Source Code

These source-code files were obtained by digitally photographing an Artemis 72 program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images may be 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 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971

	THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS
				COLOSSUS 3
	THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED
	IN REPORT R-577.  THIS PROGRAM WAS PREPARED UNDER OSR
	PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT
	CENTER OF THE NATIONAL AERONAUTICS AND SPACE
	ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE
	CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF
	TECHNOLOGY, CAMBRIDGE, MASS.

013542,000002:                                                                                                 #  Copyright:     Public domain.
013543,000003:                                                                                                 #  Filename:      IMU_COMPENSATION_PACKAGE.agc
013544,000004:                                                                                                 #  Purpose:       Part of the source code for Artemis (i.e., Colossus 3),
013545,000005:                                                                                                 #                 build 072.  This is for the Command Module's (CM)
013546,000006:                                                                                                 #                 Apollo Guidance Computer (AGC), we believe for
013547,000007:                                                                                                 #                 Apollo 15-17.
013548,000008:                                                                                                 #  Assembler:     yaYUL
013549,000009:                                                                                                 #  Contact:       Jim Lawton <jim DOT lawton AT gmail DOT com>
013550,000010:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
013551,000011:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Artemis072/
013552,000012:                                                                                                 #  Mod history:   2009-08-09 JL   Adapted from corresponding Comanche 055 file.
013553,000013:                                                                                                 #                 2010-02-11 JL   Fixed error on p315.
013554,000014:                                                                                                 #                 2010-02-20 RSB  Un-##'d this header.
013555,000015: 
013556,000016:                                                                                                 # # Page 308
013557,000017: 
013558,000018: 06,2000                                          SETLOC   IMUCOMP                               
013559,000019: 06,2000                                          BANK                                           
013560,000020: 06,3276  E3,1460                                 EBANK=   NBDX                                  
013561,000021: 
013562,000022: 06,3276                                          COUNT*   $$/ICOMP                              
013563,000023: 06,3276           33535        1/PIPA            CAF      LGCOMP                                #  SAVE EBANK OF CALLING PROGRAM
013564,000024: 06,3277           56003                          XCH      EBANK                                 
013565,000025: 06,3300           54163                          TS       MODE                                  
013566,000026: 
013567,000027: 06,3301           11477                          CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013568,000028: 06,3302           13305                          TCF      +3                                    
013569,000029: 06,3303           13305                          TCF      +2                                    
013570,000030: 06,3304           13422                          TCF      IRIG1                                 #  RETURN
013571,000031: 
013572,000032: 06,3305           00004                          INHINT                                         #  ASSURE COMPLETE COMPENSATION OF DELV'S
013573,000033:                                                                                                 #  FOR DOWNLINK.
013574,000034: 
013575,000035: 06,3306           34766        1/PIPA1           CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013576,000036: 06,3307           77702                 +1       MASK     NEGONE                                
013577,000037: 06,3310           54132                          TS       BUF        +2                         
013578,000038: 
013579,000039: 06,3311           50132                          INDEX    BUF        +2                         
013580,000040: 06,3312           31453                          CA       PIPASCF                               #  (P.P.M.) X 2(-9)
013581,000041: 06,3313           00006                          EXTEND                                         
013582,000042: 06,3314           50132                          INDEX    BUF        +2                         
013583,000043: 06,3315           71314                          MP       DELVX                                 #  (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013584,000044: 06,3316           54002                          TS       Q                                     #  SAVE MAJOR PART
013585,000045: 
013586,000046: 06,3317           30001                          CA       L                                     #  MINOR PART
013587,000047: 06,3320           00006                          EXTEND                                         
013588,000048: 06,3321           74763                          MP       BIT6                                  #  SCALE 2(+9)    SHIFT RIGHT 9
013589,000049: 06,3322           50132                          INDEX    BUF        +2                         
013590,000050: 06,3323           55315                          TS       DELVX      +1                         #  FRACTIONAL PIPA PULSES SCALED 2(+14)
013591,000051: 
013592,000052: 06,3324           30002                          CA       Q                                     #  MAJOR PART
013593,000053: 06,3325           00006                          EXTEND                                         
013594,000054: 06,3326           74763                          MP       BIT6                                  #  SCALE 2(+9)    SHIFT RIGHT 9
013595,000055: 06,3327           50132                          INDEX    BUF        +2                         
013596,000056: 06,3330           21315                          DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE)
013597,000057: 
013598,000058: 06,3331           50132                          INDEX    BUF        +2                         
013599,000059: 06,3332           41452                          CS       PIPABIAS                              #  (PIPA PULSES)/(CS) X 2(-6)
013600,000060: 06,3333           00006                          EXTEND                                         
013601,000061: 06,3334           71277                          MP       1/PIPADT                              #  (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
013602,000062: 06,3335           00006                          EXTEND                                         
013603,000063: 06,3336           74766                          MP       BIT3                                  #  SCALE 2(+12) SHIFT RIGHT 12
013604,000064: 06,3337           50132                          INDEX    BUF        +2                         
013605,000065: 06,3340           21315                          DAS      DELVX                                 #  (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013606,000066: 
013607,000067: 06,3341           10132                          CCS      BUF        +2                         #  PIPAZ, PIPAY, PIPAX
013608,000068: 06,3342           13307                          TCF      1/PIPA1    +1                         
013609,000069:                                                                                                 # # Page 309
013610,000070: 06,3343           00003                          RELINT                                         
013611,000071:                                                                                                 # # Page 310
013612,000072: 
013613,000073: 06,3344           55477        IRIGCOMP          TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS.
013614,000074: 06,3345           54130                          TS       BUF                                   #  INDEX COUNTER - IRIGX, IRIGY, IRIGZ
013615,000075: 
013616,000076: 06,3346           00006        IRIGX             EXTEND                                         
013617,000077: 06,3347           41315                          DCS      DELVX                                 #  (PIPA PULSES) X 2(+14)
013618,000078: 06,3350           52155                          DXCH     MPAC                                  
013619,000079: 06,3351           31463                          CA       ADIAX                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013620,000080: 06,3352           03425                          TC       GCOMPSUB                              #  -(ADIAX)(PIPAX)        (GYRO PULSES) X 2(+14)
013621,000081: 
013622,000082: 06,3353           00006                          EXTEND                                         
013623,000083: 06,3354           41317                          DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013624,000084: 06,3355           52155                          DXCH     MPAC                                  
013625,000085: 06,3356           41466                          CS       ADSRAX                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013626,000086: 06,3357           03425                          TC       GCOMPSUB                              #  +(ADSRAX)(PIPAY)       (GYRO PULSES) X 2(+14)
013627,000087: 
013628,000088:                                                                                                 #                 EXTEND                  # ***
013629,000089:                                                                                                 #                 DCS     DELVZ           # *** (PIPA PULSES) X 2(+14)
013630,000090:                                                                                                 #                 DXCH    MPAC            # ***
013631,000091:                                                                                                 #                 CA      ADOAX           # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)        *
013632,000092:                                                                                                 #                 TC      GCOMPSUB        # *** -(ADOAX)(PIPAZ)   (GYRO PULSES) X 2(+14)
013633,000093: 
013634,000094: 06,3360           41460                          CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013635,000095: 06,3361           03454                          TC       DRIFTSUB                              #  -(NBDX)(DELTAT)        (GYRO PULSES) X 2(+14)
013636,000096: 
013637,000097: 06,3362           00006        IRIGY             EXTEND                                         
013638,000098: 06,3363           41317                          DCS      DELVY                                 #  (PIPA PULSES) X 2(+14)
013639,000099: 06,3364           52155                          DXCH     MPAC                                  
013640,000100: 06,3365           31464                          CA       ADIAY                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013641,000101: 06,3366           03425                          TC       GCOMPSUB                              #  -(ADIAY)(PIPAY)        (GYRO PULSES) X 2(+14)
013642,000102: 
013643,000103: 06,3367           00006                          EXTEND                                         
013644,000104: 06,3370           41321                          DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013645,000105: 06,3371           52155                          DXCH     MPAC                                  
013646,000106: 06,3372           41467                          CS       ADSRAY                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013647,000107: 06,3373           03425                          TC       GCOMPSUB                              #  +(ADSRAY)(PIPAZ)       (GYRO PULSES) X 2(+14)
013648,000108: 
013649,000109:                                                                                                 #                 EXTEND                  # ***
013650,000110:                                                                                                 #                 DCS     DELVX           # *** (PIPA PULSES) X 2(+14)
013651,000111:                                                                                                 #                 DXCH    MPAC            # ***
013652,000112:                                                                                                 #                 CA      ADOAY           # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)        *
013653,000113:                                                                                                 #                 TC      GCOMPSUB        # *** -(ADOAY)(PIPAX)   (GYRO PULSES) X 2(+14)
013654,000114: 
013655,000115: 06,3374           41461                          CS       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013656,000116: 06,3375           03454                          TC       DRIFTSUB                              #  -(NBDY)(DELTAT)        (GYRO PULSES) X 2(+14)
013657,000117: 
013658,000118: 06,3376           00006        IRIGZ             EXTEND                                         
013659,000119: 06,3377           41317                          DCS      DELVY                                 #  (PIPA PULSES) X 2(-14)
013660,000120: 06,3400           52155                          DXCH     MPAC                                  
013661,000121: 06,3401           31470                          CA       ADSRAZ                                #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013662,000122:                                                                                                 # # Page 311
013663,000123: 06,3402           03425                          TC       GCOMPSUB                              #  -(ADSRAZ)(PIPAY)       (GYRO PULSES) X 2(+14)
013664,000124: 
013665,000125: 06,3403           00006                          EXTEND                                         
013666,000126: 06,3404           41321                          DCS      DELVZ                                 #  (PIPA PULSES) X 2(+14)
013667,000127: 06,3405           52155                          DXCH     MPAC                                  
013668,000128: 06,3406           31465                          CA       ADIAZ                                 #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013669,000129: 06,3407           03425                          TC       GCOMPSUB                              #  -(ADIAZ)(PIPAZ)        (GYRO PULSES) X 2(+14)
013670,000130: 
013671,000131:                                                                                                 #                 EXTEND                  # ***
013672,000132:                                                                                                 #                 DCS     DELVX           # *** (PIPA PULSE) X 2(+14)
013673,000133:                                                                                                 #                 DXCH    MPAC            # ***
013674,000134:                                                                                                 #                 CS      ADOAZ           # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3)        *
013675,000135:                                                                                                 #                 TC      GCOMPSUB        # *** +(ADOAZ)(PIPAX)   (GYRO PULSES) X 2(+14)
013676,000136: 
013677,000137: 06,3410           31462                          CA       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013678,000138: 06,3411           03454                          TC       DRIFTSUB                              #  +(NBDZ)(DELTAT)        (GYRO PULSES) X 2(+14)
013679,000139: 
013680,000140:                                                                                                 # # Page 312
013681,000141: 06,3412           11477                          CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013682,000142: 06,3413           13415                          TCF      +2                                    #  YES
013683,000143: 06,3414           13422                          TCF      IRIG1                                 #  NO
013684,000144: 
013685,000145: 06,3415           35057                          CA       PRIO21                                #  HIGHER THAN SERVICER-LESS THAN PRELAUNCH
013686,000146: 06,3416           05121                          TC       NOVAC                                 
013687,000147: 06,3417  E3,1460                                 EBANK=   NBDX                                  
013688,000148: 06,3417           03507 14063                    2CADR    1/CHECK                               
013689,000149: 
013690,000150: 06,3421           00003                          RELINT                                         
013691,000151: 06,3422           30163        IRIG1             CA       MODE                                  #  SET EBANK FOR RETURN
013692,000152: 06,3423           54003                          TS       EBANK                                 
013693,000153: 06,3424           14651                          TCF      SWRETURN                              
013694,000154: 
013695,000155: 06,3425           56154        GCOMPSUB          XCH      MPAC                                  #  ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013696,000156: 06,3426           00006                          EXTEND                                         #  C(MPAC) = (PIPA PULSES) X 2(+14)
013697,000157: 06,3427           70154                          MP       MPAC                                  #  (GYRO PULSES)/(PIPA PULSE) X 2(-3)             *
013698,000158: 06,3430           52123                          DXCH     VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                   *
013699,000159: 
013700,000160: 06,3431           30155                          CA       MPAC       +1                         #  MINOR PART OF PIPA PULSES
013701,000161: 06,3432           00006                          EXTEND                                         
013702,000162: 06,3433           70154                          MP       MPAC                                  #  ADIA OR ADSRA
013703,000163: 06,3434           54001                          TS       L                                     
013704,000164: 06,3435           34772                          CAF      ZERO                                  
013705,000165: 06,3436           20123                          DAS      VBUF                                  #  NOW = (GYRO PULSES) X 2(+11)                   *
013706,000166: 
013707,000167: 06,3437           30122                          CA       VBUF                                  #  PARTIAL RESULT - MAJOR
013708,000168: 06,3440           00006                          EXTEND                                         
013709,000169: 06,3441           74755                          MP       BIT12                                 #  SCALE 2(+3)    SHIFT RIGHT 3                   *
013710,000170: 06,3442           50130                          INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013711,000171: 06,3443           21472                          DAS      GCOMP                                 #  HI(ADIA)(PIPAI)  OR  HI(ADSRA)(PIPAI)
013712,000172: 
013713,000173: 06,3444           30123                          CA       VBUF       +1                         #  PARTIAL RESULT - MINOR
013714,000174: 06,3445           00006                          EXTEND                                         
013715,000175: 06,3446           74755                          MP       BIT12                                 #  SCALE 2(+3)    SHIFT RIGHT 3                   *
013716,000176: 06,3447           54001                          TS       L                                     
013717,000177: 06,3450           34772                          CAF      ZERO                                  
013718,000178: 06,3451           50130                          INDEX    BUF                                   #  RESULT = (GYRO PULSES) X 2(+14)
013719,000179: 06,3452           21472                          DAS      GCOMP                                 #  (ADIA)(PIPAI)  OR  (ADSRA)(PIPAI)
013720,000180: 
013721,000181: 06,3453           00002                          TC       Q                                     
013722,000182: 
013723,000183:                                                                                                 # # Page 313
013724,000184: 06,3454           00006        DRIFTSUB          EXTEND                                         
013725,000185: 06,3455           22131                          QXCH     BUF        +1                         
013726,000186: 
013727,000187: 06,3456           00006                          EXTEND                                         #  C(A) = NBD     (GYRO PULSES)/(CS) X 2(-5)
013728,000188: 06,3457           71277                          MP       1/PIPADT                              #  (CS) X 2(+8)    NOW (GYRO PULSES) X 2(+3)
013729,000189: 06,3460           22155                          LXCH     MPAC       +1                         #  SAVE FOR FRACTIONAL COMPENSATION
013730,000190: 06,3461           00006                          EXTEND                                         
013731,000191: 06,3462           74765                          MP       BIT4                                  #  SCALE 2(+11)           SHIFT RIGHT 11
013732,000192: 06,3463           50130                          INDEX    BUF                                   
013733,000193: 06,3464           21472                          DAS      GCOMP                                 #  HI(NBD)(DELTAT)        (GYRO PULSES) X 2(+14)
013734,000194: 
013735,000195: 06,3465           30155                          CA       MPAC       +1                         #  NOW MINOR PART
013736,000196: 06,3466           00006                          EXTEND                                         
013737,000197: 06,3467           74765                          MP       BIT4                                  #  SCALE 2(+11)           SHIFT RIGHT 11
013738,000198: 06,3470           54001                          TS       L                                     
013739,000199: 06,3471           34772                          CAF      ZERO                                  
013740,000200: 06,3472           50130                          INDEX    BUF                                   #  ADD IN FRACTIONAL COMPENSATION
013741,000201: 06,3473           21472                          DAS      GCOMP                                 #  (NBD)(DELTAT)          (GYRO PULSES) X 2(+14)
013742,000202: 
013743,000203: 06,3474           34767        DRFTSUB2          CAF      TWO                                   #  PIPAX, PIPAY, PIPAZ
013744,000204: 06,3475           60130                          AD       BUF                                   
013745,000205: 06,3476           56130                          XCH      BUF                                   
013746,000206: 06,3477           50000                          INDEX    A                                     
013747,000207: 06,3500           11471                          CCS      GCOMP                                 #  ARE GYRO COMMANDS 1 PULSE OR GREATER
013748,000208: 06,3501           13503                          TCF      +2                                    #  YES
013749,000209: 06,3502           00131                          TC       BUF        +1                         #  NO
013750,000210: 
013751,000211: 06,3503           77702                          MASK     NEGONE                                
013752,000212: 06,3504           10000                          CCS      A                                     #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013753,000213: 06,3505           55477                          TS       GCOMPSW                               #  YES - SET GCOMPSW POSITIVE
013754,000214: 06,3506           00131                          TC       BUF        +1                         #  NO
013755,000215: 
013756,000216:                                                                                                 # # Page 314
013757,000217: 06,3507           31335        1/CHECK           CA       MODECADR                              
013758,000218: 06,3510           00006                          EXTEND                                         
013759,000219: 06,3511           13513                          BZF      1/GYRO                                
013760,000220: 06,3512           15205                          TCF      ENDOFJOB                              
013761,000221: 
013762,000222: 06,3513           34766        1/GYRO            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013763,000223: 06,3514           54130                 +1       TS       BUF                                   
013764,000224: 
013765,000225: 06,3515           50130                          INDEX    BUF                                   #  SCALE GYRO COMMANDS FOR IMUPULSE
013766,000226: 06,3516           31472                          CA       GCOMP      +1                         #  FRACTIONAL PULSES
013767,000227: 06,3517           00006                          EXTEND                                         
013768,000228: 06,3520           74761                          MP       BIT8                                  #  SHIFT RIGHT 7
013769,000229: 06,3521           50130                          INDEX    BUF                                   
013770,000230: 06,3522           55472                          TS       GCOMP      +1                         #  FRACTIONAL PULSES SCALED
013771,000231: 
013772,000232: 06,3523           34772                          CAF      ZERO                                  #  SET GCOMP = 0 FOR DAS INSTRUCTION
013773,000233: 06,3524           50130                          INDEX    BUF                                   
013774,000234: 06,3525           57471                          XCH      GCOMP                                 #  GYRO PULSES
013775,000235: 06,3526           00006                          EXTEND                                         
013776,000236: 06,3527           74761                          MP       BIT8                                  #  SHIFT RIGHT 7
013777,000237: 06,3530           50130                          INDEX    BUF                                   
013778,000238: 06,3531           21472                          DAS      GCOMP                                 #  ADD THESE TO FRACTIONAL PULSES ABOVE
013779,000239: 
013780,000240: 06,3532           10130                          CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013781,000241: 06,3533           67702                          AD       NEG1                                  
013782,000242: 06,3534           13514                          TCF      1/GYRO     +1                         
013783,000243: 06,3535           01471        LGCOMP            ECADR    GCOMP                                 #  LESS THAN ZERO IMPOSSIBLE
013784,000244: 
013785,000245: 06,3536           33535                          CAF      LGCOMP                                
013786,000246: 06,3537           04636                          TC       BANKCALL                              
013787,000247: 06,3540           17244                          CADR     IMUPULSE                              #  CALL GYRO TORQUING ROUTINE
013788,000248: 06,3541           04636                          TC       BANKCALL                              
013789,000249: 06,3542           17644                          CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
013790,000250: 06,3543           13544                          TCF      +1                                    
013791,000251: 
013792,000252: 06,3544           34766        GCOMP1            CAF      FOUR                                  #  PIPAZ, PIPAY, PIPAX
013793,000253: 06,3545           54130                 +1       TS       BUF                                   
013794,000254: 
013795,000255: 06,3546           50130                          INDEX    BUF                                   #  RESCALE
013796,000256: 06,3547           31472                          CA       GCOMP      +1                         
013797,000257: 06,3550           00006                          EXTEND                                         
013798,000258: 06,3551           74761                          MP       BIT8                                  #  SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013799,000259: 06,3552           50130                          INDEX    BUF                                   
013800,000260: 06,3553           23472                          LXCH     GCOMP      +1                         #  BITS 8-14 OF MINOR PART WERE = 0
013801,000261: 
013802,000262: 06,3554           10130                          CCS      BUF                                   #  PIPAZ, PIPAY, PIPAX
013803,000263: 06,3555           67702                          AD       NEG1                                  
013804,000264: 06,3556           13545                          TCF      GCOMP1     +1                         
013805,000265: 06,3557           75252        OCT75252          OCT      75252                                 #  -15 DEGREES USED BY T4RUPT
013806,000266: 06,3560           15205                          TCF      ENDOFJOB                              
013807,000267: 
013808,000268:                                                                                                 # # Page 315
013809,000269: 06,3561           11477        NBDONLY           CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013810,000270: 06,3562           13565                          TCF      +3                                    
013811,000271: 06,3563           13565                          TCF      +2                                    
013812,000272: 06,3564           15205                          TCF      ENDOFJOB                              
013813,000273: 
013814,000274: 06,3565           00004                          INHINT                                         
013815,000275: 06,3566           30076                          CA       FLAGWRD2                              
013816,000276: 06,3567           74752                          MASK     DRFTBIT                               
013817,000277: 06,3570           00006                          EXTEND                                         
013818,000278: 06,3571           15205                          BZF      ENDOFJOB                              
013819,000279: 
013820,000280: 06,3572           30025                          CA       TIME1                                 #  (CS) X 2(+14)
013821,000281: 06,3573           57277                          XCH      1/PIPADT                              #  PREVIOUS TIME
013822,000282: 06,3574           00003                          RELINT                                         
013823,000283: 06,3575           40000                          COM                                            
013824,000284: 06,3576           61277                          AD       1/PIPADT                              
013825,000285: 06,3577           10000        NBD2              CCS      A                                     #  CALCULATE ELAPSED TIME
013826,000286: 06,3600           64770                          AD       ONE                                   #  NO TIME1 OVERFLOW
013827,000287: 06,3601           13606                          TCF      NBD3                                  #  RESTORE TIME DIFFERENCE AND JUMP
013828,000288: 06,3602           13604                          TCF      +2                                    #  TIME1 OVERFLOW
013829,000289: 06,3603           15205                          TCF      ENDOFJOB                              #  IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013830,000290: 
013831,000291: 06,3604           40000                          COM                                            #  CALCULATE ABSOLUTE DIFFERENCE
013832,000292: 06,3605           64750                          AD       POSMAX                                
013833,000293: 
013834,000294: 06,3606           00006        NBD3              EXTEND                                         #  C(A) = DELTAT          (CS) X 2(+14)
013835,000295: 06,3607           74757                          MP       BIT10                                 #  SHIFT RIGHT 5
013836,000296: 06,3610           52123                          DXCH     VBUF                                  
013837,000297: 06,3611           00006                          EXTEND                                         
013838,000298: 06,3612           30123                          DCA      VBUF                                  
013839,000299: 06,3613           52155                          DXCH     MPAC                                  #  DELTAT NOW SCALED (CS) X 2(+19)
013840,000300: 
013841,000301: 06,3614           34772                          CAF      ZERO                                  
013842,000302: 06,3615           55477                          TS       GCOMPSW                               #  INDICATE COMMANDS 2 PULSES OR LESS
013843,000303: 06,3616           54130                          TS       BUF                                   #  PIPAX, PIPAY, PIPAZ
013844,000304: 
013845,000305: 06,3617           41460                          CS       NBDX                                  #  (GYRO PULSES)/(CS) X 2(-5)
013846,000306: 06,3620           03636                          TC       FBIASSUB                              #  -(NBOX)(DELTAT)        (GYRO PULSES) X 2(+14)
013847,000307: 
013848,000308: 06,3621           00006                          EXTEND                                         
013849,000309: 06,3622           40123                          DCS      VBUF                                  
013850,000310: 06,3623           52155                          DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013851,000311: 06,3624           31461                          CA       NBDY                                  #  (GYRO PULSES)/(CS) X 2(-5)
013852,000312: 06,3625           03636                          TC       FBIASSUB                              #  -(NBDY)(DELTAT)        (GYRO PULSES) X 2(+14)
013853,000313: 
013854,000314: 06,3626           00006                          EXTEND                                         
013855,000315: 06,3627           40123                          DCS      VBUF                                  
013856,000316: 06,3630           52155                          DXCH     MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013857,000317: 06,3631           41462                          CS       NBDZ                                  #  (GYRO PULSES)/(CS) X 2(-5)
013858,000318: 06,3632           03636                          TC       FBIASSUB                              #  +(NBDZ)(DELTAT)        (GYRO PULSES) X 2(+14)
013859,000319:                                                                                                 # # Page 316
013860,000320: 06,3633           11477                          CCS      GCOMPSW                               #  ARE GYRO COMMANDS GREATER THAN 2 PULSES
013861,000321: 06,3634           13513                          TCF      1/GYRO                                #  YES
013862,000322: 06,3635           15205                          TCF      ENDOFJOB                              #  NO
013863,000323: 
013864,000324:                                                                                                 # # Page 317
013865,000325: 06,3636           56002        FBIASSUB          XCH      Q                                     
013866,000326: 06,3637           54131                          TS       BUF        +1                         
013867,000327: 
013868,000328: 06,3640           30002                          CA       Q                                     #  NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013869,000329: 06,3641           00006                          EXTEND                                         
013870,000330: 06,3642           70154                          MP       MPAC                                  #  DELTAT SCALED (CS) X 2(+19)
013871,000331: 06,3643           50130                          INDEX    BUF                                   
013872,000332: 06,3644           21472                          DAS      GCOMP                                 #  HI(NBD)(DELTAT)        (GYRO PULSES) X 2(+14)
013873,000333: 
013874,000334: 06,3645           30002                          CA       Q                                     #  NOW FRACTIONAL PART
013875,000335: 06,3646           00006                          EXTEND                                         
013876,000336: 06,3647           70155                          MP       MPAC       +1                         
013877,000337: 06,3650           54001                          TS       L                                     
013878,000338: 06,3651           34772                          CAF      ZERO                                  
013879,000339: 06,3652           50130                          INDEX    BUF                                   
013880,000340: 06,3653           21472                          DAS      GCOMP                                 #  (NBD)(DELTAT)          (GYRO PULSES) X 2(+14)
013881,000341: 
013882,000342: 06,3654           13474                          TCF      DRFTSUB2                              #  CHECK MAGNITUDE OF COMPENSATION
013883,000343: 
013884,000344: 06,3655           04636        LASTBIAS          TC       BANKCALL                              
013885,000345: 06,3656           17214                          CADR     PIPUSE                                
013886,000346: 
013887,000347: 06,3657           11477                          CCS      GCOMPSW                               #  BYPASS IF GCOMPSW NEGATIVE
013888,000348: 06,3660           13663                          TCF      +3                                    
013889,000349: 06,3661           13663                          TCF      +2                                    
013890,000350: 06,3662           15205                          TCF      ENDOFJOB                              
013891,000351: 
013892,000352: 06,3663           37652                          CAF      PRIO31                                #  2 SECONDS SCALED (CS) X 2(+8)
013893,000353: 06,3664           57277                          XCH      1/PIPADT                              
013894,000354: 06,3665           40000                          COM                                            
013895,000355: 06,3666           61105                          AD       PIPTIME1   +1                         #  TIME AT PIPA1 =0
013896,000356: 06,3667           13577                          TCF      NBD2                                  
013897,000357: 
013898,000358: 06,3670           21450        90SECS            DEC      9000       B-14                       
013899,000359: 06,3671           16037        20DEGS            DEC      7199       B-14                       

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