Source Code
013446,000001: # Copyright: Public domain.
013447,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc
013448,000003: # Purpose: A section of Luminary 1C, revision 131.
013449,000004: # It is part of the source code for the Lunar Module's (LM)
013450,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
013451,000006: # This file is intended to be a faithful transcription, except
013452,000007: # that the code format has been changed to conform to the
013453,000008: # requirements of the yaYUL assembler rather than the
013454,000009: # original YUL assembler.
013455,000010: # Reference: pp. 333-344 of 1729.pdf.
013456,000011: # Contact: Ron Burkey <info@sandroid.org>.
013457,000012: # Website: www.ibiblio.org/apollo/index.html
013458,000013: # Mod history: 05/10/03 RSB. Began transcribing.
013459,000014: # 05/14/05 RSB Corrected website reference above.
013460,000015:
013461,000016: # Page 333
013462,000017: 07,2666 BANK 7
013463,000018: 06,2000 SETLOC IMUCOMP
013464,000019: 06,2000 BANK
013465,000020:
013466,000021: 06,3271 E3,1460 EBANK= NBDX
013467,000022:
013468,000023: 06,3271 COUNT* $$/ICOMP
013469,000024: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013470,000025: 06,3272 56003 XCH EBANK
013471,000026: 06,3273 54163 TS MODE
013472,000027:
013473,000028: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013474,000029: 06,3275 13300 TCF +3
013475,000030: 06,3276 13300 TCF +2
013476,000031: 06,3277 13361 TCF IRIG1 # RETURN
013477,000032:
013478,000033: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013479,000034: 06,3301 54132 TS BUF +2
013480,000035:
013481,000036: 06,3302 50132 INDEX BUF +2
013482,000037: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013483,000038: 06,3304 00006 EXTEND
013484,000039: 06,3305 50132 INDEX BUF +2
013485,000040: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013486,000041: 06,3307 54002 TS Q # SAVE MAJOR PART
013487,000042:
013488,000043: 06,3310 30001 CA L # MINOR PART
013489,000044: 06,3311 00006 EXTEND
013490,000045: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013491,000046:
013492,000047: 06,3313 50132 INDEX BUF +2
013493,000048: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013494,000049:
013495,000050: 06,3315 30002 CA Q # MAJOR PART
013496,000051: 06,3316 00006 EXTEND
013497,000052: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013498,000053: 06,3320 50132 INDEX BUF +2
013499,000054: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SF)
013500,000055:
013501,000056: 06,3322 50132 INDEX BUF +2
013502,000057: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013503,000058: 06,3324 00006 EXTEND
013504,000059: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013505,000060: 06,3326 00006 EXTEND
013506,000061: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013507,000062: 06,3330 50132 INDEX BUF +2
013508,000063: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013509,000064:
013510,000065: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013511,000066: 06,3333 67752 AD NEG1
013512,000067: 06,3334 13301 TCF 1/PIPA1 +1
013513,000068: # Page 334
013514,000069: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013515,000070:
013516,000071: # Page 335
013517,000072: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013518,000073: 06,3337 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013519,000074:
013520,000075: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013521,000076:
013522,000077: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013523,000078: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013524,000079:
013525,000080: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013526,000081:
013527,000082: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013528,000083: 06,3345 03462 TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013529,000084:
013530,000085: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013531,000086:
013532,000087: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013533,000088: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013534,000089:
013535,000090: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013536,000091: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013537,000092: 06,3353 13361 TCF IRIG1 # NO RETURN
013538,000093:
013539,000094: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER.
013540,000095: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013541,000096: 06,3356 E3,1460 EBANK= NBDX
013542,000097: 06,3356 03515 14063 2CADR 1/GYRO
013543,000098:
013544,000099: 06,3360 00003 RELINT
013545,000100: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLER'S EBANK
013546,000101: 06,3362 54003 TS EBANK
013547,000102: 06,3363 14631 TCF SWRETURN
013548,000103:
013549,000104: # Page 336
013550,000105: 06,3364 00006 IRIGX EXTEND
013551,000106: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013552,000107: 06,3366 00006 EXTEND
013553,000108: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013554,000109: 06,3370 52155 DXCH MPAC
013555,000110: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013556,000111: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013557,000112:
013558,000113: 06,3373 00006 EXTEND #
013559,000114: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013560,000115: 06,3375 52155 DXCH MPAC #
013561,000116: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013562,000117: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013563,000118:
013564,000119: # EXTEND # ***
013565,000120: # DCS DELVY # *** (PIPA PULSES) X 2(+14)
013566,000121: # DXCH MPAC # ***
013567,000122: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013568,000123: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013569,000124:
013570,000125: 06,3400 00156 TC MPAC +2
013571,000126:
013572,000127: 06,3401 00006 IRIGY EXTEND
013573,000128: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013574,000129: 06,3403 00006 EXTEND
013575,000130: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013576,000131: 06,3405 52155 DXCH MPAC
013577,000132: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(+14) *
013578,000133: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013579,000134:
013580,000135: 06,3410 00006 EXTEND
013581,000136: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013582,000137: 06,3412 52155 DXCH MPAC
013583,000138: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013584,000139: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013585,000140:
013586,000141: # EXTEND # ***
013587,000142: # DCS DELVX # *** (PIPA PULSES) X 2(+14)
013588,000143: # DXCH MPAC # ***
013589,000144: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-6) *
013590,000145: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
013591,000146:
013592,000147: 06,3415 00156 TC MPAC +2
013593,000148:
013594,000149: 06,3416 00006 IRIGZ EXTEND
013595,000150: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013596,000151: 06,3420 00006 EXTEND
013597,000152: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(-14)
013598,000153: 06,3422 52155 DXCH MPAC
013599,000154: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013600,000155: # Page 337
013601,000156: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013602,000157:
013603,000158: 06,3425 00006 EXTEND
013604,000159: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013605,000160: 06,3427 52155 DXCH MPAC
013606,000161: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013607,000162: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013608,000163:
013609,000164: # EXTEND # ***
013610,000165: # DCS DELVX # *** (PIPA PULSE) X 2(+14)
013611,000166: # DXCH MPAC # ***
013612,000167: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013613,000168: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013614,000169:
013615,000170: 06,3432 00156 TC MPAC +2
013616,000171:
013617,000172: # Page 338
013618,000173: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013619,000174: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013620,000175: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013621,000176: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013622,000177:
013623,000178: 06,3437 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES
013624,000179: 06,3440 00006 EXTEND
013625,000180: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013626,000181: 06,3442 54001 TS L
013627,000182: 06,3443 34755 CAF ZERO
013628,000183: 06,3444 20123 DAS VBUF # NO = (BYRO PULSES) X 2(+8) *
013629,000184:
013630,000185: 06,3445 30122 CA VBUF # PARTIAL RESULT -- MAJOR
013631,000186: 06,3446 00006 EXTEND
013632,000187: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013633,000188: 06,3450 50130 INDEX BUF # RESULT = (BYRO PULSES) X 2(+14)
013634,000189: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013635,000190:
013636,000191: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR
013637,000192: 06,3453 00006 EXTEND
013638,000193: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013639,000194: 06,3455 54001 TS L
013640,000195: 06,3456 34755 CAF ZERO
013641,000196: 06,3457 50130 INDEX BUF # RESULT = (TYRO PULSES) X 2(+14)
013642,000197: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013643,000198:
013644,000199: 06,3461 00002 TC Q
013645,000200:
013646,000201: # Page 339
013647,000202: 06,3462 00006 DRIFTSUB EXTEND
013648,000203: 06,3463 22131 QXCH BUF +1
013649,000204:
013650,000205: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013651,000206: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
013652,000207: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013653,000208: 06,3467 00006 EXTEND
013654,000209: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013655,000210: 06,3471 50130 INDEX BUF
013656,000211: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013657,000212:
013658,000213: 06,3473 30155 CA MPAC +1 # NO MINOR PART
013659,000214: 06,3474 00006 EXTEND
013660,000215: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013661,000216: 06,3476 54001 TS L
013662,000217: 06,3477 34755 CAF ZERO
013663,000218: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013664,000219: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013665,000220:
013666,000221: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013667,000222: 06,3503 60130 AD BUF
013668,000223: 06,3504 56130 XCH BUF
013669,000224: 06,3505 50000 INDEX A
013670,000225: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013671,000226: 06,3507 13511 TCF +2 # YES
013672,000227: 06,3510 00131 TC BUF +1 # NO
013673,000228:
013674,000229: 06,3511 73561 MASK COMPCHK # DEC -1
013675,000230: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013676,000231: 06,3513 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
013677,000232: 06,3514 00131 TC BUF +1 # NO
013678,000233:
013679,000234: # Page 340
013680,000235: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013681,000236: 06,3516 54130 TS BUF
013682,000237:
013683,000238: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013684,000239: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013685,000240: 06,3521 00006 EXTEND
013686,000241: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013687,000242: 06,3523 50130 INDEX BUF
013688,000243: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013689,000244:
013690,000245: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013691,000246: 06,3526 50130 INDEX BUF
013692,000247: 06,3527 57471 XCH GCOMP # GYRO PULSES
013693,000248: 06,3530 00006 EXTEND
013694,000249: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013695,000250: 06,3532 50130 INDEX BUF
013696,000251: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013697,000252:
013698,000253: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013699,000254: 06,3535 67752 AD NEG1
013700,000255: 06,3536 13516 TCF 1/GYRO +1
013701,000256: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013702,000257:
013703,000258: 06,3540 33537 CAF LGCOMP
013704,000259: 06,3541 04616 TC BANKCALL
013705,000260: 06,3542 17314 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013706,000261: 06,3543 04616 TC BANKCALL
013707,000262: 06,3544 17707 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013708,000263: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013709,000264:
013710,000265: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013711,000266: 06,3547 54130 TS BUF
013712,000267:
013713,000268: 06,3550 50130 INDEX BUF # RESCALE
013714,000269: 06,3551 31472 CA GCOMP +1
013715,000270: 06,3552 00006 EXTEND
013716,000271: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
013717,000272: 06,3554 50130 INDEX BUF
013718,000273: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013719,000274:
013720,000275: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013721,000276: 06,3557 67752 AD NEG1
013722,000277: 06,3560 13547 TCF GCOMP1 +1
013723,000278: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013724,000279: 06,3562 15155 TCF ENDOFJOB
013725,000280:
013726,000281: # Page 341
013727,000282: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013728,000283: 06,3564 13567 TCF +3
013729,000284: 06,3565 13567 TCF +2
013730,000285: 06,3566 15155 TCF ENDOFJOB
013731,000286:
013732,000287: 06,3567 00004 INHINT
013733,000288: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013734,000289: 06,3571 15155 TCF ENDOFJOB
013735,000290: 06,3572 15155 TCF ENDOFJOB
013736,000291: 06,3573 13574 TCF +1
013737,000292:
013738,000293: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013739,000294: 06,3575 74744 MASK BIT8 # POSITIVE SO THA THT EH ACCELERATION TERMS
013740,000295: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013741,000296: 06,3577 00006 EXTEND
013742,000297: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013743,000298:
013744,000299: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013745,000300: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013746,000301:
013747,000302: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013748,000303: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013749,000304: 06,3605 00003 RELINT
013750,000305: 06,3606 40000 COM
013751,000306: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013752,000307: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013753,000308: 06,3611 64736 AD HALF
013754,000309: 06,3612 56001 XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
013755,000310: 06,3613 56001 XCH L # OVERFLOW.
013756,000311:
013757,000312: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013758,000313: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013759,000314: 06,3616 52125 DXCH VBUF +2
013760,000315:
013761,000316: 06,3617 34755 CA ZERO
013762,000317: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013763,000318: 06,3621 54130 TS BUF # INDEX X, Y, Z.
013764,000319:
013765,000320: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013766,000321: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013767,000322:
013768,000323: 06,3624 00006 EXTEND
013769,000324: 06,3625 30125 DCA VBUF +2
013770,000325: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013771,000326:
013772,000327: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013773,000328: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013774,000329:
013775,000330: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013776,000331: 06,3632 03401 TC IRIGY # COMPENSAGE ACCELERATION TERMS.
013777,000332: # Page 342
013778,000333: 06,3633 00006 EXTEND
013779,000334: 06,3634 40125 DCS VBUF +2
013780,000335: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013781,000336: 06,3636 31461 CA NBDY # (BYRO PULSES)/(CS) X 2(-5)
013782,000337: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013783,000338:
013784,000339: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013785,000340: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013786,000341:
013787,000342: 06,3642 00006 EXTEND
013788,000343: 06,3643 40125 DCS VBUF +2
013789,000344: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013790,000345: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013791,000346: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013792,000347:
013793,000348: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013794,000349: 06,3650 13515 TCF 1/GYRO # YES
013795,000350: 06,3651 15155 TCF ENDOFJOB # NO
013796,000351:
013797,000352: # Page 343
013798,000353: 06,3652 56002 FBIASSUB XCH Q
013799,000354: 06,3653 54131 TS BUF +1
013800,000355:
013801,000356: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013802,000357: 06,3655 00006 EXTEND
013803,000358: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013804,000359: 06,3657 50130 INDEX BUF
013805,000360: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013806,000361:
013807,000362: 06,3661 30002 CA Q # NO FRACTIONAL PART
013808,000363: 06,3662 00006 EXTEND
013809,000364: 06,3663 70155 MP MPAC +1
013810,000365: 06,3664 54001 TS L
013811,000366: 06,3665 34755 CAF ZERO
013812,000367: 06,3666 50130 INDEX BUF
013813,000368: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013814,000369:
013815,000370: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013816,000371:
013817,000372: 06,3671 04616 LASTBIAS TC BANKCALL
013818,000373: 06,3672 17270 CADR PIPUSE1
013819,000374:
013820,000375: 06,3673 11477 CCS GCOMPSW
013821,000376: 06,3674 13677 TCF +3
013822,000377: 06,3675 13677 TCF +2
013823,000378: 06,3676 15155 TCF ENDOFJOB
013824,000379:
013825,000380: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013826,000381: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
013827,000382: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
013828,000383:
013829,000384: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013830,000385: 06,3703 57074 XCH 1/PIPADT
013831,000386: 06,3704 40000 COM
013832,000387: 06,3705 61234 AD PIPTIME +1
013833,000388: 06,3706 13610 TCF NBD2
013834,000389:
013835,000390: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
013836,000391: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
013837,000392: 06,3711 54163 TS MODE
013838,000393:
013839,000394: 06,3712 34755 CAF ZERO
013840,000395: 06,3713 55477 TS GCOMPSW
013841,000396: 06,3714 55471 TS GCOMP
013842,000397: 06,3715 55472 TS GCOMP +1
013843,000398: 06,3716 55473 TS GCOMP +2
013844,000399: 06,3717 55474 TS GCOMP +3
013845,000400: 06,3720 55475 TS GCOMP +4
013846,000401: # Page 344
013847,000402: 06,3721 55476 TS GCOMP +5
013848,000403:
013849,000404: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
013850,000405:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc