Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021152N. Note that page numbers
in the reconstructed code match those for the baseline log section mentioned in
each file's changelog; the page numbers for a real Luminary 178 listing would
be different.
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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014163,000002: ## Copyright: Public domain.
014164,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014165,000004: ## Purpose: A section of Luminary revision 178.
014166,000005: ## It is part of the reconstructed source code for the final
014167,000006: ## release of the flight software for the Lunar Module's
014168,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
014169,000008: ## code has been recreated from copies of Zerlina 56, Luminary
014170,000009: ## 210, and Luminary 131, as well as many Luminary memos.
014171,000010: ## It has been adapted such that the resulting bugger words
014172,000011: ## exactly match those specified for Luminary 178 in NASA
014173,000012: ## drawing 2021152N, which gives relatively high confidence
014174,000013: ## that the reconstruction is correct.
014175,000014: ## Reference: pp. 331-342
014176,000015: ## Assembler: yaYUL
014177,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014178,000017: ## Website: www.ibiblio.org/apollo/index.html
014179,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
014180,000019: ## 2019-09-03 MAS Removed Zerlina-specific scaling changes.
014181,000020:
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Page 331
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014183,000022: 07,2661 BANK 7
014184,000023: 06,2000 SETLOC IMUCOMP
014185,000024: 06,2000 BANK
014186,000025:
014187,000026: 06,3271 E3,1460 EBANK= NBDX
014188,000027:
014189,000028: 06,3271 COUNT* $$/ICOMP
014190,000029: 06,3271 33537 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014191,000030: 06,3272 56003 XCH EBANK
014192,000031: 06,3273 54163 TS MODE
014193,000032:
014194,000033: 06,3274 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014195,000034: 06,3275 13300 TCF +3
014196,000035: 06,3276 13300 TCF +2
014197,000036: 06,3277 13361 TCF IRIG1 # RETURN
014198,000037:
014199,000038: 06,3300 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014200,000039: 06,3301 54132 TS BUF +2
014201,000040:
014202,000041: 06,3302 50132 INDEX BUF +2
014203,000042: 06,3303 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014204,000043: 06,3304 00006 EXTEND
014205,000044: 06,3305 50132 INDEX BUF +2
014206,000045: 06,3306 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014207,000046: 06,3307 54002 TS Q # SAVE MAJOR PART
014208,000047:
014209,000048: 06,3310 30001 CA L # MINOR PART
014210,000049: 06,3311 00006 EXTEND
014211,000050: 06,3312 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014212,000051: 06,3313 50132 INDEX BUF +2
014213,000052: 06,3314 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014214,000053:
014215,000054: 06,3315 30002 CA Q # MAJOR PART
014216,000055: 06,3316 00006 EXTEND
014217,000056: 06,3317 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014218,000057: 06,3320 50132 INDEX BUF +2
014219,000058: 06,3321 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014220,000059:
014221,000060: 06,3322 50132 INDEX BUF +2
014222,000061: 06,3323 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-3) *
014223,000062: 06,3324 00006 EXTEND
014224,000063: 06,3325 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
014225,000064: 06,3326 00006 EXTEND
014226,000065: 06,3327 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
014227,000066: 06,3330 50132 INDEX BUF +2
014228,000067: 06,3331 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014229,000068:
014230,000069: 06,3332 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014231,000070: 06,3333 67752 AD NEG1
014232,000071: 06,3334 13301 TCF 1/PIPA1 +1
014233,000072:
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014235,000074: 06,3335 13336 NOOP # LESS THAN ZERO IMPOSSIBLE
014236,000075:
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Page 333
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014238,000077: 06,3336 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014239,000078: 06,3337 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014240,000079:
014241,000080: 06,3340 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS
014242,000081:
014243,000082: 06,3341 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014244,000083: 06,3342 03462 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014245,000084:
014246,000085: 06,3343 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS
014247,000086:
014248,000087: 06,3344 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014249,000088: 06,3345 03462 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014250,000089:
014251,000090: 06,3346 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014252,000091:
014253,000092: 06,3347 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014254,000093: 06,3350 03462 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014255,000094:
014256,000095: 06,3351 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014257,000096: 06,3352 13354 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014258,000097: 06,3353 13361 TCF IRIG1 # NO RETURN
014259,000098:
014260,000099: 06,3354 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014261,000100: 06,3355 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014262,000101: 06,3356 E3,1460 EBANK= NBDX
014263,000102: 06,3356 03515 14063 2CADR 1/GYRO
014264,000103:
014265,000104: 06,3360 00003 RELINT
014266,000105: 06,3361 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014267,000106: 06,3362 54003 TS EBANK
014268,000107: 06,3363 14631 TCF SWRETURN
014269,000108:
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014271,000110: 06,3364 00006 IRIGX EXTEND
014272,000111: 06,3365 22156 QXCH MPAC +2 # SAVE Q
014273,000112: 06,3366 00006 EXTEND
014274,000113: 06,3367 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014275,000114: 06,3370 52155 DXCH MPAC
014276,000115: 06,3371 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014277,000116: 06,3372 03433 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014278,000117:
014279,000118: 06,3373 00006 EXTEND
014280,000119: 06,3374 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014281,000120: 06,3375 52155 DXCH MPAC
014282,000121: 06,3376 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014283,000122: 06,3377 03433 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014284,000123:
014285,000124: # EXTEND ***
014286,000125: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014287,000126: # DXCH MPAC ***
014288,000127: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014289,000128: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014290,000129:
014291,000130: 06,3400 00156 TC MPAC +2
014292,000131:
014293,000132: 06,3401 00006 IRIGY EXTEND
014294,000133: 06,3402 22156 QXCH MPAC +2 # SAVE Q
014295,000134: 06,3403 00006 EXTEND
014296,000135: 06,3404 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014297,000136: 06,3405 52155 DXCH MPAC
014298,000137: 06,3406 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014299,000138: 06,3407 03433 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014300,000139:
014301,000140: 06,3410 00006 EXTEND
014302,000141: 06,3411 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014303,000142: 06,3412 52155 DXCH MPAC
014304,000143: 06,3413 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014305,000144: 06,3414 03433 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014306,000145:
014307,000146: # EXTEND ***
014308,000147: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014309,000148: # DXCH MPAC ***
014310,000149: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014311,000150: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014312,000151:
014313,000152: 06,3415 00156 TC MPAC +2
014314,000153:
014315,000154: 06,3416 00006 IRIGZ EXTEND
014316,000155: 06,3417 22156 QXCH MPAC +2 # SAVE Q
014317,000156: 06,3420 00006 EXTEND
014318,000157: 06,3421 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014319,000158: 06,3422 52155 DXCH MPAC
014320,000159: 06,3423 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014321,000160:
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014323,000162: 06,3424 03433 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014324,000163:
014325,000164: 06,3425 00006 EXTEND
014326,000165: 06,3426 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014327,000166: 06,3427 52155 DXCH MPAC
014328,000167: 06,3430 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014329,000168: 06,3431 03433 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014330,000169:
014331,000170: # EXTEND ***
014332,000171: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014333,000172: # DXCH MPAC ***
014334,000173: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014335,000174: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014336,000175:
014337,000176: 06,3432 00156 TC MPAC +2
014338,000177:
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014340,000179: 06,3433 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014341,000180: 06,3434 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014342,000181: 06,3435 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014343,000182: 06,3436 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014344,000183:
014345,000184: 06,3437 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014346,000185: 06,3440 00006 EXTEND
014347,000186: 06,3441 70154 MP MPAC # ADIA OR ADSRA
014348,000187: 06,3442 54001 TS L
014349,000188: 06,3443 34755 CAF ZERO
014350,000189: 06,3444 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014351,000190:
014352,000191: 06,3445 30122 CA VBUF # PARTIAL RESULT - MAJOR
014353,000192: 06,3446 00006 EXTEND
014354,000193: 06,3447 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014355,000194: 06,3450 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014356,000195: 06,3451 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014357,000196:
014358,000197: 06,3452 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014359,000198: 06,3453 00006 EXTEND
014360,000199: 06,3454 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014361,000200: 06,3455 54001 TS L
014362,000201: 06,3456 34755 CAF ZERO
014363,000202: 06,3457 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014364,000203: 06,3460 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014365,000204:
014366,000205: 06,3461 00002 TC Q
014367,000206:
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014369,000208: 06,3462 00006 DRIFTSUB EXTEND
014370,000209: 06,3463 22131 QXCH BUF +1
014371,000210:
014372,000211: 06,3464 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014373,000212: 06,3465 71074 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014374,000213: 06,3466 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014375,000214: 06,3467 00006 EXTEND
014376,000215: 06,3470 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014377,000216: 06,3471 50130 INDEX BUF
014378,000217: 06,3472 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014379,000218:
014380,000219: 06,3473 30155 CA MPAC +1 # NOW MINOR PART
014381,000220: 06,3474 00006 EXTEND
014382,000221: 06,3475 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014383,000222: 06,3476 54001 TS L
014384,000223: 06,3477 34755 CAF ZERO
014385,000224: 06,3500 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014386,000225: 06,3501 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014387,000226:
014388,000227: 06,3502 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014389,000228: 06,3503 60130 AD BUF
014390,000229: 06,3504 56130 XCH BUF
014391,000230: 06,3505 50000 INDEX A
014392,000231: 06,3506 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014393,000232: 06,3507 13511 TCF +2 # YES
014394,000233: 06,3510 00131 TC BUF +1 # NO
014395,000234:
014396,000235: 06,3511 73561 MASK COMPCHK # DEC -1
014397,000236: 06,3512 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014398,000237: 06,3513 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014399,000238: 06,3514 00131 TC BUF +1 # NO
014400,000239:
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014402,000241: 06,3515 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014403,000242: 06,3516 54130 TS BUF
014404,000243:
014405,000244: 06,3517 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014406,000245: 06,3520 31472 CA GCOMP +1 # FRACTIONAL PULSES
014407,000246: 06,3521 00006 EXTEND
014408,000247: 06,3522 74744 MP BIT8 # SHIFT RIGHT 7
014409,000248: 06,3523 50130 INDEX BUF
014410,000249: 06,3524 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014411,000250:
014412,000251: 06,3525 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
014413,000252: 06,3526 50130 INDEX BUF
014414,000253: 06,3527 57471 XCH GCOMP # GYRO PULSES
014415,000254: 06,3530 00006 EXTEND
014416,000255: 06,3531 74744 MP BIT8 # SHIFT RIGHT 7
014417,000256: 06,3532 50130 INDEX BUF
014418,000257: 06,3533 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
014419,000258:
014420,000259: 06,3534 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014421,000260: 06,3535 67752 AD NEG1
014422,000261: 06,3536 13516 TCF 1/GYRO +1
014423,000262: 06,3537 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
014424,000263:
014425,000264: 06,3540 33537 CAF LGCOMP
014426,000265: 06,3541 04616 TC BANKCALL
014427,000266: 06,3542 17307 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
014428,000267: 06,3543 04616 TC BANKCALL
014429,000268: 06,3544 17722 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
014430,000269: 06,3545 15155 TCF ENDOFJOB # TEMPORARY
014431,000270:
014432,000271: 06,3546 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014433,000272: 06,3547 54130 TS BUF
014434,000273:
014435,000274: 06,3550 50130 INDEX BUF # RESCALE
014436,000275: 06,3551 31472 CA GCOMP +1
014437,000276: 06,3552 00006 EXTEND
014438,000277: 06,3553 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014439,000278: 06,3554 50130 INDEX BUF
014440,000279: 06,3555 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
014441,000280:
014442,000281: 06,3556 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014443,000282: 06,3557 67752 AD NEG1
014444,000283: 06,3560 13547 TCF GCOMP1 +1
014445,000284: 06,3561 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
014446,000285: 06,3562 15155 TCF ENDOFJOB
014447,000286:
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014449,000288: 06,3563 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014450,000289: 06,3564 13567 TCF +3
014451,000290: 06,3565 13567 TCF +2
014452,000291: 06,3566 15155 TCF ENDOFJOB
014453,000292:
014454,000293: 06,3567 00004 INHINT
014455,000294: 06,3570 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
014456,000295: 06,3571 15155 TCF ENDOFJOB
014457,000296: 06,3572 15155 TCF ENDOFJOB
014458,000297: 06,3573 13574 TCF +1
014459,000298:
014460,000299: 06,3574 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014461,000300: 06,3575 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
014462,000301: 06,3576 54141 TS TEM1 # WILL BE COMPENSATED.
014463,000302: 06,3577 00006 EXTEND
014464,000303: 06,3600 13603 BZF +3 # ARE WE ON THE SURFACE
014465,000304:
014466,000305: 06,3601 04674 TC IBNKCALL # ON THE SURFACE
014467,000306: 06,3602 77543 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
014468,000307:
014469,000308: 06,3603 30025 CA TIME1 # (CS) X 2(+14)
014470,000309: 06,3604 57074 XCH 1/PIPADT # PREVIOUS TIME
014471,000310: 06,3605 00003 RELINT
014472,000311: 06,3606 40000 COM
014473,000312: 06,3607 61074 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
014474,000313: 06,3610 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
014475,000314: 06,3611 64736 AD HALF
014476,000315: 06,3612 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
014477,000316: 06,3613 56001 XCH L # OVERFLOW.
014478,000317:
014479,000318: 06,3614 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
014480,000319: 06,3615 74742 MP BIT10 # SHIFT RIGHT 5
014481,000320: 06,3616 52125 DXCH VBUF +2
014482,000321:
014483,000322: 06,3617 34755 CA ZERO
014484,000323: 06,3620 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014485,000324: 06,3621 54130 TS BUF # INDEX X, Y, Z.
014486,000325:
014487,000326: 06,3622 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014488,000327: 06,3623 03364 TC IRIGX # COMPENSATE ACCELERATION TERMS.
014489,000328:
014490,000329: 06,3624 00006 EXTEND
014491,000330: 06,3625 30125 DCA VBUF +2
014492,000331: 06,3626 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
014493,000332:
014494,000333: 06,3627 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014495,000334: 06,3630 03652 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014496,000335:
014497,000336: 06,3631 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014498,000337: 06,3632 03401 TC IRIGY # COMPENSATE ACCELERATION TERMS.
014499,000338:
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014501,000340: 06,3633 00006 EXTEND
014502,000341: 06,3634 40125 DCS VBUF +2
014503,000342: 06,3635 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014504,000343: 06,3636 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
014505,000344: 06,3637 03652 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014506,000345:
014507,000346: 06,3640 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014508,000347: 06,3641 03416 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014509,000348:
014510,000349: 06,3642 00006 EXTEND
014511,000350: 06,3643 40125 DCS VBUF +2
014512,000351: 06,3644 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014513,000352: 06,3645 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014514,000353: 06,3646 03652 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014515,000354:
014516,000355: 06,3647 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014517,000356: 06,3650 13515 TCF 1/GYRO # YES
014518,000357: 06,3651 15155 TCF ENDOFJOB # NO
014519,000358:
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Page 341
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014521,000360: 06,3652 56002 FBIASSUB XCH Q
014522,000361: 06,3653 54131 TS BUF +1
014523,000362:
014524,000363: 06,3654 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014525,000364: 06,3655 00006 EXTEND
014526,000365: 06,3656 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014527,000366: 06,3657 50130 INDEX BUF
014528,000367: 06,3660 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014529,000368:
014530,000369: 06,3661 30002 CA Q # NOW FRACTIONAL PART
014531,000370: 06,3662 00006 EXTEND
014532,000371: 06,3663 70155 MP MPAC +1
014533,000372: 06,3664 54001 TS L
014534,000373: 06,3665 34755 CAF ZERO
014535,000374: 06,3666 50130 INDEX BUF
014536,000375: 06,3667 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014537,000376:
014538,000377: 06,3670 13502 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014539,000378:
014540,000379: 06,3671 04616 LASTBIAS TC BANKCALL
014541,000380: 06,3672 17263 CADR PIPUSE1
014542,000381:
014543,000382: 06,3673 11477 CCS GCOMPSW
014544,000383: 06,3674 13677 TCF +3
014545,000384: 06,3675 13677 TCF +2
014546,000385: 06,3676 15155 TCF ENDOFJOB
014547,000386:
014548,000387: 06,3677 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014549,000388: 06,3700 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014550,000389: 06,3701 54141 TS TEM1 # WILL BE COMPENSATED.
014551,000390:
014552,000391: 06,3702 37721 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014553,000392: 06,3703 57074 XCH 1/PIPADT
014554,000393: 06,3704 40000 COM
014555,000394: 06,3705 61234 AD PIPTIME +1
014556,000395: 06,3706 13610 TCF NBD2
014557,000396:
014558,000397: 06,3707 33537 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014559,000398: 06,3710 56003 XCH EBANK # CALL TO 1/PIPA
014560,000399: 06,3711 54163 TS MODE
014561,000400:
014562,000401: 06,3712 34755 CAF ZERO
014563,000402: 06,3713 55477 TS GCOMPSW
014564,000403: 06,3714 55471 TS GCOMP
014565,000404: 06,3715 55472 TS GCOMP +1
014566,000405: 06,3716 55473 TS GCOMP +2
014567,000406: 06,3717 55474 TS GCOMP +3
014568,000407: 06,3720 55475 TS GCOMP +4
014569,000408:
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014571,000410: 06,3721 55476 TS GCOMP +5
014572,000411:
014573,000412: 06,3722 13361 TCF IRIG1 # RESTORE EBANK AND RETURN
014574,000413:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc