Source Code
|
These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
013570,000002: # Copyright: Public domain.
013571,000003: # Filename: IMU_COMPENSATION_PACKAGE.agc
013572,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
013573,000005: # build 072. This is for the Command Module's (CM)
013574,000006: # Apollo Guidance Computer (AGC), we believe for
013575,000007: # Apollo 15-17.
013576,000008: # Assembler: yaYUL
013577,000009: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
013578,000010: # Website: www.ibiblio.org/apollo/index.html
013579,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
013580,000012: # Mod history: 2009-08-09 JL Adapted from corresponding Comanche 055 file.
013581,000013: # 2010-02-11 JL Fixed error on p315.
013582,000014: # 2010-02-20 RSB Un-##'d this header.
013583,000015:
|
|
Page 308 |
013585,000017:
013586,000018: 06,2000 SETLOC IMUCOMP
013587,000019: 06,2000 BANK
013588,000020: 06,3276 E3,1460 EBANK= NBDX
013589,000021:
013590,000022: 06,3276 COUNT* $$/ICOMP
013591,000023: 06,3276 33535 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013592,000024: 06,3277 56003 XCH EBANK
013593,000025: 06,3300 54163 TS MODE
013594,000026:
013595,000027: 06,3301 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013596,000028: 06,3302 13305 TCF +3
013597,000029: 06,3303 13305 TCF +2
013598,000030: 06,3304 13422 TCF IRIG1 # RETURN
013599,000031:
013600,000032: 06,3305 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
013601,000033: # FOR DOWNLINK.
013602,000034:
013603,000035: 06,3306 34766 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013604,000036: 06,3307 77702 +1 MASK NEGONE
013605,000037: 06,3310 54132 TS BUF +2
013606,000038:
013607,000039: 06,3311 50132 INDEX BUF +2
013608,000040: 06,3312 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013609,000041: 06,3313 00006 EXTEND
013610,000042: 06,3314 50132 INDEX BUF +2
013611,000043: 06,3315 71314 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013612,000044: 06,3316 54002 TS Q # SAVE MAJOR PART
013613,000045:
013614,000046: 06,3317 30001 CA L # MINOR PART
013615,000047: 06,3320 00006 EXTEND
013616,000048: 06,3321 74763 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013617,000049: 06,3322 50132 INDEX BUF +2
013618,000050: 06,3323 55315 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013619,000051:
013620,000052: 06,3324 30002 CA Q # MAJOR PART
013621,000053: 06,3325 00006 EXTEND
013622,000054: 06,3326 74763 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013623,000055: 06,3327 50132 INDEX BUF +2
013624,000056: 06,3330 21315 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013625,000057:
013626,000058: 06,3331 50132 INDEX BUF +2
013627,000059: 06,3332 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-6)
013628,000060: 06,3333 00006 EXTEND
013629,000061: 06,3334 71277 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
013630,000062: 06,3335 00006 EXTEND
013631,000063: 06,3336 74766 MP BIT3 # SCALE 2(+12) SHIFT RIGHT 12
013632,000064: 06,3337 50132 INDEX BUF +2
013633,000065: 06,3340 21315 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013634,000066:
013635,000067: 06,3341 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013636,000068: 06,3342 13307 TCF 1/PIPA1 +1
|
|
Page 309 |
013638,000070: 06,3343 00003 RELINT
|
|
Page 310 |
013640,000072:
013641,000073: 06,3344 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013642,000074: 06,3345 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
013643,000075:
013644,000076: 06,3346 00006 IRIGX EXTEND
013645,000077: 06,3347 41315 DCS DELVX # (PIPA PULSES) X 2(+14)
013646,000078: 06,3350 52155 DXCH MPAC
013647,000079: 06,3351 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013648,000080: 06,3352 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013649,000081:
013650,000082: 06,3353 00006 EXTEND
013651,000083: 06,3354 41317 DCS DELVY # (PIPA PULSES) X 2(+14)
013652,000084: 06,3355 52155 DXCH MPAC
013653,000085: 06,3356 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013654,000086: 06,3357 03425 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013655,000087:
013656,000088: # EXTEND # ***
013657,000089: # DCS DELVZ # *** (PIPA PULSES) X 2(+14)
013658,000090: # DXCH MPAC # ***
013659,000091: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013660,000092: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013661,000093:
013662,000094: 06,3360 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013663,000095: 06,3361 03454 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
013664,000096:
013665,000097: 06,3362 00006 IRIGY EXTEND
013666,000098: 06,3363 41317 DCS DELVY # (PIPA PULSES) X 2(+14)
013667,000099: 06,3364 52155 DXCH MPAC
013668,000100: 06,3365 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013669,000101: 06,3366 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013670,000102:
013671,000103: 06,3367 00006 EXTEND
013672,000104: 06,3370 41321 DCS DELVZ # (PIPA PULSES) X 2(+14)
013673,000105: 06,3371 52155 DXCH MPAC
013674,000106: 06,3372 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013675,000107: 06,3373 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013676,000108:
013677,000109: # EXTEND # ***
013678,000110: # DCS DELVX # *** (PIPA PULSES) X 2(+14)
013679,000111: # DXCH MPAC # ***
013680,000112: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013681,000113: # TC GCOMPSUB # *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013682,000114:
013683,000115: 06,3374 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013684,000116: 06,3375 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013685,000117:
013686,000118: 06,3376 00006 IRIGZ EXTEND
013687,000119: 06,3377 41317 DCS DELVY # (PIPA PULSES) X 2(-14)
013688,000120: 06,3400 52155 DXCH MPAC
013689,000121: 06,3401 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
|
|
Page 311 |
013691,000123: 06,3402 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013692,000124:
013693,000125: 06,3403 00006 EXTEND
013694,000126: 06,3404 41321 DCS DELVZ # (PIPA PULSES) X 2(+14)
013695,000127: 06,3405 52155 DXCH MPAC
013696,000128: 06,3406 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013697,000129: 06,3407 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013698,000130:
013699,000131: # EXTEND # ***
013700,000132: # DCS DELVX # *** (PIPA PULSE) X 2(+14)
013701,000133: # DXCH MPAC # ***
013702,000134: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013703,000135: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013704,000136:
013705,000137: 06,3410 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013706,000138: 06,3411 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013707,000139:
|
|
Page 312 |
013709,000141: 06,3412 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013710,000142: 06,3413 13415 TCF +2 # YES
013711,000143: 06,3414 13422 TCF IRIG1 # NO
013712,000144:
013713,000145: 06,3415 35057 CA PRIO21 # HIGHER THAN SERVICER-LESS THAN PRELAUNCH
013714,000146: 06,3416 05121 TC NOVAC
013715,000147: 06,3417 E3,1460 EBANK= NBDX
013716,000148: 06,3417 03507 14063 2CADR 1/CHECK
013717,000149:
013718,000150: 06,3421 00003 RELINT
013719,000151: 06,3422 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
013720,000152: 06,3423 54003 TS EBANK
013721,000153: 06,3424 14651 TCF SWRETURN
013722,000154:
013723,000155: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013724,000156: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013725,000157: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
013726,000158: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
013727,000159:
013728,000160: 06,3431 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES
013729,000161: 06,3432 00006 EXTEND
013730,000162: 06,3433 70154 MP MPAC # ADIA OR ADSRA
013731,000163: 06,3434 54001 TS L
013732,000164: 06,3435 34772 CAF ZERO
013733,000165: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
013734,000166:
013735,000167: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
013736,000168: 06,3440 00006 EXTEND
013737,000169: 06,3441 74755 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013738,000170: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013739,000171: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013740,000172:
013741,000173: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013742,000174: 06,3445 00006 EXTEND
013743,000175: 06,3446 74755 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
013744,000176: 06,3447 54001 TS L
013745,000177: 06,3450 34772 CAF ZERO
013746,000178: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013747,000179: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013748,000180:
013749,000181: 06,3453 00002 TC Q
013750,000182:
|
|
Page 313 |
013752,000184: 06,3454 00006 DRIFTSUB EXTEND
013753,000185: 06,3455 22131 QXCH BUF +1
013754,000186:
013755,000187: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013756,000188: 06,3457 71277 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013757,000189: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013758,000190: 06,3461 00006 EXTEND
013759,000191: 06,3462 74765 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013760,000192: 06,3463 50130 INDEX BUF
013761,000193: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013762,000194:
013763,000195: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
013764,000196: 06,3466 00006 EXTEND
013765,000197: 06,3467 74765 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013766,000198: 06,3470 54001 TS L
013767,000199: 06,3471 34772 CAF ZERO
013768,000200: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013769,000201: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013770,000202:
013771,000203: 06,3474 34767 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013772,000204: 06,3475 60130 AD BUF
013773,000205: 06,3476 56130 XCH BUF
013774,000206: 06,3477 50000 INDEX A
013775,000207: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013776,000208: 06,3501 13503 TCF +2 # YES
013777,000209: 06,3502 00131 TC BUF +1 # NO
013778,000210:
013779,000211: 06,3503 77702 MASK NEGONE
013780,000212: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013781,000213: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013782,000214: 06,3506 00131 TC BUF +1 # NO
013783,000215:
|
|
Page 314 |
013785,000217: 06,3507 31335 1/CHECK CA MODECADR
013786,000218: 06,3510 00006 EXTEND
013787,000219: 06,3511 13513 BZF 1/GYRO
013788,000220: 06,3512 15205 TCF ENDOFJOB
013789,000221:
013790,000222: 06,3513 34766 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013791,000223: 06,3514 54130 +1 TS BUF
013792,000224:
013793,000225: 06,3515 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013794,000226: 06,3516 31472 CA GCOMP +1 # FRACTIONAL PULSES
013795,000227: 06,3517 00006 EXTEND
013796,000228: 06,3520 74761 MP BIT8 # SHIFT RIGHT 7
013797,000229: 06,3521 50130 INDEX BUF
013798,000230: 06,3522 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013799,000231:
013800,000232: 06,3523 34772 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013801,000233: 06,3524 50130 INDEX BUF
013802,000234: 06,3525 57471 XCH GCOMP # GYRO PULSES
013803,000235: 06,3526 00006 EXTEND
013804,000236: 06,3527 74761 MP BIT8 # SHIFT RIGHT 7
013805,000237: 06,3530 50130 INDEX BUF
013806,000238: 06,3531 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013807,000239:
013808,000240: 06,3532 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013809,000241: 06,3533 67702 AD NEG1
013810,000242: 06,3534 13514 TCF 1/GYRO +1
013811,000243: 06,3535 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013812,000244:
013813,000245: 06,3536 33535 CAF LGCOMP
013814,000246: 06,3537 04636 TC BANKCALL
013815,000247: 06,3540 17244 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013816,000248: 06,3541 04636 TC BANKCALL
013817,000249: 06,3542 17644 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013818,000250: 06,3543 13544 TCF +1
013819,000251:
013820,000252: 06,3544 34766 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013821,000253: 06,3545 54130 +1 TS BUF
013822,000254:
013823,000255: 06,3546 50130 INDEX BUF # RESCALE
013824,000256: 06,3547 31472 CA GCOMP +1
013825,000257: 06,3550 00006 EXTEND
013826,000258: 06,3551 74761 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013827,000259: 06,3552 50130 INDEX BUF
013828,000260: 06,3553 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013829,000261:
013830,000262: 06,3554 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013831,000263: 06,3555 67702 AD NEG1
013832,000264: 06,3556 13545 TCF GCOMP1 +1
013833,000265: 06,3557 75252 OCT75252 OCT 75252 # -15 DEGREES USED BY T4RUPT
013834,000266: 06,3560 15205 TCF ENDOFJOB
013835,000267:
|
|
Page 315 |
013837,000269: 06,3561 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013838,000270: 06,3562 13565 TCF +3
013839,000271: 06,3563 13565 TCF +2
013840,000272: 06,3564 15205 TCF ENDOFJOB
013841,000273:
013842,000274: 06,3565 00004 INHINT
013843,000275: 06,3566 30076 CA FLAGWRD2
013844,000276: 06,3567 74752 MASK DRFTBIT
013845,000277: 06,3570 00006 EXTEND
013846,000278: 06,3571 15205 BZF ENDOFJOB
013847,000279:
013848,000280: 06,3572 30025 CA TIME1 # (CS) X 2(+14)
013849,000281: 06,3573 57277 XCH 1/PIPADT # PREVIOUS TIME
013850,000282: 06,3574 00003 RELINT
013851,000283: 06,3575 40000 COM
013852,000284: 06,3576 61277 AD 1/PIPADT
013853,000285: 06,3577 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
013854,000286: 06,3600 64770 AD ONE # NO TIME1 OVERFLOW
013855,000287: 06,3601 13606 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
013856,000288: 06,3602 13604 TCF +2 # TIME1 OVERFLOW
013857,000289: 06,3603 15205 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013858,000290:
013859,000291: 06,3604 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
013860,000292: 06,3605 64750 AD POSMAX
013861,000293:
013862,000294: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013863,000295: 06,3607 74757 MP BIT10 # SHIFT RIGHT 5
013864,000296: 06,3610 52123 DXCH VBUF
013865,000297: 06,3611 00006 EXTEND
013866,000298: 06,3612 30123 DCA VBUF
013867,000299: 06,3613 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013868,000300:
013869,000301: 06,3614 34772 CAF ZERO
013870,000302: 06,3615 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
013871,000303: 06,3616 54130 TS BUF # PIPAX, PIPAY, PIPAZ
013872,000304:
013873,000305: 06,3617 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013874,000306: 06,3620 03636 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013875,000307:
013876,000308: 06,3621 00006 EXTEND
013877,000309: 06,3622 40123 DCS VBUF
013878,000310: 06,3623 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013879,000311: 06,3624 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013880,000312: 06,3625 03636 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013881,000313:
013882,000314: 06,3626 00006 EXTEND
013883,000315: 06,3627 40123 DCS VBUF
013884,000316: 06,3630 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013885,000317: 06,3631 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013886,000318: 06,3632 03636 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
|
|
Page 316 |
013888,000320: 06,3633 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013889,000321: 06,3634 13513 TCF 1/GYRO # YES
013890,000322: 06,3635 15205 TCF ENDOFJOB # NO
013891,000323:
|
|
Page 317 |
013893,000325: 06,3636 56002 FBIASSUB XCH Q
013894,000326: 06,3637 54131 TS BUF +1
013895,000327:
013896,000328: 06,3640 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013897,000329: 06,3641 00006 EXTEND
013898,000330: 06,3642 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013899,000331: 06,3643 50130 INDEX BUF
013900,000332: 06,3644 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013901,000333:
013902,000334: 06,3645 30002 CA Q # NOW FRACTIONAL PART
013903,000335: 06,3646 00006 EXTEND
013904,000336: 06,3647 70155 MP MPAC +1
013905,000337: 06,3650 54001 TS L
013906,000338: 06,3651 34772 CAF ZERO
013907,000339: 06,3652 50130 INDEX BUF
013908,000340: 06,3653 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013909,000341:
013910,000342: 06,3654 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013911,000343:
013912,000344: 06,3655 04636 LASTBIAS TC BANKCALL
013913,000345: 06,3656 17214 CADR PIPUSE
013914,000346:
013915,000347: 06,3657 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013916,000348: 06,3660 13663 TCF +3
013917,000349: 06,3661 13663 TCF +2
013918,000350: 06,3662 15205 TCF ENDOFJOB
013919,000351:
013920,000352: 06,3663 37652 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013921,000353: 06,3664 57277 XCH 1/PIPADT
013922,000354: 06,3665 40000 COM
013923,000355: 06,3666 61105 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013924,000356: 06,3667 13577 TCF NBD2
013925,000357:
013926,000358: 06,3670 21450 90SECS DEC 9000 B-14
013927,000359: 06,3671 16037 20DEGS DEC 7199 B-14
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc