A communication system includes a plurality of mobile nodes forming a mobile ad-hoc network (MANET) and having a network clock time. A plurality of wireless communications links connects the mobile nodes together. Each mobile node includes a communications device and controller for transmitting and routing data packets wirelessly to other mobile nodes via the wireless communications link using a Time Division Multiple Access (TDMA) data transmission. Each mobile node includes a clock circuit having a digital clock time. A clock circuit is operative for processing a second order internal clock compensation factor as a learned and accumulated value for establishing a virtual clock time to correct any clock timing errors of the physical clock time from the network clock time.