Source Code
![]() |
These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
013677,000002: ## Copyright: Public domain.
013678,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013679,000004: ## Purpose: A section of Luminary revision 116.
013680,000005: ## It is part of the source code for the Lunar Module's (LM)
013681,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
013682,000007: ## This file is intended to be a faithful transcription, except
013683,000008: ## that the code format has been changed to conform to the
013684,000009: ## requirements of the yaYUL assembler rather than the
013685,000010: ## original YUL assembler.
013686,000011: ## Reference: pp. 327-338
013687,000012: ## Assembler: yaYUL
013688,000013: ## Contact: Ron Burkey <info@sandroid.org>.
013689,000014: ## Website: www.ibiblio.org/apollo/index.html
013690,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
013691,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
013692,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
013693,000018: ## (Admittedly, the former is more for detecting errors
013694,000019: ## in Luminary 99 than the other way around.)
013695,000020: ## 2017-03-13 HG Fix operand BIT4 --> BIT6
013696,000021:
![]() |
Page 327 |
013698,000023: 07,2667 BANK 7
013699,000024: 06,2000 SETLOC IMUCOMP
013700,000025: 06,2000 BANK
013701,000026:
013702,000027: 06,3271 E3,1460 EBANK= NBDX
013703,000028:
013704,000029: 06,3271 COUNT* $$/ICOMP
013705,000030: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013706,000031: 06,3272 56003 XCH EBANK
013707,000032: 06,3273 54163 TS MODE
013708,000033:
013709,000034: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013710,000035: 06,3275 13300 TCF +3
013711,000036: 06,3276 13300 TCF +2
013712,000037: 06,3277 13361 TCF IRIG1 # RETURN
013713,000038:
013714,000039: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013715,000040: 06,3301 54132 TS BUF +2
013716,000041:
013717,000042: 06,3302 50132 INDEX BUF +2
013718,000043: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013719,000044: 06,3304 00006 EXTEND
013720,000045: 06,3305 50132 INDEX BUF +2
013721,000046: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013722,000047: 06,3307 54002 TS Q # SAVE MAJOR PART
013723,000048:
013724,000049: 06,3310 30001 CA L # MINOR PART
013725,000050: 06,3311 00006 EXTEND
013726,000051: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013727,000052: 06,3313 50132 INDEX BUF +2
013728,000053: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013729,000054:
013730,000055: 06,3315 30002 CA Q # MAJOR PART
013731,000056: 06,3316 00006 EXTEND
013732,000057: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013733,000058: 06,3320 50132 INDEX BUF +2
013734,000059: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013735,000060:
013736,000061: 06,3322 50132 INDEX BUF +2
013737,000062: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
013738,000063: 06,3324 00006 EXTEND
013739,000064: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
013740,000065: 06,3326 00006 EXTEND
013741,000066: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
013742,000067: 06,3330 50132 INDEX BUF +2
013743,000068: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013744,000069:
013745,000070: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013746,000071: 06,3333 67752 AD NEG1
013747,000072: 06,3334 13301 TCF 1/PIPA1 +1
![]() |
Page 328 |
013749,000074: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
013750,000075:
![]() |
Page 329 |
013752,000077: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013753,000078: 06,3337 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
013754,000079:
013755,000080: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
013756,000081:
013757,000082: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013758,000083: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013759,000084:
013760,000085: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
013761,000086:
013762,000087: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
013763,000088: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013764,000089:
013765,000090: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
013766,000091:
013767,000092: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013768,000093: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013769,000094:
013770,000095: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013771,000096: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
013772,000097: 06,3353 13361 TCF IRIG1 # NO RETURN
013773,000098:
013774,000099: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
013775,000100: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
013776,000101: 06,3356 E3,1460 EBANK= NBDX
013777,000102: 06,3356 03515 14063 2CADR 1/GYRO
013778,000103:
013779,000104: 06,3360 00003 RELINT
013780,000105: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
013781,000106: 06,3362 54003 TS EBANK
013782,000107: 06,3363 14631 TCF SWRETURN
013783,000108:
![]() |
Page 330 |
013785,000110: 06,3364 00006 IRIGX EXTEND
013786,000111: 06,3365 22156 QXCH MPAC +2 # SAVE Q
013787,000112: 06,3366 00006 EXTEND
013788,000113: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
013789,000114: 06,3370 52155 DXCH MPAC
013790,000115: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013791,000116: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
013792,000117:
013793,000118: 06,3373 00006 EXTEND
013794,000119: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013795,000120: 06,3375 52155 DXCH MPAC
013796,000121: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013797,000122: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
013798,000123:
013799,000124: # EXTEND ***
013800,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
013801,000126: # DXCH MPAC ***
013802,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013803,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
013804,000129:
013805,000130: 06,3400 00156 TC MPAC +2
013806,000131:
013807,000132: 06,3401 00006 IRIGY EXTEND
013808,000133: 06,3402 22156 QXCH MPAC +2 # SAVE Q
013809,000134: 06,3403 00006 EXTEND
013810,000135: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013811,000136: 06,3405 52155 DXCH MPAC
013812,000137: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013813,000138: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
013814,000139:
013815,000140: 06,3410 00006 EXTEND
013816,000141: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013817,000142: 06,3412 52155 DXCH MPAC
013818,000143: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013819,000144: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
013820,000145:
013821,000146: # EXTEND ***
013822,000147: # DCS DELVX *** (PIPA PULSES) X 2(+14)
013823,000148: # DXCH MPAC ***
013824,000149: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013825,000150: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
013826,000151:
013827,000152: 06,3415 00156 TC MPAC +2
013828,000153:
013829,000154: 06,3416 00006 IRIGZ EXTEND
013830,000155: 06,3417 22156 QXCH MPAC +2 # SAVE Q
013831,000156: 06,3420 00006 EXTEND
013832,000157: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
013833,000158: 06,3422 52155 DXCH MPAC
013834,000159: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
![]() |
Page 331 |
013836,000161: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
013837,000162:
013838,000163: 06,3425 00006 EXTEND
013839,000164: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
013840,000165: 06,3427 52155 DXCH MPAC
013841,000166: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013842,000167: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
013843,000168:
013844,000169: # EXTEND ***
013845,000170: # DCS DELVX *** (PIPA PULSE) X 2(+14)
013846,000171: # DXCH MPAC ***
013847,000172: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013848,000173: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
013849,000174:
013850,000175: 06,3432 00156 TC MPAC +2
013851,000176:
![]() |
Page 332 |
013853,000178: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
013854,000179: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
013855,000180: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
013856,000181: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
013857,000182:
013858,000183: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
013859,000184: 06,3440 00006 EXTEND
013860,000185: 06,3441 70154 MP MPAC # ADIA OR ADSRA
013861,000186: 06,3442 54001 TS L
013862,000187: 06,3443 34755 CAF ZERO
013863,000188: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
013864,000189:
013865,000190: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
013866,000191: 06,3446 00006 EXTEND
013867,000192: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013868,000193: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013869,000194: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
013870,000195:
013871,000196: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
013872,000197: 06,3453 00006 EXTEND
013873,000198: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
013874,000199: 06,3455 54001 TS L
013875,000200: 06,3456 34755 CAF ZERO
013876,000201: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
013877,000202: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
013878,000203:
013879,000204: 06,3461 00002 TC Q
013880,000205:
![]() |
Page 333 |
013882,000207: 06,3462 00006 DRIFTSUB EXTEND
013883,000208: 06,3463 22131 QXCH BUF +1
013884,000209:
013885,000210: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
013886,000211: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
013887,000212: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
013888,000213: 06,3467 00006 EXTEND
013889,000214: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013890,000215: 06,3471 50130 INDEX BUF
013891,000216: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013892,000217:
013893,000218: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
013894,000219: 06,3474 00006 EXTEND
013895,000220: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
013896,000221: 06,3476 54001 TS L
013897,000222: 06,3477 34755 CAF ZERO
013898,000223: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
013899,000224: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013900,000225:
013901,000226: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
013902,000227: 06,3503 60130 AD BUF
013903,000228: 06,3504 56130 XCH BUF
013904,000229: 06,3505 50000 INDEX A
013905,000230: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013906,000231: 06,3507 13511 TCF +2 # YES
013907,000232: 06,3510 00131 TC BUF +1 # NO
013908,000233:
013909,000234: 06,3511 73561 MASK COMPCHK # DEC -1
013910,000235: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013911,000236: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
013912,000237: 06,3514 00131 TC BUF +1 # NO
013913,000238:
![]() |
Page 334 |
013915,000240: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013916,000241: 06,3516 54130 TS BUF
013917,000242:
013918,000243: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013919,000244: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
013920,000245: 06,3521 00006 EXTEND
013921,000246: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
013922,000247: 06,3523 50130 INDEX BUF
013923,000248: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013924,000249:
013925,000250: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013926,000251: 06,3526 50130 INDEX BUF
013927,000252: 06,3527 57471 XCH GCOMP # GYRO PULSES
013928,000253: 06,3530 00006 EXTEND
013929,000254: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
013930,000255: 06,3532 50130 INDEX BUF
013931,000256: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013932,000257:
013933,000258: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013934,000259: 06,3535 67752 AD NEG1
013935,000260: 06,3536 13516 TCF 1/GYRO +1
013936,000261: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013937,000262:
013938,000263: 06,3540 33537 CAF LGCOMP
013939,000264: 06,3541 04616 TC BANKCALL
013940,000265: 06,3542 17315 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013941,000266: 06,3543 04616 TC BANKCALL
013942,000267: 06,3544 17710 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013943,000268: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
013944,000269:
013945,000270: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013946,000271: 06,3547 54130 TS BUF
013947,000272:
013948,000273: 06,3550 50130 INDEX BUF # RESCALE
013949,000274: 06,3551 31472 CA GCOMP +1
013950,000275: 06,3552 00006 EXTEND
013951,000276: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
013952,000277: 06,3554 50130 INDEX BUF
013953,000278: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013954,000279:
013955,000280: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013956,000281: 06,3557 67752 AD NEG1
013957,000282: 06,3560 13547 TCF GCOMP1 +1
013958,000283: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
013959,000284: 06,3562 15155 TCF ENDOFJOB
013960,000285:
![]() |
Page 335 |
013962,000287: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013963,000288: 06,3564 13567 TCF +3
013964,000289: 06,3565 13567 TCF +2
013965,000290: 06,3566 15155 TCF ENDOFJOB
013966,000291:
013967,000292: 06,3567 00004 INHINT
013968,000293: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013969,000294: 06,3571 15155 TCF ENDOFJOB
013970,000295: 06,3572 15155 TCF ENDOFJOB
013971,000296: 06,3573 13574 TCF +1
013972,000297:
013973,000298: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
013974,000299: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
013975,000300: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
013976,000301: 06,3577 00006 EXTEND
013977,000302: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
013978,000303:
013979,000304: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
013980,000305: 06,3602 77541 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
013981,000306:
013982,000307: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
013983,000308: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
013984,000309: 06,3605 00003 RELINT
013985,000310: 06,3606 40000 COM
013986,000311: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
013987,000312: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
013988,000313: 06,3611 64736 AD HALF
013989,000314: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
013990,000315: 06,3613 56001 XCH L # OVERFLOW.
013991,000316:
013992,000317: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013993,000318: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
013994,000319: 06,3616 52125 DXCH VBUF +2
013995,000320:
013996,000321: 06,3617 34755 CA ZERO
013997,000322: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013998,000323: 06,3621 54130 TS BUF # INDEX X, Y, Z.
013999,000324:
014000,000325: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014001,000326: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
014002,000327:
014003,000328: 06,3624 00006 EXTEND
014004,000329: 06,3625 30125 DCA VBUF +2
014005,000330: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
014006,000331:
014007,000332: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014008,000333: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014009,000334:
014010,000335: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014011,000336: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
![]() |
Page 336 |
014013,000338: 06,3633 00006 EXTEND
014014,000339: 06,3634 40125 DCS VBUF +2
014015,000340: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014016,000341: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
014017,000342: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014018,000343:
014019,000344: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014020,000345: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014021,000346:
014022,000347: 06,3642 00006 EXTEND
014023,000348: 06,3643 40125 DCS VBUF +2
014024,000349: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014025,000350: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014026,000351: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014027,000352:
014028,000353: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014029,000354: 06,3650 13515 TCF 1/GYRO # YES
014030,000355: 06,3651 15155 TCF ENDOFJOB # NO
014031,000356:
![]() |
Page 337 |
014033,000358: 06,3652 56002 FBIASSUB XCH Q
014034,000359: 06,3653 54131 TS BUF +1
014035,000360:
014036,000361: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014037,000362: 06,3655 00006 EXTEND
014038,000363: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014039,000364: 06,3657 50130 INDEX BUF
014040,000365: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014041,000366:
014042,000367: 06,3661 30002 CA Q # NOW FRACTIONAL PART
014043,000368: 06,3662 00006 EXTEND
014044,000369: 06,3663 70155 MP MPAC +1
014045,000370: 06,3664 54001 TS L
014046,000371: 06,3665 34755 CAF ZERO
014047,000372: 06,3666 50130 INDEX BUF
014048,000373: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014049,000374:
014050,000375: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014051,000376:
014052,000377: 06,3671 04616 LASTBIAS TC BANKCALL
014053,000378: 06,3672 17271 CADR PIPUSE1
014054,000379:
014055,000380: 06,3673 11477 CCS GCOMPSW
014056,000381: 06,3674 13677 TCF +3
014057,000382: 06,3675 13677 TCF +2
014058,000383: 06,3676 15155 TCF ENDOFJOB
014059,000384:
014060,000385: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014061,000386: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014062,000387: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
014063,000388:
014064,000389: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014065,000390: 06,3703 57074 XCH 1/PIPADT
014066,000391: 06,3704 40000 COM
014067,000392: 06,3705 61234 AD PIPTIME +1
014068,000393: 06,3706 13610 TCF NBD2
014069,000394:
014070,000395: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014071,000396: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
014072,000397: 06,3711 54163 TS MODE
014073,000398:
014074,000399: 06,3712 34755 CAF ZERO
014075,000400: 06,3713 55477 TS GCOMPSW
014076,000401: 06,3714 55471 TS GCOMP
014077,000402: 06,3715 55472 TS GCOMP +1
014078,000403: 06,3716 55473 TS GCOMP +2
014079,000404: 06,3717 55474 TS GCOMP +3
014080,000405: 06,3720 55475 TS GCOMP +4
![]() |
Page 338 |
014082,000407: 06,3721 55476 TS GCOMP +5
014083,000408:
014084,000409: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
014085,000410:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc