Source Code
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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