Source Code

012775,000001: # Copyright: Public domain. 012776,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc 012777,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 012778,000004: # It is part of the source code for the Command Module's (CM) 012779,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 012780,000006: # Assembler: yaYUL 012781,000007: # Contact: Ron Burkey <info@sandroid.org>. 012782,000008: # Website: www.ibiblio.org/apollo. 012783,000009: # Pages: 297-306 012784,000010: # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the 012785,000011: # same name, using Comanche055 page images/ 012786,000012: # 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21. 012787,000013: # 2010-08-24 JL Fixed page 306 number. 012788,000014: 012789,000015: # This source code has been transcribed or otherwise adapted from digitized 012790,000016: # images of a hardcopy from the MIT Museum. The digitization was performed 012791,000017: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 012792,000018: # thanks to both. The images (with suitable reduction in storage size and 012793,000019: # consequent reduction in image quality as well) are available online at 012794,000020: # www.ibiblio.org/apollo. If for some reason you find that the images are 012795,000021: # illegible, contact me at info@sandroid.org about getting access to the 012796,000022: # (much) higher-quality images which Paul actually created. 012797,000023: 012798,000024: # Notations on the hardcopy document read, in part: 012799,000025: 012800,000026: # Assemble revision 055 of AGC program Comanche by NASA 012801,000027: # 2021113-051. 10:28 APR. 1, 1969 012802,000028: 012803,000029: # This AGC program shall also be referred to as 012804,000030: # Colossus 2A 012805,000031: 012806,000032: # Page 297 012807,000033: 07,2441 BANK 7 012808,000034: 06,2000 SETLOC IMUCOMP 012809,000035: 06,2000 BANK 012810,000036: 06,3262 E3,1460 EBANK= NBDX 012811,000037: 012812,000038: 06,3262 COUNT 06/ICOMP 012813,000039: 012814,000040: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM 012815,000041: 06,3263 56003 XCH EBANK 012816,000042: 06,3264 54163 TS MODE 012817,000043: 012818,000044: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 012819,000045: 06,3266 13271 TCF +3 012820,000046: 06,3267 13271 TCF +2 012821,000047: 06,3270 13407 TCF IRIG1 # RETURN 012822,000048: 012823,000049: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S 012824,000050: # FOR DOWNLINK. 012825,000051: 012826,000052: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX 012827,000053: 06,3273 54132 TS BUF +2 012828,000054: 012829,000055: 06,3274 50132 INDEX BUF +2 012830,000056: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9) 012831,000057: 06,3276 00006 EXTEND 012832,000058: 06,3277 50132 INDEX BUF +2 012833,000059: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5) 012834,000060: 06,3301 54002 TS Q # SAVE MAJOR PART 012835,000061: 012836,000062: 06,3302 30001 CA L # MINOR PART 012837,000063: 06,3303 00006 EXTEND 012838,000064: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 012839,000065: 06,3305 50132 INDEX BUF +2 012840,000066: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14) 012841,000067: 012842,000068: 06,3307 30002 CA Q # MAJOR PART 012843,000069: 06,3310 00006 EXTEND 012844,000070: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 012845,000071: 06,3312 50132 INDEX BUF +2 012846,000072: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SF) 012847,000073: 012848,000074: 06,3314 50132 INDEX BUF +2 012849,000075: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) * 012850,000076: 06,3316 00006 EXTEND 012851,000077: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) * 012852,000078: 06,3320 00006 EXTEND 012853,000079: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 * 012854,000080: 06,3322 50132 INDEX BUF +2 012855,000081: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT) 012856,000082: 012857,000083: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX 012858,000084: # Page 298 012859,000085: 06,3325 67716 AD NEG1 012860,000086: 06,3326 13273 TCF 1/PIPA1 +1 012861,000087: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE 012862,000088: 06,3330 00003 RELINT 012863,000089: # Page 299 012864,000090: 012865,000091: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 012866,000092: 06,3332 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ. 012867,000093: 012868,000094: 06,3333 00006 IRIGX EXTEND 012869,000095: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14) 012870,000096: 06,3335 52155 DXCH MPAC 012871,000097: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012872,000098: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) 012873,000099: 012874,000100: 06,3340 00006 EXTEND # 012875,000101: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14) 012876,000102: 06,3342 52155 DXCH MPAC # 012877,000103: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012878,000104: 06,3344 03412 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) 012879,000105: 012880,000106: # EXTEND # *** 012881,000107: # DCS DELVY # *** (PIPA PULSES) X 2(+14) 012882,000108: # DXCH MPAC # *** 012883,000109: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012884,000110: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) 012885,000111: 012886,000112: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-3) 012887,000113: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) 012888,000114: 012889,000115: 06,3347 00006 IRIGY EXTEND 012890,000116: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14) 012891,000117: 06,3351 52155 DXCH MPAC 012892,000118: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012893,000119: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14) 012894,000120: 012895,000121: 06,3354 00006 EXTEND 012896,000122: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14) 012897,000123: 06,3356 52155 DXCH MPAC 012898,000124: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012899,000125: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14) 012900,000126: 012901,000127: # EXTEND # *** 012902,000128: # DCS DELVX # *** (PIPA PULSES) X 2(+14) 012903,000129: # DXCH MPAC # *** 012904,000130: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-3) * 012905,000131: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14) 012906,000132: 012907,000133: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5) 012908,000134: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 012909,000135: 012910,000136: 06,3363 00006 IRIGZ EXTEND 012911,000137: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(-14) 012912,000138: 06,3365 52155 DXCH MPAC 012913,000139: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012914,000140: # Page 300 012915,000141: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14) 012916,000142: 012917,000143: 06,3370 00006 EXTEND 012918,000144: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14) 012919,000145: 06,3372 52155 DXCH MPAC 012920,000146: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012921,000147: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14) 012922,000148: 012923,000149: # EXTEND # *** 012924,000150: # DCS DELVX # *** (PIPA PULSE) X 2(+14) 012925,000151: # DXCH MPAC # *** 012926,000152: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012927,000153: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) 012928,000154: 012929,000155: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) 012930,000156: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 012931,000157: 012932,000158: # Page 301 012933,000159: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 012934,000160: 06,3400 13402 TCF +2 # YES 012935,000161: 06,3401 13407 TCF IRIG1 # NO 012936,000162: 012937,000163: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER -- LESS THAN PRELAUNCH 012938,000164: 06,3403 05134 TC NOVAC 012939,000165: 06,3404 E3,1460 EBANK= NBDX 012940,000166: 06,3404 03474 14063 2CADR 1/GYRO 012941,000167: 012942,000168: 06,3406 00003 RELINT 012943,000169: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN 012944,000170: 06,3410 54003 TS EBANK 012945,000171: 06,3411 14675 TCF SWRETURN 012946,000172: 012947,000173: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A 012948,000174: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14) 012949,000175: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * 012950,000176: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) * 012951,000177: 012952,000178: 06,3416 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES 012953,000179: 06,3417 00006 EXTEND 012954,000180: 06,3420 70154 MP MPAC # ADIA OR ADSRA 012955,000181: 06,3421 54001 TS L 012956,000182: 06,3422 35021 CAF ZERO 012957,000183: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) * 012958,000184: 012959,000185: 06,3424 30122 CA VBUF # PARTIAL RESULT -- MAJOR 012960,000186: 06,3425 00006 EXTEND 012961,000187: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * 012962,000188: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) 012963,000189: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) 012964,000190: 012965,000191: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR 012966,000192: 06,3432 00006 EXTEND 012967,000193: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * 012968,000194: 06,3434 54001 TS L 012969,000195: 06,3435 35021 CAF ZERO 012970,000196: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) 012971,000197: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) 012972,000198: 012973,000199: 06,3440 00002 TC Q 012974,000200: 012975,000201: # Page 302 012976,000202: 06,3441 00006 DRIFTSUB EXTEND 012977,000203: 06,3442 22131 QXCH BUF +1 012978,000204: 012979,000205: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5) 012980,000206: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3) 012981,000207: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION 012982,000208: 06,3446 00006 EXTEND 012983,000209: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 012984,000210: 06,3450 50130 INDEX BUF 012985,000211: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012986,000212: 012987,000213: 06,3452 30155 CA MPAC +1 # NOW MINOR PART 012988,000214: 06,3453 00006 EXTEND 012989,000215: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 012990,000216: 06,3455 54001 TS L 012991,000217: 06,3456 35021 CAF ZERO 012992,000218: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION 012993,000219: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 012994,000220: 012995,000221: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ 012996,000222: 06,3462 60130 AD BUF 012997,000223: 06,3463 56130 XCH BUF 012998,000224: 06,3464 50000 INDEX A 012999,000225: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER 013000,000226: 06,3466 13470 TCF +2 # YES 013001,000227: 06,3467 00131 TC BUF +1 # NO 013002,000228: 013003,000229: 06,3470 77716 MASK NEGONE 013004,000230: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES 013005,000231: 06,3472 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE 013006,000232: 06,3473 00131 TC BUF +1 # NO 013007,000233: 013008,000234: # Page 303 013009,000235: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX 013010,000236: 06,3475 54130 TS BUF 013011,000237: 013012,000238: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE 013013,000239: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES 013014,000240: 06,3500 00006 EXTEND 013015,000241: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7 013016,000242: 06,3502 50130 INDEX BUF 013017,000243: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED 013018,000244: 013019,000245: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION 013020,000246: 06,3505 50130 INDEX BUF 013021,000247: 06,3506 57471 XCH GCOMP # GYRO PULSES 013022,000248: 06,3507 00006 EXTEND 013023,000249: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7 013024,000250: 06,3511 50130 INDEX BUF 013025,000251: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE 013026,000252: 013027,000253: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 013028,000254: 06,3514 67716 AD NEG1 013029,000255: 06,3515 13475 TCF 1/GYRO +1 013030,000256: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE 013031,000257: 013032,000258: 06,3517 33516 CAF LGCOMP 013033,000259: 06,3520 04662 TC BANKCALL 013034,000260: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE 013035,000261: 06,3522 04662 TC BANKCALL 013036,000262: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT 013037,000263: 06,3524 15217 TCF ENDOFJOB # TEMPORARY 013038,000264: 013039,000265: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX 013040,000266: 06,3526 54130 TS BUF 013041,000267: 013042,000268: 06,3527 50130 INDEX BUF # RESCALE 013043,000269: 06,3530 31472 CA GCOMP +1 013044,000270: 06,3531 00006 EXTEND 013045,000271: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0 013046,000272: 06,3533 50130 INDEX BUF 013047,000273: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 013048,000274: 013049,000275: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX 013050,000276: 06,3536 67716 AD NEG1 013051,000277: 06,3537 13526 TCF GCOMP1 +1 013052,000278: 013053,000279: 06,3540 01436 V06N30S VN 0630 013054,000280: 06,3541 15217 TCF ENDOFJOB 013055,000281: 013056,000282: # Page 304 013057,000283: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 013058,000284: 06,3543 13546 TCF +3 013059,000285: 06,3544 13546 TCF +2 013060,000286: 06,3545 15217 TCF ENDOFJOB 013061,000287: 013062,000288: 06,3546 00004 INHINT 013063,000289: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE 013064,000290: 06,3550 15217 TCF ENDOFJOB 013065,000291: 06,3551 15217 TCF ENDOFJOB 013066,000292: 06,3552 13553 TCF +1 013067,000293: 013068,000294: 06,3553 30025 CA TIME1 # (CS) X 2(+14) 013069,000295: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME 013070,000296: 06,3555 00003 RELINT 013071,000297: 06,3556 40000 COM 013072,000298: 06,3557 61074 AD 1/PIPADT 013073,000299: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME. 013074,000300: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW 013075,000301: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP 013076,000302: 06,3563 13565 TCF +2 # TIME1 OVERFLOW 013077,000303: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0) 013078,000304: 013079,000305: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE 013080,000306: 06,3566 64777 AD POSMAX 013081,000307: 013082,000308: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) 013083,000309: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5 013084,000310: 06,3571 52123 DXCH VBUF 013085,000311: 06,3572 00006 EXTEND 013086,000312: 06,3573 30123 DCA VBUF 013087,000313: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) 013088,000314: 013089,000315: 06,3575 35021 CAF ZERO 013090,000316: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. 013091,000317: 06,3577 54130 TS BUF # INDEX X, Y, Z. 013092,000318: 013093,000319: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5) 013094,000320: 06,3601 03617 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) 013095,000321: 013096,000322: 06,3602 00006 EXTEND 013097,000323: 06,3603 40123 DCS VBUF 013098,000324: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 013099,000325: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5) 013100,000326: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) 013101,000327: 013102,000328: 06,3607 00006 EXTEND 013103,000329: 06,3610 40123 DCS VBUF 013104,000330: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) 013105,000331: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5) 013106,000332: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) 013107,000333: # Page 305 013108,000334: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES 013109,000335: 06,3615 13474 TCF 1/GYRO # YES 013110,000336: 06,3616 15217 TCF ENDOFJOB # NO 013111,000337: 013112,000338: # Page 306 013113,000339: 06,3617 56002 FBIASSUB XCH Q 013114,000340: 06,3620 54131 TS BUF +1 013115,000341: 013116,000342: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5) 013117,000343: 06,3622 00006 EXTEND 013118,000344: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19) 013119,000345: 06,3624 50130 INDEX BUF 013120,000346: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) 013121,000347: 013122,000348: 06,3626 30002 CA Q # NO FRACTIONAL PART 013123,000349: 06,3627 00006 EXTEND 013124,000350: 06,3630 70155 MP MPAC +1 013125,000351: 06,3631 54001 TS L 013126,000352: 06,3632 35021 CAF ZERO 013127,000353: 06,3633 50130 INDEX BUF 013128,000354: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) 013129,000355: 013130,000356: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION 013131,000357: 013132,000358: 06,3636 04662 LASTBIAS TC BANKCALL 013133,000359: 06,3637 17156 CADR PIPUSE 013134,000360: 013135,000361: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE 013136,000362: 06,3641 13644 TCF +3 013137,000363: 06,3642 13644 TCF +2 013138,000364: 06,3643 15217 TCF ENDOFJOB 013139,000365: 013140,000366: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8) 013141,000367: 06,3645 57074 XCH 1/PIPADT 013142,000368: 06,3646 40000 COM 013143,000369: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0 013144,000370: 06,3650 13560 TCF NBD2 013145,000371: End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc