Source Code

These source-code files were obtained by digitally photographing a Solarium 55 (Apollo 6) program listing from the American Computer Museum in Bozeman, Montana. Photography was by Ron Burkey, with assistance from museum curator George Keremedjiev and Montana State University curator Kim Scott. The listing originally belonged to Eldon C. Hall, who donated it to the museum. Volunteers then manually typed in the source code or else modified similar pre-existing Colossus 249 (Apollo 9) source files to incorporate changes, although this transcription was principally done by Jim Lawton and corrected by Ron Burkey. Notations on the program listing read, in part:

        YUL SYSTEM FOR AGC4: REVISION 0 OF PROGRAM SOLRUM55
	BY NASA 1021108-021                    DEC. 4, 1966
Note that the date is the date of the printout, not the date of the program revision.

Due to statements by Jay Sampson, the original contractor from AC Electronics who created Solarium 54 (Apollo 4) from the earlier Corona (AS-202 mission) program, it is believed that Solarium 54 and Solarium 55 (Apollo 6) are actually identical programs. The change in numbering, from 54 to 55, is believed to be for some administrative purpose. Thus, it is believed that the source-code represented here is equally appropriate for both Apollo 4 and Apollo 6 missions.

008357,000002:                                                                                                  ## Copyright:   Public domain.
008358,000003:                                                                                                  ## Filename:    IMU_COMPENSATION_PACKAGE.agc
008359,000004:                                                                                                  ## Purpose:     Part of the source code for Solarium build 55. This
008360,000005:                                                                                                  ##              is for the Command Module's (CM) Apollo Guidance
008361,000006:                                                                                                  ##              Computer (AGC), for Apollo 6.
008362,000007:                                                                                                  ## Assembler:   yaYUL --block1
008363,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
008364,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
008365,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Solarium055/
008366,000011:                                                                                                  ## Mod history: 2009-09-29 JL   Created.
008367,000012:                                                                                                  ##              2016-08-18 RSB  Typos.
008368,000013:                                                                                                  ##              2016-12-28 RSB  Proofed comment text using octopus/ProoferComments,
008369,000014:                                                                                                  ##                              and fixed errors found.
008370,000015: 

Page 214

008372,000017: 
008373,000018:                                                                                                  #        THE FOLLWOING ROUTINE IS DESIGNED TO COMPENSATE FOR PIPA BIAS AND SCALE FACTOR ERROR. ATTHE SAME TIME,
008374,000019:                                                                                                  #  IT ACCUMULATES GYRO TORQUE COMMANDS NECESSARY TO COMPENSATE FOR THE ASSOCIATED BIAS AND ACCELERATION-CAUSED GYRO
008375,000020:                                                                                                  #  DRIFTS. THIS ROUTINE EXPECTS TO FIND PIPA READINGS IN THE MAJOR PARTS OF DELV (DELVX, DELVY, DELVZ), WITH THE
008376,000021:                                                                                                  #  MINOR PARTS IRRELEVANT. OUTPUT FROM 1/PIPA IS DOUBLE PRECISION COMPENSATED DATA, THE MINOR PART OF WHICH USUALLY
008377,000022:                                                                                                  #  CONTAINS ALL THE COMPENSATION. 1/PIPA MUST BE CALLED AT LEAST EVERY 2.56 SECONDS, DUE TO SCALING CONSIDERATIONS.
008378,000023:                                                                                                  #  SPECIFICALLY, THE CORRECTION IS:
008379,000024: 
008380,000025:                                                                                                  #        PIPA  = PIPA (1 + SCALE FACTOR ERROR) - BIAS DELTAT
008381,000026:                                                                                                  #            C       I
008382,000027: 
008383,000028:                                                                                                  #  WHERE PIPA  IS THE COMPENSATED DATA OBTAINED FROM THE SAMPLED PIPA .
008384,000029:                                                                                                  #            C                                                       I
008385,000030: 
008386,000031: 
008387,000032: 
008388,000033: 14,7017                                           BANK     14                                    
008389,000034: 14,7017           35502        1/PIPA             CAF      FOUR                                  #  LOOP TO PROCESS INPUT PIPA DATA.
008390,000035: 14,7020           50101                 +1        TS       BUF        +2                         
008391,000036: 14,7021           20000                           INDEX    A                                     
008392,000037: 14,7022           41001                           CS       DELVX                                 #  SAMPLED PIPA INTO MPAC
008393,000038: 14,7023           50115                           TS       MPAC                                  
008394,000039: 14,7024           20101                           INDEX    BUF        +2                         #  SUBTRACT BIAS TERM (LESS THAN 1 BIT).
008395,000040: 14,7025           40736                           CS       PIPABIAS                              
008396,000041: 14,7026           25777                           EXTEND                                         
008397,000042: 14,7027           40755                           MP       1/PIPADT                              #  SUPPLIED BY USER SCALED AT CS 2(-8),
008398,000043: 14,7030           50116                           TS       MPAC       +1                         
008399,000044: 
008400,000045: 14,7031           40115                           CS       MPAC                                  #  SHIFT THE PIPA READING LEFT THREE PLACES
008401,000046: 14,7032           50115                           TS       MPAC                                  
008402,000047: 14,7033           25777                           EXTEND                                         #  IN PREPARATION FOR SCALE FACTOR
008403,000048: 14,7034           44513                           MP       BIT4                                  #  CORRECTION. IF IT OVERFLOWS, SHIFT THE
008404,000049: 14,7035           10000                           CCS      A                                     #  SCALE FACTOR ERROR RIGHT 11 PLACES
008405,000050: 14,7036           07216                           TC       PIPOVF                                #  TAKING A LOSS IN PRECISION.
008406,000051: 
008407,000052: 14,7037           07041                           TC       +2                                    #  THE ABOVE HAPPENS AT DELTA VS OF OVER
008408,000053: 14,7040           07216                           TC       PIPOVF                                #  12 G-SECS., RESULTING IN A SCALE FACTOR
008409,000054: 14,7041           20101                           INDEX    BUF        +2                         #  CORRECTION GOOD ONLY TO 60 PPM.
008410,000055: 14,7042           40737                           CS       PIPASCF                               
008411,000056: 14,7043           40000                           COM                                            
008412,000057: 14,7044           25777                           EXTEND                                         
008413,000058: 14,7045           40003                           MP       LP                                    
008414,000059: 14,7046           60116                           AD       MPAC       +1                         #  ADD TO BIAS CORRECTION.
008415,000060: 14,7047           20101                           INDEX    BUF        +2                         
008416,000061: 14,7050           51002                           TS       DELVX      +1                         #  AND MAYBE SKIP.
008417,000062: 14,7051           35501                           CAF      ZERO                                  
008418,000063: 
008419,000064: 14,7052           60115                           AD       MPAC                                  
008420,000065: 14,7053           20101                           INDEX    BUF        +2                         
008421,000066: 14,7054           51001                           TS       DELVX                                 

Page 215

008423,000068: 
008424,000069: 14,7055           10101        PIPJUMP            CCS      BUF        +2                         #  LOOP TO PROCESS NEXT COMPONENT.
008425,000070: 14,7056           64335                           AD       NEG1                                  
008426,000071: 14,7057           07020                           TC       1/PIPA     +1                         
008427,000072: 14,7060           00756        LGCOMP             ADRES    GCOMP                                 
008428,000073: 

Page 216

008430,000075: 
008431,000076:                                                                                                  #        THE FOLLOWING ROUTINE COMPUTES THE GYRO TORQUES NECESSARY TO COMPENSATE FOR THE ACCELERATION-SENSITIVE
008432,000077:                                                                                                  #  DRIFTS DUE TO THE DATA JUST PROCESSED, AND SUMS THEM INTO THE GCOMP REGISTERS.
008433,000078: 
008434,000079: 14,7061           50101                           TS       GCOMPSW                               #  SET GYRO TORQUE INDICATOR TO ZERO.
008435,000080: 14,7062           50077                           TS       BUF                                   #  RELATIVE ADDRESS OF PRESENT COMPONENT.
008436,000081: 
008437,000082: 14,7063           41001                           CS       DELVX                                 #  PROCESS X COMPONENT.
008438,000083: 14,7064           50115                           TS       MPAC                                  
008439,000084: 14,7065           41002                           CS       DELVX      +1                         
008440,000085: 14,7066           50116                           TS       MPAC       +1                         
008441,000086: 14,7067           40747                           CS       ADIAX                                 
008442,000087: 14,7070           07145                           TC       GCOMPSUB   -1                         
008443,000088: 
008444,000089: 14,7071           41003                           CS       DELVY                                 
008445,000090: 14,7072           50115                           TS       MPAC                                  
008446,000091: 14,7073           41004                           CS       DELVY      +1                         
008447,000092: 14,7074           50116                           TS       MPAC       +1                         
008448,000093: 14,7075           40752                           CS       ADSRAX                                
008449,000094: 14,7076           07146                           TC       GCOMPSUB                              
008450,000095: 
008451,000096: 14,7077           40744                           CS       GBIASX                                #  ADD IN BIAS DRIFTS.
008452,000097: 14,7100           07171                           TC       DRIFTSUB                              
008453,000098: 
008454,000099: 14,7101           41003                           CS       DELVY                                 #  COMPUTE Y GYRO COMPENSATION.
008455,000100: 14,7102           50115                           TS       MPAC                                  
008456,000101: 14,7103           41004                           CS       DELVY      +1                         
008457,000102: 14,7104           50116                           TS       MPAC       +1                         
008458,000103: 14,7105           40750                           CS       ADIAY                                 
008459,000104: 14,7106           07145                           TC       GCOMPSUB   -1                         
008460,000105: 
008461,000106: 14,7107           41005                           CS       DELVZ                                 
008462,000107: 14,7110           50115                           TS       MPAC                                  
008463,000108: 14,7111           41006                           CS       DELVZ      +1                         
008464,000109: 14,7112           50116                           TS       MPAC       +1                         
008465,000110: 14,7113           40753                           CS       ADSRAY                                
008466,000111: 14,7114           07146                           TC       GCOMPSUB                              
008467,000112: 
008468,000113: 14,7115           40745                           CS       GBIASY                                
008469,000114: 14,7116           07171                           TC       DRIFTSUB                              
008470,000115: 

Page 217

008472,000117: 14,7117           41003                           CS       DELVY                                 #  CORRESPONDING PATTERN FOR Z GYRO.
008473,000118: 14,7120           50115                           TS       MPAC                                  
008474,000119: 14,7121           41004                           CS       DELVY      +1                         
008475,000120: 14,7122           50116                           TS       MPAC       +1                         
008476,000121: 14,7123           40754                           CS       ADSRAZ                                
008477,000122: 14,7124           07145                           TC       GCOMPSUB   -1                         
008478,000123: 
008479,000124: 14,7125           41005                           CS       DELVZ                                 
008480,000125: 14,7126           50115                           TS       MPAC                                  
008481,000126: 14,7127           41006                           CS       DELVZ      +1                         
008482,000127: 14,7130           50116                           TS       MPAC       +1                         
008483,000128: 14,7131           40751                           CS       ADIAZ                                 
008484,000129: 14,7132           07145                           TC       GCOMPSUB   -1                         
008485,000130: 
008486,000131: 14,7133           40746                           CS       GBIASZ                                
008487,000132: 14,7134           07171                           TC       DRIFTSUB                              
008488,000133: 
008489,000134: 14,7135           10101                           CCS      GCOMPSW                               #  NON-ZERO IF TIME TO PUT OUT COMPENSATION
008490,000135: 14,7136           07140                           TC       +2                                    
008491,000136: 14,7137           05702                           TC       SWRETURN                              #  TORQUES NOT BIG ENOUGH YET.
008492,000137: 
008493,000138: 14,7140           20017                           INHINT                                         
008494,000139: 14,7141           32170                           CAF      PRIO35                                #  REQUEST COMPENSATION JOB
008495,000140: 14,7142           02052                           TC       NOVAC                                 
008496,000141: 14,7143           31237                           CADR     1/GYRO                                
008497,000142: 
008498,000143: 14,7144           06020                           TC       MODEEXIT                              #  RELINT AND RETURN TO SWRETURN.
008499,000144: 

Page 218

008501,000146: 
008502,000147:                                                                                                  #        SUBROUTINES USED TO ACCUMULATE GYRO COMPENSATION COMMANDS.
008503,000148: 
008504,000149: 14,7145           40000                 -1        COM                                            #  (ENTERS HERE TO RE-COMPLEMENT INPUT).
008505,000150: 14,7146           30116        GCOMPSUB           XCH      MPAC       +1                         #  DOES DP BY SINGLE MULTIPLY WITH DP ADD
008506,000151: 14,7147           25777                           EXTEND                                         #  TO STORAGE.
008507,000152: 14,7150           40116                           MP       MPAC       +1                         
008508,000153: 14,7151           30116                           XCH      MPAC       +1                         
008509,000154: 14,7152           25777                           EXTEND                                         
008510,000155: 14,7153           40115                           MP       MPAC                                  
008511,000156: 14,7154           50034                           TS       OVCTR                                 
008512,000157: 14,7155           30003                           XCH      LP                                    
008513,000158: 14,7156           60116                           AD       MPAC       +1                         #  (AND MAYBE INCREMENT OVCTR).
008514,000159: 
008515,000160: 14,7157           20077        BIASCOMP           INDEX    BUF                                   #  BIAS COMPENSATION ENTERS HERE.
008516,000161: 14,7160           60757                           AD       GCOMP      +1                         
008517,000162: 14,7161           20077                           INDEX    BUF                                   
008518,000163: 14,7162           30757                           XCH      GCOMP      +1                         
008519,000164: 14,7163           30034                           XCH      OVCTR                                 
008520,000165: 14,7164           20077                           INDEX    BUF                                   
008521,000166: 14,7165           60756                           AD       GCOMP                                 
008522,000167: 14,7166           20077                           INDEX    BUF                                   
008523,000168: 14,7167           50756                           TS       GCOMP                                 
008524,000169: 
008525,000170: 14,7170           00001                           TC       Q                                     
008526,000171: 

Page 219

008528,000173: 
008529,000174:                                                                                                  #        SUBROUTINE WHICH ADDS IN GYRO BIAS DRIFT, TESTS TORQUE SIZE TO SEE IF COMMANDS SHOULD BE PUT OUT, AND
008530,000175:                                                                                                  #  ADVANCES GCOMP POINTER.
008531,000176: 
008532,000177: 14,7171           30001        DRIFTSUB           XCH      Q                                     
008533,000178: 14,7172           50100                           TS       BUF        +1                         
008534,000179: 14,7173           30001                           XCH      Q                                     
008535,000180: 14,7174           25777                           EXTEND                                         
008536,000181: 14,7175           40755                           MP       1/PIPADT                              
008537,000182: 14,7176           25777                           EXTEND                                         #  RESULT WAS IN GYRO PULSES X 2(+2).
008538,000183: 14,7177           45502                           MP       FOUR                                  #  RE-SCALE TO ADD INTO GCOMP REGISTER.
008539,000184: 14,7200           50034                           TS       OVCTR                                 
008540,000185: 14,7201           30003                           XCH      LP                                    #  GO TO STANDARD INCREMENT ROUTINE.
008541,000186: 14,7202           07157        DRFTSUB2           TC       BIASCOMP                              
008542,000187: 
008543,000188: 14,7203           35503                           CAF      TWO                                   #  INCREMENT POINTER AND
008544,000189: 14,7204           60077                           AD       BUF                                   
008545,000190: 14,7205           30077                           XCH      BUF                                   #  CHECK MAGNITUDE OF TORQUE COMMAND. IF
008546,000191: 14,7206           20000                           INDEX    A                                     #  SUFFICIENTLY LARGE, SET GCOMPSW PNZ TO
008547,000192: 14,7207           10756                           CCS      GCOMP                                 #  CALL FOR COMPENSATION JOB, 1/GYRO.
008548,000193: 14,7210           07212                           TC       +2                                    #  GETS DABS OF COMMAND.
008549,000194: 14,7211           00100                           TC       BUF        +1                         
008550,000195: 
008551,000196: 14,7212           77260                           MASK     COMPCHK                               
008552,000197: 14,7213           10000                           CCS      A                                     
008553,000198: 14,7214           50101                           TS       GCOMPSW                               
008554,000199: 14,7215           00100                           TC       BUF        +1                         #  RETURN.
008555,000200: 

Page 220

008557,000202: 
008558,000203:                                                                                                  #        (1/PIPA COMES HERE IF PIPA COUNTER SHOWED A DELTA V OF OVER 12 G-SEC.)
008559,000204: 
008560,000205: 14,7216           20101        PIPOVF             INDEX    BUF        +2                         #  SHIFT THE SCALE FACTOR RIGHT 11 ON OVF.
008561,000206: 14,7217           40737                           CS       PIPASCF                               
008562,000207: 14,7220           40000                           COM                                            
008563,000208: 14,7221           25777                           EXTEND                                         
008564,000209: 14,7222           44513                           MP       BIT4                                  
008565,000210: 14,7223           25777                           EXTEND                                         #  FORM DP INCREMENT TO DELV IN THIS CASE.
008566,000211: 14,7224           40115                           MP       MPAC                                  
008567,000212: 14,7225           50034                           TS       OVCTR                                 
008568,000213: 
008569,000214: 14,7226           30003                           XCH      LP                                    
008570,000215: 14,7227           60116                           AD       MPAC       +1                         #  MAYBE INCREMENTING OVCTR.
008571,000216: 14,7230           20101                           INDEX    BUF        +2                         
008572,000217: 14,7231           31002                           XCH      DELVX      +1                         #  NO SKIP SINCE OVCTR SET.
008573,000218: 14,7232           30034                           XCH      OVCTR                                 
008574,000219: 14,7233           60115                           AD       MPAC                                  
008575,000220: 14,7234           20101                           INDEX    BUF        +2                         
008576,000221: 14,7235           31001                           XCH      DELVX                                 
008577,000222: 14,7236           07055                           TC       PIPJUMP                               #  JUMP ON LOOP COUNTER.
008578,000223: 

Page 221

008580,000225: 
008581,000226:                                                                                                  #        THE FOLLOWING JOB IS INITIATED BY 1/PIPA TO PUT OUT COMPENSATING GYRO TORQUE COMMANDS.
008582,000227: 
008583,000228: 14,7237           34504        1/GYRO             CAF      BIT11                                 #  IF MODE SWITCH IN PROGRESS, DONT PUT
008584,000229: 14,7240           70646                           MASK     FLAGWRD1                              #  OUT COMPENSATION THIS TIME.
008585,000230: 14,7241           10000                           CCS      A                                     
008586,000231: 14,7242           02124                           TC       ENDOFJOB                              
008587,000232: 
008588,000233: 14,7243           03416                           TC       FLAG1UP                               #  SHOW IMU ACTIVITY
008589,000234: 14,7244           02000                           OCT      02000                                 #  FLAG TURNED OFF BY GYRO ROUTINES.
008590,000235: 
008591,000236: 14,7245           37060                           CAF      LGCOMP                                #  DISABLE THE T4RUPT CDU DRIVE THEMSELVES.
008592,000237: 14,7246           05654                           TC       BANKCALL                              
008593,000238: 14,7247           31347                           CADR     GYROSPNT                              #  NO TWITCH (2+2-) ON ZERO INPUT.
008594,000239: 
008595,000240: 14,7250           05654                           TC       BANKCALL                              
008596,000241: 14,7251           30331                           CADR     IMUSTALL                              
008597,000242: 14,7252           03066                           TC       CURTAINS                              
008598,000243: 
008599,000244: 14,7253           35501                           CAF      ZERO                                  #  ZERO GCOMP REGSITERS SINCE COMMANDS HAVE
008600,000245: 14,7254           50756                           TS       GCOMP                                 #  BEEN PUT OUT.
008601,000246: 14,7255           50760                           TS       GCOMP      +2                         
008602,000247: 14,7256           50762                           TS       GCOMP      +4                         
008603,000248: 
008604,000249: 14,7257           02124                           TC       ENDOFJOB                              
008605,000250: 
008606,000251: 14,7260           77740        COMPCHK            OCT      -37                                   #  COMMANDS MUST BE AT LEAST 32 PLS.
008607,000252: 

Page 222

008609,000254: 
008610,000255:                                                                                                  #        THE FOLLOWING ROUTINE SUPPLIES GYRO DRIFT COMPENSATION DURING THOSE PORTIONS OF A MISSION WHICH DO NOT
008611,000256:                                                                                                  #  USE PIPA DATA. THIS JOB IS CALLED EVERY 81.93 SECONDS (WHEN APPROPRIATE) BY THE IDLE TASK.
008612,000257: 
008613,000258: 14,7261           40036        BIASONLY           CS       TIME1                                 #  COMPUTE TIME DIFFERENCE (ALMOST ALWAYS
008614,000259: 14,7262           40000                           COM                                            #  81.93 SECS.).
008615,000260: 14,7263           30755                           XCH      OLDBT1                                
008616,000261: 14,7264           40000                           COM                                            
008617,000262: 14,7265           60755                           AD       OLDBT1                                
008618,000263: 14,7266           10000        BONLY2             CCS      A                                     #  LASTBIAS ENTERS HERE.
008619,000264: 14,7267           64516                           AD       ONE                                   
008620,000265: 14,7270           07275                           TC       BONLY3                                
008621,000266: 14,7271           07273                           TC       +2                                    
008622,000267: 14,7272           02124                           TC       ENDOFJOB                              #  MAY HAVE A COMPUTED DIFF = 0.
008623,000268: 
008624,000269: 14,7273           40000                           COM                                            
008625,000270: 14,7274           64476                           AD       POSMAX                                
008626,000271: 
008627,000272: 14,7275           25777        BONLY3             EXTEND                                         #  FORM DELTA-T AT 2(+8) CS.
008628,000273: 14,7276           44506                           MP       BIT9                                  #  SHIFT RIGHT 6.
008629,000274: 14,7277           50115                           TS       MPAC                                  
008630,000275: 14,7300           50106                           TS       TEM9                                  
008631,000276: 14,7301           30003                           XCH      LP                                    
008632,000277: 14,7302           50116                           TS       MPAC       +1                         
008633,000278: 14,7303           50107                           TS       TEM10                                 
008634,000279: 14,7304           35501                           CAF      ZERO                                  
008635,000280: 14,7305           50101                           TS       GCOMPSW                               
008636,000281: 14,7306           50077                           TS       BUF                                   
008637,000282: 
008638,000283: 14,7307           40744                           CS       GBIASX                                #  DO X, Y, AND THEN Z.
008639,000284: 14,7310           07331                           TC       FBIASSUB                              
008640,000285: 
008641,000286: 14,7311           40106                           CS       TEM9                                  #  RELOAD DT.
008642,000287: 14,7312           50115                           TS       MPAC                                  
008643,000288: 14,7313           40107                           CS       TEM10                                 
008644,000289: 14,7314           50116                           TS       MPAC       +1                         
008645,000290: 14,7315           40745                           CS       GBIASY                                
008646,000291: 14,7316           07330                           TC       FBIASSUB   -1                         
008647,000292: 
008648,000293: 14,7317           40106                           CS       TEM9                                  
008649,000294: 14,7320           50115                           TS       MPAC                                  
008650,000295: 14,7321           40107                           CS       TEM10                                 
008651,000296: 14,7322           50116                           TS       MPAC       +1                         
008652,000297: 14,7323           40746                           CS       GBIASZ                                
008653,000298: 14,7324           07330                           TC       FBIASSUB   -1                         

Page 223

008655,000300: 14,7325           10101                           CCS      GCOMPSW                               #  PUT OUT COMPENSATION IF CALLED FOR.
008656,000301: 14,7326           07237                           TC       1/GYRO                                
008657,000302: 14,7327           02124                           TC       ENDOFJOB                              
008658,000303: 
008659,000304: 14,7330           40000                 -1        COM                                            
008660,000305: 14,7331           30001        FBIASSUB           XCH      Q                                     
008661,000306: 14,7332           50100                           TS       BUF        +1                         
008662,000307: 14,7333           35501                           CAF      ZERO                                  
008663,000308: 14,7334           50117                           TS       MPAC       +2                         
008664,000309: 14,7335           30001                           XCH      Q                                     
008665,000310: 14,7336           05416                           TC       SHORTMP                               
008666,000311: 14,7337           30115                           XCH      MPAC                                  
008667,000312: 14,7340           50034                           TS       OVCTR                                 
008668,000313: 14,7341           30116                           XCH      MPAC       +1                         
008669,000314: 14,7342           07202                           TC       DRFTSUB2                              #  RETURN TO CALLER VIA BUF +1.
008670,000315: 
008671,000316: 14,7343           30755        LASTBIAS           XCH      OLDBT1                                #  COMES HERE FOR TRANSITION TO PIPA READ-
008672,000317: 14,7344           40000                           COM                                            #  ING MODE. NEW VALUE OF 1/PIPADT ARRIVES
008673,000318: 14,7345           60115                           AD       MPAC                                  #  IN A WITH WITH TIME1 AT PIPA ZEROING IN
008674,000319: 14,7346           07266                           TC       BONLY2                                #  MPAC. EXITS VIA ENDOFJOB.

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