Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
012661,000002: ## Copyright: Public domain.
012662,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012663,000004: ## Purpose: Part of the source code for Colossus, build 249.
012664,000005: ## It is part of the source code for the Command Module's (CM)
012665,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
012666,000007: ## Assembler: yaYUL
012667,000008: ## Reference: pp. 292-301.
012668,000009: ## Contact: Ron Burkey <info@sandroid.org>.
012669,000010: ## Website: www.ibiblio.org/apollo.
012670,000011: ## Mod history: 08/09/04 RSB. Began adapting from corresponding Luminary131
012671,000012: ## source file.
012672,000013: ## 2010-10-24 JL Fixed page numbers.
012673,000014: ## 2016-12-30 RSB Backported BYRO->GYRO from Colossus 237.
012674,000015: ## (There's lots more that needs to be backported,
012675,000016: ## but I found this one particularly annoying.)
012676,000017: ## 2017-01-05 RSB Page numbers now agree with those on the
012677,000018: ## original harcopy, as opposed to the PDF page
012678,000019: ## numbers in 1701.pdf.
012679,000020: ## 2017-01-14 RSB Cross-diff'd comment text (not whitespace)
012680,000021: ## vs the already-proofed corresponding Colossus
012681,000022: ## 237 and Comanche 55 source-code files
012682,000023: ## and corrected errors found.
012683,000024: ## 2017-03-16 RSB Comment-text fixes identified in 4-way side-by-side
012684,000025: ## diff of Colossus237/249/Comanche55/Artemis72.
012685,000026:
012686,000027: ## The contents of the "Colossus249" files, in general, are transcribed
012687,000028: ## from a scanned copy of the program listing. Notations on this
012688,000029: ## document read, in part:
012689,000030: ##
012690,000031: ## Assemble revision 249 of AGC program Colossus by NASA
012691,000032: ## 2021111-041. October 28, 1968.
012692,000033: ##
012693,000034: ## This AGC program shall also be referred to as
012694,000035: ## Colossus 1A
012695,000036: ##
012696,000037: ## Prepared by
012697,000038: ## Massachusetts Institute of Technology
012698,000039: ## 75 Cambridge Parkway
012699,000040: ## Cambridge, Massachusetts
012700,000041: ## under NASA contract NAS 9-4065.
012701,000042: ##
012702,000043: ## Refer directly to the online document mentioned above for further information.
012703,000044: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
012704,000045: ##
012705,000046: ## In some cases, where the source code for Luminary 131 overlaps that of
012706,000047: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
012707,000048: ## source file, and then is proofed to incorporate any changes.
012708,000049:
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Page 292 |
012710,000051: 07,2440 BANK 7
012711,000052: 06,2000 SETLOC IMUCOMP
012712,000053: 06,2000 BANK
012713,000054: 06,3262 E3,1460 EBANK= NBDX
012714,000055:
012715,000056: 06,3262 COUNT 06/ICOMP
012716,000057:
012717,000058: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012718,000059: 06,3263 56003 XCH EBANK
012719,000060: 06,3264 54163 TS MODE
012720,000061:
012721,000062: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012722,000063: 06,3266 13271 TCF +3
012723,000064: 06,3267 13271 TCF +2
012724,000065: 06,3270 13407 TCF IRIG1 # RETURN
012725,000066:
012726,000067: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012727,000068: # FOR DOWNLINK.
012728,000069:
012729,000070: 06,3272 34710 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012730,000071: 06,3273 54132 TS BUF +2
012731,000072:
012732,000073: 06,3274 50132 INDEX BUF +2
012733,000074: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012734,000075: 06,3276 00006 EXTEND
012735,000076: 06,3277 50132 INDEX BUF +2
012736,000077: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012737,000078: 06,3301 54002 TS Q # SAVE MAJOR PART
012738,000079:
012739,000080: 06,3302 30001 CA L # MINOR PART
012740,000081: 06,3303 00006 EXTEND
012741,000082: 06,3304 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012742,000083: 06,3305 50132 INDEX BUF +2
012743,000084: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012744,000085:
012745,000086: 06,3307 30002 CA Q # MAJOR PART
012746,000087: 06,3310 00006 EXTEND
012747,000088: 06,3311 74705 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012748,000089: 06,3312 50132 INDEX BUF +2
012749,000090: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012750,000091:
012751,000092: 06,3314 50132 INDEX BUF +2
012752,000093: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012753,000094: 06,3316 00006 EXTEND
012754,000095: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012755,000096: 06,3320 00006 EXTEND
012756,000097: 06,3321 74712 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012757,000098: 06,3322 50132 INDEX BUF +2
012758,000099: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012759,000100:
012760,000101: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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012762,000103: 06,3325 67716 AD NEG1
012763,000104: 06,3326 13273 TCF 1/PIPA1 +1
012764,000105: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012765,000106: 06,3330 00003 RELINT
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012767,000108:
012768,000109: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012769,000110: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012770,000111:
012771,000112: 06,3333 00006 IRIGX EXTEND
012772,000113: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012773,000114: 06,3335 52155 DXCH MPAC
012774,000115: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012775,000116: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012776,000117:
012777,000118: 06,3340 00006 EXTEND #
012778,000119: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012779,000120: 06,3342 52155 DXCH MPAC #
012780,000121: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012781,000122: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012782,000123:
012783,000124: # EXTEND ***
012784,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012785,000126: # DXCH MPAC ***
012786,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012787,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012788,000129:
012789,000130: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012790,000131: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012791,000132:
012792,000133: 06,3347 00006 IRIGY EXTEND
012793,000134: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012794,000135: 06,3351 52155 DXCH MPAC
012795,000136: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012796,000137: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012797,000138:
012798,000139: 06,3354 00006 EXTEND
012799,000140: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012800,000141: 06,3356 52155 DXCH MPAC
012801,000142: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012802,000143: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012803,000144:
012804,000145: # EXTEND ***
012805,000146: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012806,000147: # DXCH MPAC ***
012807,000148: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012808,000149: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012809,000150:
012810,000151: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012811,000152: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012812,000153:
012813,000154: 06,3363 00006 IRIGZ EXTEND
012814,000155: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012815,000156: 06,3365 52155 DXCH MPAC
012816,000157: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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012818,000159: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012819,000160:
012820,000161: 06,3370 00006 EXTEND
012821,000162: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012822,000163: 06,3372 52155 DXCH MPAC
012823,000164: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012824,000165: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012825,000166:
012826,000167: # EXTEND ***
012827,000168: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012828,000169: # DXCH MPAC ***
012829,000170: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012830,000171: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012831,000172:
012832,000173: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012833,000174: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012834,000175:
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Page 296 |
012836,000177: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012837,000178: 06,3400 13402 TCF +2 # YES
012838,000179: 06,3401 13407 TCF IRIG1 # NO
012839,000180:
012840,000181: 06,3402 34764 CA PRIO17 # LEM PRIORITY HIGHER-THIS FOR PRELAUNCH
012841,000182: 06,3403 05027 TC NOVAC
012842,000183: 06,3404 E3,1460 EBANK= NBDX
012843,000184: 06,3404 03474 14063 2CADR 1/GYRO
012844,000185:
012845,000186: 06,3406 00003 RELINT
012846,000187: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012847,000188: 06,3410 54003 TS EBANK
012848,000189: 06,3411 14570 TCF SWRETURN
012849,000190:
012850,000191: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012851,000192: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012852,000193: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012853,000194: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012854,000195:
012855,000196: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012856,000197: 06,3417 00006 EXTEND
012857,000198: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012858,000199: 06,3421 54001 TS L
012859,000200: 06,3422 34714 CAF ZERO
012860,000201: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012861,000202:
012862,000203: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012863,000204: 06,3425 00006 EXTEND
012864,000205: 06,3426 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012865,000206: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012866,000207: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012867,000208:
012868,000209: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012869,000210: 06,3432 00006 EXTEND
012870,000211: 06,3433 74677 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012871,000212: 06,3434 54001 TS L
012872,000213: 06,3435 34714 CAF ZERO
012873,000214: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012874,000215: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012875,000216:
012876,000217: 06,3440 00002 TC Q
012877,000218:
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012879,000220: 06,3441 00006 DRIFTSUB EXTEND
012880,000221: 06,3442 22131 QXCH BUF +1
012881,000222:
012882,000223: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012883,000224: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012884,000225: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012885,000226: 06,3446 00006 EXTEND
012886,000227: 06,3447 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012887,000228: 06,3450 50130 INDEX BUF
012888,000229: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012889,000230:
012890,000231: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012891,000232: 06,3453 00006 EXTEND
012892,000233: 06,3454 74707 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012893,000234: 06,3455 54001 TS L
012894,000235: 06,3456 34714 CAF ZERO
012895,000236: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012896,000237: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012897,000238:
012898,000239: 06,3461 34711 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012899,000240: 06,3462 60130 AD BUF
012900,000241: 06,3463 56130 XCH BUF
012901,000242: 06,3464 50000 INDEX A
012902,000243: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012903,000244: 06,3466 13470 TCF +2 # YES
012904,000245: 06,3467 00131 TC BUF +1 # NO
012905,000246:
012906,000247: 06,3470 77716 MASK NEGONE
012907,000248: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012908,000249: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012909,000250: 06,3473 00131 TC BUF +1 # NO
012910,000251:
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012912,000253: 06,3474 34710 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012913,000254: 06,3475 54130 TS BUF
012914,000255:
012915,000256: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012916,000257: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012917,000258: 06,3500 00006 EXTEND
012918,000259: 06,3501 74703 MP BIT8 # SHIFT RIGHT 7
012919,000260: 06,3502 50130 INDEX BUF
012920,000261: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012921,000262:
012922,000263: 06,3504 34714 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012923,000264: 06,3505 50130 INDEX BUF
012924,000265: 06,3506 57471 XCH GCOMP # GYRO PULSES
012925,000266: 06,3507 00006 EXTEND
012926,000267: 06,3510 74703 MP BIT8 # SHIFT RIGHT 7
012927,000268: 06,3511 50130 INDEX BUF
012928,000269: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012929,000270:
012930,000271: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012931,000272: 06,3514 67716 AD NEG1
012932,000273: 06,3515 13475 TCF 1/GYRO +1
012933,000274: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012934,000275:
012935,000276: 06,3517 33516 CAF LGCOMP
012936,000277: 06,3520 04555 TC BANKCALL
012937,000278: 06,3521 17125 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012938,000279: 06,3522 04555 TC BANKCALL
012939,000280: 06,3523 17516 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012940,000281: 06,3524 15112 TCF ENDOFJOB # TEMPORARY
012941,000282:
012942,000283: 06,3525 34710 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012943,000284: 06,3526 54130 TS BUF
012944,000285:
012945,000286: 06,3527 50130 INDEX BUF # RESCALE
012946,000287: 06,3530 31472 CA GCOMP +1
012947,000288: 06,3531 00006 EXTEND
012948,000289: 06,3532 74703 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012949,000290: 06,3533 50130 INDEX BUF
012950,000291: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012951,000292:
012952,000293: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012953,000294: 06,3536 67716 AD NEG1
012954,000295: 06,3537 13526 TCF GCOMP1 +1
012955,000296:
012956,000297: 06,3540 01436 V06N30S VN 0630
012957,000298: 06,3541 15112 TCF ENDOFJOB
012958,000299:
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012960,000301: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012961,000302: 06,3543 13546 TCF +3
012962,000303: 06,3544 13546 TCF +2
012963,000304: 06,3545 15112 TCF ENDOFJOB
012964,000305:
012965,000306: 06,3546 00004 INHINT
012966,000307: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012967,000308: 06,3550 15112 TCF ENDOFJOB
012968,000309: 06,3551 15112 TCF ENDOFJOB
012969,000310: 06,3552 13553 TCF +1
012970,000311:
012971,000312: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012972,000313: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012973,000314: 06,3555 00003 RELINT
012974,000315: 06,3556 40000 COM
012975,000316: 06,3557 61074 AD 1/PIPADT
012976,000317: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012977,000318: 06,3561 64712 AD ONE # NO TIME1 OVERFLOW
012978,000319: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012979,000320: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012980,000321: 06,3564 15112 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012981,000322:
012982,000323: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012983,000324: 06,3566 64672 AD POSMAX
012984,000325:
012985,000326: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012986,000327: 06,3570 74701 MP BIT10 # SHIFT RIGHT 5
012987,000328: 06,3571 52123 DXCH VBUF
012988,000329: 06,3572 00006 EXTEND
012989,000330: 06,3573 30123 DCA VBUF
012990,000331: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012991,000332:
012992,000333: 06,3575 34714 CAF ZERO
012993,000334: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012994,000335: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012995,000336:
012996,000337: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012997,000338: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012998,000339:
012999,000340: 06,3602 00006 EXTEND
013000,000341: 06,3603 40123 DCS VBUF
013001,000342: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013002,000343: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013003,000344: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013004,000345:
013005,000346: 06,3607 00006 EXTEND
013006,000347: 06,3610 40123 DCS VBUF
013007,000348: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013008,000349: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013009,000350: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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Page 300 |
013011,000352: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013012,000353: 06,3615 13474 TCF 1/GYRO # YES
013013,000354: 06,3616 15112 TCF ENDOFJOB # NO
013014,000355:
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Page 301 |
013016,000357: 06,3617 56002 FBIASSUB XCH Q
013017,000358: 06,3620 54131 TS BUF +1
013018,000359:
013019,000360: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013020,000361: 06,3622 00006 EXTEND
013021,000362: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013022,000363: 06,3624 50130 INDEX BUF
013023,000364: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013024,000365:
013025,000366: 06,3626 30002 CA Q # NOW FRACTIONAL PART
013026,000367: 06,3627 00006 EXTEND
013027,000368: 06,3630 70155 MP MPAC +1
013028,000369: 06,3631 54001 TS L
013029,000370: 06,3632 34714 CAF ZERO
013030,000371: 06,3633 50130 INDEX BUF
013031,000372: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013032,000373:
013033,000374: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013034,000375:
013035,000376: 06,3636 04555 LASTBIAS TC BANKCALL
013036,000377: 06,3637 17075 CADR PIPUSE
013037,000378:
013038,000379: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013039,000380: 06,3641 13644 TCF +3
013040,000381: 06,3642 13644 TCF +2
013041,000382: 06,3643 15112 TCF ENDOFJOB
013042,000383:
013043,000384: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013044,000385: 06,3645 57074 XCH 1/PIPADT
013045,000386: 06,3646 40000 COM
013046,000387: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013047,000388: 06,3650 13560 TCF NBD2
013048,000389:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc