Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 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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018905,000002: ## Copyright: Public domain.
018906,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018907,000004: ## Purpose: A section of Artemis revision 071.
018908,000005: ## It is part of the reconstructed source code for the first
018909,000006: ## release of the flight software for the Command Module's
018910,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
018911,000008: ## 17. The code has been recreated from a copy of Artemis 072.
018912,000009: ## It has been adapted such that the resulting bugger words
018913,000010: ## exactly match those specified for Artemis 071 in NASA
018914,000011: ## drawing 2021154-, which gives relatively high confidence
018915,000012: ## that the reconstruction is correct.
018916,000013: ## Reference: 427
018917,000014: ## Assembler: yaYUL
018918,000015: ## Contact: Ron Burkey <info@sandroid.org>.
018919,000016: ## Website: www.ibiblio.org/apollo/index.html
018920,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
018921,000018:
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Page 427
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018923,000020:
018924,000021: # NAME- IMU PERFORMANCE TESTS 2
018925,000022:
018926,000023: # DATE- MARCH 20,1967
018927,000024:
018928,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018929,000026:
018930,000027: # MODNO.- ZERO
018931,000028:
018932,000029: # FUNCTIONAL DESCRIPTION
018933,000030:
018934,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018935,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018936,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018937,000034:
018938,000035: 33,2000 SETLOC IMUCAL
018939,000036: 33,2000 BANK
018940,000037:
018941,000038: 33,2002 E5,1423 EBANK= POSITON
018942,000039: 33,2002 COUNT* $$/COMST
018943,000040: 33,2002 04636 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018944,000041: 33,2003 16627 CADR IMUZERO
018945,000042: 33,2004 02126 TC IMUSTLLG
018946,000043: 33,2005 34772 IMUBACK CA ZERO
018947,000044: 33,2006 55421 TS NDXCTR
018948,000045: 33,2007 55450 TS TORQNDX
018949,000046: 33,2010 55451 TS TORQNDX +1
018950,000047: 33,2011 34352 NBPOSPL CA DEC17
018951,000048: 33,2012 55655 TS ZERONDX1
018952,000049: 33,2013 32221 CA XNBADR
018953,000050: 33,2014 02134 TC ZEROING
018954,000051: 33,2015 34753 CA HALF
018955,000052: 33,2016 55713 TS XNB
018956,000053: 33,2017 06006 TC INTPRET
018957,000054: 33,2020 73545 DLOAD SIN
018958,000055: 33,2021 02401 AZIMUTH
018959,000056: 33,2022 02724 STORE YNB +2
018960,000057: 33,2023 16734 STODL ZNB +4
018961,000058: 33,2024 02401 AZIMUTH
018962,000059: 33,2025 77746 COS
018963,000060: 33,2026 02726 STORE YNB +4
018964,000061: 33,2027 77676 DCOMP
018965,000062: 33,2030 02732 STORE ZNB +2
018966,000063: 33,2031 77776 EXIT
018967,000064: 33,2032 05354 TC CHECKMM
018968,000065: 33,2033 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018969,000066: 33,2034 12036 TCF +2 # NO
018970,000067: 33,2035 13217 TCF SETNBPOS +1 # YES
018971,000068: 33,2036 06006 TC INTPRET
018972,000069: 33,2037 77624 CALL
018973,000070: 33,2040 47344 CALCGA
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Page 428
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018975,000072: 33,2041 77776 EXIT
018976,000073: 33,2042 04636 TC BANKCALL
018977,000074: 33,2043 16724 CADR IMUCOARS
018978,000075: 33,2044 34753 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018979,000076: 33,2045 70077 MASK FLAGWRD3
018980,000077: 33,2046 00006 EXTEND
018981,000078: 33,2047 12051 BZF +2
018982,000079: 33,2050 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018983,000080: 33,2051 05561 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018984,000081: 33,2052 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018985,000082: 33,2053 02126 TC IMUSTLLG
018986,000083: 33,2054 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018987,000084: 33,2055 02103 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018988,000085: 33,2056 04636 TC BANKCALL
018989,000086: 33,2057 17133 CADR IMUFINE
018990,000087: 33,2060 02126 TC IMUSTLLG
018991,000088: 33,2061 00006 EXTEND
018992,000089: 33,2062 31657 DCA PERFDLAY
018993,000090: 33,2063 05332 TC LONGCALL
018994,000091: 33,2064 E5,1423 EBANK= POSITON
018995,000092: 33,2064 02070 66065 2CADR GOESTIMS
018996,000093:
018997,000094: 33,2066 32073 CA ESTICADR
018998,000095: 33,2067 05163 TC JOBSLEEP
018999,000096: 33,2070 32073 GOESTIMS CA ESTICADR
019000,000097: 33,2071 05167 TC JOBWAKE
019001,000098: 33,2072 05314 TC TASKOVER
019002,000099: 33,2073 66227 ESTICADR CADR ESTIMS
019003,000100:
019004,000101: 33,2074 34772 TORQUE CA ZERO
019005,000102: 33,2075 55253 TS DSPTEM2
019006,000103: 33,2076 31514 CA DRIFTI
019007,000104: 33,2077 55254 TS DSPTEM2 +1
019008,000105: 33,2100 51423 INDEX POSITON
019009,000106: 33,2101 55430 TS SOUTHDR -1
019010,000107: 33,2102 02205 TC SHOW
019011,000108:
019012,000109: 33,2103 34756 PIPACHK CA EBANK4
019013,000110: 33,2104 54003 TS EBANK
019014,000111: 33,2105 E4,1400 EBANK= ERASPIP
019015,000112: 33,2105 01400 TC ERASPIP
019016,000113: 33,2106 E5,1512 EBANK= DRIFTO
019017,000114: 33,2106 31512 VALMIS CA DRIFTO
019018,000115: 33,2107 55254 TS DSPTEM2 +1
019019,000116: 33,2110 34772 CA ZERO
019020,000117: 33,2111 55253 TS DSPTEM2
019021,000118: 33,2112 02205 TC SHOW
019022,000119:
019023,000120: 33,2113 05561 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
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Page 429
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019025,000122: 33,2114 00007 ADRES IMUSE # BIT 8 FLAG 0
019026,000123: 33,2115 44772 CS ZERO
019027,000124: 33,2116 05347 TC NEWMODEA
019028,000125: 33,2117 04636 TC BANKCALL
019029,000126: 33,2120 16073 CADR MKRELEAS
019030,000127: 33,2121 05524 TC ENDEXT
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Page 430
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019032,000129: 33,2122 43215 OVERFFIX DAD DAD
019033,000130: 33,2123 15344 DPPOSMAX
019034,000131: 33,2124 26670 ONEDPP
019035,000132: 33,2125 77616 RVQ
019036,000133:
019037,000134: 33,2126 00006 IMUSTLLG EXTEND
019038,000135: 33,2127 23425 QXCH QPLACE
019039,000136: 33,2130 04636 TC BANKCALL
019040,000137: 33,2131 17644 CADR IMUSTALL
019041,000138: 33,2132 02655 TC SOMERR2
019042,000139: 33,2133 01425 TC QPLACE
019043,000140: 33,2134 54001 ZEROING TS L
019044,000141: 33,2135 12137 TCF +2
019045,000142: 33,2136 55655 ZEROING1 TS ZERONDX1
019046,000143: 33,2137 34772 CAF ZERO
019047,000144: 33,2140 50001 INDEX L
019048,000145: 33,2141 54000 TS 0
019049,000146: 33,2142 24001 INCR L
019050,000147: 33,2143 11655 CCS ZERONDX1
019051,000148: 33,2144 12136 TCF ZEROING1
019052,000149: 33,2145 00002 TC Q
019053,000150:
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Page 431
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019055,000152: 32,2000 SETLOC IMUCAL3
019056,000153: 32,2000 BANK
019057,000154: 32,2000 COUNT* $$/COMST
019058,000155: 32,2000 65345 ERTHRVSE DLOAD PDDL
019059,000156: 32,2001 26663 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
019060,000157: 32,2002 02403 LATITUDE
019061,000158: 32,2003 57546 COS DCOMP
019062,000159: 32,2004 73525 PDDL SIN
019063,000160: 32,2005 02403 LATITUDE
019064,000161: 32,2006 74266 VDEF VXSC
019065,000162: 32,2007 26224 OMEG/MS
019066,000163: 32,2010 02405 STORE ERVECTOR
019067,000164: 32,2011 77634 RTB
019068,000165: 32,2012 51751 LOADTIME
019069,000166: 32,2013 26443 STOVL TMARK
019070,000167: 32,2014 26663 SCHZEROS
019071,000168: 32,2015 02650 STORE ERCOMP1
019072,000169: 32,2016 77616 RVQ
019073,000170: 33,2000 SETLOC IMUCAL
019074,000171: 33,2000 BANK
019075,000172: 33,2146 COUNT* $$/COMST
019076,000173: 33,2146 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
019077,000174: 33,2147 00051 S2
019078,000175: 33,2150 51751 LOADTIME
019079,000176: 33,2151 02441 +3 STORE TEMPTIME
019080,000177: 33,2152 51025 DSU BPL
019081,000178: 33,2153 02443 TMARK
019082,000179: 33,2154 66157 ERTHR
019083,000180: 33,2155 77624 CALL
019084,000181: 33,2156 66122 OVERFFIX
019085,000182: 33,2157 74261 ERTHR SL VXSC
019086,000183: 33,2160 20212 9D
019087,000184: 33,2161 02405 ERVECTOR
019088,000185: 33,2162 53321 MXV VAD
019089,000186: 33,2163 02672 XSM
019090,000187: 33,2164 02650 ERCOMP1
019091,000188: 33,2165 16650 STODL ERCOMP1
019092,000189: 33,2166 02441 TEMPTIME
019093,000190: 33,2167 02443 STORE TMARK
019094,000191: 33,2170 47170 AXT,1 RTB
019095,000192: 33,2171 02647 ECADR ERCOMP1
019096,000193: 33,2172 45722 PULSEIMU
019097,000194: 33,2173 77650 GOTO
019098,000195: 33,2174 00051 S2
019099,000196: 33,2175 00006 EARTHR* EXTEND
019100,000197: 33,2176 23426 QXCH QPLACES
019101,000198: 33,2177 06006 TC INTPRET
019102,000199: 33,2200 77624 CALL
019103,000200: 33,2201 66146 EARTHR
019104,000201: 33,2202 77776 PROUT EXIT
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Page 432
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019106,000203: 33,2203 02126 TC IMUSTLLG
019107,000204: 33,2204 01426 TC QPLACES
019108,000205: 33,2205 00006 SHOW EXTEND
019109,000206: 33,2206 23425 QXCH QPLACE
019110,000207: 33,2207 31423 SHOW1 CA POSITON
019111,000208: 33,2210 55255 TS DSPTEM2 +2
019112,000209: 33,2211 32217 CA VB06N98
019113,000210: 33,2212 04636 TC BANKCALL
019114,000211: 33,2213 20743 CADR GOFLASH
019115,000212: 33,2214 02113 TC ENDTEST1 # V34
019116,000213: 33,2215 01425 TC QPLACE # V33
019117,000214: 33,2216 12207 TCF SHOW1
019118,000215:
019119,000216:
019120,000217: 33,2217 33,2223 3990DEC = OMEG/MS
019121,000218: 33,2217 01542 VB06N98 VN 0698
019122,000219: 33,2220 4352 DEC17 = ND1
019123,000220: 33,2220 02757 OGCPL ECADR OGC
019124,000221: 33,2221 5016 1SECX = 1SEC
019125,000222: 33,2221 4351 DEC57 = VD1
019126,000223: 33,2221 01713 XNBADR GENADR XNB
019127,000224: 33,2222 01671 XSMADR GENADR XSM
019128,000225: 33,2223 07623 26552 OMEG/MS 2DEC .24339048
019129,000226:
019130,000227:
019131,000228: 33,2225 04636 P11OUT TC BANKCALL
019132,000229: 33,2226 70115 CADR MATRXJOB # RETURN TO P11
019133,000230:
019134,000231: 4000 SETLOC FFTAG1
019135,000232: 4000 BANK
019136,000233:
019137,000234: 4510 COUNT* $$/COMST
019138,000235: 4510 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
019139,000236: 4511 00006 +1 EXTEND
019140,000237: 4512 00004 READ LOSCALAR
019141,000238: 4513 54001 TS L
019142,000239: 4514 00006 EXTEND
019143,000240: 4515 06004 RXOR LOSCALAR
019144,000241: 4516 00006 EXTEND
019145,000242: 4517 14523 BZF +4
019146,000243: 4520 00006 EXTEND
019147,000244: 4521 00004 READ LOSCALAR
019148,000245: 4522 54001 TS L
019149,000246: 4523 44750 +4 CS POSMAX
019150,000247: 4524 60001 AD L
019151,000248: 4525 00006 EXTEND
019152,000249: 4526 14511 BZF FINETIME +1
019153,000250: 4527 00006 EXTEND
019154,000251: 4530 00003 READ HISCALAR
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Page 433
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019156,000253: 4531 00002 TC Q
019157,000254:
019158,000255:
019159,000256: # PROGRAM NAME- OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019160,000257: # DATE- NOVEMBER 2 1966
019161,000258: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
019162,000259: # MOD NO 3
019163,000260:
019164,000261: # FUNCTIONAL DESCRIPTION
019165,000262:
019166,000263: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019167,000264: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
019168,000265: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
019169,000266: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019170,000267: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
019171,000268: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT
019172,000269: # FOR THE DATA TO FLASH.
019173,000270:
019174,000271: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019175,000272: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019176,000273: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019177,000274: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
019178,000275: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
019179,000276: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
019180,000277: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
019181,000278: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019182,000279: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019183,000280: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019184,000281: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019185,000282:
019186,000283: # COMPASS ERASABLE LOAD REQUIRED
019187,000284:
019188,000285: # 1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
019189,000286: # 2- LATITUDE -DP-OF LAUNCH PAD
019190,000287: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
019191,000288: # 4- IMU COMPENSATION PARAMETERS
019192,000289: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
019193,000290:
019194,000291: # TO PERFORM AS PART OF COMPASS
019195,000292:
019196,000293: # 1-OPTICAL VERIFICATION- V 65 E
019197,000294: # 2-AZIMUTH CHANGE- V 78 E
019198,000295:
019199,000296: # SUBROUTINES CALLED
019200,000297:
019201,000298: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019202,000299: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
019203,000300:
019204,000301: # NORMAL EXIT
019205,000302:
019206,000303: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019207,000304: # GYROCOMPASS-MANY,SEE THE LISTING
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Page 434
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019209,000306:
019210,000307: # ALARMS
019211,000308:
019212,000309: # 1600 OVERFLOW IN DRIFT TEST
019213,000310: # 1601 BAD IMU TORQUE ABORT
019214,000311: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
019215,000312:
019216,000313: # OUTPUT
019217,000314:
019218,000315: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019219,000316: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019220,000317: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
019221,000318: # 02 GYROCOMPASSING
019222,000319: # 03 DOING OPTICAL VERIFICATION (CSM)
019223,000320:
019224,000321:
019225,000322: # DEBRIS
019226,000323:
019227,000324: # ALL CENTRALS,ALL OF EBANK XSM
019228,000325:
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Page 435
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019230,000327: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019231,000328: # ON THE NEXT FEW PAGES.
019232,000329:
019233,000330: 4532 E5,1671 EBANK= XSM
019234,000331: 33,2000 SETLOC IMUCAL
019235,000332: 33,2000 BANK
019236,000333:
019237,000334: 33,2227 COUNT* $$/P02
019238,000335: 33,2227 05362 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
019239,000336: 33,2230 00075 OCT 00075
019240,000337: 33,2231 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
019241,000338: 33,2232 01,2256 5P7SPT1 = 5.7SPOT
019242,000339: 33,2232 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
019243,000340: 33,2233 30025 CA TIME1
019244,000341: 33,2234 55645 TS GTSWTLT1
019245,000342: 33,2235 34772 CAF ZERO # ZERO THE PIPAS
019246,000343: 33,2236 54037 TS PIPAX
019247,000344: 33,2237 54040 TS PIPAY
019248,000345: 33,2240 54041 TS PIPAZ
019249,000346: 33,2241 00003 RELINT
019250,000347: 33,2242 32701 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
019251,000348: 33,2243 55655 TS ZERONDX1
019252,000349: 33,2244 32702 CA ALXXXZ
019253,000350: 33,2245 02134 TC ZEROING
019254,000351: 33,2246 06006 TC INTPRET
019255,000352: 33,2247 77735 SLOAD
019256,000353: 33,2250 26663 SCHZEROS
019257,000354: 33,2251 25477 STOVL GCOMPSW -1
019258,000355: 33,2252 26674 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
019259,000356: 33,2253 26455 STOVL ALX1S
019260,000357: 33,2254 26663 SCHZEROS
019261,000358: 33,2255 01472 STORE GCOMP
019262,000359: 33,2256 01315 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
019263,000360: 33,2257 77776 EXIT
019264,000361:
019265,000362: 33,2260 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
019266,000363: 33,2261 02263 TC +2
019267,000364: 33,2262 02277 TC SLEEPIE +1
019268,000365: 33,2263 06006 TC INTPRET
019269,000366: 33,2264 77624 CALL
019270,000367: 33,2265 64000 ERTHRVSE
019271,000368: 33,2266 77776 EXIT
019272,000369: 33,2267 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
019273,000370: 33,2270 55646 TS ERECTIME
019274,000371:
019275,000372: 33,2271 05344 TC NEWMODEX
019276,000373: 33,2272 00002 MM 02 B-14
019277,000374: 33,2273 04636 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
019278,000375: 33,2274 17214 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
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Page 436
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019280,000377: 33,2275 03157 TC ANNNNNN # END OF FIRST TIME THROUGH
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Page 437
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019282,000379:
019283,000380: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019284,000381:
019285,000382: # SET UP WAITLIST SECTION
019286,000383: 33,2276 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
019287,000384: 33,2277 05402 +1 TC PHASCHNG # CHANGE PHASE
019288,000385: 33,2300 00135 OCT 00135
019289,000386: 33,2301 01,2264 5P13SPT1 = 5.13SPOT
019290,000387: 33,2301 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
019291,000388: 33,2302 02175 TC EARTHR* # TRUE TORQUE SOUTH GYRO
019292,000389: 33,2303 03162 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
019293,000390: 33,2304 02306 TC SETGWLST
019294,000391: 33,2305 05205 TC ENDOFJOB
019295,000392:
019296,000393: 33,2306 00006 SETGWLST EXTEND
019297,000394: 33,2307 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019298,000395: 33,2310 00004 INHINT
019299,000396: 33,2311 40025 CS TIME1
019300,000397: 33,2312 61645 AD GTSWTLT1
019301,000398: 33,2313 00006 EXTEND
019302,000399: 33,2314 62316 BZMF +2
019303,000400: 33,2315 64752 AD NEGMAX # 10 MS ERROR OK
019304,000401: 33,2316 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019305,000402: 33,2317 00006 EXTEND
019306,000403: 33,2320 62324 BZMF RIGHTGTS
019307,000404: 33,2321 05223 WTGTSMPL TC TWIDDLE
019308,000405: 33,2322 02350 ADRES ALLOOP
019309,000406: 33,2323 00154 TC MPAC
019310,000407: 33,2324 34766 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
019311,000408: 33,2325 02321 TC WTGTSMPL # END OF WAITLIST SECTION
019312,000409:
019313,000410: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019314,000411:
019315,000412: 33,2326 4125 25DECML EQUALS OCT31
019316,000413: 33,2326 34125 STOREDTA CAF 25DECML
019317,000414: 33,2327 54154 +1 TS MPAC
019318,000415: 33,2330 50154 INDEX MPAC
019319,000416: 33,2331 31460 CAE THETAX1
019320,000417: 33,2332 50154 INDEX MPAC
019321,000418: 33,2333 55577 TS RESTARPT
019322,000419: 33,2334 10154 CCS MPAC
019323,000420: 33,2335 12327 TCF STOREDTA +1
019324,000421: 33,2336 00002 TC Q
019325,000422:
019326,000423: 33,2337 34125 LOADSTDT CAF 25DECML
019327,000424: 33,2340 54154 +1 TS MPAC
019328,000425: 33,2341 50154 INDEX MPAC
019329,000426: 33,2342 31577 CA RESTARPT
019330,000427: 33,2343 50154 INDEX MPAC
|
|
Page 438
|
019332,000429: 33,2344 55460 TS THETAX1
019333,000430: 33,2345 10154 CCS MPAC
019334,000431: 33,2346 12340 TCF LOADSTDT +1
019335,000432: 33,2347 00002 TC Q
019336,000433:
019337,000434: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019338,000435:
019339,000436: 33,2350 30025 ALLOOP CA TIME1
019340,000437: 33,2351 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
019341,000438: 33,2352 31540 ALLOOP3 CA ALTIM
019342,000439: 33,2353 55631 TS GEOSAVE1
019343,000440: 33,2354 05402 TC PHASCHNG
019344,000441: 33,2355 00115 OCT 00115
019345,000442: 33,2356 01,2261 5P11SPT1 = 5.11SPOT
019346,000443: 33,2356 31631 ALLOOP1 CAE GEOSAVE1
019347,000444: 33,2357 55540 TS ALTIM
019348,000445: 33,2360 10000 CCS A
019349,000446: 33,2361 30000 CA A # SHOULD NEVER HIT THIS LOCATION
019350,000447: 33,2362 55541 TS ALTIMS
019351,000448: 33,2363 40000 CS A
019352,000449: 33,2364 55540 TS ALTIM
019353,000450: 33,2365 34772 CAF ZERO
019354,000451: 33,2366 56037 XCH PIPAX
019355,000452: 33,2367 55314 TS DELVX
019356,000453: 33,2370 34772 CAF ZERO
019357,000454: 33,2371 56040 XCH PIPAY
019358,000455: 33,2372 55316 TS DELVY
019359,000456: 33,2373 34772 CAF ZERO
019360,000457: 33,2374 56041 XCH PIPAZ
019361,000458: 33,2375 55320 TS DELVZ
019362,000459: 33,2376 34351 CAF 19DECML # 23 OCT
019363,000460: 33,2377 04126 TC NEWPHASE
019364,000461: 33,2400 00005 OCT 00005
019365,000462: 33,2401 01,2300 5P23SPT1 = 5.23SPOT
019366,000463: 33,2401 37644 SPECSTS CAF PRIO22
019367,000464: 33,2402 05135 TC FINDVAC
019368,000465: 33,2403 E5,1631 EBANK= GEOSAVE1
019369,000466: 33,2403 02406 66065 2CADR ALFLT # START THE JOB
019370,000467:
019371,000468: 33,2405 05314 TC TASKOVER
019372,000469:
|
|
Page 439
|
019374,000471: # THIS IS PART OF THE JOB DONE EVERY ITERATION
019375,000472:
019376,000473: 33,2406 02326 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
019377,000474: 33,2407 05402 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
019378,000475: 33,2410 00215 OCT 00215
019379,000476: 33,2411 01,2275 5P21SPT1 = 5.21SPOT
019380,000477: 33,2411 12413 TCF +2
019381,000478: 33,2412 02337 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
019382,000479:
019383,000480: 33,2413 11643 CCS GEOCOMP1
019384,000481: 33,2414 02416 TC +2
019385,000482: 33,2415 02421 TC NORMLOP
019386,000483: 33,2416 03162 TC CHKCOMED # SEE IF PRELAUNCH OVER
019387,000484: 33,2417 04636 TC BANKCALL # COMPENSATION IF IN COMPASS
019388,000485: 33,2420 15276 CADR 1/PIPA
019389,000486:
019390,000487: 33,2421 06006 NORMLOP TC INTPRET
019391,000488: 33,2422 77745 DLOAD
019392,000489: 33,2423 26672 INTVAL
019393,000490: 33,2424 24051 STOVL S1
019394,000491: 33,2425 01315 DELVX
019395,000492: 33,2426 76505 VXM VSL1
019396,000493: 33,2427 02672 XSM
019397,000494: 33,2430 57545 DLOAD DCOMP
019398,000495: 33,2431 00160 MPAC +3
019399,000496: 33,2432 16533 STODL DPIPAY
019400,000497: 33,2433 00162 MPAC +5
019401,000498: 33,2434 02537 STORE DPIPAZ
019402,000499:
019403,000500: 33,2435 76001 SETPD AXT,1
019404,000501: 33,2436 00001 0
019405,000502: 33,2437 00010 8D
019406,000503: 33,2440 57535 SLOAD DCOMP
019407,000504: 33,2441 02644 GEOCOMP1
019408,000505: 33,2442 77640 BMN
019409,000506: 33,2443 66764 ALWAYSG # DO A QUICK COMPASS
019410,000507:
|
|
Page 440
|
019412,000509: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019413,000510:
019414,000511: 33,2444 COUNT* $$/COMST
019415,000512: 33,2444 50135 ALCGKK SLOAD BMN
019416,000513: 33,2445 02542 ALTIMS
019417,000514: 33,2446 66461 ALFLT3 # NO NEW GAINS NEEDED
019418,000515: 33,2447 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
019419,000516: 33,2450 00014 12D
019420,000517: 33,2451 02454 ALX1S
019421,000518: 33,2452 62143 ALKCG2 DLOAD* INCR,1
019422,000519: 33,2453 02243 ALFDK +144D,1
019423,000520: 33,2454 77775 DEC -2 B-14
019424,000521: 33,2455 12555 STORE ALDK +10D,2
019425,000522: 33,2456 66104 TIX,2 SXA,1
019426,000523: 33,2457 66452 ALKCG2
019427,000524: 33,2460 02454 ALX1S
019428,000525:
019429,000526: 33,2461 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
019430,000527: 33,2462 00010 8D # AND GAIN UPDATES
019431,000528: 33,2463 41343 DELMLP DLOAD* DMP
019432,000529: 33,2464 02543 DPIPAY +8D,1
019433,000530: 33,2465 27427 PIPASC
019434,000531: 33,2466 43661 SLR BDSU*
019435,000532: 33,2467 21212 9D
019436,000533: 33,2470 02511 INTY +8D,1
019437,000534: 33,2471 06511 STORE INTY +8D,1
019438,000535: 33,2472 40725 PDDL DMP*
019439,000536: 33,2473 27431 VELSC
019440,000537: 33,2474 02531 VLAUN +8D,1
019441,000538: 33,2475 77732 SL2R
019442,000539: 33,2476 45425 DSU STADR
019443,000540: 33,2477 71206 STORE DELM +8D,1
019444,000541: 33,2500 06573 STORE DELM +10D,1
019445,000542: 33,2501 77100 TIX,1 AXT,2
019446,000543: 33,2502 66463 DELMLP
019447,000544: 33,2503 00004 4
019448,000545: 33,2504 56743 ALILP DLOAD* DMPR*
019449,000546: 33,2505 75314 ALK +4,2
019450,000547: 33,2506 75230 ALDK +4,2
019451,000548: 33,2507 12463 STORE ALK +4,2
019452,000549: 33,2510 77104 TIX,2 AXT,2
019453,000550: 33,2511 66504 ALILP
019454,000551: 33,2512 00010 8D
019455,000552: 33,2513 66140 ALKLP LXC,1 SXA,1
019456,000553: 33,2514 02455 CMPX1
019457,000554: 33,2515 02455 CMPX1
019458,000555: 33,2516 56743 DLOAD* DMPR*
019459,000556: 33,2517 02460 ALK +1,1
019460,000557: 33,2520 75206 DELM +8D,2
019461,000558: 33,2521 77613 DAD*
|
|
Page 441
|
019463,000560: 33,2522 75266 INTY +8D,2
019464,000561: 33,2523 12511 STORE INTY +8D,2
019465,000562: 33,2524 42743 DLOAD* DAD*
019466,000563: 33,2525 75304 ALK +12D,2
019467,000564: 33,2526 75220 ALDK +12D,2
019468,000565: 33,2527 12473 STORE ALK +12D,2
019469,000566: 33,2530 42673 DMPR* DAD*
019470,000567: 33,2531 75206 DELM +8D,2
019471,000568: 33,2532 75256 INTY +16D,2
019472,000569: 33,2533 12521 STORE INTY +16D,2
019473,000570: 33,2534 40743 DLOAD* DMP*
019474,000571: 33,2535 27434 ALSK +1,1
019475,000572: 33,2536 75206 DELM +8D,2
019476,000573: 33,2537 42772 SL1R DAD*
019477,000574: 33,2540 75246 VLAUN +8D,2
019478,000575: 33,2541 12531 STORE VLAUN +8D,2
019479,000576: 33,2542 76104 TIX,2 AXT,1
019480,000577: 33,2543 66513 ALKLP
019481,000578: 33,2544 00010 8D
019482,000579:
019483,000580: 33,2545 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019484,000581: 33,2546 02533 ACCWD +8D,1
019485,000582: 33,2547 02531 VLAUN +8D,1
019486,000583: 33,2550 55523 PDDL* VDEF
019487,000584: 33,2551 02541 POSNV +8D,1
019488,000585: 33,2552 76521 MXV VSL1
019489,000586: 33,2553 02001 TRANSM1
019490,000587: 33,2554 77745 DLOAD
019491,000588: 33,2555 00155 MPAC
019492,000589: 33,2556 06541 STORE POSNV +8D,1
019493,000590: 33,2557 77745 DLOAD
019494,000591: 33,2560 00160 MPAC +3
019495,000592: 33,2561 06531 STORE VLAUN +8D,1
019496,000593: 33,2562 77745 DLOAD
019497,000594: 33,2563 00162 MPAC +5
019498,000595: 33,2564 06533 STORE ACCWD +8D,1
019499,000596: 33,2565 77700 TIX,1
019500,000597: 33,2566 66545 LOOSE
019501,000598:
019502,000599: 33,2567 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019503,000600: 33,2570 00006 6
019504,000601: 33,2571 00002 2
019505,000602: 33,2572 57343 BOOP DLOAD* DMPR
019506,000603: 33,2573 02513 ANGX +2,1
019507,000604: 33,2574 27437 GEORGEJ
019508,000605: 33,2575 77722 SR2R
019509,000606: 33,2576 73406 PUSH SIN
019510,000607: 33,2577 56072 SL3R XAD,1
|
|
Page 442
|
019512,000609: 33,2600 00046 X1
019513,000610: 33,2601 10021 STORE 16D,2
019514,000611: 33,2602 77745 DLOAD
019515,000612: 33,2603 77746 COS
019516,000613: 33,2604 10027 STORE 22D,2 # COSINES
019517,000614: 33,2605 77704 TIX,2
019518,000615: 33,2606 66572 BOOP
019519,000616: 33,2607 77776 PERFERAS EXIT
019520,000617: 33,2610 04606 TC E7SETTER
019521,000618: 33,2611 E7,1400 EBANK= LAT(SPL)
019522,000619: 33,2611 01400 TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
019523,000620:
019524,000621: # CAUTION
019525,000622:
019526,000623: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019527,000624: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019528,000625:
019529,000626: 33,2612 E5,1412 EBANK= LENGTHOT
019530,000627: 33,2612 11412 ONCEMORE CCS LENGTHOT
019531,000628: 33,2613 02276 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019532,000629:
019533,000630: 33,2614 11450 CCS TORQNDX
019534,000631: 33,2615 12617 TCF +2
019535,000632: 33,2616 02621 TC SETUPER1
019536,000633: 33,2617 30032 CA CDUX
019537,000634: 33,2620 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019538,000635: 33,2621 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019539,000636: 33,2622 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019540,000637: 33,2623 02503 ANGZ
019541,000638: 33,2624 02507 ANGY
019542,000639: 33,2625 55525 PDDL VDEF
019543,000640: 33,2626 02511 ANGX
019544,000641: 33,2627 74276 VCOMP VXSC
019545,000642: 33,2630 27437 GEORGEJ
019546,000643: 33,2631 74521 MXV VSR1
019547,000644: 33,2632 02672 XSM
019548,000645: 33,2633 02760 STORE OGC
019549,000646: 33,2634 77776 EXIT
019550,000647:
019551,000648: 33,2635 05402 TORQINCH TC PHASCHNG
019552,000649: 33,2636 00005 OCT 00005
019553,000650: 33,2637 32220 CA OGCPL
019554,000651: 33,2640 04636 TC BANKCALL
019555,000652: 33,2641 17244 CADR IMUPULSE
019556,000653: 33,2642 02126 TC IMUSTLLG
019557,000654: 33,2643 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019558,000655: 33,2644 02106 TC VALMIS # VERT DRIFT TEST OVER
019559,000656: 33,2645 06006 TC INTPRET
019560,000657: 33,2646 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019561,000658: 33,2647 64000 ERTHRVSE
|
|
Page 443
|
019563,000660: 33,2650 77776 EXIT
019564,000661: 33,2651 02074 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019565,000662:
019566,000663:
019567,000664: 33,2652 05671 SOMEERRR TC ALARM
019568,000665: 33,2653 01600 OCT 1600
019569,000666: 33,2654 02657 TC +3
019570,000667: 33,2655 05671 SOMERR2 TC ALARM
019571,000668: 33,2656 01601 OCT 1601
019572,000669: 33,2657 05402 TC PHASCHNG
019573,000670: 33,2660 00005 OCT 00005
019574,000671: 33,2661 02113 TC ENDTEST1
019575,000672:
019576,000673:
019577,000674: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019578,000675:
019579,000676:
019580,000677: 33,2662 00000 00000 SCHZEROS 2DEC .00000000
019581,000678: 33,2664 00000 00000 2DEC .00000000
019582,000679: 33,2666 00000 OCT 00000
019583,000680: 33,2667 00000 ONEDPP OCT 00000
019584,000681: 33,2670 00001 +1 OCT 00001 # ABOVE ORDER IS IMPORTANT
019585,000682:
019586,000683: 33,2671 00004 INTVAL OCT 4
019587,000684: 33,2672 00002 OCT 2
019588,000685: 33,2673 00220 DEC 144 B-14
019589,000686: 33,2674 77776 DEC -1 B-14
019590,000687: 33,2675 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019591,000688: 33,2677 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019592,000689:
019593,000690:
019594,000691: 33,2701 00115 77DECML DEC 77 B-14
019595,000692: 33,2702 01453 ALXXXZ GENADR ALX1S -1
019596,000693:
019597,000694: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019598,000695:
019599,000696: 33,2703 COUNT* $$/P01
019600,000697:
019601,000698: # INITIALIZATION SECTION
019602,000699:
019603,000700: 33,2703 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019604,000701: 33,2704 74755 MASK NOP01BIT
019605,000702: 33,2705 00006 EXTEND
019606,000703: 33,2706 12711 BZF GTSCPSSA
019607,000704: 33,2707 05726 TC POODOO
019608,000705: 33,2710 21521 OCT 21521 # NO DO ALARM FOR P01 - P11 ALREADY DONE
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Page 444
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019610,000707: 33,2711 34753 GTSCPSSA CAF PRIO20 # INITIAL PRIORITY ONLY 13
019611,000708: 33,2712 05176 TC PRIOCHNG # CHANGE TO 20
019612,000709:
019613,000710: 33,2713 34770 CAF ONE
019614,000711: 33,2714 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019615,000712: 33,2715 33211 CA 1/PIPAGT
019616,000713: 33,2716 55277 TS 1/PIPADT
019617,000714: 33,2717 34761 NXXTBNN CA BIT8
019618,000715: 33,2720 55412 TS LENGTHOT
019619,000716: 33,2721 35011 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019620,000717: 33,2722 55644 TS 1SECXT1
019621,000718: 33,2723 34770 CAF ONE
019622,000719: 33,2724 55632 TS PREMTRX1
019623,000720: 33,2725 55657 TS PERFDLAY +1
019624,000721: 33,2726 34772 CAF ZERO
019625,000722: 33,2727 55656 TS PERFDLAY
019626,000723: 33,2730 00006 EXTEND
019627,000724: 33,2731 31634 DCA LUNCHAZ1
019628,000725: 33,2732 53636 DXCH NEWAZ1
019629,000726: 33,2733 00006 EXTEND
019630,000727: 33,2734 31634 DCA LUNCHAZ1
019631,000728: 33,2735 53640 DXCH OLDAZMTH
019632,000729: 33,2736 34352 SETUPGC CA DEC17
019633,000730: 33,2737 55655 TS ZERONDX1
019634,000731: 33,2740 32222 CA XSMADR
019635,000732: 33,2741 02134 TC ZEROING
019636,000733: 33,2742 02744 TC POSN17C
019637,000734: 33,2743 02002 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019638,000735:
019639,000736:
019640,000737: 33,2744 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE
019641,000738: 33,2745 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019642,000739: 33,2746 44753 CS HALF # ALL THIS TO INITIALIZE MATRIX
019643,000740: 33,2747 55705 TS ZSM
019644,000741: 33,2750 06006 TC INTPRET
019645,000742: 33,2751 41545 DLOAD PUSH
019646,000743: 33,2752 02636 NEWAZ1
019647,000744: 33,2753 77756 SIN
019648,000745: 33,2754 02676 STORE XSM +4
019649,000746: 33,2755 16702 STODL YSM +2
019650,000747: 33,2756 77746 COS
019651,000748: 33,2757 02704 STORE YSM +4
019652,000749: 33,2760 77676 DCOMP
019653,000750: 33,2761 02674 STORE XSM +2
019654,000751: 33,2762 77776 EXIT
019655,000752: 33,2763 01425 TC QPLACE
019656,000753:
019657,000754: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019658,000755:
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Page 445
|
019660,000757: 33,2764 COUNT* $$/P02
019661,000758: 33,2764 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019662,000759: 33,2765 02543 DPIPAY +8D,1
019663,000760: 33,2766 02505 FILDELV1 +8D,1
019664,000761: 33,2767 42675 DMPR DAD*
019665,000762: 33,2770 27441 GEOCONS1
019666,000763: 33,2771 02505 FILDELV1 +8D,1
019667,000764: 33,2772 06505 STORE FILDELV1 +8D,1
019668,000765: 33,2773 77613 DAD*
019669,000766: 33,2774 02507 INTVEC1 +8D,1
019670,000767: 33,2775 06507 STORE INTVEC1 +8D,1
019671,000768: 33,2776 42675 DMPR DAD*
019672,000769: 33,2777 27443 GEOCONS2
019673,000770: 33,3000 02505 FILDELV1 +8D,1
019674,000771: 33,3001 41475 DMPR PUSH
019675,000772: 33,3002 15334 GEOCONS5
019676,000773: 33,3003 67300 TIX,1 SLOAD
019677,000774: 33,3004 66764 ALWAYSG
019678,000775: 33,3005 02647 ERECTIM1
019679,000776: 33,3006 71254 BZE DLOAD
019680,000777: 33,3007 67020 COMPGS
019681,000778: 33,3010 02471 THETAN1 +2
019682,000779: 33,3011 45425 DSU STADR
019683,000780: 33,3012 61306 STODL THETAN1 +2 # ERECTION ONLY.
019684,000781: 33,3013 77621 BDSU
019685,000782: 33,3014 02473 THETAN1 +4
019686,000783: 33,3015 02473 STORE THETAN1 +4
019687,000784: 33,3016 77650 GOTO
019688,000785: 33,3017 67042 ADDINDRF
019689,000786: 33,3020 43345 COMPGS DLOAD DAD # COMPASS
019690,000787: 33,3021 02467 THETAN1
019691,000788: 33,3022 02475 FILDELV1
019692,000789: 33,3023 16467 STODL THETAN1
019693,000790: 33,3024 02475 FILDELV1
019694,000791: 33,3025 44275 DMPR BDSU
019695,000792: 33,3026 27445 GEOCONS3
019696,000793: 33,3027 02473 THETAN1 +4
019697,000794: 33,3030 16473 STODL THETAN1 +4
019698,000795: 33,3031 02501 FILDELV1 +4
019699,000796: 33,3032 44275 DMPR BDSU
019700,000797: 33,3033 27445 GEOCONS3
019701,000798: 33,3034 02471 THETAN1 +2
019702,000799: 33,3035 57325 PDDL DMPR
019703,000800: 33,3036 02503 INTVEC1 +4
019704,000801: 33,3037 27447 GEOCONS4
019705,000802: 33,3040 45421 BDSU STADR
019706,000803: 33,3041 75306 STORE THETAN1 +2
019707,000804: 33,3042 77776 ADDINDRF EXIT
019708,000805:
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|
Page 446
|
019710,000807:
019711,000808: 33,3043 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019712,000809: 33,3044 02276 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019713,000810: 33,3045 03162 TC CHKCOMED
019714,000811: 33,3046 11324 CCS LGYRO # YES BUT ARE GYROS BUSY
019715,000812: 33,3047 12277 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019716,000813:
019717,000814: 33,3050 06006 LASTGTS TC INTPRET
019718,000815: 33,3051 77775 VLOAD
019719,000816: 33,3052 02650 ERCOMP1
019720,000817: 33,3053 16461 STODL THETAX1
019721,000818: 33,3054 02443 TMARK
019722,000819: 33,3055 02457 STORE ALK
019723,000820: 33,3056 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019724,000821:
019725,000822: 33,3057 05402 RESTAIER TC PHASCHNG
019726,000823: 33,3060 00275 OCT 00275
019727,000824: 33,3061 01,2306 5P27SPT1 = 5.27SPOT
019728,000825: 33,3061 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019729,000826: 33,3062 64375 VLOAD MXV
019730,000827: 33,3063 02467 THETAN1
019731,000828: 33,3064 02672 XSM
019732,000829: 33,3065 53372 VSL1 VAD
019733,000830: 33,3066 02461 THETAX1
019734,000831: 33,3067 16650 STODL ERCOMP1
019735,000832: 33,3070 02457 ALK
019736,000833: 33,3071 02443 STORE TMARK
019737,000834: 33,3072 77776 EXIT
019738,000835: 33,3073 02175 TC EARTHR* # TORQUE IT ALL IN
019739,000836: 33,3074 31646 CAE ERECTIM1
019740,000837: 33,3075 55631 TS GEOSAVE1
019741,000838: 33,3076 05402 TC PHASCHNG
019742,000839: 33,3077 00155 OCT 00155
019743,000840: 33,3100 01,2267 5P15SPT1 = 5.15SPOT
019744,000841: 33,3100 06006 RESTEST1 TC INTPRET
019745,000842: 33,3101 77775 VLOAD
019746,000843: 33,3102 26663 SCHZEROS
019747,000844: 33,3103 02467 STORE THETAN1
019748,000845: 33,3104 77776 EXIT
019749,000846: 33,3105 11632 CCS PREMTRXC
019750,000847: 33,3106 03155 TC NOCHORLD
019751,000848: 33,3107 05402 TC PHASCHNG
019752,000849: 33,3110 00255 OCT 00255
019753,000850: 33,3111 01,2303 5P25SPT1 = 5.25SPOT
019754,000851: 33,3111 06006 RESTEST3 TC INTPRET
019755,000852: 33,3112 77745 DLOAD
019756,000853: 33,3113 02634 LAUNCHAZ
019757,000854: 33,3114 53025 DSU BZE
019758,000855: 33,3115 02640 OLDAZMTH
019759,000856: 33,3116 67152 NOAZCHGE
019760,000857: 33,3117 00001 STORE 0D
|
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Page 447
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019762,000859: 33,3120 43335 SLOAD DAD
019763,000860: 33,3121 26671 ONEDPP +1
019764,000861: 33,3122 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019765,000862: 33,3123 16633 STODL PREMTRXC
019766,000863: 33,3124 02634 LAUNCHAZ
019767,000864: 33,3125 16636 STODL NEWAZMTH
019768,000865: 33,3126 00001 0D
019769,000866: 33,3127 02654 ADERCOMP STORE ERCOMP +4
019770,000867: 33,3130 77776 EXIT
019771,000868: 33,3131 02744 TC POSN17C
019772,000869: 33,3132 05402 TC PHASCHNG
019773,000870: 33,3133 00335 OCT 00335
019774,000871: 33,3134 01,2314 5P33SPT1 = 5.33SPOT
019775,000872: 33,3134 00006 RESCHNG EXTEND
019776,000873: 33,3135 31636 DCA NEWAZMTH
019777,000874: 33,3136 53640 DXCH OLDAZMTH
019778,000875: 33,3137 34762 CA BIT7 # SPEND 320 SEC ERECTING
019779,000876: 33,3140 55412 TS LENGTHOT
019780,000877: 33,3141 05402 TC PHASCHNG
019781,000878: 33,3142 00075 OCT 00075
019782,000879: 33,3143 01,2256 5P7SPT2 = 5.7SPOT
019783,000880: 33,3143 33210 SPITGYRO CA ERCOMPPL
019784,000881: 33,3144 04636 TC BANKCALL
019785,000882: 33,3145 17244 CADR IMUPULSE
019786,000883: 33,3146 04636 TC BANKCALL
019787,000884: 33,3147 17644 CADR IMUSTALL
019788,000885: 33,3150 02655 TC SOMERR2
019789,000886: 33,3151 02227 TC ESTIMS # RE-INITIALIZE
019790,000887:
019791,000888:
019792,000889: 33,3152 77776 NOAZCHGE EXIT
019793,000890: 33,3153 34770 CA ONE
019794,000891: 33,3154 55632 TS PREMTRXC
019795,000892: 33,3155 11631 NOCHORLD CCS GEOSAVE1
019796,000893: 33,3156 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019797,000894:
019798,000895: 33,3157 34322 ANNNNNN CAF NINE
019799,000896: 33,3160 55412 TS LENGTHOT
019800,000897: 33,3161 02277 TC SLEEPIE +1
019801,000898:
019802,000899:
019803,000900: 33,3162 00004 CHKCOMED INHINT
019804,000901: 33,3163 41214 CS MODREG # CHECK FOR MM 07 FIRST
019805,000902: 33,3164 64774 AD SEVEN
019806,000903: 33,3165 00006 EXTEND
019807,000904: 33,3166 13202 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019808,000905: 33,3167 44772 CS ZERO
019809,000906: 33,3170 00006 EXTEND
019810,000907: 33,3171 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019811,000908: 33,3172 74764 MASK BIT5 # LIFTOFF BIT
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Page 448
|
019813,000910: 33,3173 10000 CCS A
019814,000911: 33,3174 13203 TCF PRELTERM # LIFTOFF HAS OCCURRED
019815,000912:
019816,000913: 33,3175 34764 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019817,000914: 33,3176 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019818,000915: 33,3177 10000 CCS A
019819,000916: 33,3200 13203 TCF PRELTERM # BACKUP RECEIVED
019820,000917:
019821,000918: 33,3201 00003 RELINT
019822,000919: 33,3202 00002 GOBKCALB TC Q
019823,000920:
019824,000921: 33,3203 37644 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019825,000922: 33,3204 05176 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019826,000923: 33,3205 00004 INHINT
019827,000924: 33,3206 04655 TC POSTJUMP
019828,000925: 33,3207 70000 CADR P11
019829,000926:
019830,000927:
019831,000928: 33,3210 02647 ERCOMPPL ECADR ERCOMP
019832,000929:
019833,000930: 33,3211 26,3333 GEOCONS5 EQUALS HIDPHALF
019834,000931: 33,3211 06200 1/PIPAGT OCT 06200
019835,000932: 33,3212 4352 17DECML = ND1 # OCT 21
019836,000933: 33,3212 4351 19DECML = VD1 # OCT 23
019837,000934: 33,3212 5011 1/2SECX = .5SEC
019838,000935:
|
|
Page 449
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019840,000937: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019841,000938:
019842,000939: 33,3212 COUNT* $$/P03
019843,000940: 33,3212 05402 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019844,000941: 33,3213 00154 OCT 00154
019845,000942: 33,3214 01,2143 4P15SPT1 = 4.15SPOT
019846,000943: 33,3214 05344 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019847,000944: 33,3215 00003 MM 03 B-14
019848,000945: 33,3216 02011 SETNBPOS TC NBPOSPL
019849,000946: 33,3217 04636 +1 TC BANKCALL
019850,000947: 33,3220 16073 CADR MKRELEAS
019851,000948: 33,3221 34770 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019852,000949: 33,3222 22007 ZL # T 1,THEN TARGET 2
019853,000950: 33,3223 23427 +2 LXCH RUN
019854,000951: 33,3224 55252 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019855,000952: 33,3225 00006 EXTEND
019856,000953: 33,3226 51427 INDEX RUN
019857,000954: 33,3227 31433 DCA TAZEL1
019858,000955: 33,3230 53251 DXCH DSPTEM1
019859,000956: 33,3231 33252 OPTDATA8 CAF V05N30E
019860,000957: 33,3232 04636 TC BANKCALL
019861,000958: 33,3233 20705 CADR GODSPRET
019862,000959: 33,3234 35032 CAF V06N41
019863,000960: 33,3235 04636 TC BANKCALL
019864,000961: 33,3236 20743 CADR GOFLASH
019865,000962: 33,3237 03370 TC GCOMP5
019866,000963: 33,3240 03242 TC +2
019867,000964: 33,3241 13231 TCF OPTDATA8
019868,000965:
019869,000966: 33,3242 53251 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019870,000967: 33,3243 51427 INDEX RUN
019871,000968: 33,3244 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019872,000969: 33,3245 11427 CCS RUN
019873,000970: 33,3246 13313 TCF CONTIN33
019874,000971: 33,3247 34767 CAF TWO
019875,000972: 33,3250 54001 TS L
019876,000973: 33,3251 13223 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019877,000974:
019878,000975: 33,3252 01236 V05N30E VN 0530
019879,000976:
019880,000977: 33,3253 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019881,000978: 33,3254 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019882,000979: 33,3255 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019883,000980: 33,3256 00014 12D
019884,000981: 33,3257 40331 SSP SETPD
019885,000982: 33,3260 00052 S2
019886,000983: 33,3261 00006 6
019887,000984: 33,3262 00001 0
019888,000985: 33,3263 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
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019890,000987: 33,3264 02436 TAZEL1 +3,1
019891,000988: 33,3265 00001 STORE 0 # PD00 ELEVATION PD00
019892,000989: 33,3266 77756 SIN
019893,000990: 33,3267 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019894,000991: 33,3270 77745 DLOAD
019895,000992: 33,3271 00001 0
019896,000993: 33,3272 41546 COS PUSH # PD00 COS(EL) PD00
019897,000994: 33,3273 47133 SLOAD* RTB
019898,000995: 33,3274 02435 TAZEL1 +2,1
019899,000996: 33,3275 51754 CDULOGIC
019900,000997: 33,3276 00003 STORE 2 # PD02 AZIMUTH PD02
019901,000998: 33,3277 41356 SIN DMP
019902,000999: 33,3300 00001 0
019903,001000: 33,3301 77752 SL1
019904,001001: 33,3302 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019905,001002: 33,3303 71545 DLOAD COS
019906,001003: 33,3304 00003 2
019907,001004: 33,3305 72405 DMP SL1
019908,001005: 33,3306 76076 DCOMP AXT,1
019909,001006: 33,3307 00000 0
019910,001007: 33,3310 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019911,001008: 33,3311 43504 TIX,2 RVQ
019912,001009: 33,3312 67263 TAR1
019913,001010:
019914,001011:
019915,001012: 33,2000 SETLOC IMUCAL
019916,001013: 33,2000 BANK
019917,001014: 33,3313 COUNT* $$/P03
019918,001015: 33,3313 34770 CONTIN33 CA ONE
019919,001016: 33,3314 55140 TS STARCODE
019920,001017: 33,3315 34772 CA ZERO
019921,001018: 33,3316 03375 TC TARGDRVE
019922,001019: 33,3317 06006 TC INTPRET
019923,001020: 33,3320 77624 CALL
019924,001021: 33,3321 67254 TAR/EREF
019925,001022: 33,3322 64375 NEXTBNKS VLOAD MXV
019926,001023: 33,3323 00007 6D
019927,001024: 33,3324 02672 XSM
019928,001025: 33,3325 77772 VSL1
019929,001026: 33,3326 26736 STOVL STARAD
019930,001027: 33,3327 00015 12D
019931,001028: 33,3330 76521 MXV VSL1
019932,001029: 33,3331 02672 XSM
019933,001030: 33,3332 36744 STCALL STARAD +6
019934,001031: 33,3333 67450 LITTLSUB
019935,001032: 33,3334 02414 STORE LOSVEC
019936,001033: 33,3335 77776 EXIT
019937,001034: 33,3336 34767 NEXBNKSS CAF TWO
019938,001035: 33,3337 55140 TS STARCODE
019939,001036: 33,3340 36211 CAF SIX
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Page 451
|
019941,001038: 33,3341 03375 TC TARGDRVE
019942,001039: 33,3342 06006 TC INTPRET
019943,001040: 33,3343 77624 CALL
019944,001041: 33,3344 67450 LITTLSUB
019945,001042: 33,3345 24015 STOVL 12D
019946,001043: 33,3346 02414 LOSVEC
019947,001044: 33,3347 34007 STCALL 06D
019948,001045: 33,3350 47432 AXISGEN
019949,001046: 33,3351 77624 CALL
019950,001047: 33,3352 47240 CALCGTA
019951,001048: 33,3353 77776 EXIT
019952,001049: 33,3354 35040 GCOMP4 CAF V06N93
019953,001050: 33,3355 04636 TC BANKCALL
019954,001051: 33,3356 20743 CADR GOFLASH
019955,001052: 33,3357 03370 TC GCOMP5
019956,001053: 33,3360 13362 TCF +2
019957,001054: 33,3361 13354 TCF GCOMP4
019958,001055: 33,3362 06006 TC INTPRET
019959,001056: 33,3363 53375 VLOAD VAD
019960,001057: 33,3364 02760 OGC
019961,001058: 33,3365 02650 ERCOMP1
019962,001059: 33,3366 02650 STORE ERCOMP1
019963,001060: 33,3367 77776 EXIT
019964,001061: 33,3370 05344 GCOMP5 TC NEWMODEX
019965,001062: 33,3371 00002 MM 02 B-14
019966,001063: 33,3372 05402 TC PHASCHNG
019967,001064: 33,3373 00004 OCT 00004
019968,001065: 33,3374 05205 TC ENDOFJOB
019969,001066: 33,2000 SETLOC IMUCAL
019970,001067: 33,2000 BANK
019971,001068:
019972,001069:
019973,001070: 33,3375 COUNT* $$/P03
019974,001071: 33,3375 00006 TARGDRVE EXTEND
019975,001072: 33,3376 23424 QXCH QPLAC
019976,001073: 33,3377 55431 TS TARG1/2
019977,001074: 33,3400 06006 TC INTPRET
019978,001075: 33,3401 77624 CALL
019979,001076: 33,3402 67254 TAR/EREF
019980,001077: 33,3403 76740 LXC,1 VLOAD*
019981,001078: 33,3404 02431 TARG1/2
019982,001079: 33,3405 00007 6D,1
019983,001080: 33,3406 36766 STCALL STAR
019984,001081: 33,3407 46053 SXTANG
019985,001082: 33,3410 77776 EXIT
019986,001083: 33,3411 31773 CA SAC
019987,001084: 33,3412 55313 TS DESOPTS
019988,001085: 33,3413 31775 CA PAC
019989,001086: 33,3414 55312 TS DESOPTT
019990,001087: 33,3415 34772 RETARG CAF ZERO
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Page 452
|
019992,001089: 33,3416 55323 TS OPTIND
019993,001090: 33,3417 04636 TC BANKCALL
019994,001091: 33,3420 16000 CADR SXTMARK
019995,001092: 33,3421 10301 CCS MARKINDX
019996,001093: 33,3422 03415 TC RETARG # NO MARK TAKEN - DO AGAIN
019997,001094:
019998,001095: 33,3423 04636 TC BANKCALL
019999,001096: 33,3424 16073 CADR MKRELEAS
020000,001097:
020001,001098: 33,3425 01424 TC QPLAC
020002,001099:
020003,001100:
020004,001101: 33,2000 SETLOC IMUCAL
020005,001102: 33,2000 BANK
020006,001103: 33,3426 COUNT* $$/P03
020007,001104: 33,3426 30341 22444 PIPASC 2DEC .76376833
020008,001105: 33,3430 57223 66451 VELSC 2DEC -.52223476
020009,001106: 33,3432 05427 12577 ALSK 2DEC .17329931
020010,001107: 33,3434 77567 44202 2DEC -.00835370
020011,001108: 33,3436 24276 14066 GEORGEJ 2DEC .63661977
020012,001109: 33,3440 03146 14632 GEOCONS1 2DEC .1
020013,001110: 33,3442 00121 35341 GEOCONS2 2DEC .005
020014,001111: 33,3444 01767 31666 GEOCONS3 2DEC .062
020015,001112: 33,3446 00004 35223 GEOCONS4 2DEC .0003
020016,001113:
020017,001114: 33,3450 COUNT* $$/P02
020018,001115: 33,3450 74020 LITTLSUB STQ AXC,1
020019,001116: 33,3451 00300 QMAJ
020020,001117: 33,3452 03722 MRKBUF1
020021,001118: 33,3453 77650 GOTO
020022,001119: 33,3454 36073 SXTSM2
020023,001120:
020024,001121:
020025,001122: 43,2000 SETLOC EXTVERBS
020026,001123: 43,2000 BANK
020027,001124:
020028,001125: 43,3132 COUNT* $$/EXTVB
020029,001126: 43,3132 06006 AZMTHCG1 TC INTPRET
020030,001127: 43,3133 47145 DLOAD RTB
020031,001128: 43,3134 02636 NEWAZMTH
020032,001129: 43,3135 45640 1STO2S
020033,001130: 43,3136 77776 EXIT
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Page 453
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020035,001132: 43,3137 56154 XCH MPAC
020036,001133: 43,3140 55250 TS DSPTEM1
020037,001134: 43,3141 04636 TC BANKCALL
020038,001135: 43,3142 20715 CADR CLEANDSP
020039,001136: 43,3143 33165 CAF VN0629
020040,001137: 43,3144 04636 TC BANKCALL
020041,001138: 43,3145 20743 CADR GOFLASH
020042,001139: 43,3146 13157 TCF +11
020043,001140: 43,3147 13151 TCF +2
020044,001141: 43,3150 13143 TCF -5
020045,001142: 43,3151 06006 TC INTPRET
020046,001143: 43,3152 47135 SLOAD RTB
020047,001144: 43,3153 01251 DSPTEM1
020048,001145: 43,3154 51754 CDULOGIC
020049,001146: 43,3155 02634 STORE LAUNCHAZ
020050,001147: 43,3156 77776 EXIT
020051,001148: 43,3157 34772 +11 CAF ZERO
020052,001149: 43,3160 55632 TS PREMTRXC
020053,001150: 43,3161 05402 TC PHASCHNG
020054,001151: 43,3162 00004 OCT 00004
020055,001152: 43,3163 04655 TC POSTJUMP
020056,001153: 43,3164 21275 CADR PINBRNCH
020057,001154:
020058,001155: 43,3165 01435 VN0629 VN 0629
020059,001156:
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Page 454
Only assembler-generated messages on this page.
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End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc