Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

012518,000002:                                                                                                 #  Copyright:    Public domain.
012519,000003:                                                                                                 #  Filename:      IMU_COMPENSATION_PACKAGE.agc
012520,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
012521,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
012522,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
012523,000007:                                                                                                 #  Assembler:    yaYUL
012524,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
012525,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
012526,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
012527,000011:                                                                                                 #  Mod history:  2011-01-23 JL   Adapted from corresponding Colossus 249 file.
012528,000012: 
012529,000013:                                                                                                 # # Page 290
012530,000014: 
012531,000015: 07,2440                                          BANK     7                                     
012532,000016: 06,2000                                          SETLOC   IMUCOMP                               
012533,000017: 06,2000                                          BANK                                           
012534,000018: 06,3262  E3,1460                                 EBANK=   NBDX                                  
012535,000019: 
012536,000020: 06,3262                                          COUNT    06/ICOMP                              
012537,000021: 
012538,000022: 06,3262           33516        1/PIPA            CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
012539,000023: 06,3263           56003                          XCH      EBANK                                 
012540,000024: 06,3264           54163                          TS       MODE                                  
012541,000025: 
012542,000026: 06,3265           11477                          CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012543,000027: 06,3266           13271                          TCF      +3                                    
012544,000028: 06,3267           13271                          TCF      +2                                    
012545,000029: 06,3270           13407                          TCF      IRIG1                                 #  RETURN
012546,000030: 
012547,000031: 06,3271           00004                          INHINT                                         #   ASSURE COMPLETE COMPENSATION OF DELV'S
012548,000032:                                                                                                 #                                           FOR DOWNLINK.
012549,000033: 06,3272           34710        1/PIPA1           CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012550,000034: 06,3273           54132                          TS       BUF        +2                         
012551,000035: 
012552,000036: 06,3274           50132                          INDEX    BUF        +2                         
012553,000037: 06,3275           31453                          CA       PIPASCF                               #  (P.P.M.) X 2(-9)
012554,000038: 06,3276           00006                          EXTEND                                         
012555,000039: 06,3277           50132                          INDEX    BUF        +2                         
012556,000040: 06,3300           71162                          MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012557,000041: 06,3301           54002                          TS       Q                                     #  SAVE MAJOR PART
012558,000042: 
012559,000043: 06,3302           30001                          CA       L                                     #  MINOR PART
012560,000044: 06,3303           00006                          EXTEND                                         
012561,000045: 06,3304           74705                          MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9    
012562,000046: 06,3305           50132                          INDEX    BUF        +2                         
012563,000047: 06,3306           55163                          TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
012564,000048: 
012565,000049: 06,3307           30002                          CA       Q                                     #  MAJOR PART
012566,000050: 06,3310           00006                          EXTEND                                         
012567,000051: 06,3311           74705                          MP       BIT6                                  #  SCALE 2(+9)   SHIFT RIGHT 9
012568,000052: 06,3312           50132                          INDEX    BUF        +2                         
012569,000053: 06,3313           21163                          DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SPE)
012570,000054: 
012571,000055: 06,3314           50132                          INDEX    BUF        +2                         
012572,000056: 06,3315           41452                          CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-8)             *
012573,000057: 06,3316           00006                          EXTEND                                         
012574,000058: 06,3317           71074                          MP       1/PIPADT                              #  (CS) X 2(+8)  NOW (PIPA PULSES) X 2(+0)*
012575,000059: 06,3320           00006                          EXTEND                                         
012576,000060: 06,3321           74712                          MP       BIT1                                  #  SCALE 2(+14)  SHIFT RIGHT 14           *
012577,000061: 06,3322           50132                          INDEX    BUF        +2                         
012578,000062: 06,3323           21163                          DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012579,000063: 
012580,000064: 06,3324           10132                          CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
012581,000065:                                                                                                 # # Page 291
012582,000066: 06,3325           67716                          AD       NEG1                                  
012583,000067: 06,3326           13273                          TCF      1/PIPA1    +1                         
012584,000068: 06,3327           13330                          NOOP                                           #  LESS THAN ZERO IMPOSSIBLE.
012585,000069: 06,3330           00003                          RELINT                                         
012586,000070: 
012587,000071:                                                                                                 # # Page 292
012588,000072: 
012589,000073: 
012590,000074: 06,3331           55477        IRIGCOMP          TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
012591,000075: 06,3332           54130                          TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ.
012592,000076: 
012593,000077: 06,3333           00006        IRIGX             EXTEND                                         
012594,000078: 06,3334           41163                          DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
012595,000079: 06,3335           52155                          DXCH     MPAC                                  
012596,000080: 06,3336           31463                          CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012597,000081: 06,3337           03412                          TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)   (GYRO PULSES) X 2(+14)
012598,000082: 
012599,000083: 06,3340           00006                          EXTEND                                         #  
012600,000084: 06,3341           41165                          DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012601,000085: 06,3342           52155                          DXCH     MPAC                                  #  
012602,000086: 06,3343           41466                          CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012603,000087: 06,3344           03412                          TC       GCOMPSUB                              #  +(ADSRAX)(PIPAY)  (GYRO PULSES) X 2(+14)
012604,000088: 
012605,000089:                                                                                                 #                 EXTEND            ***
012606,000090:                                                                                                 #                 DCS     DELVY     ***   # (PIPA PULSES) X 2(+14)
012607,000091:                                                                                                 #                 DXCH    MPAC      ***
012608,000092:                                                                                                 #                 CA      ADOAX     ***   # (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012609,000093:                                                                                                 #                 TC      GCOMPSUB  ***   # -(ADDAX)(PIPAZ)   (GYRO PULSES) X 2(+14)
012610,000094: 
012611,000095: 06,3345           41460                          CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012612,000096: 06,3346           03441                          TC       DRIFTSUB                              #  -(NBDX)(DELTAT)   (GYRO PULSES) X 2(+14)
012613,000097: 
012614,000098: 06,3347           00006        IRIGY             EXTEND                                         
012615,000099: 06,3350           41165                          DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012616,000100: 06,3351           52155                          DXCH     MPAC                                  
012617,000101: 06,3352           31464                          CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012618,000102: 06,3353           03412                          TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)   (GYRO PULSES) X 2(+14)
012619,000103: 
012620,000104: 06,3354           00006                          EXTEND                                         
012621,000105: 06,3355           41167                          DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012622,000106: 06,3356           52155                          DXCH     MPAC                                  
012623,000107: 06,3357           41467                          CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012624,000108: 06,3360           03412                          TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)  (GYRO PULSES) X 2(+14)
012625,000109: 
012626,000110:                                                                                                 #                 EXTEND            ***
012627,000111:                                                                                                 #                 DCS     DELVX     ***   # (PIPA PULSES) X 2(+14)
012628,000112:                                                                                                 #                 DXCH    MPAC      ***
012629,000113:                                                                                                 #                 CA      ADOAY     ***   # (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012630,000114:                                                                                                 #                 TC      GCOMPSUB  ***   # -(ADOAY)(/PIPAX)  (GYRO PULSES) X 2(+14)
012631,000115: 
012632,000116: 06,3361           41461                          CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-9)
012633,000117: 06,3362           03441                          TC       DRIFTSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
012634,000118: 
012635,000119: 06,3363           00006        IRIGZ             EXTEND                                         
012636,000120: 06,3364           41165                          DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
012637,000121: 06,3365           52155                          DXCH     MPAC                                  
012638,000122: 06,3366           31470                          CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012639,000123:                                                                                                 # # Page 293
012640,000124: 06,3367           03412                          TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)  (GYRO PULSES) X 2(+14)
012641,000125: 
012642,000126: 06,3370           00006                          EXTEND                                         
012643,000127: 06,3371           41167                          DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
012644,000128: 06,3372           52155                          DXCH     MPAC                                  
012645,000129: 06,3373           31465                          CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012646,000130: 06,3374           03412                          TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)   (GYRO PULSES) X 2(+14)
012647,000131: 
012648,000132:                                                                                                 #                 EXTEND            ***
012649,000133:                                                                                                 #                 DCS     DELVX     ***   # (PIPA PULSE) X 2(+14)
012650,000134:                                                                                                 #                 DXCH    MPAC      ***
012651,000135:                                                                                                 #                 CS      ADOAZ     ***   # (GYRO PULSES)/(PIPA PULSE) X 2(-3)     *
012652,000136:                                                                                                 #                 TC      GCOMPSUB  ***   # +(ADOAZ)(PIPAX)   (GYRO PULSES) X 2(+14)
012653,000137: 
012654,000138: 06,3375           31462                          CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012655,000139: 06,3376           03441                          TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
012656,000140: 
012657,000141:                                                                                                 # # Page 294
012658,000142: 06,3377           11477                          CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012659,000143: 06,3400           13402                          TCF      +2                                    #  YES    
012660,000144: 06,3401           13407                          TCF      IRIG1                                 #  NO     
012661,000145: 
012662,000146: 06,3402           34764                          CA       PRIO17                                #  LEM PRIORITY HIGHER-THIS FOR PRELAUNCH
012663,000147: 06,3403           05027                          TC       NOVAC                                 
012664,000148: 06,3404  E3,1460                                 EBANK=   NBDX                                  
012665,000149: 06,3404           03474 14063                    2CADR    1/GYRO                                
012666,000150: 
012667,000151: 06,3406           00003                          RELINT                                         
012668,000152: 06,3407           30163        IRIG1             CA       MODE                                  #  SET EBANK FOR RETURN
012669,000153: 06,3410           54003                          TS       EBANK                                 
012670,000154: 06,3411           14570                          TCF      SWRETURN                              
012671,000155: 
012672,000156: 06,3412           56154        GCOMPSUB          XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012673,000157: 06,3413           00006                          EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
012674,000158: 06,3414           70154                          MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-6)     *
012675,000159: 06,3415           52123                          DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)           *
012676,000160: 
012677,000161: 06,3416           30155                          CA       MPAC       +1                         #  MINOR PART PIPA PULSES
012678,000162: 06,3417           00006                          EXTEND                                         
012679,000163: 06,3420           70154                          MP       MPAC                                  #  ADIA OR ADSRA
012680,000164: 06,3421           54001                          TS       L                                     
012681,000165: 06,3422           34714                          CAF      ZERO                                  
012682,000166: 06,3423           20123                          DAS      VBUF                                  #  NOW = (BYRO PULSES) X 2(+11)           *
012683,000167: 
012684,000168: 06,3424           30122                          CA       VBUF                                  #  PARTIAL RESULT - MAJOR
012685,000169: 06,3425           00006                          EXTEND                                         
012686,000170: 06,3426           74677                          MP       BIT12                                 #  SCALE 2(+3)      SHIFT RIGHT 3         *
012687,000171: 06,3427           50130                          INDEX    BUF                                   #  RESULT = (BYRO PULSES) X 2(+14)
012688,000172: 06,3430           21472                          DAS      GCOMP                                 #  HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012689,000173: 
012690,000174: 06,3431           30123                          CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
012691,000175: 06,3432           00006                          EXTEND                                         
012692,000176: 06,3433           74677                          MP       BIT12                                 #  SCALE 2(+3)      SHIFT RIGHT 3         *
012693,000177: 06,3434           54001                          TS       L                                     
012694,000178: 06,3435           34714                          CAF      ZERO                                  
012695,000179: 06,3436           50130                          INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
012696,000180: 06,3437           21472                          DAS      GCOMP                                 #  (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012697,000181: 
012698,000182: 06,3440           00002                          TC       Q                                     
012699,000183: 
012700,000184:                                                                                                 # # Page 295
012701,000185: 06,3441           00006        DRIFTSUB          EXTEND                                         
012702,000186: 06,3442           22131                          QXCH     BUF        +1                         
012703,000187: 
012704,000188: 06,3443           00006                          EXTEND                                         #  C(A) = NBD    (GYRO PULSES)/(CS) X 2(-5)
012705,000189: 06,3444           71074                          MP       1/PIPADT                              #  (CS) X 2(+8)   NOW (GYRO PULSES) X 2(+3)
012706,000190: 06,3445           22155                          LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
012707,000191: 06,3446           00006                          EXTEND                                         
012708,000192: 06,3447           74707                          MP       BIT4                                  #  SCALE 2(+11)     SHIFT RIGHT 11
012709,000193: 06,3450           50130                          INDEX    BUF                                   
012710,000194: 06,3451           21472                          DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
012711,000195: 
012712,000196: 06,3452           30155                          CA       MPAC       +1                         #  NO MINOR PART
012713,000197: 06,3453           00006                          EXTEND                                         
012714,000198: 06,3454           74707                          MP       BIT4                                  #  SCALE 2(+11)           SHIFT RIGHT 11
012715,000199: 06,3455           54001                          TS       L                                     
012716,000200: 06,3456           34714                          CAF      ZERO                                  
012717,000201: 06,3457           50130                          INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
012718,000202: 06,3460           21472                          DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
012719,000203: 
012720,000204: 06,3461           34711        DRFTSUB2          CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
012721,000205: 06,3462           60130                          AD       BUF                                   
012722,000206: 06,3463           56130                          XCH      BUF                                   
012723,000207: 06,3464           50000                          INDEX    A                                     
012724,000208: 06,3465           11471                          CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
012725,000209: 06,3466           13470                          TCF      +2                                    #  YES
012726,000210: 06,3467           00131                          TC       BUF        +1                         #  NO
012727,000211: 
012728,000212: 06,3470           77716                          MASK     NEGONE                                
012729,000213: 06,3471           10000                          CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012730,000214: 06,3472           55477                          TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
012731,000215: 06,3473           00131                          TC       BUF        +1                         #  NO
012732,000216: 
012733,000217:                                                                                                 # # Page 296
012734,000218: 06,3474           34710        1/GYRO            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012735,000219: 06,3475           54130                          TS       BUF                                   
012736,000220: 
012737,000221: 06,3476           50130                          INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
012738,000222: 06,3477           31472                          CA       GCOMP      +1                         #  FRACTIONAL PULSES
012739,000223: 06,3500           00006                          EXTEND                                         
012740,000224: 06,3501           74703                          MP       BIT8                                  #  SHIFT RIGHT 7
012741,000225: 06,3502           50130                          INDEX    BUF                                   
012742,000226: 06,3503           55472                          TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
012743,000227: 
012744,000228: 06,3504           34714                          CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
012745,000229: 06,3505           50130                          INDEX    BUF                                   
012746,000230: 06,3506           57471                          XCH      GCOMP                                 #  GYRO PULSES
012747,000231: 06,3507           00006                          EXTEND                                         
012748,000232: 06,3510           74703                          MP       BIT8                                  #  SHIFT RIGHT 7
012749,000233: 06,3511           50130                          INDEX    BUF                                   
012750,000234: 06,3512           21472                          DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
012751,000235: 
012752,000236: 06,3513           10130                          CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012753,000237: 06,3514           67716                          AD       NEG1                                  
012754,000238: 06,3515           13475                          TCF      1/GYRO     +1                         
012755,000239: 06,3516           01471        LGCOMP            ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
012756,000240: 
012757,000241: 06,3517           33516                          CAF      LGCOMP                                
012758,000242: 06,3520           04555                          TC       BANKCALL                              
012759,000243: 06,3521           17125                          CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
012760,000244: 06,3522           04555                          TC       BANKCALL                              
012761,000245: 06,3523           17516                          CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
012762,000246: 06,3524           15112                          TCF      ENDOFJOB                              #  TEMPORARY
012763,000247: 
012764,000248: 06,3525           34710        GCOMP1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
012765,000249: 06,3526           54130                          TS       BUF                                   
012766,000250: 
012767,000251: 06,3527           50130                          INDEX    BUF                                   #  RESCALE
012768,000252: 06,3530           31472                          CA       GCOMP      +1                         
012769,000253: 06,3531           00006                          EXTEND                                         
012770,000254: 06,3532           74703                          MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012771,000255: 06,3533           50130                          INDEX    BUF                                   
012772,000256: 06,3534           23472                          LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
012773,000257: 
012774,000258: 06,3535           10130                          CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
012775,000259: 06,3536           67716                          AD       NEG1                                  
012776,000260: 06,3537           13526                          TCF      GCOMP1     +1                         
012777,000261: 06,3540           01436        V06N30S           VN       0630                                  
012778,000262: 06,3541           15112                          TCF      ENDOFJOB                              
012779,000263: 
012780,000264:                                                                                                 # # Page 297              
012781,000265: 06,3542           11477        NBDONLY           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012782,000266: 06,3543           13546                          TCF      +3                                    
012783,000267: 06,3544           13546                          TCF      +2                                    
012784,000268: 06,3545           15112                          TCF      ENDOFJOB                              
012785,000269: 
012786,000270: 06,3546           00004                          INHINT                                         
012787,000271: 06,3547           10076                          CCS      FLAGWRD2                              #  PREREAD T3RUPT MAY COINCIDE
012788,000272: 06,3550           15112                          TCF      ENDOFJOB                              
012789,000273: 06,3551           15112                          TCF      ENDOFJOB                              
012790,000274: 06,3552           13553                          TCF      +1                                    
012791,000275: 
012792,000276: 06,3553           30025                          CA       TIME1                                 #  (CS) X 2(+14)
012793,000277: 06,3554           57074                          XCH      1/PIPADT                              #  PREVIOUS TIME
012794,000278: 06,3555           00003                          RELINT                                         
012795,000279: 06,3556           40000                          COM                                            
012796,000280: 06,3557           61074                          AD       1/PIPADT                              
012797,000281: 06,3560           10000        NBD2              CCS      A                                     #  CALCULATE ELAPSED TIME
012798,000282: 06,3561           64712                          AD       ONE                                   #  NO TIME1 OVERFLOW
012799,000283: 06,3562           13567                          TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
012800,000284: 06,3563           13565                          TCF      +2                                    #  TIME1 OVERFLOW
012801,000285: 06,3564           15112                          TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0  (DIFFERENCE = -0)
012802,000286: 
012803,000287: 06,3565           40000                          COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
012804,000288: 06,3566           64672                          AD       POSMAX                                
012805,000289: 
012806,000290: 06,3567           00006        NBD3              EXTEND                                         #  C(A) = DELTAT    (CS) X 2(+14)
012807,000291: 06,3570           74701                          MP       BIT10                                 #  SHIFT RIGHT 5
012808,000292: 06,3571           52123                          DXCH     VBUF                                  
012809,000293: 06,3572           00006                          EXTEND                                         
012810,000294: 06,3573           30123                          DCA      VBUF                                  
012811,000295: 06,3574           52155                          DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
012812,000296: 
012813,000297: 06,3575           34714                          CAF      ZERO                                  
012814,000298: 06,3576           55477                          TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
012815,000299: 06,3577           54130                          TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
012816,000300: 
012817,000301: 06,3600           41460                          CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
012818,000302: 06,3601           03617                          TC       FBIASSUB                              #  -(NBDX)(DELTAT)   (GYRO PULSES) X 2(+14)
012819,000303: 
012820,000304: 06,3602           00006                          EXTEND                                         
012821,000305: 06,3603           40123                          DCS      VBUF                                  
012822,000306: 06,3604           52155                          DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012823,000307: 06,3605           31461                          CA       NBDY                                  #  (BYRO PULSES)/(CS) X 2(-5)
012824,000308: 06,3606           03617                          TC       FBIASSUB                              #  -(NBDY)(DELTAT)   (GYRO PULSES) X 2(+14)
012825,000309: 
012826,000310: 06,3607           00006                          EXTEND                                         
012827,000311: 06,3610           40123                          DCS      VBUF                                  
012828,000312: 06,3611           52155                          DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012829,000313: 06,3612           41462                          CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
012830,000314: 06,3613           03617                          TC       FBIASSUB                              #  +(NBDZ)(DELTAT)   (GYRO PULSES) X 2(+14)
012831,000315:                                                                                                 # # Page 298              
012832,000316: 06,3614           11477                          CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
012833,000317: 06,3615           13474                          TCF      1/GYRO                                #  YES
012834,000318: 06,3616           15112                          TCF      ENDOFJOB                              #  NO
012835,000319: 
012836,000320:                                                                                                 # # Page 299
012837,000321: 06,3617           56002        FBIASSUB          XCH      Q                                     
012838,000322: 06,3620           54131                          TS       BUF        +1                         
012839,000323: 
012840,000324: 06,3621           30002                          CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012841,000325: 06,3622           00006                          EXTEND                                         
012842,000326: 06,3623           70154                          MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
012843,000327: 06,3624           50130                          INDEX    BUF                                   
012844,000328: 06,3625           21472                          DAS      GCOMP                                 #  HI(NBD)(DELTAT)   (GYRO PULSES) X 2(+14)
012845,000329: 
012846,000330: 06,3626           30002                          CA       Q                                     #  NOW FRACTIONAL PART
012847,000331: 06,3627           00006                          EXTEND                                         
012848,000332: 06,3630           70155                          MP       MPAC       +1                         
012849,000333: 06,3631           54001                          TS       L                                     
012850,000334: 06,3632           34714                          CAF      ZERO                                  
012851,000335: 06,3633           50130                          INDEX    BUF                                   
012852,000336: 06,3634           21472                          DAS      GCOMP                                 #  (NBD)(DELTAT)     (GYRO PULSES) X 2(+14)
012853,000337: 
012854,000338: 06,3635           13461                          TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
012855,000339: 
012856,000340: 06,3636           04555        LASTBIAS          TC       BANKCALL                              
012857,000341: 06,3637           17075                          CADR     PIPUSE                                
012858,000342: 
012859,000343: 06,3640           11477                          CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
012860,000344: 06,3641           13644                          TCF      +3                                    
012861,000345: 06,3642           13644                          TCF      +2                                    
012862,000346: 06,3643           15112                          TCF      ENDOFJOB                              
012863,000347: 
012864,000348: 06,3644           37665                          CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
012865,000349: 06,3645           57074                          XCH      1/PIPADT                              
012866,000350: 06,3646           40000                          COM                                            
012867,000351: 06,3647           61246                          AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
012868,000352: 06,3650           13560                          TCF      NBD2                                  

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