Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note 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 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. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
014749,000002: ## Copyright: Public domain.
014750,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014751,000004: ## Purpose: A log section of Zerlina 56, the final revision of
014752,000005: ## Don Eyles's offline development program for the variable
014753,000006: ## guidance period servicer. It also includes a new P66 with LPD
014754,000007: ## (Landing Point Designator) capability, based on an idea of John
014755,000008: ## Young's. Neither of these advanced features were actually flown,
014756,000009: ## but Zerlina was also the birthplace of other big improvements to
014757,000010: ## Luminary including the terrain model and new (Luminary 1E)
014758,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
014759,000012: ## and revision 56 includes all changes up to and including Luminary
014760,000013: ## 183. It is therefore quite close to the Apollo 14 program,
014761,000014: ## Luminary 178, where not modified with new features.
014762,000015: ## Reference: pp. 331-342
014763,000016: ## Assembler: yaYUL
014764,000017: ## Contact: Ron Burkey <info@sandroid.org>.
014765,000018: ## Website: www.ibiblio.org/apollo/index.html
014766,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
014767,000020: ## 2017-08-21 RSB Transcribed.
014768,000021:
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Page 331 |
014770,000023: 07,2661 BANK 7
014771,000024: 06,2000 SETLOC IMUCOMP
014772,000025: 06,2000 BANK
014773,000026:
014774,000027: 06,3271 E3,1460 EBANK= NBDX
014775,000028:
014776,000029: 06,3271 COUNT* $$/ICOMP
014777,000030: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014778,000031: 06,3272 56003 XCH EBANK
014779,000032: 06,3273 54163 TS MODE
014780,000033:
014781,000034: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014782,000035: 06,3275 13300 TCF +3
014783,000036: 06,3276 13300 TCF +2
014784,000037: 06,3277 13361 TCF IRIG1 # RETURN
014785,000038:
014786,000039: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014787,000040: 06,3301 54132 TS BUF +2
014788,000041:
014789,000042: 06,3302 50132 INDEX BUF +2
014790,000043: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014791,000044: 06,3304 00006 EXTEND
014792,000045: 06,3305 50132 INDEX BUF +2
014793,000046: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014794,000047: 06,3307 54002 TS Q # SAVE MAJOR PART
014795,000048:
014796,000049: 06,3310 30001 CA L # MINOR PART
014797,000050: 06,3311 00006 EXTEND
014798,000051: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014799,000052: 06,3313 50132 INDEX BUF +2
014800,000053: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014801,000054:
014802,000055: 06,3315 30002 CA Q # MAJOR PART
014803,000056: 06,3316 00006 EXTEND
014804,000057: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014805,000058: 06,3320 50132 INDEX BUF +2
014806,000059: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014807,000060:
014808,000061: 06,3322 50132 INDEX BUF +2
014809,000062: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
014810,000063: 06,3324 00006 EXTEND
014811,000064: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014812,000065: 06,3326 00006 EXTEND
014813,000066: 06,3327 74744 MP BIT8 # SCALE 2(+9) SHIFT RIGHT 7
014814,000067: 06,3330 50132 INDEX BUF +2
014815,000068: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014816,000069:
014817,000070: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014818,000071: 06,3333 67761 AD NEG1
014819,000072: 06,3334 13301 TCF 1/PIPA1 +1
014820,000073:
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014822,000075: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
014823,000076:
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Page 333 |
014825,000078: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014826,000079: 06,3337 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014827,000080:
014828,000081: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
014829,000082:
014830,000083: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014831,000084: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014832,000085:
014833,000086: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
014834,000087:
014835,000088: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014836,000089: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014837,000090:
014838,000091: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014839,000092:
014840,000093: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014841,000094: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014842,000095:
014843,000096: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014844,000097: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014845,000098: 06,3353 13361 TCF IRIG1 # NO RETURN
014846,000099:
014847,000100: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014848,000101: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014849,000102: 06,3356 E3,1460 EBANK= NBDX
014850,000103: 06,3356 03515 14063 2CADR 1/GYRO
014851,000104:
014852,000105: 06,3360 00003 RELINT
014853,000106: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014854,000107: 06,3362 54003 TS EBANK
014855,000108: 06,3363 14631 TCF SWRETURN
014856,000109:
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Page 334 |
014858,000111: 06,3364 00006 IRIGX EXTEND
014859,000112: 06,3365 22156 QXCH MPAC +2 # SAVE Q
014860,000113: 06,3366 00006 EXTEND
014861,000114: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014862,000115: 06,3370 52155 DXCH MPAC
014863,000116: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014864,000117: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014865,000118:
014866,000119: 06,3373 00006 EXTEND
014867,000120: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014868,000121: 06,3375 52155 DXCH MPAC
014869,000122: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014870,000123: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014871,000124:
014872,000125: # EXTEND ***
014873,000126: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014874,000127: # DXCH MPAC ***
014875,000128: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014876,000129: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014877,000130:
014878,000131: 06,3400 00156 TC MPAC +2
014879,000132:
014880,000133: 06,3401 00006 IRIGY EXTEND
014881,000134: 06,3402 22156 QXCH MPAC +2 # SAVE Q
014882,000135: 06,3403 00006 EXTEND
014883,000136: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014884,000137: 06,3405 52155 DXCH MPAC
014885,000138: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014886,000139: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014887,000140:
014888,000141: 06,3410 00006 EXTEND
014889,000142: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014890,000143: 06,3412 52155 DXCH MPAC
014891,000144: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014892,000145: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014893,000146:
014894,000147: # EXTEND ***
014895,000148: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014896,000149: # DXCH MPAC ***
014897,000150: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014898,000151: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014899,000152:
014900,000153: 06,3415 00156 TC MPAC +2
014901,000154:
014902,000155: 06,3416 00006 IRIGZ EXTEND
014903,000156: 06,3417 22156 QXCH MPAC +2 # SAVE Q
014904,000157: 06,3420 00006 EXTEND
014905,000158: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014906,000159: 06,3422 52155 DXCH MPAC
014907,000160: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014908,000161:
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014910,000163: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014911,000164:
014912,000165: 06,3425 00006 EXTEND
014913,000166: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014914,000167: 06,3427 52155 DXCH MPAC
014915,000168: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014916,000169: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014917,000170:
014918,000171: # EXTEND ***
014919,000172: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014920,000173: # DXCH MPAC ***
014921,000174: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014922,000175: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014923,000176:
014924,000177: 06,3432 00156 TC MPAC +2
014925,000178:
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014927,000180: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014928,000181: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014929,000182: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014930,000183: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014931,000184:
014932,000185: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014933,000186: 06,3440 00006 EXTEND
014934,000187: 06,3441 70154 MP MPAC # ADIA OR ADSRA
014935,000188: 06,3442 54001 TS L
014936,000189: 06,3443 34755 CAF ZERO
014937,000190: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014938,000191:
014939,000192: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
014940,000193: 06,3446 00006 EXTEND
014941,000194: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014942,000195: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014943,000196: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014944,000197:
014945,000198: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014946,000199: 06,3453 00006 EXTEND
014947,000200: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014948,000201: 06,3455 54001 TS L
014949,000202: 06,3456 34755 CAF ZERO
014950,000203: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014951,000204: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014952,000205:
014953,000206: 06,3461 00002 TC Q
014954,000207:
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014956,000209: 06,3462 00006 DRIFTSUB EXTEND
014957,000210: 06,3463 22131 QXCH BUF +1
014958,000211:
014959,000212: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014960,000213: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014961,000214: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014962,000215: 06,3467 00006 EXTEND
014963,000216: 06,3470 74746 MP BIT6 # SCALE 2(+11) SHIFT RIGHT 9
014964,000217: 06,3471 50130 INDEX BUF
014965,000218: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014966,000219:
014967,000220: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
014968,000221: 06,3474 00006 EXTEND
014969,000222: 06,3475 74746 MP BIT6 # SCALE 2(+11) SHIFT RIGHT 9
014970,000223: 06,3476 54001 TS L
014971,000224: 06,3477 34755 CAF ZERO
014972,000225: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014973,000226: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014974,000227:
014975,000228: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014976,000229: 06,3503 60130 AD BUF
014977,000230: 06,3504 56130 XCH BUF
014978,000231: 06,3505 50000 INDEX A
014979,000232: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014980,000233: 06,3507 13511 TCF +2 # YES
014981,000234: 06,3510 00131 TC BUF +1 # NO
014982,000235:
014983,000236: 06,3511 73561 MASK COMPCHK # DEC -1
014984,000237: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014985,000238: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014986,000239: 06,3514 00131 TC BUF +1 # NO
014987,000240:
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Page 338 |
014989,000242: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014990,000243: 06,3516 54130 TS BUF
014991,000244:
014992,000245: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014993,000246: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
014994,000247: 06,3521 00006 EXTEND
014995,000248: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
014996,000249: 06,3523 50130 INDEX BUF
014997,000250: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014998,000251:
014999,000252: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
015000,000253: 06,3526 50130 INDEX BUF
015001,000254: 06,3527 57471 XCH GCOMP # GYRO PULSES
015002,000255: 06,3530 00006 EXTEND
015003,000256: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
015004,000257: 06,3532 50130 INDEX BUF
015005,000258: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
015006,000259:
015007,000260: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
015008,000261: 06,3535 67761 AD NEG1
015009,000262: 06,3536 13516 TCF 1/GYRO +1
015010,000263: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
015011,000264:
015012,000265: 06,3540 33537 CAF LGCOMP
015013,000266: 06,3541 04616 TC BANKCALL
015014,000267: 06,3542 17270 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
015015,000268: 06,3543 04616 TC BANKCALL
015016,000269: 06,3544 17715 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
015017,000270: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
015018,000271:
015019,000272: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
015020,000273: 06,3547 54130 TS BUF
015021,000274:
015022,000275: 06,3550 50130 INDEX BUF # RESCALE
015023,000276: 06,3551 31472 CA GCOMP +1
015024,000277: 06,3552 00006 EXTEND
015025,000278: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
015026,000279: 06,3554 50130 INDEX BUF
015027,000280: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
015028,000281:
015029,000282: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
015030,000283: 06,3557 67761 AD NEG1
015031,000284: 06,3560 13547 TCF GCOMP1 +1
015032,000285: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
015033,000286: 06,3562 15155 TCF ENDOFJOB
015034,000287:
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Page 339 |
015036,000289: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
015037,000290: 06,3564 13567 TCF +3
015038,000291: 06,3565 13567 TCF +2
015039,000292: 06,3566 15155 TCF ENDOFJOB
015040,000293:
015041,000294: 06,3567 00004 INHINT
015042,000295: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
015043,000296: 06,3571 15155 TCF ENDOFJOB
015044,000297: 06,3572 15155 TCF ENDOFJOB
015045,000298: 06,3573 13574 TCF +1
015046,000299:
015047,000300: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015048,000301: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
015049,000302: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
015050,000303: 06,3577 00006 EXTEND
015051,000304: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
015052,000305:
015053,000306: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
015054,000307: 06,3602 71755 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
015055,000308:
015056,000309: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
015057,000310: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
015058,000311: 06,3605 00003 RELINT
015059,000312: 06,3606 40000 COM
015060,000313: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
015061,000314: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
015062,000315: 06,3611 64736 AD HALF
015063,000316: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
015064,000317: 06,3613 56001 XCH L # OVERFLOW.
015065,000318:
015066,000319: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
015067,000320: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
015068,000321: 06,3616 52125 DXCH VBUF +2
015069,000322:
015070,000323: 06,3617 34755 CA ZERO
015071,000324: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
015072,000325: 06,3621 54130 TS BUF # INDEX X, Y, Z.
015073,000326:
015074,000327: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015075,000328: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
015076,000329:
015077,000330: 06,3624 00006 EXTEND
015078,000331: 06,3625 30125 DCA VBUF +2
015079,000332: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
015080,000333:
015081,000334: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
015082,000335: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
015083,000336:
015084,000337: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015085,000338: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
015086,000339:
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015088,000341: 06,3633 00006 EXTEND
015089,000342: 06,3634 40125 DCS VBUF +2
015090,000343: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015091,000344: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
015092,000345: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
015093,000346:
015094,000347: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015095,000348: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
015096,000349:
015097,000350: 06,3642 00006 EXTEND
015098,000351: 06,3643 40125 DCS VBUF +2
015099,000352: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015100,000353: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
015101,000354: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
015102,000355:
015103,000356: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
015104,000357: 06,3650 13515 TCF 1/GYRO # YES
015105,000358: 06,3651 15155 TCF ENDOFJOB # NO
015106,000359:
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Page 341 |
015108,000361: 06,3652 56002 FBIASSUB XCH Q
015109,000362: 06,3653 54131 TS BUF +1
015110,000363:
015111,000364: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
015112,000365: 06,3655 00006 EXTEND
015113,000366: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
015114,000367: 06,3657 50130 INDEX BUF
015115,000368: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015116,000369:
015117,000370: 06,3661 30002 CA Q # NOW FRACTIONAL PART
015118,000371: 06,3662 00006 EXTEND
015119,000372: 06,3663 70155 MP MPAC +1
015120,000373: 06,3664 54001 TS L
015121,000374: 06,3665 34755 CAF ZERO
015122,000375: 06,3666 50130 INDEX BUF
015123,000376: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015124,000377:
015125,000378: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
015126,000379:
015127,000380: 06,3671 04616 LASTBIAS TC BANKCALL
015128,000381: 06,3672 17244 CADR PIPUSE1
015129,000382:
015130,000383: 06,3673 11477 CCS GCOMPSW
015131,000384: 06,3674 13677 TCF +3
015132,000385: 06,3675 13677 TCF +2
015133,000386: 06,3676 15155 TCF ENDOFJOB
015134,000387:
015135,000388: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015136,000389: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
015137,000390: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
015138,000391:
015139,000392: 06,3702 37730 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
015140,000393: 06,3703 57074 XCH 1/PIPADT
015141,000394: 06,3704 40000 COM
015142,000395: 06,3705 61234 AD PIPTIME +1
015143,000396: 06,3706 13610 TCF NBD2
015144,000397:
015145,000398: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
015146,000399: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
015147,000400: 06,3711 54163 TS MODE
015148,000401:
015149,000402: 06,3712 34755 CAF ZERO
015150,000403: 06,3713 55477 TS GCOMPSW
015151,000404: 06,3714 55471 TS GCOMP
015152,000405: 06,3715 55472 TS GCOMP +1
015153,000406: 06,3716 55473 TS GCOMP +2
015154,000407: 06,3717 55474 TS GCOMP +3
015155,000408: 06,3720 55475 TS GCOMP +4
015156,000409:
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Page 342 |
015158,000411: 06,3721 55476 TS GCOMP +5
015159,000412:
015160,000413: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
015161,000414:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc