Source Code
012779,000001: # Copyright: Public domain.
012780,000002: # Filename: IMU_COMPENSATION_PACKAGE.agc
012781,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
012782,000004: # It is part of the source code for the Command Module's (CM)
012783,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
012784,000006: # Assembler: yaYUL
012785,000007: # Contact: Ron Burkey <info@sandroid.org>.
012786,000008: # Website: www.ibiblio.org/apollo.
012787,000009: # Pages: 297-306
012788,000010: # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
012789,000011: # same name, using Comanche055 page images/
012790,000012: # 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21.
012791,000013:
012792,000014: # This source code has been transcribed or otherwise adapted from digitized
012793,000015: # images of a hardcopy from the MIT Museum. The digitization was performed
012794,000016: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
012795,000017: # thanks to both. The images (with suitable reduction in storage size and
012796,000018: # consequent reduction in image quality as well) are available online at
012797,000019: # www.ibiblio.org/apollo. If for some reason you find that the images are
012798,000020: # illegible, contact me at info@sandroid.org about getting access to the
012799,000021: # (much) higher-quality images which Paul actually created.
012800,000022:
012801,000023: # Notations on the hardcopy document read, in part:
012802,000024:
012803,000025: # Assemble revision 055 of AGC program Comanche by NASA
012804,000026: # 2021113-051. 10:28 APR. 1, 1969
012805,000027:
012806,000028: # This AGC program shall also be referred to as
012807,000029: # Colossus 2A
012808,000030:
012809,000031: # Page 297
012810,000032: 07,2441 BANK 7
012811,000033: 06,2000 SETLOC IMUCOMP
012812,000034: 06,2000 BANK
012813,000035: 06,3262 E3,1460 EBANK= NBDX
012814,000036:
012815,000037: 06,3262 COUNT 06/ICOMP
012816,000038:
012817,000039: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012818,000040: 06,3263 56003 XCH EBANK
012819,000041: 06,3264 54163 TS MODE
012820,000042:
012821,000043: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012822,000044: 06,3266 13271 TCF +3
012823,000045: 06,3267 13271 TCF +2
012824,000046: 06,3270 13407 TCF IRIG1 # RETURN
012825,000047:
012826,000048: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012827,000049: # FOR DOWNLINK.
012828,000050:
012829,000051: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012830,000052: 06,3273 54132 TS BUF +2
012831,000053:
012832,000054: 06,3274 50132 INDEX BUF +2
012833,000055: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012834,000056: 06,3276 00006 EXTEND
012835,000057: 06,3277 50132 INDEX BUF +2
012836,000058: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012837,000059: 06,3301 54002 TS Q # SAVE MAJOR PART
012838,000060:
012839,000061: 06,3302 30001 CA L # MINOR PART
012840,000062: 06,3303 00006 EXTEND
012841,000063: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012842,000064: 06,3305 50132 INDEX BUF +2
012843,000065: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012844,000066:
012845,000067: 06,3307 30002 CA Q # MAJOR PART
012846,000068: 06,3310 00006 EXTEND
012847,000069: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012848,000070: 06,3312 50132 INDEX BUF +2
012849,000071: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SF)
012850,000072:
012851,000073: 06,3314 50132 INDEX BUF +2
012852,000074: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012853,000075: 06,3316 00006 EXTEND
012854,000076: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012855,000077: 06,3320 00006 EXTEND
012856,000078: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012857,000079: 06,3322 50132 INDEX BUF +2
012858,000080: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012859,000081:
012860,000082: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
012861,000083: # Page 298
012862,000084: 06,3325 67716 AD NEG1
012863,000085: 06,3326 13273 TCF 1/PIPA1 +1
012864,000086: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
012865,000087: 06,3330 00003 RELINT
012866,000088: # Page 299
012867,000089:
012868,000090: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
012869,000091: 06,3332 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
012870,000092:
012871,000093: 06,3333 00006 IRIGX EXTEND
012872,000094: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012873,000095: 06,3335 52155 DXCH MPAC
012874,000096: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012875,000097: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012876,000098:
012877,000099: 06,3340 00006 EXTEND #
012878,000100: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012879,000101: 06,3342 52155 DXCH MPAC #
012880,000102: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012881,000103: 06,3344 03412 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012882,000104:
012883,000105: # EXTEND # ***
012884,000106: # DCS DELVY # *** (PIPA PULSES) X 2(+14)
012885,000107: # DXCH MPAC # ***
012886,000108: # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012887,000109: # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012888,000110:
012889,000111: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-3)
012890,000112: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012891,000113:
012892,000114: 06,3347 00006 IRIGY EXTEND
012893,000115: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012894,000116: 06,3351 52155 DXCH MPAC
012895,000117: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012896,000118: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012897,000119:
012898,000120: 06,3354 00006 EXTEND
012899,000121: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012900,000122: 06,3356 52155 DXCH MPAC
012901,000123: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012902,000124: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012903,000125:
012904,000126: # EXTEND # ***
012905,000127: # DCS DELVX # *** (PIPA PULSES) X 2(+14)
012906,000128: # DXCH MPAC # ***
012907,000129: # CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-3) *
012908,000130: # TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
012909,000131:
012910,000132: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012911,000133: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012912,000134:
012913,000135: 06,3363 00006 IRIGZ EXTEND
012914,000136: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(-14)
012915,000137: 06,3365 52155 DXCH MPAC
012916,000138: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012917,000139: # Page 300
012918,000140: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012919,000141:
012920,000142: 06,3370 00006 EXTEND
012921,000143: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012922,000144: 06,3372 52155 DXCH MPAC
012923,000145: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012924,000146: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012925,000147:
012926,000148: # EXTEND # ***
012927,000149: # DCS DELVX # *** (PIPA PULSE) X 2(+14)
012928,000150: # DXCH MPAC # ***
012929,000151: # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012930,000152: # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012931,000153:
012932,000154: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012933,000155: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012934,000156:
012935,000157: # Page 301
012936,000158: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012937,000159: 06,3400 13402 TCF +2 # YES
012938,000160: 06,3401 13407 TCF IRIG1 # NO
012939,000161:
012940,000162: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER -- LESS THAN PRELAUNCH
012941,000163: 06,3403 05134 TC NOVAC
012942,000164: 06,3404 E3,1460 EBANK= NBDX
012943,000165: 06,3404 03474 14063 2CADR 1/GYRO
012944,000166:
012945,000167: 06,3406 00003 RELINT
012946,000168: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012947,000169: 06,3410 54003 TS EBANK
012948,000170: 06,3411 14675 TCF SWRETURN
012949,000171:
012950,000172: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012951,000173: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012952,000174: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012953,000175: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012954,000176:
012955,000177: 06,3416 30155 CA MPAC +1 # MINOR PART OF PIPA PULSES
012956,000178: 06,3417 00006 EXTEND
012957,000179: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012958,000180: 06,3421 54001 TS L
012959,000181: 06,3422 35021 CAF ZERO
012960,000182: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012961,000183:
012962,000184: 06,3424 30122 CA VBUF # PARTIAL RESULT -- MAJOR
012963,000185: 06,3425 00006 EXTEND
012964,000186: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012965,000187: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012966,000188: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012967,000189:
012968,000190: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT -- MINOR
012969,000191: 06,3432 00006 EXTEND
012970,000192: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012971,000193: 06,3434 54001 TS L
012972,000194: 06,3435 35021 CAF ZERO
012973,000195: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012974,000196: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012975,000197:
012976,000198: 06,3440 00002 TC Q
012977,000199:
012978,000200: # Page 302
012979,000201: 06,3441 00006 DRIFTSUB EXTEND
012980,000202: 06,3442 22131 QXCH BUF +1
012981,000203:
012982,000204: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012983,000205: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
012984,000206: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012985,000207: 06,3446 00006 EXTEND
012986,000208: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012987,000209: 06,3450 50130 INDEX BUF
012988,000210: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012989,000211:
012990,000212: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012991,000213: 06,3453 00006 EXTEND
012992,000214: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012993,000215: 06,3455 54001 TS L
012994,000216: 06,3456 35021 CAF ZERO
012995,000217: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012996,000218: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012997,000219:
012998,000220: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012999,000221: 06,3462 60130 AD BUF
013000,000222: 06,3463 56130 XCH BUF
013001,000223: 06,3464 50000 INDEX A
013002,000224: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
013003,000225: 06,3466 13470 TCF +2 # YES
013004,000226: 06,3467 00131 TC BUF +1 # NO
013005,000227:
013006,000228: 06,3470 77716 MASK NEGONE
013007,000229: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013008,000230: 06,3472 55477 TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
013009,000231: 06,3473 00131 TC BUF +1 # NO
013010,000232:
013011,000233: # Page 303
013012,000234: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
013013,000235: 06,3475 54130 TS BUF
013014,000236:
013015,000237: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
013016,000238: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
013017,000239: 06,3500 00006 EXTEND
013018,000240: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
013019,000241: 06,3502 50130 INDEX BUF
013020,000242: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
013021,000243:
013022,000244: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
013023,000245: 06,3505 50130 INDEX BUF
013024,000246: 06,3506 57471 XCH GCOMP # GYRO PULSES
013025,000247: 06,3507 00006 EXTEND
013026,000248: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
013027,000249: 06,3511 50130 INDEX BUF
013028,000250: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
013029,000251:
013030,000252: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013031,000253: 06,3514 67716 AD NEG1
013032,000254: 06,3515 13475 TCF 1/GYRO +1
013033,000255: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
013034,000256:
013035,000257: 06,3517 33516 CAF LGCOMP
013036,000258: 06,3520 04662 TC BANKCALL
013037,000259: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
013038,000260: 06,3522 04662 TC BANKCALL
013039,000261: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
013040,000262: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
013041,000263:
013042,000264: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013043,000265: 06,3526 54130 TS BUF
013044,000266:
013045,000267: 06,3527 50130 INDEX BUF # RESCALE
013046,000268: 06,3530 31472 CA GCOMP +1
013047,000269: 06,3531 00006 EXTEND
013048,000270: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
013049,000271: 06,3533 50130 INDEX BUF
013050,000272: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
013051,000273:
013052,000274: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
013053,000275: 06,3536 67716 AD NEG1
013054,000276: 06,3537 13526 TCF GCOMP1 +1
013055,000277:
013056,000278: 06,3540 01436 V06N30S VN 0630
013057,000279: 06,3541 15217 TCF ENDOFJOB
013058,000280:
013059,000281: # Page 304
013060,000282: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013061,000283: 06,3543 13546 TCF +3
013062,000284: 06,3544 13546 TCF +2
013063,000285: 06,3545 15217 TCF ENDOFJOB
013064,000286:
013065,000287: 06,3546 00004 INHINT
013066,000288: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
013067,000289: 06,3550 15217 TCF ENDOFJOB
013068,000290: 06,3551 15217 TCF ENDOFJOB
013069,000291: 06,3552 13553 TCF +1
013070,000292:
013071,000293: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
013072,000294: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
013073,000295: 06,3555 00003 RELINT
013074,000296: 06,3556 40000 COM
013075,000297: 06,3557 61074 AD 1/PIPADT
013076,000298: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME.
013077,000299: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
013078,000300: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
013079,000301: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
013080,000302: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
013081,000303:
013082,000304: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
013083,000305: 06,3566 64777 AD POSMAX
013084,000306:
013085,000307: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
013086,000308: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
013087,000309: 06,3571 52123 DXCH VBUF
013088,000310: 06,3572 00006 EXTEND
013089,000311: 06,3573 30123 DCA VBUF
013090,000312: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
013091,000313:
013092,000314: 06,3575 35021 CAF ZERO
013093,000315: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013094,000316: 06,3577 54130 TS BUF # INDEX X, Y, Z.
013095,000317:
013096,000318: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
013097,000319: 06,3601 03617 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
013098,000320:
013099,000321: 06,3602 00006 EXTEND
013100,000322: 06,3603 40123 DCS VBUF
013101,000323: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013102,000324: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
013103,000325: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
013104,000326:
013105,000327: 06,3607 00006 EXTEND
013106,000328: 06,3610 40123 DCS VBUF
013107,000329: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
013108,000330: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
013109,000331: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
013110,000332: # Page 305
013111,000333: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
013112,000334: 06,3615 13474 TCF 1/GYRO # YES
013113,000335: 06,3616 15217 TCF ENDOFJOB # NO
013114,000336:
013115,000337: # Page 303
013116,000338: 06,3617 56002 FBIASSUB XCH Q
013117,000339: 06,3620 54131 TS BUF +1
013118,000340:
013119,000341: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
013120,000342: 06,3622 00006 EXTEND
013121,000343: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
013122,000344: 06,3624 50130 INDEX BUF
013123,000345: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013124,000346:
013125,000347: 06,3626 30002 CA Q # NO FRACTIONAL PART
013126,000348: 06,3627 00006 EXTEND
013127,000349: 06,3630 70155 MP MPAC +1
013128,000350: 06,3631 54001 TS L
013129,000351: 06,3632 35021 CAF ZERO
013130,000352: 06,3633 50130 INDEX BUF
013131,000353: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
013132,000354:
013133,000355: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
013134,000356:
013135,000357: 06,3636 04662 LASTBIAS TC BANKCALL
013136,000358: 06,3637 17156 CADR PIPUSE
013137,000359:
013138,000360: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013139,000361: 06,3641 13644 TCF +3
013140,000362: 06,3642 13644 TCF +2
013141,000363: 06,3643 15217 TCF ENDOFJOB
013142,000364:
013143,000365: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
013144,000366: 06,3645 57074 XCH 1/PIPADT
013145,000367: 06,3646 40000 COM
013146,000368: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
013147,000369: 06,3650 13560 TCF NBD2
013148,000370:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc