Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. 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 72/3 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.

012377,000002:                                                                                                  ## Copyright:   Public domain.
012378,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
012379,000004:                                                                                                  ## Purpose:     A section of Manche72 revision 3.
012380,000005:                                                                                                  ##              It is part of the reconstructed source code for the final, flown
012381,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
012382,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
012383,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
012384,000009:                                                                                                  ##              from a reconstructed copy of Comanche 072. It has been adapted
012385,000010:                                                                                                  ##              such that the resulting bugger words exactly match those
012386,000011:                                                                                                  ##              specified for Manche72 revision 3 in NASA drawing 2021153G,
012387,000012:                                                                                                  ##              which gives relatively high confidence that the reconstruction
012388,000013:                                                                                                  ##              is correct.
012389,000014:                                                                                                  ## Assembler:   yaYUL
012390,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
012391,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
012392,000017:                                                                                                  ## Mod history: 2024-05-19 MAS  Created from Comanche 072.
012393,000018: 
012394,000019: 07,2441                                           BANK     7                                     
012395,000020: 06,2000                                           SETLOC   IMUCOMP                               
012396,000021: 06,2000                                           BANK                                           
012397,000022: 06,3262  E3,1460                                  EBANK=   NBDX                                  
012398,000023: 
012399,000024: 06,3262                                           COUNT    06/ICOMP                              
012400,000025: 
012401,000026: 06,3262           33516        1/PIPA             CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
012402,000027: 06,3263           56003                           XCH      EBANK                                 
012403,000028: 06,3264           54163                           TS       MODE                                  
012404,000029: 
012405,000030: 06,3265           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012406,000031: 06,3266           13271                           TCF      +3                                    
012407,000032: 06,3267           13271                           TCF      +2                                    
012408,000033: 06,3270           13407                           TCF      IRIG1                                 #  RETURN
012409,000034: 
012410,000035: 06,3271           00004                           INHINT                                         #  ASSURE COMPLETE COMPENSATION OF DELV'S
012411,000036:                                                                                                  #  FOR DOWNLINK.
012412,000037: 
012413,000038: 06,3272           35031        1/PIPA1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012414,000039: 06,3273           54132                           TS       BUF        +2                         
012415,000040: 
012416,000041: 06,3274           50132                           INDEX    BUF        +2                         
012417,000042: 06,3275           31453                           CA       PIPASCF                               #  (P.P.M.) X 2(-9)
012418,000043: 06,3276           00006                           EXTEND                                         
012419,000044: 06,3277           50132                           INDEX    BUF        +2                         
012420,000045: 06,3300           71162                           MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012421,000046: 06,3301           54002                           TS       Q                                     #  SAVE MAJOR PART
012422,000047: 
012423,000048: 06,3302           30001                           CA       L                                     #  MINOR PART
012424,000049: 06,3303           00006                           EXTEND                                         
012425,000050: 06,3304           75026                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9   
012426,000051: 06,3305           50132                           INDEX    BUF        +2                         
012427,000052: 06,3306           55163                           TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
012428,000053: 
012429,000054: 06,3307           30002                           CA       Q                                     #  MAJOR PART
012430,000055: 06,3310           00006                           EXTEND                                         
012431,000056: 06,3311           75026                           MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
012432,000057: 06,3312           50132                           INDEX    BUF        +2                         
012433,000058: 06,3313           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
012434,000059: 
012435,000060: 06,3314           50132                           INDEX    BUF        +2                         
012436,000061: 06,3315           41452                           CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-6)
012437,000062: 06,3316           00006                           EXTEND                                         
012438,000063: 06,3317           71074                           MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
012439,000064: 06,3320           00006                           EXTEND                                         
012440,000065: 06,3321           75031                           MP       BIT3                                  #  SCALE 2(+12) SHIFT RIGHT 12
012441,000066: 06,3322           50132                           INDEX    BUF        +2                         
012442,000067: 06,3323           21163                           DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012443,000068: 
012444,000069: 06,3324           10132                           CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
012445,000070: 06,3325           67716                           AD       NEG1                                  
012446,000071: 06,3326           13273                           TCF      1/PIPA1    +1                         
012447,000072: 06,3327           13330                           NOOP                                           #  LESS THAN ZERO IMPOSSIBLE.
012448,000073: 06,3330           00003                           RELINT                                         
012449,000074: 
012450,000075: 06,3331           55477        IRIGCOMP           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012451,000076: 06,3332           54130                           TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012452,000077: 
012453,000078: 06,3333           00006        IRIGX              EXTEND                                         
012454,000079: 06,3334           41163                           DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
012455,000080: 06,3335           52155                           DXCH     MPAC                                  
012456,000081: 06,3336           31463                           CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012457,000082: 06,3337           03412                           TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)       (GYRO PULSES) X 2(+14)
012458,000083: 
012459,000084: 06,3340           00006                           EXTEND                                         #  
012460,000085: 06,3341           41165                           DCS      DELVY                                 #        (PIPA PULSES) X 2(+14)
012461,000086: 06,3342           52155                           DXCH     MPAC                                  #  
012462,000087: 06,3343           41466                           CS       ADSRAX                                #        (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012463,000088: 06,3344           03412                           TC       GCOMPSUB                              #        +(ADSRAX)(PIPAY)        (GYRO PULSES) X 2(+14)
012464,000089: 
012465,000090:                                                                                                  #                EXTEND                  ***
012466,000091:                                                                                                  #                DCS     DELVZ           ***     (PIPA PULSES) X 2(+14)
012467,000092:                                                                                                  #                DXCH    MPAC            ***
012468,000093:                                                                                                  #                CA      ADOAX           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012469,000094:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAX)(PIPAZ)         (GYRO PULSES) X 2(+14)
012470,000095: 
012471,000096: 06,3345           41460                           CS       NBDX                                  #        (GYRO PULSES)/(CS) X 2(-5)
012472,000097: 06,3346           03441                           TC       DRIFTSUB                              #        -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012473,000098: 
012474,000099: 06,3347           00006        IRIGY              EXTEND                                         
012475,000100: 06,3350           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012476,000101: 06,3351           52155                           DXCH     MPAC                                  
012477,000102: 06,3352           31464                           CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012478,000103: 06,3353           03412                           TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)       (GYRO PULSES) X 2(+14)
012479,000104: 
012480,000105: 06,3354           00006                           EXTEND                                         
012481,000106: 06,3355           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012482,000107: 06,3356           52155                           DXCH     MPAC                                  
012483,000108: 06,3357           41467                           CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012484,000109: 06,3360           03412                           TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)      (GYRO PULSES) X 2(+14)
012485,000110: 
012486,000111:                                                                                                  #                EXTEND                  ***
012487,000112:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSES) X 2(+14)
012488,000113:                                                                                                  #                DXCH    MPAC            ***
012489,000114:                                                                                                  #                CA      ADOAY           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012490,000115:                                                                                                  #                TC      GCOMPSUB        ***     -(ADOAY)(PIPAX)    (GYRO PULSES) X 2(+14)
012491,000116: 
012492,000117: 06,3361           41461                           CS       NBDY                                  #        (GYRO PULSES)/(CS) X 2(-5)
012493,000118: 06,3362           03441                           TC       DRIFTSUB                              #        -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012494,000119: 
012495,000120: 06,3363           00006        IRIGZ              EXTEND                                         
012496,000121: 06,3364           41165                           DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012497,000122: 06,3365           52155                           DXCH     MPAC                                  
012498,000123: 06,3366           31470                           CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012499,000124: 06,3367           03412                           TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)      (GYRO PULSES) X 2(+14)
012500,000125: 
012501,000126: 06,3370           00006                           EXTEND                                         
012502,000127: 06,3371           41167                           DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012503,000128: 06,3372           52155                           DXCH     MPAC                                  
012504,000129: 06,3373           31465                           CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012505,000130: 06,3374           03412                           TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)       (GYRO PULSES) X 2(+14)
012506,000131: 
012507,000132:                                                                                                  #                EXTEND                  ***
012508,000133:                                                                                                  #                DCS     DELVX           ***     (PIPA PULSE) X 2(+14)
012509,000134:                                                                                                  #                DXCH    MPAC            ***
012510,000135:                                                                                                  #                CS      ADOAZ           ***     (GYRO PULSES)/(PIPA PULSE) X 2(-3)      *
012511,000136:                                                                                                  #                TC      GCOMPSUB        ***     +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012512,000137: 
012513,000138: 06,3375           31462                           CA       NBDZ                                  #        (GYRO PULSES)/(CS) X 2(-5)
012514,000139: 06,3376           03441                           TC       DRIFTSUB                              #        +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012515,000140: 
012516,000141: 06,3377           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012517,000142: 06,3400           13402                           TCF      +2                                    #  YES   
012518,000143: 06,3401           13407                           TCF      IRIG1                                 #  NO    
012519,000144: 
012520,000145: 06,3402           35107                           CA       PRIO21                                #  HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012521,000146: 06,3403           05150                           TC       NOVAC                                 
012522,000147: 06,3404  E3,1460                                  EBANK=   NBDX                                  
012523,000148: 06,3404           03474 14063                     2CADR    1/GYRO                                
012524,000149: 
012525,000150: 06,3406           00003                           RELINT                                         
012526,000151: 06,3407           30163        IRIG1              CA       MODE                                  #  SET EBANK FOR RETURN
012527,000152: 06,3410           54003                           TS       EBANK                                 
012528,000153: 06,3411           14711                           TCF      SWRETURN                              
012529,000154: 
012530,000155: 06,3412           56154        GCOMPSUB           XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012531,000156: 06,3413           00006                           EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
012532,000157: 06,3414           70154                           MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)            *
012533,000158: 06,3415           52123                           DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
012534,000159: 
012535,000160: 06,3416           30155                           CA       MPAC       +1                         #  MINOR PART PIPA PULSES
012536,000161: 06,3417           00006                           EXTEND                                         
012537,000162: 06,3420           70154                           MP       MPAC                                  #  ADIA OR ADSRA
012538,000163: 06,3421           54001                           TS       L                                     
012539,000164: 06,3422           35035                           CAF      ZERO                                  
012540,000165: 06,3423           20123                           DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                  *
012541,000166: 
012542,000167: 06,3424           30122                           CA       VBUF                                  #  PARTIAL RESULT - MAJOR
012543,000168: 06,3425           00006                           EXTEND                                         
012544,000169: 06,3426           75020                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
012545,000170: 06,3427           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012546,000171: 06,3430           21472                           DAS      GCOMP                                 #  HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012547,000172: 
012548,000173: 06,3431           30123                           CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
012549,000174: 06,3432           00006                           EXTEND                                         
012550,000175: 06,3433           75020                           MP       BIT12                                 #  SCALE 2(+3)   SHIFT RIGHT 3                   *
012551,000176: 06,3434           54001                           TS       L                                     
012552,000177: 06,3435           35035                           CAF      ZERO                                  
012553,000178: 06,3436           50130                           INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012554,000179: 06,3437           21472                           DAS      GCOMP                                 #  (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012555,000180: 
012556,000181: 06,3440           00002                           TC       Q                                     
012557,000182: 
012558,000183: 06,3441           00006        DRIFTSUB           EXTEND                                         
012559,000184: 06,3442           22131                           QXCH     BUF        +1                         
012560,000185: 
012561,000186: 06,3443           00006                           EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
012562,000187: 06,3444           71074                           MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
012563,000188: 06,3445           22155                           LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
012564,000189: 06,3446           00006                           EXTEND                                         
012565,000190: 06,3447           75030                           MP       BIT4                                  #  SCALE 2(+11)  SHIFT RIGHT 11
012566,000191: 06,3450           50130                           INDEX    BUF                                   
012567,000192: 06,3451           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
012568,000193: 
012569,000194: 06,3452           30155                           CA       MPAC       +1                         #  NOW MINOR PART
012570,000195: 06,3453           00006                           EXTEND                                         
012571,000196: 06,3454           75030                           MP       BIT4                                  #  SCALE 2(+11)          SHIFT RIGHT 11
012572,000197: 06,3455           54001                           TS       L                                     
012573,000198: 06,3456           35035                           CAF      ZERO                                  
012574,000199: 06,3457           50130                           INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
012575,000200: 06,3460           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
012576,000201: 
012577,000202: 06,3461           35032        DRFTSUB2           CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
012578,000203: 06,3462           60130                           AD       BUF                                   
012579,000204: 06,3463           56130                           XCH      BUF                                   
012580,000205: 06,3464           50000                           INDEX    A                                     
012581,000206: 06,3465           11471                           CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
012582,000207: 06,3466           13470                           TCF      +2                                    #  YES
012583,000208: 06,3467           00131                           TC       BUF        +1                         #  NO
012584,000209: 
012585,000210: 06,3470           77716                           MASK     NEGONE                                
012586,000211: 06,3471           10000                           CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012587,000212: 06,3472           55477                           TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
012588,000213: 06,3473           00131                           TC       BUF        +1                         #  NO
012589,000214: 
012590,000215: 06,3474           35031        1/GYRO             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012591,000216: 06,3475           54130                           TS       BUF                                   
012592,000217: 
012593,000218: 06,3476           50130                           INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
012594,000219: 06,3477           31472                           CA       GCOMP      +1                         #  FRACTIONAL PULSES
012595,000220: 06,3500           00006                           EXTEND                                         
012596,000221: 06,3501           75024                           MP       BIT8                                  #  SHIFT RIGHT 7
012597,000222: 06,3502           50130                           INDEX    BUF                                   
012598,000223: 06,3503           55472                           TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
012599,000224: 
012600,000225: 06,3504           35035                           CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
012601,000226: 06,3505           50130                           INDEX    BUF                                   
012602,000227: 06,3506           57471                           XCH      GCOMP                                 #  GYRO PULSES
012603,000228: 06,3507           00006                           EXTEND                                         
012604,000229: 06,3510           75024                           MP       BIT8                                  #  SHIFT RIGHT 7
012605,000230: 06,3511           50130                           INDEX    BUF                                   
012606,000231: 06,3512           21472                           DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
012607,000232: 
012608,000233: 06,3513           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012609,000234: 06,3514           67716                           AD       NEG1                                  
012610,000235: 06,3515           13475                           TCF      1/GYRO     +1                         
012611,000236: 06,3516           01471        LGCOMP             ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
012612,000237: 
012613,000238: 06,3517           33516                           CAF      LGCOMP                                
012614,000239: 06,3520           04676                           TC       BANKCALL                              
012615,000240: 06,3521           17206                           CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
012616,000241: 06,3522           04676                           TC       BANKCALL                              
012617,000242: 06,3523           17577                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
012618,000243: 06,3524           15233                           TCF      ENDOFJOB                              #  TEMPORARY
012619,000244: 
012620,000245: 06,3525           35031        GCOMP1             CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012621,000246: 06,3526           54130                           TS       BUF                                   
012622,000247: 
012623,000248: 06,3527           50130                           INDEX    BUF                                   #  RESCALE
012624,000249: 06,3530           31472                           CA       GCOMP      +1                         
012625,000250: 06,3531           00006                           EXTEND                                         
012626,000251: 06,3532           75024                           MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012627,000252: 06,3533           50130                           INDEX    BUF                                   
012628,000253: 06,3534           23472                           LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
012629,000254: 
012630,000255: 06,3535           10130                           CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012631,000256: 06,3536           67716                           AD       NEG1                                  
012632,000257: 06,3537           13526                           TCF      GCOMP1     +1                         
012633,000258: 
012634,000259: 06,3540           01436        V06N30S            VN       0630                                  
012635,000260: 06,3541           15233                           TCF      ENDOFJOB                              
012636,000261: 
012637,000262: 06,3542           11477        NBDONLY            CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012638,000263: 06,3543           13546                           TCF      +3                                    
012639,000264: 06,3544           13546                           TCF      +2                                    
012640,000265: 06,3545           15233                           TCF      ENDOFJOB                              
012641,000266: 
012642,000267: 06,3546           00004                           INHINT                                         
012643,000268: 06,3547           10076                           CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
012644,000269: 06,3550           15233                           TCF      ENDOFJOB                              
012645,000270: 06,3551           15233                           TCF      ENDOFJOB                              
012646,000271: 06,3552           13553                           TCF      +1                                    
012647,000272: 
012648,000273: 06,3553           30025                           CA       TIME1                                 #  (CS) X 2(+14)
012649,000274: 06,3554           57074                           XCH      1/PIPADT                              #  PREVIOUS TIME
012650,000275: 06,3555           00003                           RELINT                                         
012651,000276: 06,3556           40000                           COM                                            
012652,000277: 06,3557           61074                           AD       1/PIPADT                              
012653,000278: 06,3560           10000        NBD2               CCS      A                                     #  CALCULATE ELAPSED TIME
012654,000279: 06,3561           65033                           AD       ONE                                   #  NO TIME1 OVERFLOW
012655,000280: 06,3562           13567                           TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
012656,000281: 06,3563           13565                           TCF      +2                                    #  TIME1 OVERFLOW
012657,000282: 06,3564           15233                           TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012658,000283: 
012659,000284: 06,3565           40000                           COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
012660,000285: 06,3566           65013                           AD       POSMAX                                
012661,000286: 
012662,000287: 06,3567           00006        NBD3               EXTEND                                         #  C(A) = DELTAT         (CS) X 2(+14)
012663,000288: 06,3570           75022                           MP       BIT10                                 #  SHIFT RIGHT 5
012664,000289: 06,3571           52123                           DXCH     VBUF                                  
012665,000290: 06,3572           00006                           EXTEND                                         
012666,000291: 06,3573           30123                           DCA      VBUF                                  
012667,000292: 06,3574           52155                           DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
012668,000293: 
012669,000294: 06,3575           35035                           CAF      ZERO                                  
012670,000295: 06,3576           55477                           TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012671,000296: 06,3577           54130                           TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
012672,000297: 
012673,000298: 06,3600           41460                           CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012674,000299: 06,3601           03617                           TC       FBIASSUB                              #  -(NBDX)(DELTAT)       (GYRO PULSES) X 2(+14)
012675,000300: 
012676,000301: 06,3602           00006                           EXTEND                                         
012677,000302: 06,3603           40123                           DCS      VBUF                                  
012678,000303: 06,3604           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012679,000304: 06,3605           31461                           CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
012680,000305: 06,3606           03617                           TC       FBIASSUB                              #  -(NBDY)(DELTAT)       (GYRO PULSES) X 2(+14)
012681,000306: 
012682,000307: 06,3607           00006                           EXTEND                                         
012683,000308: 06,3610           40123                           DCS      VBUF                                  
012684,000309: 06,3611           52155                           DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012685,000310: 06,3612           41462                           CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012686,000311: 06,3613           03617                           TC       FBIASSUB                              #  +(NBDZ)(DELTAT)       (GYRO PULSES) X 2(+14)
012687,000312: 06,3614           11477                           CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012688,000313: 06,3615           13474                           TCF      1/GYRO                                #  YES
012689,000314: 06,3616           15233                           TCF      ENDOFJOB                              #  NO
012690,000315: 
012691,000316: 06,3617           56002        FBIASSUB           XCH      Q                                     
012692,000317: 06,3620           54131                           TS       BUF        +1                         
012693,000318: 
012694,000319: 06,3621           30002                           CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012695,000320: 06,3622           00006                           EXTEND                                         
012696,000321: 06,3623           70154                           MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012697,000322: 06,3624           50130                           INDEX    BUF                                   
012698,000323: 06,3625           21472                           DAS      GCOMP                                 #  HI(NBD)(DELTAT)       (GYRO PULSES) X 2(+14)
012699,000324: 
012700,000325: 06,3626           30002                           CA       Q                                     #  NOW FRACTIONAL PART
012701,000326: 06,3627           00006                           EXTEND                                         
012702,000327: 06,3630           70155                           MP       MPAC       +1                         
012703,000328: 06,3631           54001                           TS       L                                     
012704,000329: 06,3632           35035                           CAF      ZERO                                  
012705,000330: 06,3633           50130                           INDEX    BUF                                   
012706,000331: 06,3634           21472                           DAS      GCOMP                                 #  (NBD)(DELTAT)         (GYRO PULSES) X 2(+14)
012707,000332: 
012708,000333: 06,3635           13461                           TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
012709,000334: 
012710,000335: 06,3636           04676        LASTBIAS           TC       BANKCALL                              
012711,000336: 06,3637           17156                           CADR     PIPUSE                                
012712,000337: 
012713,000338: 06,3640           11477                           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012714,000339: 06,3641           13644                           TCF      +3                                    
012715,000340: 06,3642           13644                           TCF      +2                                    
012716,000341: 06,3643           15233                           TCF      ENDOFJOB                              
012717,000342: 
012718,000343: 06,3644           37665                           CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
012719,000344: 06,3645           57074                           XCH      1/PIPADT                              
012720,000345: 06,3646           40000                           COM                                            
012721,000346: 06,3647           61246                           AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
012722,000347: 06,3650           13560                           TCF      NBD2                                  
012723,000348: 

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