:                                                                                                  #                DXCH            MPAC               ***
014870,000128:                                                                                                  #                CA              ADOAX              ***    (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014871,000129:                                                                                                  #                TC              GCOMPSUB           ***    -(ADOAX)(PIPAZ)   (GYRO PULSES) X 2(+14)
014872,000130: 
014873,000131: 06,3400           00156                           TC       MPAC       +2                         
014874,000132: 
014875,000133: 06,3401           00006        IRIGY              EXTEND                                         
014876,000134: 06,3402           22156                           QXCH     MPAC       +2                         #  SAVE Q
014877,000135: 06,3403           00006                           EXTEND                                         
014878,000136: 06,3404           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014879,000137: 06,3405           52155                           DXCH     MPAC                                  
014880,000138: 06,3406           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)    *
014881,000139: 06,3407           03433                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)   (GYRO PULSES) X 2(+14)
014882,000140: 
014883,000141: 06,3410           00006                           EXTEND                                         
014884,000142: 06,3411           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
014885,000143: 06,3412           52155                           DXCH     MPAC                                  
014886,000144: 06,3413           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014887,000145: 06,3414           03433                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)  (GYRO PULSES) X 2(+14)
014888,000146: 
014889,000147:                                                                                                  #                EXTEND                              ***
014890,000148:                                                                                                  #                DCS             DELVX               ***   (PIPA PULSES) X 2(+14)
014891,000149:                                                                                                  #                DXCH            MPAC                ***
014892,000150:                                                                                                  #                CA              ADOAY               ***   (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014893,000151:                                                                                                  #                TC              GCOMPSUB            ***   -(ADOAY)(PIPAX)   (GYRO PULSES) X 2(+14)
014894,000152: 
014895,000153: 06,3415           00156                           TC       MPAC       +2                         
014896,000154: 
014897,000155: 06,3416           00006        IRIGZ              EXTEND                                         
014898,000156: 06,3417           22156                           QXCH     MPAC       +2                         #  SAVE Q
014899,000157: 06,3420           00006                           EXTEND                                         
014900,000158: 06,3421           40327                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
014901,000159: 06,3422           52155                           DXCH     MPAC                                  
014902,000160: 06,3423           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)    *
014903,000161: 

Page 335

014905,000163: 06,3424           03433                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)  (GYRO PULSES) X 2(+14)
014906,000164: 
014907,000165: 06,3425           00006                           EXTEND                                         
014908,000166: 06,3426           40331                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
014909,000167: 06,3427           52155                           DXCH     MPAC                                  
014910,000168: 06,3430           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014911,000169: 06,3431           03433                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)   (GYRO PULSES) X 2(+14)
014912,000170: 
014913,000171:                                                                                                  #                EXTEND                              ***
014914,000172:                                                                                                  #                DCS             DELVX               ***   (PIPA PULSE) X 2(+14)
014915,000173:                                                                                                  #                DXCH            MPAC                ***
014916,000174:                                                                                                  #                CS              ADOAZ               ***   (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
014917,000175:                                                                                                  #                TC              GCOMPSUB            ***   +(ADOAZ)(PIPAX)   (GYRO PULSES) X 2(+14)
014918,000176: 
014919,000177: 06,3432           00156                           TC       MPAC       +2                         
014920,000178: 

Page 336

014922,000180: 06,3433           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014923,000181: 06,3434           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
014924,000182: 06,3435           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)      *
014925,000183: 06,3436           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)             *
014926,000184: 
014927,000185: 06,3437           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
014928,000186: 06,3440           00006                           EXTEND                                         
014929,000187: 06,3441           70154                           MP       MPAC                                  #  ADIA OR ADSRA
014930,000188: 06,3442           54001                           TS       L                                     
014931,000189: 06,3443           34755                           CAF      ZERO                                  
014932,000190: 06,3444           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+8)             *
014933,000191: 
014934,000192: 06,3445           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
014935,000193: 06,3446           00006                           EXTEND                                         
014936,000194: 06,3447           74743                           MP       BIT9                                  #  SCALE 2(+6)      SHIFT RIGHT 6          *
014937,000195: 06,3450           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
014938,000196: 06,3451           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
014939,000197: 
014940,000198: 06,3452           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
014941,000199: 06,3453           00006                           EXTEND                                         
014942,000200: 06,3454           74743                           MP       BIT9                                  #  SCALE 2(+6)      SHIFT RIGHT 6          *
014943,000201: 06,3455           54001                           TS       L                                     
014944,000202: 06,3456           34755                           CAF      ZERO                                  
014945,000203: 06,3457           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
014946,000204: 06,3460           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
014947,000205: 
014948,000206: 06,3461           00002                           TC       Q                                     
014949,000207: 

Page 337

014951,000209: 06,3462           00006        DRIFTSUB           EXTEND                                         
014952,000210: 06,3463           22131                           QXCH     BUF        +1                         
014953,000211: 
014954,000212: 06,3464           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
014955,000213: 06,3465           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
014956,000214: 06,3466           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
014957,000215: 06,3467           00006                           EXTEND                                         
014958,000216: 06,3470           74746                           MP       BIT6                                  #  SCALE 2(+11)   SHIFT RIGHT 9
014959,000217: 06,3471           50130                           INDEX    BUF                                   
014960,000218: 06,3472           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
014961,000219: 
014962,000220: 06,3473           30155                           CA       MPAC       +1                         #  NOW MINOR PART
014963,000221: 06,3474           00006                           EXTEND                                         
014964,000222: 06,3475           74746                           MP       BIT6                                  #  SCALE 2(+11)   SHIFT RIGHT 9
014965,000223: 06,3476           54001                           TS       L                                     
014966,000224: 06,3477           34755                           CAF      ZERO                                  
014967,000225: 06,3500           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
014968,000226: 06,3501           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
014969,000227: 
014970,000228: 06,3502           34752        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
014971,000229: 06,3503           60130                           AD       BUF                                   
014972,000230: 06,3504           56130                           XCH      BUF                                   
014973,000231: 06,3505           50000                           INDEX    A                                     
014974,000232: 06,3506           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
014975,000233: 06,3507           13511                           TCF      +2                                    #  YES
014976,000234: 06,3510           00131                           TC       BUF        +1                         #  NO
014977,000235: 
014978,000236: 06,3511           73561                           MASK     COMPCHK                               #  DEC -1
014979,000237: 06,3512           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
014980,000238: 06,3513           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
014981,000239: 06,3514           00131                           TC       BUF        +1                         #  NO
014982,000240: 

Page 338

014984,000242: 06,3515           34751        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
014985,000243: 06,3516           54130                           TS       BUF                                   
014986,000244: 
014987,000245: 06,3517           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
014988,000246: 06,3520           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
014989,000247: 06,3521           00006                           EXTEND                                         
014990,000248: 06,3522           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
014991,000249: 06,3523           50130                           INDEX    BUF                                   
014992,000250: 06,3524           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
014993,000251: 
014994,000252: 06,3525           34755                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
014995,000253: 06,3526           50130                           INDEX    BUF                                   
014996,000254: 06,3527           57471                           XCH      GCOMP                                 #  GYRO PULSES
014997,000255: 06,3530           00006                           EXTEND                                         
014998,000256: 06,3531           74744                           MP       BIT8                                  #  SHIFT RIGHT 7
014999,000257: 06,3532           50130                           INDEX    BUF                                   
015000,000258: 06,3533           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
015001,000259: 
015002,000260: 06,3534           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
015003,000261: 06,3535           67761                           AD       NEG1                                  
015004,000262: 06,3536           13516                           TCF      1/GYRO     +1                         
015005,000263: 06,3537           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
015006,000264: 
015007,000265: 06,3540           33537                           CAF      LGCOMP                                
015008,000266: 06,3541           04616                           TC       BANKCALL                              
015009,000267: 06,3542           17270                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
015010,000268: 06,3543           04616                           TC       BANKCALL                              
015011,000269: 06,3544           17715                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
015012,000270: 06,3545           15155                           TCF      ENDOFJOB                              #  TEMPORARY
015013,000271: 
015014,000272: 06,3546           34751        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
015015,000273: 06,3547           54130                           TS       BUF                                   
015016,000274: 
015017,000275: 06,3550           50130                           INDEX    BUF                                   #  RESCALE
015018,000276: 06,3551           31472                           CA       GCOMP      +1                         
015019,000277: 06,3552           00006                           EXTEND                                         
015020,000278: 06,3553           74744                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
015021,000279: 06,3554           50130                           INDEX    BUF                                   
015022,000280: 06,3555           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
015023,000281: 
015024,000282: 06,3556           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
015025,000283: 06,3557           67761                           AD       NEG1                                  
015026,000284: 06,3560           13547                           TCF      GCOMP1     +1                         
015027,000285: 06,3561           77776        COMPCHK            DEC      -1         B-14                       #  LESS THAN ZERO IMPOSSIBLE
015028,000286: 06,3562           15155                           TCF      ENDOFJOB                              
015029,000287: 

Page 339

015031,000289: 06,3563           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
015032,000290: 06,3564           13567                           TCF      +3                                    
015033,000291: 06,3565           13567                           TCF      +2                                    
015034,000292: 06,3566           15155                           TCF      ENDOFJOB                              
015035,000293: 
015036,000294: 06,3567           00004                           INHINT                                         
015037,000295: 06,3570           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
015038,000296: 06,3571           15155                           TCF      ENDOFJOB                              
015039,000297: 06,3572           15155                           TCF      ENDOFJOB                              
015040,000298: 06,3573           13574                           TCF      +1                                    
015041,000299: 
015042,000300: 06,3574           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
015043,000301: 06,3575           74744                           MASK     BIT8                                  #  POSITIVE SO THAT THE ACCELERATION TERMS
015044,000302: 06,3576           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
015045,000303: 06,3577           00006                           EXTEND                                         
015046,000304: 06,3600           13603                           BZF      +3                                    #  ARE WE ON THE SURFACE
015047,000305: 
015048,000306: 06,3601           04674                           TC       IBNKCALL                              #  ON THE SURFACE
015049,000307: 06,3602           71755                           CADR     PIPASR     +3                         #  READ PIPAS, BUT DO NOT SCALE THEM
015050,000308: 
015051,000309: 06,3603           30025                           CA       TIME1                                 #  (CS) X 2(+14)
015052,000310: 06,3604           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
015053,000311: 06,3605           00003                           RELINT                                         
015054,000312: 06,3606           40000                           COM                                            
015055,000313: 06,3607           61074                           AD       1/PIPADT                              #  PRESENT TIME - PREVIOUS TIME
015056,000314: 06,3610           64736        NBD2               AD       HALF                                  #  CORRECT FOR POSSIBLE TIME1 TICK
015057,000315: 06,3611           64736                           AD       HALF                                  
015058,000316: 06,3612           56001                           XCH      L                                     #  IF TIME1 DID NOT TICK, REMOVE RESULTING
015059,000317: 06,3613           56001                           XCH      L                                     #  OVERFLOW.
015060,000318: 
015061,000319: 06,3614           00006        NBD3               EXTEND                                         #  C(A) = DELTAT    (CS) X 2(+14)
015062,000320: 06,3615           74742                           MP       BIT10                                 #  SHIFT RIGHT 5
015063,000321: 06,3616           52125                           DXCH     VBUF       +2                         
015064,000322: 
015065,000323: 06,3617           34755                           CA       ZERO                                  
015066,000324: 06,3620           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
015067,000325: 06,3621           54130                           TS       BUF                                   #  INDEX  X, Y, Z.
015068,000326: 
015069,000327: 06,3622           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
015070,000328: 06,3623           03364                           TC       IRIGX                                 #  COMPENSATE ACCELERATION TERMS.
015071,000329: 
015072,000330: 06,3624           00006                           EXTEND                                         
015073,000331: 06,3625           30125                           DCA      VBUF       +2                         
015074,000332: 06,3626           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
015075,000333: 
015076,000334: 06,3627           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
015077,000335: 06,3630           03652                           TC       FBIASSUB                              #  -(NBOX)(DELTAT)   (GYRO PULSES) X 2(+14)
015078,000336: 
015079,000337: 06,3631           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
015080,000338: 06,3632           03401                           TC       IRIGY                                 #  COMPENSATE ACCELERATION TERMS.
015081,000339: 

Page 340

015083,000341: 06,3633           00006                           EXTEND                                         
015084,000342: 06,3634           40125                           DCS      VBUF       +2                         
015085,000343: 06,3635           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
015086,000344: 06,3636           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
015087,000345: 06,3637           03652                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
015088,000346: 
015089,000347: 06,3640           10141                           CCS      TEM1                                  #  IF SURFACE FLAG IS SET,
015090,000348: 06,3641           03416                           TC       IRIGZ                                 #  COMPENSATE ACCELERATION TERMS
015091,000349: 
015092,000350: 06,3642           00006                           EXTEND                                         
015093,000351: 06,3643           40125                           DCS      VBUF       +2                         
015094,000352: 06,3644           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
015095,000353: 06,3645           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
015096,000354: 06,3646           03652                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
015097,000355: 
015098,000356: 06,3647           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
015099,000357: 06,3650           13515                           TCF      1/GYRO                                #  YES
015100,000358: 06,3651           15155                           TCF      ENDOFJOB                              #  NO
015101,000359: 

Page 341

015103,000361: 06,3652           56002        FBIASSUB           XCH      Q                                     
015104,000362: 06,3653           54131                           TS       BUF        +1                         
015105,000363: 
015106,000364: 06,3654           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
015107,000365: 06,3655           00006                           EXTEND                                         
015108,000366: 06,3656           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
015109,000367: 06,3657           50130                           INDEX    BUF                                   
015110,000368: 06,3660           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
015111,000369: 
015112,000370: 06,3661           30002                           CA       Q                                     #  NOW FRACTIONAL PART
015113,000371: 06,3662           00006                           EXTEND                                         
015114,000372: 06,3663           70155                           MP       MPAC       +1                         
015115,000373: 06,3664           54001                           TS       L                                     
015116,000374: 06,3665           34755                           CAF      ZERO                                  
015117,000375: 06,3666           50130                           INDEX    BUF                                   
015118,000376: 06,3667           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
015119,000377: 
015120,000378: 06,3670           13502                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
015121,000379: 
015122,000380: 06,3671           04616        LASTBIAS           TC       BANKCALL                              
015123,000381: 06,3672           17244                           CADR     PIPUSE1                               
015124,000382: 
015125,000383: 06,3673           11477                           CCS      GCOMPSW                               
015126,000384: 06,3674           13677                           TCF      +3                                    
015127,000385: 06,3675           13677                           TCF      +2                                    
015128,000386: 06,3676           15155                           TCF      ENDOFJOB                              
015129,000387: 
015130,000388: 06,3677           30104                           CA       FLAGWRD8                              #  IF SURFACE FLAG IS SET, SET TEM1
015131,000389: 06,3700           74744                           MASK     SURFFBIT                              #  POSITIVE SO THAT THE ACCELERATION TERMS
015132,000390: 06,3701           54141                           TS       TEM1                                  #  WILL BE COMPENSATED.
015133,000391: 
015134,000392: 06,3702           37730                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
015135,000393: 06,3703           57074                           XCH      1/PIPADT                              
015136,000394: 06,3704           40000                           COM                                            
015137,000395: 06,3705           61234                           AD       PIPTIME    +1                         
015138,000396: 06,3706           13610                           TCF      NBD2                                  
015139,000397: 
015140,000398: 06,3707           33537        GCOMPZER           CAF      LGCOMP                                #  ROUTINE TO ZERO GCOMP BEFORE FIRST
015141,000399: 06,3710           56003                           XCH      EBANK                                 #  CALL TO 1/PIPA
015142,000400: 06,3711           54163                           TS       MODE                                  
015143,000401: 
015144,000402: 06,3712           34755                           CAF      ZERO                                  
015145,000403: 06,3713           55477                           TS       GCOMPSW                               
015146,000404: 06,3714           55471                           TS       GCOMP                                 
015147,000405: 06,3715           55472                           TS       GCOMP      +1                         
015148,000406: 06,3716           55473                           TS       GCOMP      +2                         
015149,000407: 06,3717           55474                           TS       GCOMP      +3                         
015150,000408: 06,3720           55475                           TS       GCOMP      +4                         
015151,000409: 

Page 342

015153,000411: 06,3721           55476                           TS       GCOMP      +5                         
015154,000412: 
015155,000413: 06,3722           13361                           TCF      IRIG1                                 #  RESTORE EBANK AND RETURN
015156,000414: 

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