Source Code
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These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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012532,000002: ## Copyright: Public domain.
012533,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
012534,000004: ## Purpose: A section of Comanche revision 051.
012535,000005: ## It is part of the reconstructed source code for the
012536,000006: ## original release of the flight software for the Command
012537,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
012538,000008: ## The code has been recreated from a copy of Comanche 055. It
012539,000009: ## has been adapted such that the resulting bugger words
012540,000010: ## exactly match those specified for Comanche 51 in NASA drawing
012541,000011: ## 2021153D, which gives relatively high confidence that the
012542,000012: ## reconstruction is correct.
012543,000013: ## Reference: pp. 297-306
012544,000014: ## Assembler: yaYUL
012545,000015: ## Contact: Ron Burkey <info@sandroid.org>.
012546,000016: ## Website: www.ibiblio.org/apollo/index.html
012547,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
012548,000018:
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Page 297
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012550,000020: 07,2441 BANK 7
012551,000021: 06,2000 SETLOC IMUCOMP
012552,000022: 06,2000 BANK
012553,000023: 06,3262 E3,1460 EBANK= NBDX
012554,000024:
012555,000025: 06,3262 COUNT 06/ICOMP
012556,000026:
012557,000027: 06,3262 33516 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
012558,000028: 06,3263 56003 XCH EBANK
012559,000029: 06,3264 54163 TS MODE
012560,000030:
012561,000031: 06,3265 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012562,000032: 06,3266 13271 TCF +3
012563,000033: 06,3267 13271 TCF +2
012564,000034: 06,3270 13407 TCF IRIG1 # RETURN
012565,000035:
012566,000036: 06,3271 00004 INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
012567,000037: # FOR DOWNLINK.
012568,000038:
012569,000039: 06,3272 35015 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012570,000040: 06,3273 54132 TS BUF +2
012571,000041:
012572,000042: 06,3274 50132 INDEX BUF +2
012573,000043: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
012574,000044: 06,3276 00006 EXTEND
012575,000045: 06,3277 50132 INDEX BUF +2
012576,000046: 06,3300 71162 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
012577,000047: 06,3301 54002 TS Q # SAVE MAJOR PART
012578,000048:
012579,000049: 06,3302 30001 CA L # MINOR PART
012580,000050: 06,3303 00006 EXTEND
012581,000051: 06,3304 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012582,000052: 06,3305 50132 INDEX BUF +2
012583,000053: 06,3306 55163 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
012584,000054:
012585,000055: 06,3307 30002 CA Q # MAJOR PART
012586,000056: 06,3310 00006 EXTEND
012587,000057: 06,3311 75012 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
012588,000058: 06,3312 50132 INDEX BUF +2
012589,000059: 06,3313 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
012590,000060:
012591,000061: 06,3314 50132 INDEX BUF +2
012592,000062: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
012593,000063: 06,3316 00006 EXTEND
012594,000064: 06,3317 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
012595,000065: 06,3320 00006 EXTEND
012596,000066: 06,3321 75017 MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
012597,000067: 06,3322 50132 INDEX BUF +2
012598,000068: 06,3323 21163 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
012599,000069:
012600,000070: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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Page 298
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012602,000072: 06,3325 67716 AD NEG1
012603,000073: 06,3326 13273 TCF 1/PIPA1 +1
012604,000074: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE.
012605,000075: 06,3330 00003 RELINT
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Page 299
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012607,000077:
012608,000078: 06,3331 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012609,000079: 06,3332 54130 TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
012610,000080:
012611,000081: 06,3333 00006 IRIGX EXTEND
012612,000082: 06,3334 41163 DCS DELVX # (PIPA PULSES) X 2(+14)
012613,000083: 06,3335 52155 DXCH MPAC
012614,000084: 06,3336 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012615,000085: 06,3337 03412 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
012616,000086:
012617,000087: 06,3340 00006 EXTEND #
012618,000088: 06,3341 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012619,000089: 06,3342 52155 DXCH MPAC #
012620,000090: 06,3343 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012621,000091: 06,3344 03412 TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
012622,000092:
012623,000093: # EXTEND ***
012624,000094: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
012625,000095: # DXCH MPAC ***
012626,000096: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012627,000097: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
012628,000098:
012629,000099: 06,3345 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012630,000100: 06,3346 03441 TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012631,000101:
012632,000102: 06,3347 00006 IRIGY EXTEND
012633,000103: 06,3350 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012634,000104: 06,3351 52155 DXCH MPAC
012635,000105: 06,3352 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012636,000106: 06,3353 03412 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
012637,000107:
012638,000108: 06,3354 00006 EXTEND
012639,000109: 06,3355 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012640,000110: 06,3356 52155 DXCH MPAC
012641,000111: 06,3357 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012642,000112: 06,3360 03412 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
012643,000113:
012644,000114: # EXTEND ***
012645,000115: # DCS DELVX *** (PIPA PULSES) X 2(+14)
012646,000116: # DXCH MPAC ***
012647,000117: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012648,000118: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
012649,000119:
012650,000120: 06,3361 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
012651,000121: 06,3362 03441 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012652,000122:
012653,000123: 06,3363 00006 IRIGZ EXTEND
012654,000124: 06,3364 41165 DCS DELVY # (PIPA PULSES) X 2(+14)
012655,000125: 06,3365 52155 DXCH MPAC
012656,000126: 06,3366 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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Page 300
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012658,000128: 06,3367 03412 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
012659,000129:
012660,000130: 06,3370 00006 EXTEND
012661,000131: 06,3371 41167 DCS DELVZ # (PIPA PULSES) X 2(+14)
012662,000132: 06,3372 52155 DXCH MPAC
012663,000133: 06,3373 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012664,000134: 06,3374 03412 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
012665,000135:
012666,000136: # EXTEND ***
012667,000137: # DCS DELVX *** (PIPA PULSE) X 2(+14)
012668,000138: # DXCH MPAC ***
012669,000139: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012670,000140: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
012671,000141:
012672,000142: 06,3375 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012673,000143: 06,3376 03441 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
012674,000144:
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012676,000146: 06,3377 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012677,000147: 06,3400 13402 TCF +2 # YES
012678,000148: 06,3401 13407 TCF IRIG1 # NO
012679,000149:
012680,000150: 06,3402 35073 CA PRIO21 # HIGHER THAN SERVICER - LESS THAN PRELAUNCH
012681,000151: 06,3403 05134 TC NOVAC
012682,000152: 06,3404 E3,1460 EBANK= NBDX
012683,000153: 06,3404 03474 14063 2CADR 1/GYRO
012684,000154:
012685,000155: 06,3406 00003 RELINT
012686,000156: 06,3407 30163 IRIG1 CA MODE # SET EBANK FOR RETURN
012687,000157: 06,3410 54003 TS EBANK
012688,000158: 06,3411 14675 TCF SWRETURN
012689,000159:
012690,000160: 06,3412 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
012691,000161: 06,3413 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
012692,000162: 06,3414 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
012693,000163: 06,3415 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
012694,000164:
012695,000165: 06,3416 30155 CA MPAC +1 # MINOR PART PIPA PULSES
012696,000166: 06,3417 00006 EXTEND
012697,000167: 06,3420 70154 MP MPAC # ADIA OR ADSRA
012698,000168: 06,3421 54001 TS L
012699,000169: 06,3422 35021 CAF ZERO
012700,000170: 06,3423 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
012701,000171:
012702,000172: 06,3424 30122 CA VBUF # PARTIAL RESULT - MAJOR
012703,000173: 06,3425 00006 EXTEND
012704,000174: 06,3426 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012705,000175: 06,3427 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012706,000176: 06,3430 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
012707,000177:
012708,000178: 06,3431 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
012709,000179: 06,3432 00006 EXTEND
012710,000180: 06,3433 75004 MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
012711,000181: 06,3434 54001 TS L
012712,000182: 06,3435 35021 CAF ZERO
012713,000183: 06,3436 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
012714,000184: 06,3437 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
012715,000185:
012716,000186: 06,3440 00002 TC Q
012717,000187:
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012719,000189: 06,3441 00006 DRIFTSUB EXTEND
012720,000190: 06,3442 22131 QXCH BUF +1
012721,000191:
012722,000192: 06,3443 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
012723,000193: 06,3444 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
012724,000194: 06,3445 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
012725,000195: 06,3446 00006 EXTEND
012726,000196: 06,3447 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012727,000197: 06,3450 50130 INDEX BUF
012728,000198: 06,3451 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012729,000199:
012730,000200: 06,3452 30155 CA MPAC +1 # NOW MINOR PART
012731,000201: 06,3453 00006 EXTEND
012732,000202: 06,3454 75014 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
012733,000203: 06,3455 54001 TS L
012734,000204: 06,3456 35021 CAF ZERO
012735,000205: 06,3457 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
012736,000206: 06,3460 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012737,000207:
012738,000208: 06,3461 35016 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
012739,000209: 06,3462 60130 AD BUF
012740,000210: 06,3463 56130 XCH BUF
012741,000211: 06,3464 50000 INDEX A
012742,000212: 06,3465 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
012743,000213: 06,3466 13470 TCF +2 # YES
012744,000214: 06,3467 00131 TC BUF +1 # NO
012745,000215:
012746,000216: 06,3470 77716 MASK NEGONE
012747,000217: 06,3471 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012748,000218: 06,3472 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
012749,000219: 06,3473 00131 TC BUF +1 # NO
012750,000220:
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Page 303
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012752,000222: 06,3474 35015 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
012753,000223: 06,3475 54130 TS BUF
012754,000224:
012755,000225: 06,3476 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
012756,000226: 06,3477 31472 CA GCOMP +1 # FRACTIONAL PULSES
012757,000227: 06,3500 00006 EXTEND
012758,000228: 06,3501 75010 MP BIT8 # SHIFT RIGHT 7
012759,000229: 06,3502 50130 INDEX BUF
012760,000230: 06,3503 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
012761,000231:
012762,000232: 06,3504 35021 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
012763,000233: 06,3505 50130 INDEX BUF
012764,000234: 06,3506 57471 XCH GCOMP # GYRO PULSES
012765,000235: 06,3507 00006 EXTEND
012766,000236: 06,3510 75010 MP BIT8 # SHIFT RIGHT 7
012767,000237: 06,3511 50130 INDEX BUF
012768,000238: 06,3512 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
012769,000239:
012770,000240: 06,3513 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012771,000241: 06,3514 67716 AD NEG1
012772,000242: 06,3515 13475 TCF 1/GYRO +1
012773,000243: 06,3516 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
012774,000244:
012775,000245: 06,3517 33516 CAF LGCOMP
012776,000246: 06,3520 04662 TC BANKCALL
012777,000247: 06,3521 17206 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
012778,000248: 06,3522 04662 TC BANKCALL
012779,000249: 06,3523 17577 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
012780,000250: 06,3524 15217 TCF ENDOFJOB # TEMPORARY
012781,000251:
012782,000252: 06,3525 35015 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
012783,000253: 06,3526 54130 TS BUF
012784,000254:
012785,000255: 06,3527 50130 INDEX BUF # RESCALE
012786,000256: 06,3530 31472 CA GCOMP +1
012787,000257: 06,3531 00006 EXTEND
012788,000258: 06,3532 75010 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
012789,000259: 06,3533 50130 INDEX BUF
012790,000260: 06,3534 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
012791,000261:
012792,000262: 06,3535 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
012793,000263: 06,3536 67716 AD NEG1
012794,000264: 06,3537 13526 TCF GCOMP1 +1
012795,000265:
012796,000266: 06,3540 01436 V06N30S VN 0630
012797,000267: 06,3541 15217 TCF ENDOFJOB
012798,000268:
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012800,000270: 06,3542 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012801,000271: 06,3543 13546 TCF +3
012802,000272: 06,3544 13546 TCF +2
012803,000273: 06,3545 15217 TCF ENDOFJOB
012804,000274:
012805,000275: 06,3546 00004 INHINT
012806,000276: 06,3547 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
012807,000277: 06,3550 15217 TCF ENDOFJOB
012808,000278: 06,3551 15217 TCF ENDOFJOB
012809,000279: 06,3552 13553 TCF +1
012810,000280:
012811,000281: 06,3553 30025 CA TIME1 # (CS) X 2(+14)
012812,000282: 06,3554 57074 XCH 1/PIPADT # PREVIOUS TIME
012813,000283: 06,3555 00003 RELINT
012814,000284: 06,3556 40000 COM
012815,000285: 06,3557 61074 AD 1/PIPADT
012816,000286: 06,3560 10000 NBD2 CCS A # CALCULATE ELAPSED TIME
012817,000287: 06,3561 65017 AD ONE # NO TIME1 OVERFLOW
012818,000288: 06,3562 13567 TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
012819,000289: 06,3563 13565 TCF +2 # TIME1 OVERFLOW
012820,000290: 06,3564 15217 TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
012821,000291:
012822,000292: 06,3565 40000 COM # CALCULATE ABSOLUTE DIFFERENCE
012823,000293: 06,3566 64777 AD POSMAX
012824,000294:
012825,000295: 06,3567 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
012826,000296: 06,3570 75006 MP BIT10 # SHIFT RIGHT 5
012827,000297: 06,3571 52123 DXCH VBUF
012828,000298: 06,3572 00006 EXTEND
012829,000299: 06,3573 30123 DCA VBUF
012830,000300: 06,3574 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
012831,000301:
012832,000302: 06,3575 35021 CAF ZERO
012833,000303: 06,3576 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
012834,000304: 06,3577 54130 TS BUF # PIPAX, PIPAY, PIPAZ
012835,000305:
012836,000306: 06,3600 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
012837,000307: 06,3601 03617 TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
012838,000308:
012839,000309: 06,3602 00006 EXTEND
012840,000310: 06,3603 40123 DCS VBUF
012841,000311: 06,3604 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012842,000312: 06,3605 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
012843,000313: 06,3606 03617 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
012844,000314:
012845,000315: 06,3607 00006 EXTEND
012846,000316: 06,3610 40123 DCS VBUF
012847,000317: 06,3611 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
012848,000318: 06,3612 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
012849,000319: 06,3613 03617 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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012851,000321: 06,3614 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
012852,000322: 06,3615 13474 TCF 1/GYRO # YES
012853,000323: 06,3616 15217 TCF ENDOFJOB # NO
012854,000324:
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012856,000326: 06,3617 56002 FBIASSUB XCH Q
012857,000327: 06,3620 54131 TS BUF +1
012858,000328:
012859,000329: 06,3621 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
012860,000330: 06,3622 00006 EXTEND
012861,000331: 06,3623 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
012862,000332: 06,3624 50130 INDEX BUF
012863,000333: 06,3625 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012864,000334:
012865,000335: 06,3626 30002 CA Q # NOW FRACTIONAL PART
012866,000336: 06,3627 00006 EXTEND
012867,000337: 06,3630 70155 MP MPAC +1
012868,000338: 06,3631 54001 TS L
012869,000339: 06,3632 35021 CAF ZERO
012870,000340: 06,3633 50130 INDEX BUF
012871,000341: 06,3634 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
012872,000342:
012873,000343: 06,3635 13461 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
012874,000344:
012875,000345: 06,3636 04662 LASTBIAS TC BANKCALL
012876,000346: 06,3637 17156 CADR PIPUSE
012877,000347:
012878,000348: 06,3640 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
012879,000349: 06,3641 13644 TCF +3
012880,000350: 06,3642 13644 TCF +2
012881,000351: 06,3643 15217 TCF ENDOFJOB
012882,000352:
012883,000353: 06,3644 37665 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
012884,000354: 06,3645 57074 XCH 1/PIPADT
012885,000355: 06,3646 40000 COM
012886,000356: 06,3647 61246 AD PIPTIME1 +1 # TIME AT PIPA1 =0
012887,000357: 06,3650 13560 TCF NBD2
012888,000358:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc