Source Code
012778,000001: # Copyright: Public domain.
012779,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc
012780,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
012781,000004: # It is part of the source code for the Command Module's (CM)
012782,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
012783,000006: # Assembler: yaYUL
012784,000007: # Contact: Ron Burkey <info@sandroid.org>.
012785,000008: # Website: www.ibiblio.org/apollo.
012786,000009: # Pages: 297-306
012787,000010: # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
012788,000011: # same name, using Comanche055 page images/
012789,000012: # 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21.
012790,000013:
012791,000014: # This source code has been transcribed or otherwise adapted from digitized
012792,000015: # images of a hardcopy from the MIT Museum. The digitization was performed
012793,000016: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
012794,000017: # thanks to both. The images (with suitable reduction in storage size and
012795,000018: # consequent reduction in image quality as well) are available online at
012796,000019: # www.ibiblio.org/apollo. If for some reason you find that the images are
012797,000020: # illegible, contact me at info@sandroid.org about getting access to the
012798,000021: # (much) higher-quality images which Paul actually created.
012799,000022:
012800,000023: # Notations on the hardcopy document read, in part:
012801,000024:
012802,000025: # Assemble revision 055 of AGC program Comanche by NASA
012803,000026: # 2021113-051. 10:28 APR. 1, 1969
012804,000027:
012805,000028: # This AGC program shall also be referred to as
012806,000029: # Colossus 2A
012807,000030:
012808,000031: # Page 297
012809,000032: 07,2441 BANK 7
012810,000033: 06,2000 SETLOC IMUCOMP
012811,000034: 06,2000 BANK
012812,000035: 06,3262 E3,1460 EBANK= NBDX
012813,000036:
012814,000037: 06,3262 COUNT 06/ICOMP
012815,000038:
012816,000039: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012817,000040: 06,3263 56003 XCH EBANK
012818,000041: 06,3264 54163 TS MODE
012819,000042:
012820,000043: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012821,000044: 06,3266 13271 TCF +3
012822,000045: 06,3267 13271 TCF +2
012823,000046: 06,3270 13407 TCF IRIG1 # RETURN
012824,000047:
012825,000048: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012826,000049: # FOR DOWNLINK.
012827,000050:
012828,000051: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012829,000052: 06,3273 54132 TS BUF +2
012830,000053:
012831,000054: 06,3274 50132 INDEX BUF +2
012832,000055: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012833,000056: 06,3276 00006 EXTEND
012834,000057: 06,3277 50132 INDEX BUF +2
012835,000058: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012836,000059: 06,3301 54002 TS Q # SAVE MAJOR PART
012837,000060:
012838,000061: 06,3302 30001 CA L # MINOR PART
012839,000062: 06,3303 00006 EXTEND
012840,000063: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012841,000064: 06,3305 50132 INDEX BUF +2
012842,000065: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012843,000066:
012844,000067: 06,3307 30002 CA Q # MAJOR PART
012845,000068: 06,3310 00006 EXTEND
012846,000069: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012847,000070: 06,3312 50132 INDEX BUF +2
012848,000071: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SF)
012849,000072:
012850,000073: 06,3314 50132 INDEX BUF +2
012851,000074: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012852,000075: 06,3316 00006 EXTEND
012853,000076: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012854,000077: 06,3320 00006 EXTEND
012855,000078: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012856,000079: 06,3322 50132 INDEX BUF +2
012857,000080: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012858,000081:
012859,000082: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
012860,000083: # Page 298
012861,000084: 06,3325 67716 AD NEG1
012862,000085: 06,3326 13273 TCF 1/PIPA1 +1
012863,000086: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
012864,000087: 06,3330 00003 RELINT
012865,000088: # Page 299
012866,000089:
012867,000090: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
012868,000091: 06,3332 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
012869,000092:
012870,000093: 06,3333 00006 IRIGX EXTEND
012871,000094: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012872,000095: 06,3335 52155 DXCH MPAC
012873,000096: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012874,000097: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012875,000098:
012876,000099: 06,3340 00006 EXTEND #
012877,000100: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012878,000101: 06,3342 52155 DXCH MPAC #
012879,000102: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012880,000103: 06,3344 03412 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012881,000104:
012882,000105: # EXTEND # ***
012883,000106: # DCS DELVY # *** (PIPA PULSES) X 2(+14)
012884,000107: # DXCH MPAC # ***
012885,000108: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012886,000109: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012887,000110:
012888,000111: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-3)
012889,000112: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012890,000113:
012891,000114: 06,3347 00006 IRIGY EXTEND
012892,000115: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012893,000116: 06,3351 52155 DXCH MPAC
012894,000117: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012895,000118: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012896,000119:
012897,000120: 06,3354 00006 EXTEND
012898,000121: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012899,000122: 06,3356 52155 DXCH MPAC
012900,000123: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012901,000124: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012902,000125:
012903,000126: # EXTEND # ***
012904,000127: # DCS DELVX # *** (PIPA PULSES) X 2(+14)
012905,000128: # DXCH MPAC # ***
012906,000129: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-3) *
012907,000130: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
012908,000131:
012909,000132: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012910,000133: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012911,000134:
012912,000135: 06,3363 00006 IRIGZ EXTEND
012913,000136: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(-14)
012914,000137: 06,3365 52155 DXCH MPAC
012915,000138: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012916,000139: # Page 300
012917,000140: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012918,000141:
012919,000142: 06,3370 00006 EXTEND
012920,000143: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012921,000144: 06,3372 52155 DXCH MPAC
012922,000145: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012923,000146: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012924,000147:
012925,000148: # EXTEND # ***
012926,000149: # DCS DELVX # *** (PIPA PULSE) X 2(+14)
012927,000150: # DXCH MPAC # ***
012928,000151: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012929,000152: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012930,000153:
012931,000154: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012932,000155: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012933,000156:
012934,000157: # Page 301
012935,000158: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012936,000159: 06,3400 13402 TCF +2 # YES
012937,000160: 06,3401 13407 TCF IRIG1 # NO
012938,000161:
012939,000162: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER -- LESS THAN PRELAUNCH
012940,000163: 06,3403 05134 TC NOVAC
012941,000164: 06,3404 E3,1460 EBANK= NBDX
012942,000165: 06,3404 03474 14063 2CADR 1/GYRO
012943,000166:
012944,000167: 06,3406 00003 RELINT
012945,000168: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012946,000169: 06,3410 54003 TS EBANK
012947,000170: 06,3411 14675 TCF SWRETURN
012948,000171:
012949,000172: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012950,000173: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012951,000174: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012952,000175: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012953,000176:
012954,000177: 06,3416 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES
012955,000178: 06,3417 00006 EXTEND
012956,000179: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012957,000180: 06,3421 54001 TS L
012958,000181: 06,3422 35021 CAF ZERO
012959,000182: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012960,000183:
012961,000184: 06,3424 30122 CA VBUF # PARTIAL RESULT -- MAJOR
012962,000185: 06,3425 00006 EXTEND
012963,000186: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012964,000187: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012965,000188: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012966,000189:
012967,000190: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR
012968,000191: 06,3432 00006 EXTEND
012969,000192: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012970,000193: 06,3434 54001 TS L
012971,000194: 06,3435 35021 CAF ZERO
012972,000195: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012973,000196: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012974,000197:
012975,000198: 06,3440 00002 TC Q
012976,000199:
012977,000200: # Page 302
012978,000201: 06,3441 00006 DRIFTSUB EXTEND
012979,000202: 06,3442 22131 QXCH BUF +1
012980,000203:
012981,000204: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012982,000205: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
012983,000206: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012984,000207: 06,3446 00006 EXTEND
012985,000208: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012986,000209: 06,3450 50130 INDEX BUF
012987,000210: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012988,000211:
012989,000212: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012990,000213: 06,3453 00006 EXTEND
012991,000214: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012992,000215: 06,3455 54001 TS L
012993,000216: 06,3456 35021 CAF ZERO
012994,000217: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012995,000218: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012996,000219:
012997,000220: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012998,000221: 06,3462 60130 AD BUF
012999,000222: 06,3463 56130 XCH BUF
013000,000223: 06,3464 50000 INDEX A
013001,000224: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013002,000225: 06,3466 13470 TCF +2 # YES
013003,000226: 06,3467 00131 TC BUF +1 # NO
013004,000227:
013005,000228: 06,3470 77716 MASK NEGONE
013006,000229: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013007,000230: 06,3472 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
013008,000231: 06,3473 00131 TC BUF +1 # NO
013009,000232:
013010,000233: # Page 303
013011,000234: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013012,000235: 06,3475 54130 TS BUF
013013,000236:
013014,000237: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013015,000238: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
013016,000239: 06,3500 00006 EXTEND
013017,000240: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
013018,000241: 06,3502 50130 INDEX BUF
013019,000242: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013020,000243:
013021,000244: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013022,000245: 06,3505 50130 INDEX BUF
013023,000246: 06,3506 57471 XCH GCOMP # GYRO PULSES
013024,000247: 06,3507 00006 EXTEND
013025,000248: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
013026,000249: 06,3511 50130 INDEX BUF
013027,000250: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013028,000251:
013029,000252: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013030,000253: 06,3514 67716 AD NEG1
013031,000254: 06,3515 13475 TCF 1/GYRO +1
013032,000255: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013033,000256:
013034,000257: 06,3517 33516 CAF LGCOMP
013035,000258: 06,3520 04662 TC BANKCALL
013036,000259: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013037,000260: 06,3522 04662 TC BANKCALL
013038,000261: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013039,000262: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
013040,000263:
013041,000264: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013042,000265: 06,3526 54130 TS BUF
013043,000266:
013044,000267: 06,3527 50130 INDEX BUF # RESCALE
013045,000268: 06,3530 31472 CA GCOMP +1
013046,000269: 06,3531 00006 EXTEND
013047,000270: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
013048,000271: 06,3533 50130 INDEX BUF
013049,000272: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013050,000273:
013051,000274: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013052,000275: 06,3536 67716 AD NEG1
013053,000276: 06,3537 13526 TCF GCOMP1 +1
013054,000277:
013055,000278: 06,3540 01436 V06N30S VN 0630
013056,000279: 06,3541 15217 TCF ENDOFJOB
013057,000280:
013058,000281: # Page 304
013059,000282: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013060,000283: 06,3543 13546 TCF +3
013061,000284: 06,3544 13546 TCF +2
013062,000285: 06,3545 15217 TCF ENDOFJOB
013063,000286:
013064,000287: 06,3546 00004 INHINT
013065,000288: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013066,000289: 06,3550 15217 TCF ENDOFJOB
013067,000290: 06,3551 15217 TCF ENDOFJOB
013068,000291: 06,3552 13553 TCF +1
013069,000292:
013070,000293: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
013071,000294: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
013072,000295: 06,3555 00003 RELINT
013073,000296: 06,3556 40000 COM
013074,000297: 06,3557 61074 AD 1/PIPADT
013075,000298: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME.
013076,000299: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
013077,000300: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
013078,000301: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
013079,000302: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013080,000303:
013081,000304: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
013082,000305: 06,3566 64777 AD POSMAX
013083,000306:
013084,000307: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013085,000308: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
013086,000309: 06,3571 52123 DXCH VBUF
013087,000310: 06,3572 00006 EXTEND
013088,000311: 06,3573 30123 DCA VBUF
013089,000312: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013090,000313:
013091,000314: 06,3575 35021 CAF ZERO
013092,000315: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013093,000316: 06,3577 54130 TS BUF # INDEX X, Y, Z.
013094,000317:
013095,000318: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013096,000319: 06,3601 03617 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013097,000320:
013098,000321: 06,3602 00006 EXTEND
013099,000322: 06,3603 40123 DCS VBUF
013100,000323: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013101,000324: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013102,000325: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013103,000326:
013104,000327: 06,3607 00006 EXTEND
013105,000328: 06,3610 40123 DCS VBUF
013106,000329: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013107,000330: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013108,000331: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013109,000332: # Page 305
013110,000333: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013111,000334: 06,3615 13474 TCF 1/GYRO # YES
013112,000335: 06,3616 15217 TCF ENDOFJOB # NO
013113,000336:
013114,000337: # Page 303
013115,000338: 06,3617 56002 FBIASSUB XCH Q
013116,000339: 06,3620 54131 TS BUF +1
013117,000340:
013118,000341: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013119,000342: 06,3622 00006 EXTEND
013120,000343: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013121,000344: 06,3624 50130 INDEX BUF
013122,000345: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013123,000346:
013124,000347: 06,3626 30002 CA Q # NO FRACTIONAL PART
013125,000348: 06,3627 00006 EXTEND
013126,000349: 06,3630 70155 MP MPAC +1
013127,000350: 06,3631 54001 TS L
013128,000351: 06,3632 35021 CAF ZERO
013129,000352: 06,3633 50130 INDEX BUF
013130,000353: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013131,000354:
013132,000355: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013133,000356:
013134,000357: 06,3636 04662 LASTBIAS TC BANKCALL
013135,000358: 06,3637 17156 CADR PIPUSE
013136,000359:
013137,000360: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013138,000361: 06,3641 13644 TCF +3
013139,000362: 06,3642 13644 TCF +2
013140,000363: 06,3643 15217 TCF ENDOFJOB
013141,000364:
013142,000365: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013143,000366: 06,3645 57074 XCH 1/PIPADT
013144,000367: 06,3646 40000 COM
013145,000368: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013146,000369: 06,3650 13560 TCF NBD2
013147,000370:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc