Source Code
013461,000001: # Copyright: Public domain.
013462,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc
013463,000003: # Purpose: A section of Luminary 1C, revision 131.
013464,000004: # It is part of the source code for the Lunar Module's (LM)
013465,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
013466,000006: # This file is intended to be a faithful transcription, except
013467,000007: # that the code format has been changed to conform to the
013468,000008: # requirements of the yaYUL assembler rather than the
013469,000009: # original YUL assembler.
013470,000010: # Reference: pp. 333-344 of 1729.pdf.
013471,000011: # Contact: Ron Burkey <info@sandroid.org>.
013472,000012: # Website: www.ibiblio.org/apollo/index.html
013473,000013: # Mod history: 05/10/03 RSB. Began transcribing.
013474,000014: # 05/14/05 RSB Corrected website reference above.
013475,000015:
013476,000016: # Page 333
013477,000017: 07,2666 BANK 7
013478,000018: 06,2000 SETLOC IMUCOMP
013479,000019: 06,2000 BANK
013480,000020:
013481,000021: 06,3271 E3,1460 EBANK= NBDX
013482,000022:
013483,000023: 06,3271 COUNT* $$/ICOMP
013484,000024: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013485,000025: 06,3272 56003 XCH EBANK
013486,000026: 06,3273 54163 TS MODE
013487,000027:
013488,000028: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013489,000029: 06,3275 13300 TCF +3
013490,000030: 06,3276 13300 TCF +2
013491,000031: 06,3277 13361 TCF IRIG1 # RETURN
013492,000032:
013493,000033: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013494,000034: 06,3301 54132 TS BUF +2
013495,000035:
013496,000036: 06,3302 50132 INDEX BUF +2
013497,000037: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013498,000038: 06,3304 00006 EXTEND
013499,000039: 06,3305 50132 INDEX BUF +2
013500,000040: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013501,000041: 06,3307 54002 TS Q # SAVE MAJOR PART
013502,000042:
013503,000043: 06,3310 30001 CA L # MINOR PART
013504,000044: 06,3311 00006 EXTEND
013505,000045: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013506,000046:
013507,000047: 06,3313 50132 INDEX BUF +2
013508,000048: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013509,000049:
013510,000050: 06,3315 30002 CA Q # MAJOR PART
013511,000051: 06,3316 00006 EXTEND
013512,000052: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013513,000053: 06,3320 50132 INDEX BUF +2
013514,000054: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SF)
013515,000055:
013516,000056: 06,3322 50132 INDEX BUF +2
013517,000057: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013518,000058: 06,3324 00006 EXTEND
013519,000059: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013520,000060: 06,3326 00006 EXTEND
013521,000061: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013522,000062: 06,3330 50132 INDEX BUF +2
013523,000063: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013524,000064:
013525,000065: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013526,000066: 06,3333 67752 AD NEG1
013527,000067: 06,3334 13301 TCF 1/PIPA1 +1
013528,000068: # Page 334
013529,000069: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013530,000070:
013531,000071: # Page 335
013532,000072: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013533,000073: 06,3337 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013534,000074:
013535,000075: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013536,000076:
013537,000077: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013538,000078: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013539,000079:
013540,000080: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013541,000081:
013542,000082: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013543,000083: 06,3345 03462 TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013544,000084:
013545,000085: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013546,000086:
013547,000087: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013548,000088: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013549,000089:
013550,000090: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013551,000091: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013552,000092: 06,3353 13361 TCF IRIG1 # NO RETURN
013553,000093:
013554,000094: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER.
013555,000095: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013556,000096: 06,3356 E3,1460 EBANK= NBDX
013557,000097: 06,3356 03515 14063 2CADR 1/GYRO
013558,000098:
013559,000099: 06,3360 00003 RELINT
013560,000100: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLER'S EBANK
013561,000101: 06,3362 54003 TS EBANK
013562,000102: 06,3363 14631 TCF SWRETURN
013563,000103:
013564,000104: # Page 336
013565,000105: 06,3364 00006 IRIGX EXTEND
013566,000106: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013567,000107: 06,3366 00006 EXTEND
013568,000108: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013569,000109: 06,3370 52155 DXCH MPAC
013570,000110: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013571,000111: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013572,000112:
013573,000113: 06,3373 00006 EXTEND #
013574,000114: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013575,000115: 06,3375 52155 DXCH MPAC #
013576,000116: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013577,000117: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013578,000118:
013579,000119: # EXTEND # ***
013580,000120: # DCS DELVY # *** (PIPA PULSES) X 2(+14)
013581,000121: # DXCH MPAC # ***
013582,000122: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013583,000123: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013584,000124:
013585,000125: 06,3400 00156 TC MPAC +2
013586,000126:
013587,000127: 06,3401 00006 IRIGY EXTEND
013588,000128: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013589,000129: 06,3403 00006 EXTEND
013590,000130: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013591,000131: 06,3405 52155 DXCH MPAC
013592,000132: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(+14) *
013593,000133: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013594,000134:
013595,000135: 06,3410 00006 EXTEND
013596,000136: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013597,000137: 06,3412 52155 DXCH MPAC
013598,000138: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013599,000139: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013600,000140:
013601,000141: # EXTEND # ***
013602,000142: # DCS DELVX # *** (PIPA PULSES) X 2(+14)
013603,000143: # DXCH MPAC # ***
013604,000144: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-6) *
013605,000145: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
013606,000146:
013607,000147: 06,3415 00156 TC MPAC +2
013608,000148:
013609,000149: 06,3416 00006 IRIGZ EXTEND
013610,000150: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013611,000151: 06,3420 00006 EXTEND
013612,000152: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(-14)
013613,000153: 06,3422 52155 DXCH MPAC
013614,000154: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013615,000155: # Page 337
013616,000156: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013617,000157:
013618,000158: 06,3425 00006 EXTEND
013619,000159: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013620,000160: 06,3427 52155 DXCH MPAC
013621,000161: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013622,000162: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013623,000163:
013624,000164: # EXTEND # ***
013625,000165: # DCS DELVX # *** (PIPA PULSE) X 2(+14)
013626,000166: # DXCH MPAC # ***
013627,000167: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013628,000168: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013629,000169:
013630,000170: 06,3432 00156 TC MPAC +2
013631,000171:
013632,000172: # Page 338
013633,000173: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013634,000174: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013635,000175: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013636,000176: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013637,000177:
013638,000178: 06,3437 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES
013639,000179: 06,3440 00006 EXTEND
013640,000180: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013641,000181: 06,3442 54001 TS L
013642,000182: 06,3443 34755 CAF ZERO
013643,000183: 06,3444 20123 DAS VBUF # NO = (BYRO PULSES) X 2(+8) *
013644,000184:
013645,000185: 06,3445 30122 CA VBUF # PARTIAL RESULT -- MAJOR
013646,000186: 06,3446 00006 EXTEND
013647,000187: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013648,000188: 06,3450 50130 INDEX BUF # RESULT = (BYRO PULSES) X 2(+14)
013649,000189: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013650,000190:
013651,000191: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR
013652,000192: 06,3453 00006 EXTEND
013653,000193: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013654,000194: 06,3455 54001 TS L
013655,000195: 06,3456 34755 CAF ZERO
013656,000196: 06,3457 50130 INDEX BUF # RESULT = (TYRO PULSES) X 2(+14)
013657,000197: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013658,000198:
013659,000199: 06,3461 00002 TC Q
013660,000200:
013661,000201: # Page 339
013662,000202: 06,3462 00006 DRIFTSUB EXTEND
013663,000203: 06,3463 22131 QXCH BUF +1
013664,000204:
013665,000205: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013666,000206: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
013667,000207: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013668,000208: 06,3467 00006 EXTEND
013669,000209: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013670,000210: 06,3471 50130 INDEX BUF
013671,000211: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013672,000212:
013673,000213: 06,3473 30155 CA MPAC +1 # NO MINOR PART
013674,000214: 06,3474 00006 EXTEND
013675,000215: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013676,000216: 06,3476 54001 TS L
013677,000217: 06,3477 34755 CAF ZERO
013678,000218: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013679,000219: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013680,000220:
013681,000221: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013682,000222: 06,3503 60130 AD BUF
013683,000223: 06,3504 56130 XCH BUF
013684,000224: 06,3505 50000 INDEX A
013685,000225: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013686,000226: 06,3507 13511 TCF +2 # YES
013687,000227: 06,3510 00131 TC BUF +1 # NO
013688,000228:
013689,000229: 06,3511 73561 MASK COMPCHK # DEC -1
013690,000230: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013691,000231: 06,3513 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
013692,000232: 06,3514 00131 TC BUF +1 # NO
013693,000233:
013694,000234: # Page 340
013695,000235: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013696,000236: 06,3516 54130 TS BUF
013697,000237:
013698,000238: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013699,000239: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013700,000240: 06,3521 00006 EXTEND
013701,000241: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013702,000242: 06,3523 50130 INDEX BUF
013703,000243: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013704,000244:
013705,000245: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013706,000246: 06,3526 50130 INDEX BUF
013707,000247: 06,3527 57471 XCH GCOMP # GYRO PULSES
013708,000248: 06,3530 00006 EXTEND
013709,000249: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013710,000250: 06,3532 50130 INDEX BUF
013711,000251: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013712,000252:
013713,000253: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013714,000254: 06,3535 67752 AD NEG1
013715,000255: 06,3536 13516 TCF 1/GYRO +1
013716,000256: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013717,000257:
013718,000258: 06,3540 33537 CAF LGCOMP
013719,000259: 06,3541 04616 TC BANKCALL
013720,000260: 06,3542 17314 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013721,000261: 06,3543 04616 TC BANKCALL
013722,000262: 06,3544 17707 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013723,000263: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013724,000264:
013725,000265: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013726,000266: 06,3547 54130 TS BUF
013727,000267:
013728,000268: 06,3550 50130 INDEX BUF # RESCALE
013729,000269: 06,3551 31472 CA GCOMP +1
013730,000270: 06,3552 00006 EXTEND
013731,000271: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
013732,000272: 06,3554 50130 INDEX BUF
013733,000273: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013734,000274:
013735,000275: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013736,000276: 06,3557 67752 AD NEG1
013737,000277: 06,3560 13547 TCF GCOMP1 +1
013738,000278: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013739,000279: 06,3562 15155 TCF ENDOFJOB
013740,000280:
013741,000281: # Page 341
013742,000282: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013743,000283: 06,3564 13567 TCF +3
013744,000284: 06,3565 13567 TCF +2
013745,000285: 06,3566 15155 TCF ENDOFJOB
013746,000286:
013747,000287: 06,3567 00004 INHINT
013748,000288: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013749,000289: 06,3571 15155 TCF ENDOFJOB
013750,000290: 06,3572 15155 TCF ENDOFJOB
013751,000291: 06,3573 13574 TCF +1
013752,000292:
013753,000293: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013754,000294: 06,3575 74744 MASK BIT8 # POSITIVE SO THA THT EH ACCELERATION TERMS
013755,000295: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013756,000296: 06,3577 00006 EXTEND
013757,000297: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013758,000298:
013759,000299: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013760,000300: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013761,000301:
013762,000302: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013763,000303: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013764,000304: 06,3605 00003 RELINT
013765,000305: 06,3606 40000 COM
013766,000306: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013767,000307: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013768,000308: 06,3611 64736 AD HALF
013769,000309: 06,3612 56001 XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
013770,000310: 06,3613 56001 XCH L # OVERFLOW.
013771,000311:
013772,000312: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013773,000313: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013774,000314: 06,3616 52125 DXCH VBUF +2
013775,000315:
013776,000316: 06,3617 34755 CA ZERO
013777,000317: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013778,000318: 06,3621 54130 TS BUF # INDEX X, Y, Z.
013779,000319:
013780,000320: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013781,000321: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
013782,000322:
013783,000323: 06,3624 00006 EXTEND
013784,000324: 06,3625 30125 DCA VBUF +2
013785,000325: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013786,000326:
013787,000327: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013788,000328: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013789,000329:
013790,000330: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013791,000331: 06,3632 03401 TC IRIGY # COMPENSAGE ACCELERATION TERMS.
013792,000332: # Page 342
013793,000333: 06,3633 00006 EXTEND
013794,000334: 06,3634 40125 DCS VBUF +2
013795,000335: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013796,000336: 06,3636 31461 CA NBDY # (BYRO PULSES)/(CS) X 2(-5)
013797,000337: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013798,000338:
013799,000339: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
013800,000340: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013801,000341:
013802,000342: 06,3642 00006 EXTEND
013803,000343: 06,3643 40125 DCS VBUF +2
013804,000344: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013805,000345: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013806,000346: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013807,000347:
013808,000348: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013809,000349: 06,3650 13515 TCF 1/GYRO # YES
013810,000350: 06,3651 15155 TCF ENDOFJOB # NO
013811,000351:
013812,000352: # Page 343
013813,000353: 06,3652 56002 FBIASSUB XCH Q
013814,000354: 06,3653 54131 TS BUF +1
013815,000355:
013816,000356: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013817,000357: 06,3655 00006 EXTEND
013818,000358: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013819,000359: 06,3657 50130 INDEX BUF
013820,000360: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013821,000361:
013822,000362: 06,3661 30002 CA Q # NO FRACTIONAL PART
013823,000363: 06,3662 00006 EXTEND
013824,000364: 06,3663 70155 MP MPAC +1
013825,000365: 06,3664 54001 TS L
013826,000366: 06,3665 34755 CAF ZERO
013827,000367: 06,3666 50130 INDEX BUF
013828,000368: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013829,000369:
013830,000370: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013831,000371:
013832,000372: 06,3671 04616 LASTBIAS TC BANKCALL
013833,000373: 06,3672 17270 CADR PIPUSE1
013834,000374:
013835,000375: 06,3673 11477 CCS GCOMPSW
013836,000376: 06,3674 13677 TCF +3
013837,000377: 06,3675 13677 TCF +2
013838,000378: 06,3676 15155 TCF ENDOFJOB
013839,000379:
013840,000380: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013841,000381: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
013842,000382: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
013843,000383:
013844,000384: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013845,000385: 06,3703 57074 XCH 1/PIPADT
013846,000386: 06,3704 40000 COM
013847,000387: 06,3705 61234 AD PIPTIME +1
013848,000388: 06,3706 13610 TCF NBD2
013849,000389:
013850,000390: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
013851,000391: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
013852,000392: 06,3711 54163 TS MODE
013853,000393:
013854,000394: 06,3712 34755 CAF ZERO
013855,000395: 06,3713 55477 TS GCOMPSW
013856,000396: 06,3714 55471 TS GCOMP
013857,000397: 06,3715 55472 TS GCOMP +1
013858,000398: 06,3716 55473 TS GCOMP +2
013859,000399: 06,3717 55474 TS GCOMP +3
013860,000400: 06,3720 55475 TS GCOMP +4
013861,000401: # Page 344
013862,000402: 06,3721 55476 TS GCOMP +5
013863,000403:
013864,000404: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
013865,000405:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc