Source Code

012479,000001: # Copyright: Public domain. 012480,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc 012481,000003: # Purpose: Part of the source code for Colossus, build 249. 012482,000004: # It is part of the source code for the Command Module's (CM) 012483,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 012484,000006: # Assembler: yaYUL 012485,000007: # Reference: pp. 294-303 of 1701.pdf. 012486,000008: # Contact: Ron Burkey <info@sandroid.org>. 012487,000009: # Website: www.ibiblio.org/apollo. 012488,000010: # Mod history: 08/09/04 RSB. Began adapting from corresponding Luminary131 012489,000011: # source file. 012490,000012: # 2010-10-24 JL Fixed page numbers. 012491,000013: 012492,000014: # The contents of the "Colossus249" files, in general, are transcribed 012493,000015: # from a scanned document obtained from MIT's website, 012494,000016: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 012495,000017: # document read, in part: 012496,000018: 012497,000019: # Assemble revision 249 of AGC program Colossus by NASA 012498,000020: # 2021111-041. October 28, 1968. 012499,000021: 012500,000022: # This AGC program shall also be referred to as 012501,000023: # Colossus 1A 012502,000024: 012503,000025: # Prepared by 012504,000026: # Massachusetts Institute of Technology 012505,000027: # 75 Cambridge Parkway 012506,000028: # Cambridge, Massachusetts 012507,000029: # under NASA contract NAS 9-4065. 012508,000030: 012509,000031: # Refer directly to the online document mentioned above for further information. 012510,000032: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 012511,000033: 012512,000034: # In some cases, where the source code for Luminary 131 overlaps that of 012513,000035: # Colossus 249, this code is instead copied from the corresponding Luminary 131 012514,000036: # source file, and then is proofed to incorporate any changes. 012515,000037: 012516,000038: # Page 295 012517,000039: 07,2440 BANK 7 012518,000040: 06,2000 SETLOC IMUCOMP 012519,000041: 06,2000 BANK 012520,000042: 06,3262 E3,1460 EBANK= NBDX 012521,000043: 012522,000044: 06,3262 COUNT 06/ICOMP 012523,000045: 012524,000046: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM 012525,000047: 06,3263 56003 XCH EBANK 012526,000048: 06,3264 54163 TS MODE 012527,000049: 012528,000050: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 012529,000051: 06,3266 13271 TCF +3 012530,000052: 06,3267 13271 TCF +2 012531,000053: 06,3270 13407 TCF IRIG1 # RETURN 012532,000054: 012533,000055: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S 012534,000056: # FOR DOWNLINK. 012535,000057: 012536,000058: 06,3272 34710 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX 012537,000059: 06,3273 54132 TS BUF +2 012538,000060: 012539,000061: 06,3274 50132 INDEX BUF +2 012540,000062: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9) 012541,000063: 06,3276 00006 EXTEND 012542,000064: 06,3277 50132 INDEX BUF +2 012543,000065: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5) 012544,000066: 06,3301 54002 TS Q # SAVE MAJOR PART 012545,000067: 012546,000068: 06,3302 30001 CA L # MINOR PART 012547,000069: 06,3303 00006 EXTEND 012548,000070: 06,3304 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 012549,000071: 06,3305 50132 INDEX BUF +2 012550,000072: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14) 012551,000073: 012552,000074: 06,3307 30002 CA Q # MAJOR PART 012553,000075: 06,3310 00006 EXTEND 012554,000076: 06,3311 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 012555,000077: 06,3312 50132 INDEX BUF +2 012556,000078: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SF) 012557,000079: 012558,000080: 06,3314 50132 INDEX BUF +2 012559,000081: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) * 012560,000082: 06,3316 00006 EXTEND 012561,000083: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) * 012562,000084: 06,3320 00006 EXTEND 012563,000085: 06,3321 74712 MP BIT1 # SCALE 2(+9) SHIFT RIGHT 9 * 012564,000086: 06,3322 50132 INDEX BUF +2 012565,000087: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT) 012566,000088: 012567,000089: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX 012568,000090: # Page 296 012569,000091: 06,3325 67716 AD NEG1 012570,000092: 06,3326 13273 TCF 1/PIPA1 +1 012571,000093: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE 012572,000094: 06,3330 00003 RELINT 012573,000095: # Page 297 012574,000096: 012575,000097: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 012576,000098: 06,3332 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ. 012577,000099: 012578,000100: 06,3333 00006 IRIGX EXTEND 012579,000101: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14) 012580,000102: 06,3335 52155 DXCH MPAC 012581,000103: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012582,000104: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) 012583,000105: 012584,000106: 06,3340 00006 EXTEND # 012585,000107: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14) 012586,000108: 06,3342 52155 DXCH MPAC # 012587,000109: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012588,000110: 06,3344 03412 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) 012589,000111: 012590,000112: # EXTEND # *** 012591,000113: # DCS DELVY # *** (PIPA PULSES) X 2(+14) 012592,000114: # DXCH MPAC # *** 012593,000115: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012594,000116: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) 012595,000117: 012596,000118: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5) 012597,000119: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) 012598,000120: 012599,000121: 06,3347 00006 IRIGY EXTEND 012600,000122: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14) 012601,000123: 06,3351 52155 DXCH MPAC 012602,000124: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(+14) * 012603,000125: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14) 012604,000126: 012605,000127: 06,3354 00006 EXTEND 012606,000128: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14) 012607,000129: 06,3356 52155 DXCH MPAC 012608,000130: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012609,000131: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14) 012610,000132: 012611,000133: # EXTEND # *** 012612,000134: # DCS DELVX # *** (PIPA PULSES) X 2(+14) 012613,000135: # DXCH MPAC # *** 012614,000136: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-6) * 012615,000137: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14) 012616,000138: 012617,000139: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5) 012618,000140: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 012619,000141: 012620,000142: 06,3363 00006 IRIGZ EXTEND 012621,000143: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(-14) 012622,000144: 06,3365 52155 DXCH MPAC 012623,000145: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012624,000146: # Page 298 012625,000147: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14) 012626,000148: 012627,000149: 06,3370 00006 EXTEND 012628,000150: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14) 012629,000151: 06,3372 52155 DXCH MPAC 012630,000152: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012631,000153: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14) 012632,000154: 012633,000155: # EXTEND # *** 012634,000156: # DCS DELVX # *** (PIPA PULSE) X 2(+14) 012635,000157: # DXCH MPAC # *** 012636,000158: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012637,000159: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) 012638,000160: 012639,000161: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) 012640,000162: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 012641,000163: 012642,000164: # Page 299 012643,000165: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 012644,000166: 06,3400 13402 TCF +2 # YES 012645,000167: 06,3401 13407 TCF IRIG1 # NO 012646,000168: 012647,000169: 06,3402 34764 CA PRIO17 # LEM PRIORITY HIGHER-THIS FOR PRELAUNCH 012648,000170: 06,3403 05027 TC NOVAC 012649,000171: 06,3404 E3,1460 EBANK= NBDX 012650,000172: 06,3404 03474 14063 2CADR 1/GYRO 012651,000173: 012652,000174: 06,3406 00003 RELINT 012653,000175: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN 012654,000176: 06,3410 54003 TS EBANK 012655,000177: 06,3411 14570 TCF SWRETURN 012656,000178: 012657,000179: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A 012658,000180: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14) 012659,000181: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * 012660,000182: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) * 012661,000183: 012662,000184: 06,3416 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES 012663,000185: 06,3417 00006 EXTEND 012664,000186: 06,3420 70154 MP MPAC # ADIA OR ADSRA 012665,000187: 06,3421 54001 TS L 012666,000188: 06,3422 34714 CAF ZERO 012667,000189: 06,3423 20123 DAS VBUF # NOW = (BYRO PULSES) X 2(+8) * 012668,000190: 012669,000191: 06,3424 30122 CA VBUF # PARTIAL RESULT -- MAJOR 012670,000192: 06,3425 00006 EXTEND 012671,000193: 06,3426 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * 012672,000194: 06,3427 50130 INDEX BUF # RESULT = (BYRO PULSES) X 2(+14) 012673,000195: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) 012674,000196: 012675,000197: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR 012676,000198: 06,3432 00006 EXTEND 012677,000199: 06,3433 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * 012678,000200: 06,3434 54001 TS L 012679,000201: 06,3435 34714 CAF ZERO 012680,000202: 06,3436 50130 INDEX BUF # RESULT = (TYRO PULSES) X 2(+14) 012681,000203: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) 012682,000204: 012683,000205: 06,3440 00002 TC Q 012684,000206: 012685,000207: # Page 300 012686,000208: 06,3441 00006 DRIFTSUB EXTEND 012687,000209: 06,3442 22131 QXCH BUF +1 012688,000210: 012689,000211: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5) 012690,000212: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3) 012691,000213: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION 012692,000214: 06,3446 00006 EXTEND 012693,000215: 06,3447 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 012694,000216: 06,3450 50130 INDEX BUF 012695,000217: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012696,000218: 012697,000219: 06,3452 30155 CA MPAC +1 # NO MINOR PART 012698,000220: 06,3453 00006 EXTEND 012699,000221: 06,3454 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 012700,000222: 06,3455 54001 TS L 012701,000223: 06,3456 34714 CAF ZERO 012702,000224: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION 012703,000225: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012704,000226: 012705,000227: 06,3461 34711 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ 012706,000228: 06,3462 60130 AD BUF 012707,000229: 06,3463 56130 XCH BUF 012708,000230: 06,3464 50000 INDEX A 012709,000231: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER 012710,000232: 06,3466 13470 TCF +2 # YES 012711,000233: 06,3467 00131 TC BUF +1 # NO 012712,000234: 012713,000235: 06,3470 77716 MASK NEGONE 012714,000236: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES 012715,000237: 06,3472 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE 012716,000238: 06,3473 00131 TC BUF +1 # NO 012717,000239: 012718,000240: # Page 301 012719,000241: 06,3474 34710 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX 012720,000242: 06,3475 54130 TS BUF 012721,000243: 012722,000244: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE 012723,000245: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES 012724,000246: 06,3500 00006 EXTEND 012725,000247: 06,3501 74703 MP BIT8 # SHIFT RIGHT 7 012726,000248: 06,3502 50130 INDEX BUF 012727,000249: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED 012728,000250: 012729,000251: 06,3504 34714 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION 012730,000252: 06,3505 50130 INDEX BUF 012731,000253: 06,3506 57471 XCH GCOMP # GYRO PULSES 012732,000254: 06,3507 00006 EXTEND 012733,000255: 06,3510 74703 MP BIT8 # SHIFT RIGHT 7 012734,000256: 06,3511 50130 INDEX BUF 012735,000257: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE 012736,000258: 012737,000259: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 012738,000260: 06,3514 67716 AD NEG1 012739,000261: 06,3515 13475 TCF 1/GYRO +1 012740,000262: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE 012741,000263: 012742,000264: 06,3517 33516 CAF LGCOMP 012743,000265: 06,3520 04555 TC BANKCALL 012744,000266: 06,3521 17125 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE 012745,000267: 06,3522 04555 TC BANKCALL 012746,000268: 06,3523 17516 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT 012747,000269: 06,3524 15112 TCF ENDOFJOB # TEMPORARY 012748,000270: 012749,000271: 06,3525 34710 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX 012750,000272: 06,3526 54130 TS BUF 012751,000273: 012752,000274: 06,3527 50130 INDEX BUF # RESCALE 012753,000275: 06,3530 31472 CA GCOMP +1 012754,000276: 06,3531 00006 EXTEND 012755,000277: 06,3532 74703 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0 012756,000278: 06,3533 50130 INDEX BUF 012757,000279: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 012758,000280: 012759,000281: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 012760,000282: 06,3536 67716 AD NEG1 012761,000283: 06,3537 13526 TCF GCOMP1 +1 012762,000284: 012763,000285: 06,3540 01436 V06N30S VN 0630 012764,000286: 06,3541 15112 TCF ENDOFJOB 012765,000287: 012766,000288: # Page 302 012767,000289: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 012768,000290: 06,3543 13546 TCF +3 012769,000291: 06,3544 13546 TCF +2 012770,000292: 06,3545 15112 TCF ENDOFJOB 012771,000293: 012772,000294: 06,3546 00004 INHINT 012773,000295: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE 012774,000296: 06,3550 15112 TCF ENDOFJOB 012775,000297: 06,3551 15112 TCF ENDOFJOB 012776,000298: 06,3552 13553 TCF +1 012777,000299: 012778,000300: 06,3553 30025 CA TIME1 # (CS) X 2(+14) 012779,000301: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME 012780,000302: 06,3555 00003 RELINT 012781,000303: 06,3556 40000 COM 012782,000304: 06,3557 61074 AD 1/PIPADT 012783,000305: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME. 012784,000306: 06,3561 64712 AD ONE # NO TIME1 OVERFLOW 012785,000307: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP 012786,000308: 06,3563 13565 TCF +2 # TIME1 OVERFLOW 012787,000309: 06,3564 15112 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0) 012788,000310: 012789,000311: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE 012790,000312: 06,3566 64672 AD POSMAX 012791,000313: 012792,000314: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) 012793,000315: 06,3570 74701 MP BIT10 # SHIFT RIGHT 5 012794,000316: 06,3571 52123 DXCH VBUF 012795,000317: 06,3572 00006 EXTEND 012796,000318: 06,3573 30123 DCA VBUF 012797,000319: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) 012798,000320: 012799,000321: 06,3575 34714 CAF ZERO 012800,000322: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 012801,000323: 06,3577 54130 TS BUF # INDEX X, Y, Z. 012802,000324: 012803,000325: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5) 012804,000326: 06,3601 03617 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) 012805,000327: 012806,000328: 06,3602 00006 EXTEND 012807,000329: 06,3603 40123 DCS VBUF 012808,000330: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 012809,000331: 06,3605 31461 CA NBDY # (BYRO PULSES)/(CS) X 2(-5) 012810,000332: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 012811,000333: 012812,000334: 06,3607 00006 EXTEND 012813,000335: 06,3610 40123 DCS VBUF 012814,000336: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 012815,000337: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5) 012816,000338: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 012817,000339: # Page 303 012818,000340: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 012819,000341: 06,3615 13474 TCF 1/GYRO # YES 012820,000342: 06,3616 15112 TCF ENDOFJOB # NO 012821,000343: 012822,000344: # Page 304 012823,000345: 06,3617 56002 FBIASSUB XCH Q 012824,000346: 06,3620 54131 TS BUF +1 012825,000347: 012826,000348: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5) 012827,000349: 06,3622 00006 EXTEND 012828,000350: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19) 012829,000351: 06,3624 50130 INDEX BUF 012830,000352: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012831,000353: 012832,000354: 06,3626 30002 CA Q # NO FRACTIONAL PART 012833,000355: 06,3627 00006 EXTEND 012834,000356: 06,3630 70155 MP MPAC +1 012835,000357: 06,3631 54001 TS L 012836,000358: 06,3632 34714 CAF ZERO 012837,000359: 06,3633 50130 INDEX BUF 012838,000360: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012839,000361: 012840,000362: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION 012841,000363: 012842,000364: 06,3636 04555 LASTBIAS TC BANKCALL 012843,000365: 06,3637 17075 CADR PIPUSE 012844,000366: 012845,000367: 06,3640 11477 CCS GCOMPSW 012846,000368: 06,3641 13644 TCF +3 012847,000369: 06,3642 13644 TCF +2 012848,000370: 06,3643 15112 TCF ENDOFJOB 012849,000371: 012850,000372: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8) 012851,000373: 06,3645 57074 XCH 1/PIPADT 012852,000374: 06,3646 40000 COM 012853,000375: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0 012854,000376: 06,3650 13560 TCF NBD2 012855,000377: End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc