Source Code

018469,000001: # Copyright: Public domain. 018470,000002: # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc 018471,000003: # Purpose: Part of the source code for Comanche, build 055. It 018472,000004: # is part of the source code for the Command Module's 018473,000005: # (CM) Apollo Guidance Computer (AGC), Apollo 11. 018474,000006: # Assembler: yaYUL 018475,000007: # Reference: pp. 423-455 018476,000008: # Contact: Onno Hommes <ohommes@cmu.edu> 018477,000009: # Website: http://www.ibiblio.org/apollo. 018478,000010: # Mod history: 2009-05-10 OH Batch 1 Assignment Comanche Transcription 018479,000011: # 2009-05-20 RSB Corrections: P00D00H -> P00DOOH, definition 018480,000012: # of 25DECML fixed. 018481,000013: # 2009-05-23 RSB At SPECSTS, corrected to PRIO22. 018482,000014: 018483,000015: # The contents of the "Comanche055" files, in general, are transcribed 018484,000016: # from scanned documents. 018485,000017: 018486,000018: # Assemble revision 055 of AGC program Comanche by NASA 018487,000019: # 2021113-051. April 1, 1969. 018488,000020: 018489,000021: # This AGC program shall also be referred to as Colossus 2A 018490,000022: 018491,000023: # Prepared by 018492,000024: # Massachussets Institute of Technology 018493,000025: # 75 Cambridge Parkway 018494,000026: # Cambridge, Massachusetts 018495,000027: 018496,000028: # under NASA contract NAS 9-4065. 018497,000029: 018498,000030: # Refer directly to the online document mentioned above for further 018499,000031: # information. Please report any errors to info@sandroid.org. 018500,000032: 018501,000033: # Page 423 018502,000034: # NAME -- IMU PERFORMANCE TESTS 2 018503,000035: 018504,000036: # DATE -- MARCH 20, 1967 018505,000037: 018506,000038: # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 018507,000039: 018508,000040: # MODNO. -- ZERO 018509,000041: 018510,000042: # FUNCTIONAL DESCRIPTION 018511,000043: 018512,000044: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF 018513,000045: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE 018514,000046: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 018515,000047: 018516,000048: 33,2004 BANK 33 018517,000049: 33,2000 SETLOC IMUCAL 018518,000050: 33,2000 BANK 018519,000051: 018520,000052: 33,2004 E5,1423 EBANK= POSITON 018521,000053: 33,2004 35021 IMUTEST CA ZERO 018522,000054: 33,2005 55452 TS DRIFTT 018523,000055: 33,2006 55643 TS GEOCOMP1 018524,000056: 33,2007 32443 CAF TESTTIME 018525,000057: 33,2010 55412 TS LENGTHOT 018526,000058: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG 018527,000059: 33,2012 35041 CAF 1SECX 018528,000060: 33,2013 55644 TS 1SECXT1 018529,000061: 018530,000062: 33,2014 32441 CA OC14400 018531,000063: 33,2015 55074 TS 1/PIPADT 018532,000064: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE 018533,000065: 33,2017 77624 CALL 018534,000066: 33,2020 10613 LATAZCHK 018535,000067: 33,2021 57546 COS DCOMP 018536,000068: 33,2022 77752 SL1 018537,000069: 33,2023 16447 STODL WANGI 018538,000070: 33,2024 02403 LATITUDE 018539,000071: 33,2025 72556 SIN SL1 018540,000072: 33,2026 02445 STORE WANGO 018541,000073: 33,2027 77776 EXIT 018542,000074: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE 018543,000075: 33,2031 16577 CADR IMUZERO 018544,000076: 33,2032 02316 TC IMUSTLLG 018545,000077: 33,2033 35021 IMUBACK CA ZERO 018546,000078: 33,2034 55421 TS NDXCTR 018547,000079: 33,2035 55450 TS TORQNDX 018548,000080: 33,2036 55451 TS TORQNDX +1 018549,000081: 33,2037 34375 NBPOSPL CA DEC17 018550,000082: 33,2040 55655 TS ZERONDX1 018551,000083: 33,2041 32445 CA XNBADR 018552,000084: # Page 424 018553,000085: 33,2042 02356 TC ZEROING 018554,000086: 33,2043 35002 CA HALF 018555,000087: 33,2044 55713 TS XNB 018556,000088: 33,2045 06006 TC INTPRET 018557,000089: 33,2046 73545 DLOAD SIN 018558,000090: 33,2047 02401 AZIMUTH 018559,000091: 33,2050 02724 STORE YNB +2 018560,000092: 33,2051 16734 STODL ZNB +4 018561,000093: 33,2052 02401 AZIMUTH 018562,000094: 33,2053 77746 COS 018563,000095: 33,2054 02726 STORE YNB +4 018564,000096: 33,2055 77676 DCOMP 018565,000097: 33,2056 02732 STORE ZNB +2 018566,000098: 33,2057 77776 EXIT 018567,000099: 33,2060 05364 TC CHECKMM 018568,000100: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION 018569,000101: 33,2062 12064 TCF +2 # NO 018570,000102: 33,2063 13443 TCF SETNBPOS +1 # YES 018571,000103: 33,2064 06006 TC INTPRET 018572,000104: 33,2065 77624 CALL 018573,000105: 33,2066 47311 CALCGA 018574,000106: 33,2067 77776 EXIT 018575,000107: 33,2070 04662 TC BANKCALL 018576,000108: 33,2071 16663 CADR IMUCOARS 018577,000109: 33,2072 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK 018578,000110: 33,2073 70077 MASK FLAGWRD3 018579,000111: 33,2074 00006 EXTEND 018580,000112: 33,2075 12077 BZF +2 018581,000113: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 018582,000114: 33,2077 05560 TC DOWNFLAG # RESET GIMBAL LOCK FLAG 018583,000115: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3 018584,000116: 33,2101 02316 TC IMUSTLLG 018585,000117: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 018586,000118: 33,2103 02131 TC PIPACHK # ALIGN AND MEARSUE VERTICAL PIPA RATE 018587,000119: 33,2104 04662 TC BANKCALL 018588,000120: 33,2105 17073 CADR IMUFINE 018589,000121: 33,2106 02316 TC IMUSTLLG 018590,000122: 33,2107 00006 EXTEND 018591,000123: 33,2110 31657 DCA PERFDLAY 018592,000124: 33,2111 05342 TC LONGCALL 018593,000125: 33,2112 30,2000 SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron 018594,000126: 33,2112 E5,1423 EBANK= POSITON 018595,000127: 33,2112 02116 66065 2CADR GOESTIMS 018596,000128: 018597,000129: 33,2114 32121 CA ESTICADR 018598,000130: 33,2115 05175 TC JOBSLEEP 018599,000131: 33,2116 32121 GOESTIMS CA ESTICADR 018600,000132: 33,2117 05201 TC JOBWAKE 018601,000133: 33,2120 05324 TC TASKOVER 018602,000134: 33,2121 66453 ESTICADR CADR ESTIMS 018603,000135: # Page 425 018604,000136: 33,2122 35021 TORQUE CA ZERO 018605,000137: 33,2123 55050 TS DSPTEM2 018606,000138: 33,2124 31514 CA DRIFTI 018607,000139: 33,2125 55051 TS DSPTEM2 +1 018608,000140: 33,2126 51423 INDEX POSITON 018609,000141: 33,2127 55430 TS SOUTHDR -1 018610,000142: 33,2130 02427 TC SHOW 018611,000143: 018612,000144: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST 018613,000145: 33,2132 02133 TC +1 018614,000146: 33,2133 02417 TC EARTHR* 018615,000147: 33,2134 34374 CA DEC57 018616,000148: 33,2135 55412 TS LENGTHOT 018617,000149: 33,2136 35017 CA ONE 018618,000150: 33,2137 55547 TS RESULTCT 018619,000151: 33,2140 35021 CA ZERO 018620,000152: 33,2141 51422 INDEX PIPINDEX 018621,000153: 33,2142 54037 TS PIPAX 018622,000154: 33,2143 55502 TS DATAPL 018623,000155: 33,2144 55506 TS DATAPL +4 018624,000156: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE 018625,000157: 33,2146 00004 INHINT 018626,000158: 33,2147 35016 CAF TWO 018627,000159: 33,2150 05235 TC TWIDDLE 018628,000160: 33,2151 E5,1671 EBANK= XSM 018629,000161: 33,2151 02153 ADRES PIPATASK 018630,000162: 33,2152 05217 TC ENDOFJOB 018631,000163: 33,2153 00006 PIPATASK EXTEND 018632,000164: 33,2154 27412 DIM LENGTHOT 018633,000165: 33,2155 31412 CA LENGTHOT 018634,000166: 33,2156 00006 EXTEND 018635,000167: 33,2157 62163 BZMF STARTPIP 018636,000168: 33,2160 35006 CAF BIT10 018637,000169: 33,2161 05235 TC TWIDDLE 018638,000170: 33,2162 E5,1671 EBANK= XSM 018639,000171: 33,2162 02153 ADRES PIPATASK 018640,000172: 33,2163 35002 STARTPIP CAF PRIO20 018641,000173: 33,2164 05147 TC FINDVAC 018642,000174: 33,2165 E5,1671 EBANK= XSM 018643,000175: 33,2165 02170 66065 2CADR PIPJOBB 018644,000176: 018645,000177: 33,2167 05324 TC TASKOVER 018646,000178: 018647,000179: 33,2170 51421 PIPJOBB INDEX NDXCTR 018648,000180: 33,2171 02172 TC +1 018649,000181: 33,2172 02417 TC EARTHR* 018650,000182: 33,2173 31412 CA LENGTHOT 018651,000183: 33,2174 00006 EXTEND 018652,000184: 33,2175 62177 BZMF +2 018653,000185: 33,2176 05217 TC ENDOFJOB 018654,000186: 33,2177 35022 CA FIVE 018655,000187: # Page 426 018656,000188: 33,2200 55547 TS RESULTCT 018657,000189: 33,2201 02321 TC CHECKG 018658,000190: 33,2202 00006 EXTEND 018659,000191: 33,2203 41503 DCS DATAPL 018660,000192: 33,2204 21507 DAS DATAPL +4 018661,000193: 018662,000194: 33,2205 06006 TC INTPRET 018663,000195: 33,2206 45345 DLOAD DSU 018664,000196: 33,2207 02511 DATAPL +6 018665,000197: 33,2210 02505 DATAPL +2 018666,000198: 33,2211 45044 BPL CALL 018667,000199: 33,2212 66214 AINGOTN 018668,000200: 33,2213 66276 OVERFFIX 018669,000201: 33,2214 56325 AINGOTN PDDL DDV 018670,000202: 33,2215 02507 DATAPL +4 018671,000203: 33,2216 57212 SL4 DMPR 018672,000204: 33,2217 27110 DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM 018673,000205: 33,2220 77634 RTB 018674,000206: 33,2221 45544 SGNAGREE 018675,000207: 33,2222 01051 STORE DSPTEM2 018676,000208: 33,2223 77776 EXIT 018677,000209: 33,2224 11421 CCS NDXCTR 018678,000210: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK 018679,000211: 33,2226 02427 TC SHOW 018680,000212: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST 018681,000213: 33,2230 55412 TS LENGTHOT 018682,000214: 33,2231 51423 INDEX POSITON 018683,000215: 33,2232 41427 CS SOUTHDR -2 018684,000216: 33,2233 55452 TS DRIFTT 018685,000217: 33,2234 31675 CA XSM +4 # 0 IF POSN 4 018686,000218: 33,2235 00006 EXTEND 018687,000219: 33,2236 12244 BZF PON2 018688,000220: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM 018689,000221: 33,2240 27651 ADS ERCOMP1 +2 018690,000222: 33,2241 35013 CA BIT5 018691,000223: 33,2242 27647 ADS ERCOMP1 018692,000224: 33,2243 12250 TCF PONG 018693,000225: 33,2244 45013 PON2 CS BIT5 018694,000226: 33,2245 27651 ADS ERCOMP1 +2 018695,000227: 33,2246 35013 CA BIT5 018696,000228: 33,2247 27653 ADS ERCOMP1 +4 018697,000229: 33,2250 02417 PONG TC EARTHR* 018698,000230: 33,2251 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS 018699,000231: 33,2252 55404 TS ERVECTOR 018700,000232: 33,2253 55405 TS ERVECTOR +1 018701,000233: 33,2254 34777 GUESS1 CAF POSMAX 018702,000234: 33,2255 55450 TS TORQNDX 018703,000235: 33,2256 55451 TS TORQNDX +1 018704,000236: 33,2257 30032 CA CDUX 018705,000237: 33,2260 55413 TS LOSVEC 018706,000238: # Page 427 018707,000239: 33,2261 02453 TC ESTIMS 018708,000240: 33,2262 31512 VALMIS CA DRIFTO 018709,000241: 33,2263 55051 TS DSPTEM2 +1 018710,000242: 33,2264 35021 CA ZERO 018711,000243: 33,2265 55050 TS DSPTEM2 018712,000244: 33,2266 02427 TC SHOW 018713,000245: 018714,000246: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE 018715,000247: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0 018716,000248: 33,2271 45021 CS ZERO 018717,000249: 33,2272 05357 TC NEWMODEX +3 018718,000250: 33,2273 04662 TC BANKCALL 018719,000251: 33,2274 16063 CADR MKRELEAS 018720,000252: 33,2275 05534 TC ENDEXT 018721,000253: # Page 428 018722,000254: 018723,000255: 33,2276 43215 OVERFFIX DAD DAD 018724,000256: 33,2277 15343 DPPOSMAX 018725,000257: 33,2300 27116 ONEDPP 018726,000258: 33,2301 77616 RVQ 018727,000259: 018728,000260: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE 018729,000261: 33,2303 23425 QXCH QPLACE 018730,000262: 33,2304 35021 CA ZERO 018731,000263: 33,2305 55155 TS THETAD 018732,000264: 33,2306 55156 TS THETAD +1 018733,000265: 33,2307 55157 TS THETAD +2 018734,000266: 33,2310 04662 TC BANKCALL 018735,000267: 33,2311 16663 CADR IMUCOARS 018736,000268: 33,2312 04662 TC BANKCALL 018737,000269: 33,2313 17577 CADR IMUSTALL 018738,000270: 33,2314 03102 TC SOMERR2 018739,000271: 33,2315 01425 TC QPLACE 018740,000272: 018741,000273: 33,2316 00006 IMUSTLLG EXTEND 018742,000274: 33,2317 23425 QXCH QPLACE 018743,000275: 33,2320 02312 TC COAALIGN +10 018744,000276: 018745,000277: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE 018746,000278: 33,2322 23425 QXCH QPLACE 018747,000279: 33,2323 02331 TC +6 018748,000280: 33,2324 00003 CHECKG1 RELINT 018749,000281: 33,2325 30067 CA NEWJOB 018750,000282: 33,2326 00006 EXTEND 018751,000283: 33,2327 62335 BZMF +6 018752,000284: 33,2330 05164 TC CHANG1 018753,000285: 33,2331 00004 INHINT 018754,000286: 33,2332 51422 INDEX PIPINDEX 018755,000287: 33,2333 40037 CS PIPAX 018756,000288: 33,2334 55655 TS ZERONDX 018757,000289: 33,2335 00004 INHINT 018758,000290: 33,2336 51422 INDEX PIPINDEX 018759,000291: 33,2337 30037 CA PIPAX 018760,000292: 33,2340 61655 AD ZERONDX 018761,000293: 33,2341 00006 EXTEND 018762,000294: 33,2342 12324 BZF CHECKG1 018763,000295: 33,2343 51422 INDEX PIPINDEX 018764,000296: 33,2344 30037 CA PIPAX 018765,000297: 33,2345 51547 INDEX RESULTCT 018766,000298: 33,2346 55502 TS DATAPL 018767,000299: 33,2347 04553 TC FINETIME 018768,000300: 33,2350 51547 INDEX RESULTCT 018769,000301: 33,2351 55503 TS DATAPL +1 018770,000302: # Page 429 018771,000303: 33,2352 51547 INDEX RESULTCT 018772,000304: 33,2353 23504 LXCH DATAPL +2 018773,000305: 33,2354 00003 RELINT 018774,000306: 33,2355 01425 ENDCHKG TC QPLACE 018775,000307: 018776,000308: 33,2356 54001 ZEROING TS L 018777,000309: 33,2357 12361 TCF +2 018778,000310: 33,2360 55655 ZEROING1 TS ZERONDX1 018779,000311: 33,2361 35021 CAF ZERO 018780,000312: 33,2362 50001 INDEX L 018781,000313: 33,2363 54000 TS 0 018782,000314: 33,2364 24001 INCR L 018783,000315: 33,2365 11655 CCS ZERONDX1 018784,000316: 33,2366 12360 TCF ZEROING1 018785,000317: 33,2367 00002 TC Q 018786,000318: 018787,000319: # Page 430 018788,000320: 32,2000 SETLOC IMUCAL3 018789,000321: 32,2000 BANK 018790,000322: 32,2000 65345 ERTHRVSE DLOAD PDDL 018791,000323: 32,2001 27111 SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS) 018792,000324: 32,2002 02403 LATITUDE 018793,000325: 32,2003 57546 COS DCOMP 018794,000326: 32,2004 73525 PDDL SIN 018795,000327: 32,2005 02403 LATITUDE 018796,000328: 32,2006 74266 VDEF VXSC 018797,000329: 32,2007 26450 OMEG/MS 018798,000330: 32,2010 02405 STORE ERVECTOR 018799,000331: 32,2011 77634 RTB 018800,000332: 32,2012 45510 LOADTIME 018801,000333: 32,2013 26443 STOVL TMARK 018802,000334: 32,2014 27111 SCHZEROS 018803,000335: 32,2015 02650 STORE ERCOMP1 018804,000336: 32,2016 77616 RVQ 018805,000337: 33,2000 SETLOC IMUCAL 018806,000338: 33,2000 BANK 018807,000339: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE 018808,000340: 33,2371 00051 S2 018809,000341: 33,2372 45510 LOADTIME 018810,000342: 33,2373 02441 STORE TEMPTIME 018811,000343: 33,2374 51025 DSU BPL 018812,000344: 33,2375 02443 TMARK 018813,000345: 33,2376 66401 ERTHR 018814,000346: 33,2377 77624 CALL 018815,000347: 33,2400 66276 OVERFFIX 018816,000348: 33,2401 74261 ERTHR SL VXSC 018817,000349: 33,2402 20212 9D 018818,000350: 33,2403 02405 ERVECTOR 018819,000351: 33,2404 53321 MXV VAD 018820,000352: 33,2405 02672 XSM 018821,000353: 33,2406 02650 ERCOMP1 018822,000354: 33,2407 16650 STODL ERCOMP1 018823,000355: 33,2410 02441 TEMPTIME 018824,000356: 33,2411 02443 STORE TMARK 018825,000357: 33,2412 47170 AXT,1 RTB 018826,000358: 33,2413 02647 ECADR ERCOMP1 018827,000359: 33,2414 45653 PULSEIMU 018828,000360: 33,2415 77650 GOTO 018829,000361: 33,2416 00051 S2 018830,000362: 018831,000363: 33,2417 00006 EARTHR* EXTEND 018832,000364: 33,2420 23426 QXCH QPLACES 018833,000365: 33,2421 06006 TC INTPRET 018834,000366: 33,2422 77624 CALL 018835,000367: 33,2423 66370 EARTHR 018836,000368: 33,2424 77776 PROUT EXIT 018837,000369: 33,2425 02316 TC IMUSTLLG 018838,000370: 33,2426 01426 TC QPLACES 018839,000371: # Page 431 018840,000372: 018841,000373: 33,2427 00006 SHOW EXTEND 018842,000374: 33,2430 23425 QXCH QPLACE 018843,000375: 33,2431 31423 SHOW1 CA POSITON 018844,000376: 33,2432 55052 TS DSPTEM2 +2 018845,000377: 33,2433 32442 CA VB06N98 018846,000378: 33,2434 04662 TC BANKCALL 018847,000379: 33,2435 20720 CADR GOFLASH 018848,000380: 33,2436 02267 TC ENDTEST1 # V34 018849,000381: 33,2437 01425 TC QPLACE # V33 018850,000382: 33,2440 12431 TCF SHOW1 018851,000383: 018852,000384: 33,2441 14400 OC14400 OCT 14400 018853,000385: 33,2442 33,2447 3990DEC = OMEG/MS 018854,000386: 33,2442 01542 VB06N98 VN 0698 018855,000387: 33,2443 01602 TESTTIME OCT 01602 018856,000388: 33,2444 4375 DEC17 = ND1 018857,000389: 33,2444 02757 OGCPL ECADR OGC 018858,000390: 33,2445 5041 1SECX = 1SEC 018859,000391: 33,2445 4374 DEC57 = VD1 018860,000392: 33,2445 01713 XNBADR GENADR XNB 018861,000393: 33,2446 01671 XSMADR GENADR XSM 018862,000394: 33,2447 07623 26552 OMEG/MS 2DEC .24339048 018863,000395: 018864,000396: 33,2451 04662 P11OUT TC BANKCALL 018865,000397: 33,2452 70117 CADR MATRXJOB # RETURN TO P11 018866,000398: 018867,000399: 33,2453 COUNT 02/COMST 018868,000400: 018869,000401: 4553 BLOCK 2 018870,000402: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 018871,000403: 4554 00006 EXTEND 018872,000404: 4555 00004 READ LOSCALAR 018873,000405: 4556 54001 TS L 018874,000406: 4557 00006 EXTEND 018875,000407: 4560 06004 RXOR LOSCALAR 018876,000408: 4561 00006 EXTEND 018877,000409: 4562 14566 BZF +4 018878,000410: 4563 00006 EXTEND 018879,000411: 4564 00004 READ LOSCALAR 018880,000412: 4565 54001 TS L 018881,000413: 4566 44777 +4 CS POSMAX 018882,000414: 4567 60001 AD L 018883,000415: 4570 00006 EXTEND 018884,000416: 4571 14554 BZF FINETIME +1 018885,000417: 4572 00006 EXTEND 018886,000418: 4573 00003 READ HISCALAR 018887,000419: 4574 00002 TC Q 018888,000420: 018889,000421: # Page 432 018890,000422: # PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION 018891,000423: # DATE: NOVEMBER 2 1966 018892,000424: # BY: GEORGE SCHMIDT IL 7-146 EXT. 126 018893,000425: # MOD NO 3 018894,000426: 018895,000427: # FUNCTIONAL DESCRIPTION 018896,000428: 018897,000429: # THIS SECTON CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS 018898,000430: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART 018899,000431: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF 018900,000432: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT 018901,000433: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL 018902,000434: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT 018903,000435: # FOR THE DATA TO FLASH. 018904,000436: 018905,000437: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST. 018906,000438: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1 018907,000439: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX. 018908,000440: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 018909,000441: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE 018910,000442: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION 018911,000443: # PROCEDURE THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD 018912,000444: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL. 018913,000445: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY 018914,000446: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR 018915,000447: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY). 018916,000448: 018917,000449: # COMPASS ERASABLE LOAD REQUIRED 018918,000450: 018919,000451: # 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) 018920,000452: # 2. LATITUDE-DP-OF LAUNCH PAD 018921,000453: # 3. AZIMUTH-DP-OF ZNB OF VEHICLE 018922,000454: # 4. IMU COMPENSATION PARAMETERS 018923,000455: # 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** 018924,000456: 018925,000457: # TO PERFORM AS PART OF COMPASS 018926,000458: 018927,000459: # 1. OPTICAL VERIFICATION: V 65 E 018928,000460: # 2. AXIMUTH CHANGE: V 78 E 018929,000461: 018930,000462: # SUBROUTINES CALLED 018931,000463: 018932,000464: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN 018933,000465: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. 018934,000466: 018935,000467: # NORMAL EXIT 018936,000468: 018937,000469: # DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL 018938,000470: # GYROCOMPASS-MANY, SEE THE LISTING. 018939,000471: 018940,000472: # ALARMS 018941,000473: 018942,000474: # 1600 OVERFLOW IN DRIFT TEST 018943,000475: # Page 433 018944,000476: # 1601 BAD IMU TORQUE ABORT 018945,000477: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY 018946,000478: 018947,000479: # OUTPUT 018948,000480: 018949,000481: # DRIFT TESTS: FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 018950,000482: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN 018951,000483: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE 018952,000484: # 02 GYROCOMPASSING 018953,000485: # 03 DOING OPTICAL VERIFICATION (CSM) 018954,000486: 018955,000487: # DEBRIS 018956,000488: 018957,000489: # ALL CENTRALS, ALL OF EBANK XSM 018958,000490: 018959,000491: # Page 434 018960,000492: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR 018961,000493: # ON THE NEXT FEW PAGES. 018962,000494: 018963,000495: 4575 COUNT 33/P02 018964,000496: 018965,000497: 4575 E5,1671 EBANK= XSM 018966,000498: 33,2453 BANK 33 018967,000499: 33,2000 SETLOC IMUCAL 018968,000500: 33,2000 BANK 018969,000501: 018970,000502: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 018971,000503: 33,2454 00075 OCT 00075 018972,000504: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON 018973,000505: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART 018974,000506: 33,2457 30025 CA TIME1 018975,000507: 33,2460 55645 TS GTSWTLT1 018976,000508: 33,2461 35021 CAF ZERO # ZERO THE PIPAS 018977,000509: 33,2462 54037 TS PIPAX 018978,000510: 33,2463 54040 TS PIPAY 018979,000511: 33,2464 54041 TS PIPAZ 018980,000512: 33,2465 00003 RELINT 018981,000513: 33,2466 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS 018982,000514: 33,2467 55655 TS ZERONDX1 018983,000515: 33,2470 33130 CA ALXXXZ 018984,000516: 33,2471 02356 TC ZEROING 018985,000517: 33,2472 06006 TC INTPRET 018986,000518: 33,2473 77735 SLOAD 018987,000519: 33,2474 27111 SCHZEROS 018988,000520: 33,2475 25477 STOVL GCOMPSW -1 018989,000521: 33,2476 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS 018990,000522: 33,2477 26455 STOVL ALX1S 018991,000523: 33,2500 27111 SCHZEROS 018992,000524: 33,2501 01472 STORE GCOMP 018993,000525: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED 018994,000526: 33,2503 77776 EXIT 018995,000527: 018996,000528: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS. 018997,000529: 33,2505 02507 TC +2 018998,000530: 33,2506 02523 TC SLEEPIE +1 018999,000531: 33,2507 06006 TC INTPRET 019000,000532: 33,2510 77624 CALL 019001,000533: 33,2511 64000 ERTHRVSE 019002,000534: 33,2512 77776 EXIT 019003,000535: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING 019004,000536: 33,2514 55646 TS ERECTIME 019005,000537: 019006,000538: 33,2515 05354 TC NEWMODEX 019007,000539: 33,2516 00002 MM 02 B-14 019008,000540: 33,2517 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM 019009,000541: # Page 435 019010,000542: 33,2520 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF 019011,000543: 33,2521 03403 TC ANNNNNN # END OF FIRST TIME THROUGH 019012,000544: 019013,000545: # Page 436 019014,000546: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS 019015,000547: 019016,000548: # SET UP WAITLIST SECTION 019017,000549: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT 019018,000550: 33,2523 05412 TC PHASCHNG # CHANGE PHASE 019019,000551: 33,2524 00135 OCT 00135 019020,000552: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT 019021,000553: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO 019022,000554: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER 019023,000555: 33,2530 02532 TC SETGWLST 019024,000556: 33,2531 05217 TC ENDOFJOB 019025,000557: 019026,000558: 33,2532 00006 SETGWLST EXTEND 019027,000559: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE 019028,000560: 33,2534 00004 INHINT 019029,000561: 33,2535 40025 CS TIME1 019030,000562: 33,2536 61645 AD GTSWTLT1 019031,000563: 33,2537 00006 EXTEND 019032,000564: 33,2540 62542 BZMF +2 019033,000565: 33,2541 65001 AD NEGMAX # 10 MS ERROR OK 019034,000566: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS 019035,000567: 33,2543 00006 EXTEND 019036,000568: 33,2544 62550 BZMF RIGHTGTS 019037,000569: 33,2545 05235 WTGTSMPL TC TWIDDLE 019038,000570: 33,2546 E5,1540 EBANK= ALTIM 019039,000571: 33,2546 02574 ADRES ALLOOP 019040,000572: 33,2547 00154 TC MPAC 019041,000573: 33,2550 35015 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME 019042,000574: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION 019043,000575: 019044,000576: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING 019045,000577: 019046,000578: 33,2552 4113 25DECML EQUALS OCT31 019047,000579: 33,2552 34113 STOREDTA CAF 25DECML 019048,000580: 33,2553 54154 TS MPAC 019049,000581: 33,2554 50154 INDEX MPAC 019050,000582: 33,2555 31460 CAE THETAX1 019051,000583: 33,2556 50154 INDEX MPAC 019052,000584: 33,2557 55577 TS RESTARPT 019053,000585: 33,2560 10154 CCS MPAC 019054,000586: 33,2561 12553 TCF STOREDTA +1 019055,000587: 33,2562 00002 TC Q 019056,000588: 019057,000589: 33,2563 34113 LOADSTDT CAF 25DECML 019058,000590: 33,2564 54154 TS MPAC 019059,000591: 33,2565 50154 INDEX MPAC 019060,000592: 33,2566 31577 CA RESTARPT 019061,000593: 33,2567 50154 INDEX MPAC 019062,000594: 019063,000595: # Page 437 019064,000596: 33,2570 55460 TS THETAX1 019065,000597: 33,2571 10154 CCS MPAC 019066,000598: 33,2572 12564 TCF LOADSTDT +1 019067,000599: 33,2573 00002 TC Q 019068,000600: 019069,000601: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE 019070,000602: 019071,000603: 33,2574 30025 ALLOOP CA TIME1 019072,000604: 33,2575 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST. 019073,000605: 33,2576 31540 ALLOOP3 CA ALTIM 019074,000606: 33,2577 55631 TS GEOSAVE1 019075,000607: 33,2600 05412 TC PHASCHNG 019076,000608: 33,2601 00115 OCT 00115 019077,000609: 33,2602 31631 ALLOOP1 CAE GEOSAVE1 019078,000610: 33,2603 55540 TS ALTIM 019079,000611: 33,2604 10000 CCS A 019080,000612: 33,2605 30000 CA A # SHOULD NEVER HIT THIS LOCATION 019081,000613: 33,2606 55541 TS ALTIMS 019082,000614: 33,2607 40000 CS A 019083,000615: 33,2610 55540 TS ALTIM 019084,000616: 33,2611 35021 CAF ZERO 019085,000617: 33,2612 56037 XCH PIPAX 019086,000618: 33,2613 55162 TS DELVX 019087,000619: 33,2614 35021 CAF ZERO 019088,000620: 33,2615 56040 XCH PIPAY 019089,000621: 33,2616 55164 TS DELVY 019090,000622: 33,2617 35021 CAF ZERO 019091,000623: 33,2620 56041 XCH PIPAZ 019092,000624: 33,2621 55166 TS DELVZ 019093,000625: 33,2622 34374 CAF 19DECML # 23 OCT 019094,000626: 33,2623 04114 TC NEWPHASE 019095,000627: 33,2624 00005 OCT 00005 019096,000628: 33,2625 37657 SPECSTS CAF PRIO22 019097,000629: 33,2626 05147 TC FINDVAC 019098,000630: 33,2627 E5,1631 EBANK= GEOSAVE1 019099,000631: 33,2627 02632 66065 2CADR ALFLT # START THE JOB 019100,000632: 019101,000633: 33,2631 05324 TC TASKOVER 019102,000634: 019103,000635: # Page 438 019104,000636: # THIS IS PART OF THE JOB DONE EVERY ITERATION 019105,000637: 019106,000638: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB 019107,000639: 33,2633 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION 019108,000640: 33,2634 00215 OCT 00215 019109,000641: 33,2635 12637 TCF +2 019110,000642: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART 019111,000643: 019112,000644: 33,2637 11643 CCS GEOCOMP1 019113,000645: 33,2640 02642 TC +2 019114,000646: 33,2641 02645 TC NORMLOP 019115,000647: 33,2642 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER 019116,000648: 33,2643 04662 TC BANKCALL # COMPENSATION IF IN COMPASS 019117,000649: 33,2644 15262 CADR 1/PIPA 019118,000650: 33,2645 06006 NORMLOP TC INTPRET 019119,000651: 33,2646 77745 DLOAD 019120,000652: 33,2647 27120 INTVAL 019121,000653: 33,2650 24051 STOVL S1 019122,000654: 33,2651 01163 DELVX 019123,000655: 33,2652 76505 VXM VSL1 019124,000656: 33,2653 02672 XSM 019125,000657: 33,2654 57545 DLOAD DCOMP 019126,000658: 33,2655 00160 MPAC +3 019127,000659: 33,2656 16533 STODL DPIPAY 019128,000660: 33,2657 00162 MPAC +5 019129,000661: 33,2660 02537 STORE DPIPAZ 019130,000662: 019131,000663: 33,2661 76001 SETPD AXT,1 019132,000664: 33,2662 00001 0 019133,000665: 33,2663 00010 8D 019134,000666: 33,2664 57535 SLOAD DCOMP 019135,000667: 33,2665 02644 GEOCOMP1 019136,000668: 33,2666 77640 BMN 019137,000669: 33,2667 67210 ALWAYSG # DO A QUICK COMPASS 019138,000670: 019139,000671: # Page 439 019140,000672: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES 019141,000673: 019142,000674: 33,2670 COUNT 33/COMST 019143,000675: 019144,000676: 33,2670 50135 ALCGKK SLOAD BMN 019145,000677: 33,2671 02542 ALTIMS 019146,000678: 33,2672 66705 ALFLT3 # NO NEW GAINS NEEDED 019147,000679: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 019148,000680: 33,2674 00014 12D 019149,000681: 33,2675 02454 ALX1S 019150,000682: 33,2676 62143 ALKCG2 DLOAD* INCR,1 019151,000683: 33,2677 02243 ALFDK +144D,1 019152,000684: 33,2700 77775 DEC -2 B-14 019153,000685: 33,2701 12555 STORE ALDK +10D,2 019154,000686: 33,2702 66104 TIX,2 SXA,1 019155,000687: 33,2703 66676 ALKCG2 019156,000688: 33,2704 02454 ALX1S 019157,000689: 019158,000690: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES 019159,000691: 33,2706 00010 8D # AND GAIN UPDATES 019160,000692: 33,2707 41343 DELMLP DLOAD* DMP 019161,000693: 33,2710 02543 DPIPAY +8D,1 019162,000694: 33,2711 27705 PIPASC 019163,000695: 33,2712 43661 SLR BDSU* 019164,000696: 33,2713 21212 9D 019165,000697: 33,2714 02511 INTY +8D,1 019166,000698: 33,2715 06511 STORE INTY +8D,1 019167,000699: 33,2716 40725 PDDL DMP* 019168,000700: 33,2717 27707 VELSC 019169,000701: 33,2720 02531 VLAUN +8D,1 019170,000702: 33,2721 77732 SL2R 019171,000703: 33,2722 45425 DSU STADR 019172,000704: 33,2723 71206 STORE DELM +8D,1 019173,000705: 33,2724 06573 STORE DELM +10D,1 019174,000706: 33,2725 77100 TIX,1 AXT,2 019175,000707: 33,2726 66707 DELMLP 019176,000708: 33,2727 00004 4 019177,000709: 33,2730 56743 ALILP DLOAD* DMPR* 019178,000710: 33,2731 75314 ALK +4,2 019179,000711: 33,2732 75230 ALDK +4,2 019180,000712: 33,2733 12463 STORE ALK +4,2 019181,000713: 33,2734 77104 TIX,2 AXT,2 019182,000714: 33,2735 66730 ALILP 019183,000715: 33,2736 00010 8D 019184,000716: 33,2737 66140 ALKLP LXC,1 SXA,1 019185,000717: 33,2740 02455 CMPX1 019186,000718: 33,2741 02455 CMPX1 019187,000719: 33,2742 56743 DLOAD* DMPR* 019188,000720: 33,2743 02460 ALK +1,1 019189,000721: 33,2744 75206 DELM +8D,2 019190,000722: # Page 440 019191,000723: 33,2745 77613 DAD* 019192,000724: 33,2746 75266 INTY +8D,2 019193,000725: 33,2747 12511 STORE INTY +8D,2 019194,000726: 33,2750 42743 DLOAD* DAD* 019195,000727: 33,2751 75304 ALK +12D,2 019196,000728: 33,2752 75220 ALDK +12D,2 019197,000729: 33,2753 12473 STORE ALK +12D,2 019198,000730: 33,2754 42673 DMPR* DAD* 019199,000731: 33,2755 75206 DELM +8D,2 019200,000732: 33,2756 75256 INTY +16D,2 019201,000733: 33,2757 12521 STORE INTY +16D,2 019202,000734: 33,2760 40743 DLOAD* DMP* 019203,000735: 33,2761 27712 ALSK +1,1 019204,000736: 33,2762 75206 DELM +8D,2 019205,000737: 33,2763 42772 SL1R DAD* 019206,000738: 33,2764 75246 VLAUN +8D,2 019207,000739: 33,2765 12531 STORE VLAUN +8D,2 019208,000740: 33,2766 76104 TIX,2 AXT,1 019209,000741: 33,2767 66737 ALKLP 019210,000742: 33,2770 00010 8D 019211,000743: 019212,000744: 33,2771 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES 019213,000745: 33,2772 02533 ACCWD +8D,1 019214,000746: 33,2773 02531 VLAUN +8D,1 019215,000747: 33,2774 55523 PDDL* VDEF 019216,000748: 33,2775 02541 POSNV +8D,1 019217,000749: 33,2776 76521 MXV VSL1 019218,000750: 33,2777 02001 TRANSM1 019219,000751: 33,3000 77745 DLOAD 019220,000752: 33,3001 00155 MPAC 019221,000753: 33,3002 06541 STORE POSNV +8D,1 019222,000754: 33,3003 77745 DLOAD 019223,000755: 33,3004 00160 MPAC +3 019224,000756: 33,3005 06531 STORE VLAUN +8D,1 019225,000757: 33,3006 77745 DLOAD 019226,000758: 33,3007 00162 MPAC +5 019227,000759: 33,3010 06533 STORE ACCWD +8D,1 019228,000760: 33,3011 77700 TIX,1 019229,000761: 33,3012 66771 LOOSE 019230,000762: 019231,000763: 33,3013 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES 019232,000764: 33,3014 00006 6 019233,000765: 33,3015 00002 2 019234,000766: 33,3016 57343 BOOP DLOAD* DMPR 019235,000767: 33,3017 02513 ANGX +2,1 019236,000768: 33,3020 27715 GEORGEJ 019237,000769: 33,3021 77722 SR2R 019238,000770: 33,3022 73406 PUSH SIN 019239,000771: # Page 441 019240,000772: 33,3023 56072 SL3R XAD,1 019241,000773: 33,3024 00046 X1 019242,000774: 33,3025 10021 STORE 16D,2 019243,000775: 33,3026 77745 DLOAD 019244,000776: 33,3027 77746 COS 019245,000777: 33,3030 10027 STORE 22D,2 # COSINES 019246,000778: 33,3031 77704 TIX,2 019247,000779: 33,3032 67016 BOOP 019248,000780: 019249,000781: 33,3033 77776 PERFERAS EXIT 019250,000782: 33,3034 35060 CA EBANK7 019251,000783: 33,3035 E7,1400 EBANK= LAT(SPL) 019252,000784: 33,3035 54003 TS EBANK 019253,000785: 33,3036 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN 019254,000786: 019255,000787: # CAUTION 019256,000788: 019257,000789: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED 019258,000790: # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST 019259,000791: 019260,000792: 33,3037 E5,1412 EBANK= LENGTHOT 019261,000793: 33,3037 11412 ONCEMORE CCS LENGTHOT 019262,000794: 33,3040 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST 019263,000795: 33,3041 11450 CCS TORQNDX 019264,000796: 33,3042 13044 TCF +2 019265,000797: 33,3043 03046 TC SETUPER1 019266,000798: 33,3044 30032 CA CDUX 019267,000799: 33,3045 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD 019268,000800: 33,3046 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER 019269,000801: 33,3047 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY 019270,000802: 33,3050 02503 ANGZ 019271,000803: 33,3051 02507 ANGY 019272,000804: 33,3052 55525 PDDL VDEF 019273,000805: 33,3053 02511 ANGX 019274,000806: 33,3054 74276 VCOMP VXSC 019275,000807: 33,3055 27715 GEORGEJ 019276,000808: 33,3056 74521 MXV VSR1 019277,000809: 33,3057 02672 XSM 019278,000810: 33,3060 02760 STORE OGC 019279,000811: 33,3061 77776 EXIT 019280,000812: 019281,000813: 33,3062 05412 TORQINCH TC PHASCHNG 019282,000814: 33,3063 00005 OCT 00005 019283,000815: 33,3064 32444 CA OGCPL 019284,000816: 33,3065 04662 TC BANKCALL 019285,000817: 33,3066 17206 CADR IMUPULSE 019286,000818: 33,3067 02316 TC IMUSTLLG 019287,000819: 33,3070 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST 019288,000820: 33,3071 02262 TC VALMIS # VERT DRIFT TEST OVER 019289,000821: 33,3072 06006 TC INTPRET 019290,000822: # Page 442 019291,000823: 33,3073 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS 019292,000824: 33,3074 64000 ERTHRVSE 019293,000825: 33,3075 77776 EXIT 019294,000826: 33,3076 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY 019295,000827: 019296,000828: 33,3077 05650 SOMEERRR TC ALARM 019297,000829: 33,3100 01600 OCT 1600 019298,000830: 33,3101 03104 TC +3 019299,000831: 33,3102 05650 SOMERR2 TC ALARM 019300,000832: 33,3103 01601 OCT 1601 019301,000833: 33,3104 05412 TC PHASCHNG 019302,000834: 33,3105 00005 OCT 00005 019303,000835: 33,3106 02267 TC ENDTEST1 019304,000836: 019305,000837: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD 019306,000838: 019307,000839: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT 019308,000840: 33,3110 00000 00000 SCHZEROS 2DEC .00000000 019309,000841: 33,3112 00000 00000 2DEC .00000000 019310,000842: 33,3114 00000 OCT 00000 019311,000843: 33,3115 00000 ONEDPP OCT 00000 019312,000844: 33,3116 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT 019313,000845: 019314,000846: 33,3117 00004 INTVAL OCT 4 019315,000847: 33,3120 00002 OCT 2 019316,000848: 33,3121 00220 DEC 144 B-14 019317,000849: 33,3122 77776 DEC -1 B-14 019318,000850: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 019319,000851: 33,3125 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES 019320,000852: 019321,000853: 33,3127 00115 77DECML DEC 77 B-14 019322,000854: 33,3130 01453 ALXXXZ GENADR ALX1S -1 019323,000855: 019324,000856: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION 019325,000857: 019326,000858: 33,3131 COUNT 33/P01 019327,000859: 019328,000860: # INITIALIZATION SECTION 019329,000861: 019330,000862: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37 019331,000863: 33,3132 75004 MASK NOP01BIT 019332,000864: # Page 443 019333,000865: 33,3133 00006 EXTEND 019334,000866: 33,3134 13137 BZF GTSCPSSA 019335,000867: 33,3135 05721 TC P00DOO 019336,000868: 33,3136 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE 019337,000869: 019338,000870: 33,3137 35017 GTSCPSSA CAF ONE 019339,000871: 33,3140 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS 019340,000872: 33,3141 33435 CA 1/PIPAGT 019341,000873: 33,3142 55074 TS 1/PIPADT 019342,000874: 33,3143 35010 NXXTENN CA BIT8 019343,000875: 33,3144 55412 TS LENGTHOT 019344,000876: 33,3145 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP 019345,000877: 33,3146 55644 TS 1SECXT1 019346,000878: 33,3147 35017 CAF ONE 019347,000879: 33,3150 55632 TS PREMTRX1 019348,000880: 33,3151 55657 TS PERFDLAY +1 019349,000881: 33,3152 35021 CAF ZERO 019350,000882: 33,3153 55656 TS PERFDLAY 019351,000883: 33,3154 00006 EXTEND 019352,000884: 33,3155 31634 DCA LUNCHAZ1 019353,000885: 33,3156 53636 DXCH NEWAZ1 019354,000886: 33,3157 00006 EXTEND 019355,000887: 33,3160 31634 DCA LUNCHAZ1 019356,000888: 33,3161 53640 DXCH OLDAZMTH 019357,000889: 33,3162 34375 SETUPGC CA DEC17 019358,000890: 33,3163 55655 TS ZERONDX1 019359,000891: 33,3164 32446 CA XSMADR 019360,000892: 33,3165 02356 TC ZEROING 019361,000893: 33,3166 03170 TC POSN17C 019362,000894: 33,3167 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION 019363,000895: 019364,000896: 019365,000897: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE 019366,000898: 33,3171 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE 019367,000899: 33,3172 45002 CS HALF # ALL THIS TO INITIALIZE MATRIX 019368,000900: 33,3173 55705 TS ZSM 019369,000901: 33,3174 06006 TC INTPRET 019370,000902: 33,3175 41545 DLOAD PUSH 019371,000903: 33,3176 02636 NEWAZ1 019372,000904: 33,3177 77756 SIN 019373,000905: 33,3200 02676 STORE XSM +4 019374,000906: 33,3201 16702 STODL YSM +2 019375,000907: 33,3202 77746 COS 019376,000908: 33,3203 02704 STORE YSM +4 019377,000909: 33,3204 77676 DCOMP 019378,000910: 33,3205 02674 STORE XSM +2 019379,000911: 33,3206 77776 EXIT 019380,000912: 33,3207 01425 TC QPLACE 019381,000913: 019382,000914: # Page 444 019383,000915: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP 019384,000916: 019385,000917: 33,3210 COUNT 33/P02 019386,000918: 019387,000919: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT 019388,000920: 33,3211 02543 DPIPAY +8D,1 019389,000921: 33,3212 02505 FILDELV1 +8D,1 019390,000922: 33,3213 42675 DMPR DAD* 019391,000923: 33,3214 27717 GEOCONS1 019392,000924: 33,3215 02505 FILDELV1 +8D,1 019393,000925: 33,3216 06505 STORE FILDELV1 +8D,1 019394,000926: 33,3217 77613 DAD* 019395,000927: 33,3220 02507 INTVEC1 +8D,1 019396,000928: 33,3221 06507 STORE INTVEC1 +8D,1 019397,000929: 33,3222 42675 DMPR DAD* 019398,000930: 33,3223 27721 GEOCONS2 019399,000931: 33,3224 02505 FILDELV1 +8D,1 019400,000932: 33,3225 41475 DMPR PUSH 019401,000933: 33,3226 15333 GEOCONS5 019402,000934: 33,3227 67300 TIX,1 SLOAD 019403,000935: 33,3230 67210 ALWAYSG 019404,000936: 33,3231 02647 ERECTIM1 019405,000937: 33,3232 71254 BZE DLOAD 019406,000938: 33,3233 67244 COMPGS 019407,000939: 33,3234 02471 THETAN1 +2 019408,000940: 33,3235 45425 DSU STADR 019409,000941: 33,3236 61306 STODL THETAN1 +2 # ERECTION ONLY. 019410,000942: 33,3237 77621 BDSU 019411,000943: 33,3240 02473 THETAN1 +4 019412,000944: 33,3241 02473 STORE THETAN1 +4 019413,000945: 33,3242 77650 GOTO 019414,000946: 33,3243 67266 ADDINDRF 019415,000947: 33,3244 43345 COMPGS DLOAD DAD # COMPASS 019416,000948: 33,3245 02467 THETAN1 019417,000949: 33,3246 02475 FILDELV1 019418,000950: 33,3247 16467 STODL THETAN1 019419,000951: 33,3250 02475 FILDELV1 019420,000952: 33,3251 44275 DMPR BDSU 019421,000953: 33,3252 27723 GEOCONS3 019422,000954: 33,3253 02473 THETAN1 +4 019423,000955: 33,3254 16473 STODL THETAN1 +4 019424,000956: 33,3255 02501 FILDELV1 +4 019425,000957: 33,3256 44275 DMPR BDSU 019426,000958: 33,3257 27723 GEOCONS3 019427,000959: 33,3260 02471 THETAN1 +2 019428,000960: 33,3261 57325 PDDL DMPR 019429,000961: 33,3262 02503 INTVEC1 +4 019430,000962: 33,3263 27725 GEOCONS4 019431,000963: 33,3264 45421 BDSU STADR 019432,000964: 33,3265 75306 STORE THETAN1 +2 019433,000965: # Page 445 019434,000966: 33,3266 77776 ADDINDRF EXIT 019435,000967: 019436,000968: 019437,000969: 33,3267 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM 019438,000970: 33,3270 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC 019439,000971: 33,3271 03406 TC CHKCOMED 019440,000972: 33,3272 11304 CCS LGYRO # YES BUT ARE GYROS BUSY 019441,000973: 33,3273 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW 019442,000974: 019443,000975: 33,3274 06006 LASTGTS TC INTPRET 019444,000976: 33,3275 77775 VLOAD 019445,000977: 33,3276 02650 ERCOMP1 019446,000978: 33,3277 16461 STODL THETAX1 019447,000979: 33,3300 02443 TMARK 019448,000980: 33,3301 02457 STORE ALK 019449,000981: 33,3302 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS 019450,000982: 019451,000983: 33,3303 05412 RESTAIER TC PHASCHNG 019452,000984: 33,3304 00275 OCT 00275 019453,000985: 33,3305 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE 019454,000986: 33,3306 64375 VLOAD MXV 019455,000987: 33,3307 02467 THETAN1 019456,000988: 33,3310 02672 XSM 019457,000989: 33,3311 53372 VSL1 VAD 019458,000990: 33,3312 02461 THETAX1 019459,000991: 33,3313 16650 STODL ERCOMP1 019460,000992: 33,3314 02457 ALK 019461,000993: 33,3315 02443 STORE TMARK 019462,000994: 33,3316 77776 EXIT 019463,000995: 33,3317 02417 TC EARTHR* # TORQUE IT ALL IN 019464,000996: 33,3320 31646 CAE ERECTIM1 019465,000997: 33,3321 55631 TS GEOSAVE1 019466,000998: 33,3322 05412 TC PHASCHNG 019467,000999: 33,3323 00155 OCT 00155 019468,001000: 33,3324 06006 RESTEST1 TC INTPRET 019469,001001: 33,3325 77775 VLOAD 019470,001002: 33,3326 27111 SCHZEROS 019471,001003: 33,3327 02467 STORE THETAN1 019472,001004: 33,3330 77776 EXIT 019473,001005: 33,3331 11632 CCS PREMTRXC 019474,001006: 33,3332 03401 TC NOCHORLD 019475,001007: 33,3333 05412 TC PHASCHNG 019476,001008: 33,3334 00255 OCT 00255 019477,001009: 33,3335 06006 RESTEST3 TC INTPRET 019478,001010: 33,3336 77745 DLOAD 019479,001011: 33,3337 02634 LAUNCHAZ 019480,001012: 33,3340 53025 DSU BZE 019481,001013: 33,3341 02640 OLDAZMTH 019482,001014: 33,3342 67376 NOAZCHGE 019483,001015: 33,3343 00001 STORE 0D 019484,001016: # Page 446 019485,001017: 33,3344 43335 SLOAD DAD 019486,001018: 33,3345 27117 ONEDPP +1 019487,001019: 33,3346 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ 019488,001020: 33,3347 16633 STODL PREMTRXC 019489,001021: 33,3350 02634 LAUNCHAZ 019490,001022: 33,3351 16636 STODL NEWAZMTH 019491,001023: 33,3352 00001 0D 019492,001024: 33,3353 02654 ADERCOMP STORE ERCOMP +4 019493,001025: 33,3354 77776 EXIT 019494,001026: 33,3355 03170 TC POSN17C 019495,001027: 33,3356 05412 TC PHASCHNG 019496,001028: 33,3357 00335 OCT 00335 019497,001029: 33,3360 00006 RESCHNG EXTEND 019498,001030: 33,3361 31636 DCA NEWAZMTH 019499,001031: 33,3362 53640 DXCH OLDAZMTH 019500,001032: 33,3363 35011 CA BIT7 # SPEND 320 SEC ERECTING 019501,001033: 33,3364 55412 TS LENGTHOT 019502,001034: 33,3365 05412 TC PHASCHNG 019503,001035: 33,3366 00075 OCT 00075 019504,001036: 33,3367 33434 SPITGYRO CA ERCOMPPL 019505,001037: 33,3370 04662 TC BANKCALL 019506,001038: 33,3371 17206 CADR IMUPULSE 019507,001039: 33,3372 04662 TC BANKCALL 019508,001040: 33,3373 17577 CADR IMUSTALL 019509,001041: 33,3374 03102 TC SOMERR2 019510,001042: 33,3375 02453 TC ESTIMS # RE-INITIALIZE 019511,001043: 019512,001044: 019513,001045: 33,3376 77776 NOAZCHGE EXIT 019514,001046: 33,3377 35017 CA ONE 019515,001047: 33,3400 55632 TS PREMTRXC 019516,001048: 33,3401 11631 NOCHORLD CCS GEOSAVE1 019517,001049: 33,3402 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION. 019518,001050: 019519,001051: 33,3403 34334 ANNNNNN CAF NINE 019520,001052: 33,3404 55412 TS LENGTHOT 019521,001053: 33,3405 02523 TC SLEEPIE +1 019522,001054: 019523,001055: 019524,001056: 33,3406 00004 CHKCOMED INHINT 019525,001057: 33,3407 41011 CS MODREG # CHECK FOR MM 07 FIRST 019526,001058: 33,3410 65023 AD SEVEN 019527,001059: 33,3411 00006 EXTEND 019528,001060: 33,3412 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST 019529,001061: 33,3413 45021 CS ZERO 019530,001062: 33,3414 00006 EXTEND 019531,001063: 33,3415 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30 019532,001064: 33,3416 75013 MASK BIT5 # LIFTOFF BIT 019533,001065: 33,3417 10000 CCS A 019534,001066: 33,3420 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED 019535,001067: 019536,001068: # Page 447 019537,001069: 33,3421 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF 019538,001070: 33,3422 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5 019539,001071: 33,3423 10000 CCS A 019540,001072: 33,3424 13427 TCF PRELTERM # BACKUP RECEIVED 019541,001073: 019542,001074: 33,3425 00003 RELINT 019543,001075: 33,3426 00002 GOBKCALB TC Q 019544,001076: 019545,001077: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11 019546,001078: 33,3430 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER 019547,001079: 33,3431 00004 INHINT 019548,001080: 33,3432 04701 TC POSTJUMP 019549,001081: 33,3433 70002 CADR P11 019550,001082: 019551,001083: 019552,001084: 33,3434 02647 ERCOMPPL ECADR ERCOMP 019553,001085: 019554,001086: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF 019555,001087: 33,3435 06200 1/PIPAGT OCT 06200 019556,001088: 33,3436 4375 17DECML = ND1 # OCT 21 019557,001089: 33,3436 4374 19DECML = VD1 # OCT 23 019558,001090: 33,3436 5036 1/2SECX = .5SEC 019559,001091: 019560,001092: 019561,001093: # Page 448 019562,001094: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB 019563,001095: 019564,001096: # Page 449 019565,001097: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS 019566,001098: 019567,001099: 33,3436 COUNT 33/P03 019568,001100: 019569,001101: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE 019570,001102: 33,3437 00154 OCT 00154 019571,001103: 33,3440 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER 019572,001104: 33,3441 00003 MM 03 B-14 019573,001105: 33,3442 02037 SETNBPOS TC NBPOSPL 019574,001106: 33,3443 04662 TC BANKCALL 019575,001107: 33,3444 16063 CADR MKRELEAS 019576,001108: 33,3445 35017 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET 019577,001109: 33,3446 22007 ZL # 1, THEN TARGET 2 019578,001110: 33,3447 23427 LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET 019579,001111: 33,3450 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL 019580,001112: 33,3451 00006 EXTEND 019581,001113: 33,3452 51427 INDEX RUN 019582,001114: 33,3453 31433 DCA TAZEL1 019583,001115: 33,3454 53046 DXCH DSPTEM1 019584,001116: 33,3455 33500 CAF V05N30E 019585,001117: 33,3456 04662 TC BANKCALL 019586,001118: 33,3457 20673 CADR GODSPRET 019587,001119: 33,3460 33466 CAF VN0641 019588,001120: 33,3461 04662 TC BANKCALL 019589,001121: 33,3462 20720 CADR GOFLASH 019590,001122: 33,3463 03620 TC GCOMP5 019591,001123: 33,3464 03467 TC +3 019592,001124: 33,3465 03455 TC -8D 019593,001125: 33,3466 01451 VN0641 VN 0641 019594,001126: 33,3467 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH 019595,001127: 33,3470 51427 INDEX RUN 019596,001128: 33,3471 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH 019597,001129: 33,3472 11427 CCS RUN 019598,001130: 33,3473 13477 TCF +4 019599,001131: 33,3474 35016 CAF TWO 019600,001132: 33,3475 54001 TS L 019601,001133: 33,3476 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 019602,001134: 019603,001135: 33,3477 03541 TC CONTIN33 019604,001136: 019605,001137: 33,3500 01236 V05N30E VN 0530 019606,001138: 019607,001139: 33,3501 06006 TC INTPRET # UNDYNAMIC ASSEMBLER 019608,001140: 33,3502 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR 019609,001141: 33,3503 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL) 019610,001142: 33,3504 00014 12D 019611,001143: 33,3505 40331 SSP SETPD 019612,001144: 33,3506 00052 S2 019613,001145: 33,3507 00006 6 019614,001146: # Page 450 019615,001147: 33,3510 00001 0 019616,001148: 33,3511 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6 019617,001149: 33,3512 02436 TAZEL1 +3,1 019618,001150: 33,3513 00001 STORE 0 # PD00 ELEVATION PD00 019619,001151: 33,3514 77756 SIN 019620,001152: 33,3515 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12 019621,001153: 33,3516 77745 DLOAD 019622,001154: 33,3517 00001 0 019623,001155: 33,3520 41546 COS PUSH # PD00 COS(EL) PD00 019624,001156: 33,3521 47133 SLOAD* RTB 019625,001157: 33,3522 02435 TAZEL1 +2,1 019626,001158: 33,3523 45513 CDULOGIC 019627,001159: 33,3524 00003 STORE 2 # PD02 AZIMUTH PD02 019628,001160: 33,3525 41356 SIN DMP 019629,001161: 33,3526 00001 0 019630,001162: 33,3527 77752 SL1 019631,001163: 33,3530 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16 019632,001164: 33,3531 71545 DLOAD COS 019633,001165: 33,3532 00003 2 019634,001166: 33,3533 72405 DMP SL1 019635,001167: 33,3534 76076 DCOMP AXT,1 019636,001168: 33,3535 00000 0 019637,001169: 33,3536 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14 019638,001170: 33,3537 43504 TIX,2 RVQ 019639,001171: 33,3540 67511 TAR1 019640,001172: 019641,001173: 019642,001174: 33,3541 BANK 33 019643,001175: 33,2000 SETLOC IMUCAL 019644,001176: 33,2000 BANK 019645,001177: 33,3541 COUNT* $$/P03 019646,001178: 019647,001179: 33,3541 35017 CONTIN33 CA ONE 019648,001180: 33,3542 54735 TS STARCODE 019649,001181: 33,3543 35021 CA ZERO 019650,001182: 33,3544 03635 TC TARGDRVE 019651,001183: 33,3545 06006 TC INTPRET 019652,001184: 33,3546 77624 CALL 019653,001185: 33,3547 67502 TAR/EREF 019654,001186: 33,3550 64375 NEXTBNKS VLOAD MXV 019655,001187: 33,3551 00007 6D 019656,001188: 33,3552 02672 XSM 019657,001189: 33,3553 77772 VSL1 019658,001190: 33,3554 26736 STOVL STARAD 019659,001191: 33,3555 00015 12D 019660,001192: 33,3556 76521 MXV VSL1 019661,001193: 33,3557 02672 XSM 019662,001194: 33,3560 36744 STCALL STARAD +6 019663,001195: 33,3561 67726 LITTLSUB 019664,001196: 33,3562 02414 STORE LOSVEC 019665,001197: # Page 451 019666,001198: 33,3563 77776 EXIT 019667,001199: 33,3564 04662 TC BANKCALL 019668,001200: 33,3565 16063 CADR MKRELEAS 019669,001201: 019670,001202: 019671,001203: 33,3566 35016 NEXBNKSS CAF TWO 019672,001204: 33,3567 54735 TS STARCODE 019673,001205: 33,3570 36211 CAF SIX 019674,001206: 33,3571 03635 TC TARGDRVE 019675,001207: 33,3572 06006 TC INTPRET 019676,001208: 33,3573 77624 CALL 019677,001209: 33,3574 67726 LITTLSUB 019678,001210: 33,3575 24015 STOVL 12D 019679,001211: 33,3576 02414 LOSVEC 019680,001212: 33,3577 34007 STCALL 06D 019681,001213: 33,3600 47401 AXISGEN 019682,001214: 33,3601 77624 CALL 019683,001215: 33,3602 47205 CALCGTA 019684,001216: 33,3603 77776 EXIT 019685,001217: 33,3604 33631 GCOMP4 CAF V06N93S 019686,001218: 33,3605 04662 TC BANKCALL 019687,001219: 33,3606 20720 CADR GOFLASH 019688,001220: 33,3607 03620 TC GCOMP5 019689,001221: 33,3610 13612 TCF +2 019690,001222: 33,3611 13604 TCF GCOMP4 019691,001223: 33,3612 06006 TC INTPRET 019692,001224: 33,3613 53375 VLOAD VAD 019693,001225: 33,3614 02760 OGC 019694,001226: 33,3615 02650 ERCOMP1 019695,001227: 33,3616 02650 STORE ERCOMP1 019696,001228: 33,3617 77776 EXIT 019697,001229: 33,3620 04662 GCOMP5 TC BANKCALL 019698,001230: 33,3621 16063 CADR MKRELEAS 019699,001231: 33,3622 05560 TC DOWNFLAG 019700,001232: 33,3623 00032 ADRES TRM03FLG 019701,001233: 019702,001234: 33,3624 05354 TC NEWMODEX 019703,001235: 33,3625 00002 MM 02 B-14 019704,001236: 33,3626 05412 TC PHASCHNG 019705,001237: 33,3627 00004 OCT 00004 019706,001238: 33,3630 05217 TC ENDOFJOB 019707,001239: 33,3631 01535 V06N93S VN 0693 019708,001240: 33,3632 05650 GTSOPTCS TC ALARM 019709,001241: 33,3633 01602 GTSOPTSS OCT 01602 019710,001242: 33,3634 03620 TC GCOMP5 019711,001243: 019712,001244: 019713,001245: 34,2002 BANK 34 019714,001246: 04,2000 SETLOC IMUCAL1 019715,001247: 04,2000 BANK 019716,001248: # Page 452 019717,001249: 019718,001250: 04,2613 COUNT 34/COMST 019719,001251: 019720,001252: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE 019721,001253: 04,2614 02403 LATITUDE 019722,001254: 04,2615 15047 STODL DSPTEM1 +1 019723,001255: 04,2616 02401 AZIMUTH 019724,001256: 04,2617 77434 RTB EXIT 019725,001257: 04,2620 45546 1STO2S 019726,001258: 04,2621 56154 XCH MPAC 019727,001259: 04,2622 55045 TS DSPTEM1 019728,001260: 04,2623 04662 TC BANKCALL 019729,001261: 04,2624 20703 CADR CLEANDSP 019730,001262: 04,2625 32644 CAF VNG0641 019731,001263: 04,2626 04662 TC BANKCALL 019732,001264: 04,2627 20720 CADR GOFLASH 019733,001265: 04,2630 02632 TC +2 # NOT ALLOWED 019734,001266: 04,2631 02633 TC +2 019735,001267: 04,2632 02625 TC -5 019736,001268: 04,2633 06006 TC INTPRET 019737,001269: 04,2634 47135 SLOAD RTB 019738,001270: 04,2635 01046 DSPTEM1 019739,001271: 04,2636 45513 CDULOGIC 019740,001272: 04,2637 02401 STORE AZIMUTH 019741,001273: 04,2640 60535 SLOAD SR2 019742,001274: 04,2641 01047 DSPTEM1 +1 019743,001275: 04,2642 02403 STORE LATITUDE 019744,001276: 04,2643 77616 RVQ 019745,001277: 04,2644 01451 VNG0641 VN 0641 019746,001278: 33,3635 BANK 33 019747,001279: 33,2000 SETLOC IMUCAL 019748,001280: 33,2000 BANK 019749,001281: 019750,001282: 019751,001283: 33,3635 COUNT* $$/P03 019752,001284: 33,3635 00006 TARGDRVE EXTEND 019753,001285: 33,3636 23424 QXCH QPLAC 019754,001286: 33,3637 55431 TS TARG1/2 019755,001287: 33,3640 06006 TC INTPRET 019756,001288: 33,3641 77624 CALL 019757,001289: 33,3642 67502 TAR/EREF 019758,001290: 33,3643 76740 LXC,1 VLOAD* 019759,001291: 33,3644 02431 TARG1/2 019760,001292: 33,3645 00007 6D,1 019761,001293: 33,3646 36766 STCALL STAR 019762,001294: 33,3647 46053 SXTANG 019763,001295: 33,3650 77776 EXIT 019764,001296: 33,3651 31773 CA SAC 019765,001297: 33,3652 55161 TS DESOPTS 019766,001298: 019767,001299: # Page 453 019768,001300: 33,3653 31775 CA PAC 019769,001301: 33,3654 55160 TS DESOPTT 019770,001302: 33,3655 35021 RETARG CAF ZERO 019771,001303: 33,3656 55303 TS OPTIND 019772,001304: 33,3657 35017 CAF ONE 019773,001305: 33,3660 04662 TC BANKCALL 019774,001306: 33,3661 16002 CADR SXTMARK 019775,001307: 33,3662 04662 TC BANKCALL 019776,001308: 33,3663 17573 CADR OPTSTALL 019777,001309: 33,3664 03632 TC GTSOPTCS 019778,001310: 33,3665 30075 CAE FLAGWRD1 019779,001311: 33,3666 75014 MASK TRM03BIT 019780,001312: 33,3667 10000 CCS A 019781,001313: 33,3670 03620 TC GCOMP5 019782,001314: 019783,001315: 33,3671 51330 INDEX MARKSTAT 019784,001316: 33,3672 30052 CA QPRET 019785,001317: 33,3673 00006 EXTEND 019786,001318: 33,3674 13676 BZF RETARG1 019787,001319: 33,3675 01424 TC QPLAC 019788,001320: 019789,001321: 019790,001322: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA 019791,001323: 33,3677 57330 XCH MARKSTAT 019792,001324: 33,3700 10000 CCS A 019793,001325: 33,3701 50000 INDEX A 019794,001326: 33,3702 54000 TS A 019795,001327: 33,3703 13655 TCF RETARG # GO DO SXTMARK AGAIN 019796,001328: 33,3704 BANK 33 019797,001329: 33,2000 SETLOC IMUCAL 019798,001330: 33,2000 BANK 019799,001331: 33,3704 COUNT* $$/P03 019800,001332: 33,3704 30341 22444 PIPASC 2DEC .76376833 019801,001333: 019802,001334: 33,3706 57223 66451 VELSC 2DEC -.52223476 019803,001335: 019804,001336: 33,3710 05427 12577 ALSK 2DEC .17329931 019805,001337: 019806,001338: 33,3712 77567 44202 2DEC -.00835370 019807,001339: 019808,001340: 33,3714 24276 14066 GEORGEJ 2DEC .63661977 019809,001341: 019810,001342: 33,3716 03146 14632 GEOCONS1 2DEC .1 019811,001343: 019812,001344: 33,3720 00121 35341 GEOCONS2 2DEC .005 019813,001345: 019814,001346: 33,3722 01767 31666 GEOCONS3 2DEC .062 019815,001347: 019816,001348: 33,3724 00004 35223 GEOCONS4 2DEC .0003 019817,001349: 019818,001350: # Page 454 019819,001351: 019820,001352: 33,3726 COUNT 33/P02 019821,001353: 33,3726 77620 LITTLSUB STQ 019822,001354: 33,3727 02424 QPLAC 019823,001355: 33,3730 76740 LXC,1 VLOAD* 019824,001356: 33,3731 01330 MARKSTAT 019825,001357: 33,3732 00003 2,1 019826,001358: 33,3733 34767 STCALL CDUSPOT 019827,001359: 33,3734 46000 SXTNB 019828,001360: 33,3735 77624 CALL 019829,001361: 33,3736 47637 TRG*NBSM 019830,001362: 33,3737 77650 GOTO 019831,001363: 33,3740 02424 QPLAC 019832,001364: 019833,001365: 019834,001366: 33,3741 77776 EXIT 019835,001367: 33,3742 06006 AZMTHCG1 TC INTPRET 019836,001368: 33,3743 47145 DLOAD RTB 019837,001369: 33,3744 02636 NEWAZMTH 019838,001370: 33,3745 45546 1STO2S 019839,001371: 33,3746 77776 EXIT 019840,001372: 33,3747 56154 XCH MPAC 019841,001373: 33,3750 55045 TS DSPTEM1 019842,001374: 33,3751 04662 TC BANKCALL 019843,001375: 33,3752 20703 CADR CLEANDSP 019844,001376: 33,3753 33775 CAF VN0629 019845,001377: 33,3754 04662 TC BANKCALL 019846,001378: 33,3755 20720 CADR GOFLASH 019847,001379: 33,3756 13760 TCF +2 019848,001380: 33,3757 13761 TCF +2 019849,001381: 33,3760 13753 TCF -5 019850,001382: 33,3761 06006 TC INTPRET 019851,001383: 33,3762 47135 SLOAD RTB 019852,001384: 33,3763 01046 DSPTEM1 019853,001385: 33,3764 45513 CDULOGIC 019854,001386: 33,3765 02634 STORE LAUNCHAZ 019855,001387: 33,3766 77776 EXIT 019856,001388: 33,3767 35021 CA ZERO 019857,001389: 33,3770 55632 TS PREMTRXC 019858,001390: 33,3771 05412 TC PHASCHNG 019859,001391: 33,3772 00004 OCT 00004 019860,001392: 33,3773 04701 TC POSTJUMP 019861,001393: 33,3774 21272 CADR PINBRNCH 019862,001394: 019863,001395: 33,3775 01435 VN0629 VN 0629 019864,001396: 019865,001397: # Page 455 019866,001398: # *** END OF COMAID .029 *** 019867,001399: End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc