Source Code

These source-code files are part of a reconstructed copy of Comanche 72, the first release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

They have been adapted from sources files created from a listing of Comanche 55. These source files were updated to match binary dumps of a set of Comanche 67 rope modules. They were then further modified by applying known changes between Comanche 67 and Comanche 72. A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used to validate changes made to banks 05-13. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

012391,000002:                                                                                                  ## Copyright:   Public domain.
012392,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
012393,000004:                                                                                                  ## Purpose:     A section of Comanche revision 072.
012394,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
012395,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
012396,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
012397,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
012398,000009:                                                                                                  ##              from a printout of Comanche 055, binary dumps of a set of
012399,000010:                                                                                                  ##              Comanche 067 rope modules, and changelogs between Comanche 067
012400,000011:                                                                                                  ##              and 072. It has been adapted such that the resulting bugger words
012401,000012:                                                                                                  ##              exactly match those specified for Comanche 072 in NASA drawing
012402,000013:                                                                                                  ##              2021153G, which gives relatively high confidence that the
012403,000014:                                                                                                  ##              reconstruction is correct.
012404,000015:                                                                                                  ## Assembler:   yaYUL
012405,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
012406,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
012407,000018:                                                                                                  ## Mod history: 2024-05-13 MAS  Created from Comanche 067.
012408,000019: 
012409,000020: 07,2441                                           BANK     7                                     
012410,000021: 06,2000                                           SETLOC   IMUCOMP                               
012411,000022: 06,2000                                           BANK                                           
012412,000023: 06,3262  E3,1460                                  EBANK=   NBDX                                  
012413,000024: 
012414,000025: 06,3262                                           COUNT    06/ICOMP                              
012415,000026: 
012416,000027: 06,3262           33516        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
012417,000028: 06,3263           56003                           XCH      EBANK                                 
012418,000029: 06,3264           54163                           TS       MODE                                  
012419,000030: 
012420,000031: 06,3265           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012421,000032: 06,3266           13271                           TCF      +3                                    
012422,000033: 06,3267           13271                           TCF      +2                                    
012423,000034: 06,3270           13407                           TCF      IRIG1                                 #  RETURN
012424,000035: 
012425,000036: 06,3271           00004                           INHINT                                         #  ASSURE COMPLETE COMPENSATION OF DELV'S
012426,000037:                                                                                                  #  FOR DOWNLINK.
012427,000038: 
012428,000039: 06,3272           35031        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012429,000040: 06,3273           54132                           TS       BUF        +2                         
012430,000041: 
012431,000042: 06,3274           50132                           INDEX    BUF        +2                         
012432,000043: 06,3275           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
012433,000044: 06,3276           00006                           EXTEND                                         
012434,000045: 06,3277           50132                           INDEX    BUF        +2                         
012435,000046: 06,3300           71162                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012436,000047: 06,3301           54002                           TS       Q                                     #  SAVE MAJOR PART
012437,000048: 
012438,000049: 06,3302           30001                           CA       L                                     #  MINOR PART
012439,000050: 06,3303           00006                           EXTEND                                         
012440,000051: 06,3304           75026                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9   
012441,000052: 06,3305           50132                           INDEX    BUF        +2                         
012442,000053: 06,3306           55163                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
012443,000054: 
012444,000055: 06,3307           30002                           CA       Q                                     #  MAJOR PART
012445,000056: 06,3310           00006                           EXTEND                                         
012446,000057: 06,3311           75026                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
012447,000058: 06,3312           50132                           INDEX    BUF        +2                         
012448,000059: 06,3313           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
012449,000060: 
012450,000061: 06,3314           50132                           INDEX    BUF        +2                         
012451,000062: 06,3315           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-6)
012452,000063: 06,3316           00006                           EXTEND                                         
012453,000064: 06,3317           71074                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
012454,000065: 06,3320           00006                           EXTEND                                         
012455,000066: 06,3321           75031                           MP       BIT3                                  #  SCALE 2(+12) SHIFT RIGHT 12
012456,000067: 06,3322           50132                           INDEX    BUF        +2                         
012457,000068: 06,3323           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012458,000069: 
012459,000070: 06,3324           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
012460,000071: 06,3325           67716                           AD       NEG1                                  
012461,000072: 06,3326           13273                           TCF      1/PIPA1    +1                         
012462,000073: 06,3327           13330                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE.
012463,000074: 06,3330           00003                           RELINT                                         
012464,000075: 
012465,000076: 06,3331           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012466,000077: 06,3332           54130                           TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012467,000078: 
012468,000079: 06,3333           00006        IRIGX              EXTEND                                         
012469,000080: 06,3334           41163                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
012470,000081: 06,3335           52155                           DXCH     MPAC                                  
012471,000082: 06,3336           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012472,000083: 06,3337           03412                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)       (GYRO PULSES) X 2(+14)
012473,000084: 
012474,000085: 06,3340           00006                           EXTEND                                         #  
012475,000086: 06,3341           41165                           DCS      DELVY                                 #        (PIPA PULSES) X 2(+14)
012476,000087: 06,3342           52155                           DXCH     MPAC                                  #  
012477,000088: 06,3343           41466                           CS       ADSRAX                                #        (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012478,000089: 06,3344           03412                           TC       GCOMPSUB                              #        +(ADSRAX)(PIPAY)        (GYRO PULSES) X 2(+14)
012479,000090: 
012480,000091:                                                                                                  #                EXTEND                  ***
012481,000092:                                                                                                  #                DCS     DELVZ           ***     (PIPA PULSES) X 2(+14)
012482,000093:                                                                                                  #                DXCH    MPAC            ***
012483,000094:                                                                                                  #                CA      ADOAX           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012484,000095:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAX)(PIPAZ)         (GYRO PULSES) X 2(+14)
012485,000096: 
012486,000097: 06,3345           41460                           CS       NBDX                                  #        (GYRO PULSES)/(CS) X 2(-5)
012487,000098: 06,3346           03441                           TC       DRIFTSUB                              #        -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012488,000099: 
012489,000100: 06,3347           00006        IRIGY              EXTEND                                         
012490,000101: 06,3350           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012491,000102: 06,3351           52155                           DXCH     MPAC                                  
012492,000103: 06,3352           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012493,000104: 06,3353           03412                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)       (GYRO PULSES) X 2(+14)
012494,000105: 
012495,000106: 06,3354           00006                           EXTEND                                         
012496,000107: 06,3355           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012497,000108: 06,3356           52155                           DXCH     MPAC                                  
012498,000109: 06,3357           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012499,000110: 06,3360           03412                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)      (GYRO PULSES) X 2(+14)
012500,000111: 
012501,000112:                                                                                                  #                EXTEND                  ***
012502,000113:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSES) X 2(+14)
012503,000114:                                                                                                  #                DXCH    MPAC            ***
012504,000115:                                                                                                  #                CA      ADOAY           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012505,000116:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAY)(PIPAX)    (GYRO PULSES) X 2(+14)
012506,000117: 
012507,000118: 06,3361           41461                           CS       NBDY                                  #        (GYRO PULSES)/(CS) X 2(-5)
012508,000119: 06,3362           03441                           TC       DRIFTSUB                              #        -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012509,000120: 
012510,000121: 06,3363           00006        IRIGZ              EXTEND                                         
012511,000122: 06,3364           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012512,000123: 06,3365           52155                           DXCH     MPAC                                  
012513,000124: 06,3366           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012514,000125: 06,3367           03412                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)      (GYRO PULSES) X 2(+14)
012515,000126: 
012516,000127: 06,3370           00006                           EXTEND                                         
012517,000128: 06,3371           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012518,000129: 06,3372           52155                           DXCH     MPAC                                  
012519,000130: 06,3373           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012520,000131: 06,3374           03412                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)       (GYRO PULSES) X 2(+14)
012521,000132: 
012522,000133:                                                                                                  #                EXTEND                  ***
012523,000134:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSE) X 2(+14)
012524,000135:                                                                                                  #                DXCH    MPAC            ***
012525,000136:                                                                                                  #                CS      ADOAZ           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012526,000137:                                                                                                  #                TC      GCOMPSUB        ***     +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012527,000138: 
012528,000139: 06,3375           31462                           CA       NBDZ                                  #        (GYRO PULSES)/(CS) X 2(-5)
012529,000140: 06,3376           03441                           TC       DRIFTSUB                              #        +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012530,000141: 
012531,000142: 06,3377           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012532,000143: 06,3400           13402                           TCF      +2                                    #  YES   
012533,000144: 06,3401           13407                           TCF      IRIG1                                 #  NO    
012534,000145: 
012535,000146: 06,3402           35107                           CA       PRIO21                                #  HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012536,000147: 06,3403           05150                           TC       NOVAC                                 
012537,000148: 06,3404  E3,1460                                  EBANK=   NBDX                                  
012538,000149: 06,3404           03474 14063                     2CADR    1/GYRO                                
012539,000150: 
012540,000151: 06,3406           00003                           RELINT                                         
012541,000152: 06,3407           30163        IRIG1              CA       MODE                                  #  SET EBANK FOR RETURN
012542,000153: 06,3410           54003                           TS       EBANK                                 
012543,000154: 06,3411           14711                           TCF      SWRETURN                              
012544,000155: 
012545,000156: 06,3412           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012546,000157: 06,3413           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
012547,000158: 06,3414           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012548,000159: 06,3415           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
012549,000160: 
012550,000161: 06,3416           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
012551,000162: 06,3417           00006                           EXTEND                                         
012552,000163: 06,3420           70154                           MP       MPAC                                  #  ADIA OR ADSRA
012553,000164: 06,3421           54001                           TS       L                                     
012554,000165: 06,3422           35035                           CAF      ZERO                                  
012555,000166: 06,3423           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
012556,000167: 
012557,000168: 06,3424           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
012558,000169: 06,3425           00006                           EXTEND                                         
012559,000170: 06,3426           75020                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
012560,000171: 06,3427           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012561,000172: 06,3430           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012562,000173: 
012563,000174: 06,3431           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
012564,000175: 06,3432           00006                           EXTEND                                         
012565,000176: 06,3433           75020                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
012566,000177: 06,3434           54001                           TS       L                                     
012567,000178: 06,3435           35035                           CAF      ZERO                                  
012568,000179: 06,3436           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012569,000180: 06,3437           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012570,000181: 
012571,000182: 06,3440           00002                           TC       Q                                     
012572,000183: 
012573,000184: 06,3441           00006        DRIFTSUB           EXTEND                                         
012574,000185: 06,3442           22131                           QXCH     BUF        +1                         
012575,000186: 
012576,000187: 06,3443           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
012577,000188: 06,3444           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
012578,000189: 06,3445           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
012579,000190: 06,3446           00006                           EXTEND                                         
012580,000191: 06,3447           75030                           MP       BIT4                                  #  SCALE 2(+11)  SHIFT RIGHT 11
012581,000192: 06,3450           50130                           INDEX    BUF                                   
012582,000193: 06,3451           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
012583,000194: 
012584,000195: 06,3452           30155                           CA       MPAC       +1                         #  NOW MINOR PART
012585,000196: 06,3453           00006                           EXTEND                                         
012586,000197: 06,3454           75030                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
012587,000198: 06,3455           54001                           TS       L                                     
012588,000199: 06,3456           35035                           CAF      ZERO                                  
012589,000200: 06,3457           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
012590,000201: 06,3460           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
012591,000202: 
012592,000203: 06,3461           35032        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
012593,000204: 06,3462           60130                           AD       BUF                                   
012594,000205: 06,3463           56130                           XCH      BUF                                   
012595,000206: 06,3464           50000                           INDEX    A                                     
012596,000207: 06,3465           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
012597,000208: 06,3466           13470                           TCF      +2                                    #  YES
012598,000209: 06,3467           00131                           TC       BUF        +1                         #  NO
012599,000210: 
012600,000211: 06,3470           77716                           MASK     NEGONE                                
012601,000212: 06,3471           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012602,000213: 06,3472           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
012603,000214: 06,3473           00131                           TC       BUF        +1                         #  NO
012604,000215: 
012605,000216: 06,3474           35031        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012606,000217: 06,3475           54130                           TS       BUF                                   
012607,000218: 
012608,000219: 06,3476           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
012609,000220: 06,3477           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
012610,000221: 06,3500           00006                           EXTEND                                         
012611,000222: 06,3501           75024                           MP       BIT8                                  #  SHIFT RIGHT 7
012612,000223: 06,3502           50130                           INDEX    BUF                                   
012613,000224: 06,3503           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
012614,000225: 
012615,000226: 06,3504           35035                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
012616,000227: 06,3505           50130                           INDEX    BUF                                   
012617,000228: 06,3506           57471                           XCH      GCOMP                                 #  GYRO PULSES
012618,000229: 06,3507           00006                           EXTEND                                         
012619,000230: 06,3510           75024                           MP       BIT8                                  #  SHIFT RIGHT 7
012620,000231: 06,3511           50130                           INDEX    BUF                                   
012621,000232: 06,3512           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
012622,000233: 
012623,000234: 06,3513           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012624,000235: 06,3514           67716                           AD       NEG1                                  
012625,000236: 06,3515           13475                           TCF      1/GYRO     +1                         
012626,000237: 06,3516           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
012627,000238: 
012628,000239: 06,3517           33516                           CAF      LGCOMP                                
012629,000240: 06,3520           04676                           TC       BANKCALL                              
012630,000241: 06,3521           17206                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
012631,000242: 06,3522           04676                           TC       BANKCALL                              
012632,000243: 06,3523           17577                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
012633,000244: 06,3524           15233                           TCF      ENDOFJOB                              #  TEMPORARY
012634,000245: 
012635,000246: 06,3525           35031        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012636,000247: 06,3526           54130                           TS       BUF                                   
012637,000248: 
012638,000249: 06,3527           50130                           INDEX    BUF                                   #  RESCALE
012639,000250: 06,3530           31472                           CA       GCOMP      +1                         
012640,000251: 06,3531           00006                           EXTEND                                         
012641,000252: 06,3532           75024                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012642,000253: 06,3533           50130                           INDEX    BUF                                   
012643,000254: 06,3534           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
012644,000255: 
012645,000256: 06,3535           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012646,000257: 06,3536           67716                           AD       NEG1                                  
012647,000258: 06,3537           13526                           TCF      GCOMP1     +1                         
012648,000259: 
012649,000260: 06,3540           01436        V06N30S            VN       0630                                  
012650,000261: 06,3541           15233                           TCF      ENDOFJOB                              
012651,000262: 
012652,000263: 06,3542           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012653,000264: 06,3543           13546                           TCF      +3                                    
012654,000265: 06,3544           13546                           TCF      +2                                    
012655,000266: 06,3545           15233                           TCF      ENDOFJOB                              
012656,000267: 
012657,000268: 06,3546           00004                           INHINT                                         
012658,000269: 06,3547           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
012659,000270: 06,3550           15233                           TCF      ENDOFJOB                              
012660,000271: 06,3551           15233                           TCF      ENDOFJOB                              
012661,000272: 06,3552           13553                           TCF      +1                                    
012662,000273: 
012663,000274: 06,3553           30025                           CA       TIME1                                 #  (CS) X 2(+14)
012664,000275: 06,3554           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
012665,000276: 06,3555           00003                           RELINT                                         
012666,000277: 06,3556           40000                           COM                                            
012667,000278: 06,3557           61074                           AD       1/PIPADT                              
012668,000279: 06,3560           10000        NBD2               CCS      A                                     #  CALCULATE ELAPSED TIME
012669,000280: 06,3561           65033                           AD       ONE                                   #  NO TIME1 OVERFLOW
012670,000281: 06,3562           13567                           TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
012671,000282: 06,3563           13565                           TCF      +2                                    #  TIME1 OVERFLOW
012672,000283: 06,3564           15233                           TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012673,000284: 
012674,000285: 06,3565           40000                           COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
012675,000286: 06,3566           65013                           AD       POSMAX                                
012676,000287: 
012677,000288: 06,3567           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
012678,000289: 06,3570           75022                           MP       BIT10                                 #  SHIFT RIGHT 5
012679,000290: 06,3571           52123                           DXCH     VBUF                                  
012680,000291: 06,3572           00006                           EXTEND                                         
012681,000292: 06,3573           30123                           DCA      VBUF                                  
012682,000293: 06,3574           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
012683,000294: 
012684,000295: 06,3575           35035                           CAF      ZERO                                  
012685,000296: 06,3576           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012686,000297: 06,3577           54130                           TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
012687,000298: 
012688,000299: 06,3600           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012689,000300: 06,3601           03617                           TC       FBIASSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
012690,000301: 
012691,000302: 06,3602           00006                           EXTEND                                         
012692,000303: 06,3603           40123                           DCS      VBUF                                  
012693,000304: 06,3604           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012694,000305: 06,3605           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
012695,000306: 06,3606           03617                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
012696,000307: 
012697,000308: 06,3607           00006                           EXTEND                                         
012698,000309: 06,3610           40123                           DCS      VBUF                                  
012699,000310: 06,3611           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012700,000311: 06,3612           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012701,000312: 06,3613           03617                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
012702,000313: 06,3614           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012703,000314: 06,3615           13474                           TCF      1/GYRO                                #  YES
012704,000315: 06,3616           15233                           TCF      ENDOFJOB                              #  NO
012705,000316: 
012706,000317: 06,3617           56002        FBIASSUB           XCH      Q                                     
012707,000318: 06,3620           54131                           TS       BUF        +1                         
012708,000319: 
012709,000320: 06,3621           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012710,000321: 06,3622           00006                           EXTEND                                         
012711,000322: 06,3623           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012712,000323: 06,3624           50130                           INDEX    BUF                                   
012713,000324: 06,3625           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
012714,000325: 
012715,000326: 06,3626           30002                           CA       Q                                     #  NOW FRACTIONAL PART
012716,000327: 06,3627           00006                           EXTEND                                         
012717,000328: 06,3630           70155                           MP       MPAC       +1                         
012718,000329: 06,3631           54001                           TS       L                                     
012719,000330: 06,3632           35035                           CAF      ZERO                                  
012720,000331: 06,3633           50130                           INDEX    BUF                                   
012721,000332: 06,3634           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
012722,000333: 
012723,000334: 06,3635           13461                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
012724,000335: 
012725,000336: 06,3636           04676        LASTBIAS           TC       BANKCALL                              
012726,000337: 06,3637           17156                           CADR     PIPUSE                                
012727,000338: 
012728,000339: 06,3640           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012729,000340: 06,3641           13644                           TCF      +3                                    
012730,000341: 06,3642           13644                           TCF      +2                                    
012731,000342: 06,3643           15233                           TCF      ENDOFJOB                              
012732,000343: 
012733,000344: 06,3644           37665                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
012734,000345: 06,3645           57074                           XCH      1/PIPADT                              
012735,000346: 06,3646           40000                           COM                                            
012736,000347: 06,3647           61246                           AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
012737,000348: 06,3650           13560                           TCF      NBD2                                  
012738,000349: 

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