Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

018990,000002:                                                                                                  ## Copyright:   Public domain.
018991,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018992,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
018993,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
018994,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
018995,000007:                                                                                                  ##              Apollo 15-17.
018996,000008:                                                                                                  ## Assembler:   yaYUL
018997,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
018998,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
018999,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
019000,000012:                                                                                                  ## Mod history: 2009-08-19 SN   Adapted from corresponding Comanche 055 file.
019001,000013:                                                                                                  ##              2009-09-03 JL   Fixed symbol names.
019002,000014:                                                                                                  ##              2009-09-06 JL   Fixed typos.
019003,000015:                                                                                                  ##              2010-01-31 JL   Fixed build errors.
019004,000016:                                                                                                  ##              2010-02-02 JL   Fixed whitespace.
019005,000017:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
019006,000018:                                                                                                  ##              2017-02-05 RSB  Proofed comment text by diff'ing vs Comanche 55
019007,000019:                                                                                                  ##                              and corrected errors found.
019008,000020: 

Page 427

019010,000022: 
019011,000023:                                                                                                  #  NAME- IMU PERFORMANCE TESTS 2
019012,000024: 
019013,000025:                                                                                                  #  DATE- MARCH 20,1967
019014,000026: 
019015,000027:                                                                                                  #  BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
019016,000028: 
019017,000029:                                                                                                  #  MODNO.- ZERO
019018,000030: 
019019,000031:                                                                                                  #  FUNCTIONAL DESCRIPTION
019020,000032: 
019021,000033:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
019022,000034:                                                                                                  #  THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
019023,000035:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
019024,000036: 
019025,000037: 33,2000                                           SETLOC   IMUCAL                                
019026,000038: 33,2000                                           BANK                                           
019027,000039: 
019028,000040: 33,2002  E5,1423                                  EBANK=   POSITON                               
019029,000041: 33,2002                                           COUNT*   $$/COMST                              
019030,000042: 33,2002           04636        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
019031,000043: 33,2003           16627                           CADR     IMUZERO                               
019032,000044: 33,2004           02126                           TC       IMUSTLLG                              
019033,000045: 33,2005           34772        IMUBACK            CA       ZERO                                  
019034,000046: 33,2006           55421                           TS       NDXCTR                                
019035,000047: 33,2007           55450                           TS       TORQNDX                               
019036,000048: 33,2010           55451                           TS       TORQNDX    +1                         
019037,000049: 33,2011           34352        NBPOSPL            CA       DEC17                                 
019038,000050: 33,2012           55655                           TS       ZERONDX1                              
019039,000051: 33,2013           32221                           CA       XNBADR                                
019040,000052: 33,2014           02134                           TC       ZEROING                               
019041,000053: 33,2015           34753                           CA       HALF                                  
019042,000054: 33,2016           55713                           TS       XNB                                   
019043,000055: 33,2017           06006                           TC       INTPRET                               
019044,000056: 33,2020           73545                           DLOAD    SIN                                   
019045,000057: 33,2021           02401                                    AZIMUTH                               
019046,000058: 33,2022           02724                           STORE    YNB        +2                         
019047,000059: 33,2023           16734                           STODL    ZNB        +4                         
019048,000060: 33,2024           02401                                    AZIMUTH                               
019049,000061: 33,2025           77746                           COS                                            
019050,000062: 33,2026           02726                           STORE    YNB        +4                         
019051,000063: 33,2027           77676                           DCOMP                                          
019052,000064: 33,2030           02732                           STORE    ZNB        +2                         
019053,000065: 33,2031           77776                           EXIT                                           
019054,000066: 33,2032           05354                           TC       CHECKMM                               
019055,000067: 33,2033           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
019056,000068: 33,2034           12036                           TCF      +2                                    #  NO
019057,000069: 33,2035           13217                           TCF      SETNBPOS   +1                         #  YES
019058,000070: 33,2036           06006                           TC       INTPRET                               
019059,000071: 33,2037           77624                           CALL                                           
019060,000072: 33,2040           47344                                    CALCGA                                

Page 428

019062,000074: 33,2041           77776                           EXIT                                           
019063,000075: 33,2042           04636                           TC       BANKCALL                              
019064,000076: 33,2043           16724                           CADR     IMUCOARS                              
019065,000077: 33,2044           34753                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
019066,000078: 33,2045           70077                           MASK     FLAGWRD3                              
019067,000079: 33,2046           00006                           EXTEND                                         
019068,000080: 33,2047           12051                           BZF      +2                                    
019069,000081: 33,2050           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
019070,000082: 33,2051           05561                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
019071,000083: 33,2052           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
019072,000084: 33,2053           02126                           TC       IMUSTLLG                              
019073,000085: 33,2054           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
019074,000086: 33,2055           02103                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
019075,000087: 33,2056           04636                           TC       BANKCALL                              
019076,000088: 33,2057           17133                           CADR     IMUFINE                               
019077,000089: 33,2060           02126                           TC       IMUSTLLG                              
019078,000090: 33,2061           00006                           EXTEND                                         
019079,000091: 33,2062           31657                           DCA      PERFDLAY                              
019080,000092: 33,2063           05332                           TC       LONGCALL                              
019081,000093: 33,2064  E5,1423                                  EBANK=   POSITON                               
019082,000094: 33,2064           02070 66065                     2CADR    GOESTIMS                              
019083,000095: 
019084,000096: 33,2066           32073                           CA       ESTICADR                              
019085,000097: 33,2067           05163                           TC       JOBSLEEP                              
019086,000098: 33,2070           32073        GOESTIMS           CA       ESTICADR                              
019087,000099: 33,2071           05167                           TC       JOBWAKE                               
019088,000100: 33,2072           05314                           TC       TASKOVER                              
019089,000101: 33,2073           66227        ESTICADR           CADR     ESTIMS                                
019090,000102: 
019091,000103: 33,2074           34772        TORQUE             CA       ZERO                                  
019092,000104: 33,2075           55253                           TS       DSPTEM2                               
019093,000105: 33,2076           31514                           CA       DRIFTI                                
019094,000106: 33,2077           55254                           TS       DSPTEM2    +1                         
019095,000107: 33,2100           51423                           INDEX    POSITON                               
019096,000108: 33,2101           55430                           TS       SOUTHDR    -1                         
019097,000109: 33,2102           02205                           TC       SHOW                                  
019098,000110: 
019099,000111: 33,2103           34756        PIPACHK            CA       EBANK4                                
019100,000112: 33,2104           54003                           TS       EBANK                                 
019101,000113: 33,2105  E4,1400                                  EBANK=   ERASPIP                               
019102,000114: 33,2105           01400                           TC       ERASPIP                               
019103,000115: 33,2106  E5,1512                                  EBANK=   DRIFTO                                
019104,000116: 33,2106           31512        VALMIS             CA       DRIFTO                                
019105,000117: 33,2107           55254                           TS       DSPTEM2    +1                         
019106,000118: 33,2110           34772                           CA       ZERO                                  
019107,000119: 33,2111           55253                           TS       DSPTEM2                               
019108,000120: 33,2112           02205                           TC       SHOW                                  
019109,000121: 
019110,000122: 33,2113           05561        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE

Page 429

019112,000124: 33,2114           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
019113,000125: 33,2115           44772                           CS       ZERO                                  
019114,000126: 33,2116           05347                           TC       NEWMODEA                              
019115,000127: 33,2117           04636                           TC       BANKCALL                              
019116,000128: 33,2120           16073                           CADR     MKRELEAS                              
019117,000129: 33,2121           05524                           TC       ENDEXT                                

Page 430

019119,000131: 33,2122           43215        OVERFFIX           DAD      DAD                                   
019120,000132: 33,2123           15344                                    DPPOSMAX                              
019121,000133: 33,2124           26670                                    ONEDPP                                
019122,000134: 33,2125           77616                           RVQ                                            
019123,000135: 
019124,000136: 33,2126           00006        IMUSTLLG           EXTEND                                         
019125,000137: 33,2127           23425                           QXCH     QPLACE                                
019126,000138: 33,2130           04636                           TC       BANKCALL                              
019127,000139: 33,2131           17644                           CADR     IMUSTALL                              
019128,000140: 33,2132           02655                           TC       SOMERR2                               
019129,000141: 33,2133           01425                           TC       QPLACE                                
019130,000142: 33,2134           54001        ZEROING            TS       L                                     
019131,000143: 33,2135           12137                           TCF      +2                                    
019132,000144: 33,2136           55655        ZEROING1           TS       ZERONDX1                              
019133,000145: 33,2137           34772                           CAF      ZERO                                  
019134,000146: 33,2140           50001                           INDEX    L                                     
019135,000147: 33,2141           54000                           TS       0                                     
019136,000148: 33,2142           24001                           INCR     L                                     
019137,000149: 33,2143           11655                           CCS      ZERONDX1                              
019138,000150: 33,2144           12136                           TCF      ZEROING1                              
019139,000151: 33,2145           00002                           TC       Q                                     
019140,000152: 

Page 431

019142,000154: 32,2000                                           SETLOC   IMUCAL3                               
019143,000155: 32,2000                                           BANK                                           
019144,000156: 32,2000                                           COUNT*   $$/COMST                              
019145,000157: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
019146,000158: 32,2001           26663                                    SCHZEROS                              #  PD24 = (SIN           -COS    0)(OMEG/MS)
019147,000159: 32,2002           02403                                    LATITUDE                              
019148,000160: 32,2003           57546                           COS      DCOMP                                 
019149,000161: 32,2004           73525                           PDDL     SIN                                   
019150,000162: 32,2005           02403                                    LATITUDE                              
019151,000163: 32,2006           74266                           VDEF     VXSC                                  
019152,000164: 32,2007           26224                                    OMEG/MS                               
019153,000165: 32,2010           02405                           STORE    ERVECTOR                              
019154,000166: 32,2011           77634                           RTB                                            
019155,000167: 32,2012           51751                                    LOADTIME                              
019156,000168: 32,2013           26443                           STOVL    TMARK                                 
019157,000169: 32,2014           26663                                    SCHZEROS                              
019158,000170: 32,2015           02650                           STORE    ERCOMP1                               
019159,000171: 32,2016           77616                           RVQ                                            
019160,000172: 33,2000                                           SETLOC   IMUCAL                                
019161,000173: 33,2000                                           BANK                                           
019162,000174: 33,2146                                           COUNT*   $$/COMST                              
019163,000175: 33,2146           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
019164,000176: 33,2147           00051                                    S2                                    
019165,000177: 33,2150           51751                                    LOADTIME                              
019166,000178: 33,2151           02441                 +3        STORE    TEMPTIME                              
019167,000179: 33,2152           51025                           DSU      BPL                                   
019168,000180: 33,2153           02443                                    TMARK                                 
019169,000181: 33,2154           66157                                    ERTHR                                 
019170,000182: 33,2155           77624                           CALL                                           
019171,000183: 33,2156           66122                                    OVERFFIX                              
019172,000184: 33,2157           74261        ERTHR              SL       VXSC                                  
019173,000185: 33,2160           20212                                    9D                                    
019174,000186: 33,2161           02405                                    ERVECTOR                              
019175,000187: 33,2162           53321                           MXV      VAD                                   
019176,000188: 33,2163           02672                                    XSM                                   
019177,000189: 33,2164           02650                                    ERCOMP1                               
019178,000190: 33,2165           16650                           STODL    ERCOMP1                               
019179,000191: 33,2166           02441                                    TEMPTIME                              
019180,000192: 33,2167           02443                           STORE    TMARK                                 
019181,000193: 33,2170           47170                           AXT,1    RTB                                   
019182,000194: 33,2171           02647                           ECADR    ERCOMP1                               
019183,000195: 33,2172           45722                                    PULSEIMU                              
019184,000196: 33,2173           77650                           GOTO                                           
019185,000197: 33,2174           00051                                    S2                                    
019186,000198: 33,2175           00006        EARTHR*            EXTEND                                         
019187,000199: 33,2176           23426                           QXCH     QPLACES                               
019188,000200: 33,2177           06006                           TC       INTPRET                               
019189,000201: 33,2200           77624                           CALL                                           
019190,000202: 33,2201           66146                                    EARTHR                                
019191,000203: 33,2202           77776        PROUT              EXIT                                           

Page 432

019193,000205: 33,2203           02126                           TC       IMUSTLLG                              
019194,000206: 33,2204           01426                           TC       QPLACES                               
019195,000207: 33,2205           00006        SHOW               EXTEND                                         
019196,000208: 33,2206           23425                           QXCH     QPLACE                                
019197,000209: 33,2207           31423        SHOW1              CA       POSITON                               
019198,000210: 33,2210           55255                           TS       DSPTEM2    +2                         
019199,000211: 33,2211           32217                           CA       VB06N98                               
019200,000212: 33,2212           04636                           TC       BANKCALL                              
019201,000213: 33,2213           20743                           CADR     GOFLASH                               
019202,000214: 33,2214           02113                           TC       ENDTEST1                              #  V34
019203,000215: 33,2215           01425                           TC       QPLACE                                #  V33
019204,000216: 33,2216           12207                           TCF      SHOW1                                 
019205,000217: 
019206,000218: 
019207,000219: 33,2217  33,2223               3990DEC            =        OMEG/MS                               
019208,000220: 33,2217           01542        VB06N98            VN       0698                                  
019209,000221: 33,2220     4352               DEC17              =        ND1                                   
019210,000222: 33,2220           02757        OGCPL              ECADR    OGC                                   
019211,000223: 33,2221     5016               1SECX              =        1SEC                                  
019212,000224: 33,2221     4351               DEC57              =        VD1                                   
019213,000225: 33,2221           01713        XNBADR             GENADR   XNB                                   
019214,000226: 33,2222           01671        XSMADR             GENADR   XSM                                   
019215,000227: 33,2223           07623 26552  OMEG/MS            2DEC     .24339048                             
019216,000228: 
019217,000229: 
019218,000230: 33,2225           04636        P11OUT             TC       BANKCALL                              
019219,000231: 33,2226           70115                           CADR     MATRXJOB                              #  RETURN TO P11
019220,000232: 
019221,000233:    4000                                           SETLOC   FFTAG1                                
019222,000234:    4000                                           BANK                                           
019223,000235: 
019224,000236:    4510                                           COUNT*   $$/COMST                              
019225,000237:    4510           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
019226,000238:    4511           00006                 +1        EXTEND                                         
019227,000239:    4512           00004                           READ     LOSCALAR                              
019228,000240:    4513           54001                           TS       L                                     
019229,000241:    4514           00006                           EXTEND                                         
019230,000242:    4515           06004                           RXOR     LOSCALAR                              
019231,000243:    4516           00006                           EXTEND                                         
019232,000244:    4517           14523                           BZF      +4                                    
019233,000245:    4520           00006                           EXTEND                                         
019234,000246:    4521           00004                           READ     LOSCALAR                              
019235,000247:    4522           54001                           TS       L                                     
019236,000248:    4523           44750                 +4        CS       POSMAX                                
019237,000249:    4524           60001                           AD       L                                     
019238,000250:    4525           00006                           EXTEND                                         
019239,000251:    4526           14511                           BZF      FINETIME   +1                         
019240,000252:    4527           00006                           EXTEND                                         
019241,000253:    4530           00003                           READ     HISCALAR                              

Page 433

019243,000255:    4531           00002                           TC       Q                                     
019244,000256: 
019245,000257: 
019246,000258:                                                                                                  #  PROGRAM NAME-  OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019247,000259:                                                                                                  #  DATE- NOVEMBER 2  1966
019248,000260:                                                                                                  #  BY- GEORGE SCHMIDT IL 7-146 EXT. 126
019249,000261:                                                                                                  #  MOD NO 3
019250,000262: 
019251,000263:                                                                                                  #  FUNCTIONAL DESCRIPTION
019252,000264: 
019253,000265:                                                                                                  #  THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019254,000266:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
019255,000267:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
019256,000268:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019257,000269:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
019258,000270:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT
019259,000271:                                                                                                  #  FOR THE DATA TO FLASH.
019260,000272: 
019261,000273:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019262,000274:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019263,000275:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019264,000276:                                                                                                  #  HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
019265,000277:                                                                                                  #  OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
019266,000278:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
019267,000279:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
019268,000280:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019269,000281:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019270,000282:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019271,000283:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019272,000284: 
019273,000285:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
019274,000286: 
019275,000287:                                                                                                  #  1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED      (NOM=.2)
019276,000288:                                                                                                  #  2- LATITUDE -DP-OF LAUNCH PAD
019277,000289:                                                                                                  #  3- AZIMUTH-DP-OF ZNB OF VEHICLE
019278,000290:                                                                                                  #  4- IMU COMPENSATION PARAMETERS
019279,000291:                                                                                                  #  5- AZ AND ELEVATION OF TARGETS 1,2            ****OPTIONAL****
019280,000292: 
019281,000293:                                                                                                  #  TO PERFORM AS PART OF COMPASS
019282,000294: 
019283,000295:                                                                                                  #  1-OPTICAL VERIFICATION- V 65 E
019284,000296:                                                                                                  #  2-AZIMUTH CHANGE- V 78 E
019285,000297: 
019286,000298:                                                                                                  #  SUBROUTINES CALLED
019287,000299: 
019288,000300:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019289,000301:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
019290,000302: 
019291,000303:                                                                                                  #  NORMAL EXIT
019292,000304: 
019293,000305:                                                                                                  #  DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019294,000306:                                                                                                  #  GYROCOMPASS-MANY,SEE THE LISTING

Page 434

019296,000308: 
019297,000309:                                                                                                  #  ALARMS
019298,000310: 
019299,000311:                                                                                                  #  1600     OVERFLOW IN DRIFT TEST
019300,000312:                                                                                                  #  1601     BAD IMU TORQUE ABORT
019301,000313:                                                                                                  #  1602     BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS     CSM ONLY
019302,000314: 
019303,000315:                                                                                                  #  OUTPUT
019304,000316: 
019305,000317:                                                                                                  #  DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019306,000318:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019307,000319:                                                                                                  #     01    INITIALIZING THE PLATFORM POSITION AND ERASABLE
019308,000320:                                                                                                  #     02    GYROCOMPASSING
019309,000321:                                                                                                  #     03    DOING OPTICAL VERIFICATION (CSM)
019310,000322: 
019311,000323: 
019312,000324:                                                                                                  #  DEBRIS
019313,000325: 
019314,000326:                                                                                                  #  ALL CENTRALS,ALL OF EBANK XSM
019315,000327: 

Page 435

019317,000329:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019318,000330:                                                                                                  #  ON THE NEXT FEW PAGES.
019319,000331: 
019320,000332:    4532  E5,1671                                  EBANK=   XSM                                   
019321,000333: 33,2000                                           SETLOC   IMUCAL                                
019322,000334: 33,2000                                           BANK                                           
019323,000335: 
019324,000336: 33,2227                                           COUNT*   $$/P02                                
019325,000337: 33,2227           05362        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
019326,000338: 33,2230           00075                           OCT      00075                                 
019327,000339: 33,2231           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
019328,000340: 33,2232  01,2256               5P7SPT1            =        5.7SPOT                               
019329,000341: 33,2232           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
019330,000342: 33,2233           30025                           CA       TIME1                                 
019331,000343: 33,2234           55645                           TS       GTSWTLT1                              
019332,000344: 33,2235           34772                           CAF      ZERO                                  #  ZERO THE PIPAS
019333,000345: 33,2236           54037                           TS       PIPAX                                 
019334,000346: 33,2237           54040                           TS       PIPAY                                 
019335,000347: 33,2240           54041                           TS       PIPAZ                                 
019336,000348: 33,2241           00003                           RELINT                                         
019337,000349: 33,2242           32701                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
019338,000350: 33,2243           55655                           TS       ZERONDX1                              
019339,000351: 33,2244           32702                           CA       ALXXXZ                                
019340,000352: 33,2245           02134                           TC       ZEROING                               
019341,000353: 33,2246           06006                           TC       INTPRET                               
019342,000354: 33,2247           77735                           SLOAD                                          
019343,000355: 33,2250           26663                                    SCHZEROS                              
019344,000356: 33,2251           25477                           STOVL    GCOMPSW    -1                         
019345,000357: 33,2252           26674                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
019346,000358: 33,2253           26455                           STOVL    ALX1S                                 
019347,000359: 33,2254           26663                                    SCHZEROS                              
019348,000360: 33,2255           01472                           STORE    GCOMP                                 
019349,000361: 33,2256           01315                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
019350,000362: 33,2257           77776                           EXIT                                           
019351,000363: 
019352,000364: 33,2260           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
019353,000365: 33,2261           02263                           TC       +2                                    
019354,000366: 33,2262           02277                           TC       SLEEPIE    +1                         
019355,000367: 33,2263           06006                           TC       INTPRET                               
019356,000368: 33,2264           77624                           CALL                                           
019357,000369: 33,2265           64000                                    ERTHRVSE                              
019358,000370: 33,2266           77776                           EXIT                                           
019359,000371: 33,2267           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
019360,000372: 33,2270           55646                           TS       ERECTIME                              
019361,000373: 
019362,000374: 33,2271           05344                           TC       NEWMODEX                              
019363,000375: 33,2272           00002                           MM       02         B-14                       
019364,000376: 33,2273           04636                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM
019365,000377: 33,2274           17214                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF

Page 436

019367,000379: 33,2275           03157                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH

Page 437

019369,000381: 
019370,000382:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019371,000383: 
019372,000384:                                                                                                  #  SET UP WAITLIST SECTION
019373,000385: 33,2276           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
019374,000386: 33,2277           05402                 +1        TC       PHASCHNG                              #  CHANGE PHASE
019375,000387: 33,2300           00135                           OCT      00135                                 
019376,000388: 33,2301  01,2264               5P13SPT1           =        5.13SPOT                              
019377,000389: 33,2301           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
019378,000390: 33,2302           02175                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
019379,000391: 33,2303           03162        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
019380,000392: 33,2304           02306                           TC       SETGWLST                              
019381,000393: 33,2305           05205                           TC       ENDOFJOB                              
019382,000394: 
019383,000395: 33,2306           00006        SETGWLST           EXTEND                                         
019384,000396: 33,2307           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019385,000397: 33,2310           00004                           INHINT                                         
019386,000398: 33,2311           40025                           CS       TIME1                                 
019387,000399: 33,2312           61645                           AD       GTSWTLT1                              
019388,000400: 33,2313           00006                           EXTEND                                         
019389,000401: 33,2314           62316                           BZMF     +2                                    
019390,000402: 33,2315           64752                           AD       NEGMAX                                #  10 MS ERROR OK
019391,000403: 33,2316           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019392,000404: 33,2317           00006                           EXTEND                                         
019393,000405: 33,2320           62324                           BZMF     RIGHTGTS                              
019394,000406: 33,2321           05223        WTGTSMPL           TC       TWIDDLE                               
019395,000407: 33,2322           02350                           ADRES    ALLOOP                                
019396,000408: 33,2323           00154                           TC       MPAC                                  
019397,000409: 33,2324           34766        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
019398,000410: 33,2325           02321                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
019399,000411: 
019400,000412:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019401,000413: 
019402,000414: 33,2326     4125               25DECML            EQUALS   OCT31                                 
019403,000415: 33,2326           34125        STOREDTA           CAF      25DECML                               
019404,000416: 33,2327           54154                 +1        TS       MPAC                                  
019405,000417: 33,2330           50154                           INDEX    MPAC                                  
019406,000418: 33,2331           31460                           CAE      THETAX1                               
019407,000419: 33,2332           50154                           INDEX    MPAC                                  
019408,000420: 33,2333           55577                           TS       RESTARPT                              
019409,000421: 33,2334           10154                           CCS      MPAC                                  
019410,000422: 33,2335           12327                           TCF      STOREDTA   +1                         
019411,000423: 33,2336           00002                           TC       Q                                     
019412,000424: 
019413,000425: 33,2337           34125        LOADSTDT           CAF      25DECML                               
019414,000426: 33,2340           54154                 +1        TS       MPAC                                  
019415,000427: 33,2341           50154                           INDEX    MPAC                                  
019416,000428: 33,2342           31577                           CA       RESTARPT                              
019417,000429: 33,2343           50154                           INDEX    MPAC                                  

Page 438

019419,000431: 33,2344           55460                           TS       THETAX1                               
019420,000432: 33,2345           10154                           CCS      MPAC                                  
019421,000433: 33,2346           12340                           TCF      LOADSTDT   +1                         
019422,000434: 33,2347           00002                           TC       Q                                     
019423,000435: 
019424,000436:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019425,000437: 
019426,000438: 33,2350           30025        ALLOOP             CA       TIME1                                 
019427,000439: 33,2351           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
019428,000440: 33,2352           31540        ALLOOP3            CA       ALTIM                                 
019429,000441: 33,2353           55631                           TS       GEOSAVE1                              
019430,000442: 33,2354           05402                           TC       PHASCHNG                              
019431,000443: 33,2355           00115                           OCT      00115                                 
019432,000444: 33,2356  01,2261               5P11SPT1           =        5.11SPOT                              
019433,000445: 33,2356           31631        ALLOOP1            CAE      GEOSAVE1                              
019434,000446: 33,2357           55540                           TS       ALTIM                                 
019435,000447: 33,2360           10000                           CCS      A                                     
019436,000448: 33,2361           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
019437,000449: 33,2362           55541                           TS       ALTIMS                                
019438,000450: 33,2363           40000                           CS       A                                     
019439,000451: 33,2364           55540                           TS       ALTIM                                 
019440,000452: 33,2365           34772                           CAF      ZERO                                  
019441,000453: 33,2366           56037                           XCH      PIPAX                                 
019442,000454: 33,2367           55314                           TS       DELVX                                 
019443,000455: 33,2370           34772                           CAF      ZERO                                  
019444,000456: 33,2371           56040                           XCH      PIPAY                                 
019445,000457: 33,2372           55316                           TS       DELVY                                 
019446,000458: 33,2373           34772                           CAF      ZERO                                  
019447,000459: 33,2374           56041                           XCH      PIPAZ                                 
019448,000460: 33,2375           55320                           TS       DELVZ                                 
019449,000461: 33,2376           34351                           CAF      19DECML                               #  23 OCT
019450,000462: 33,2377           04126                           TC       NEWPHASE                              
019451,000463: 33,2400           00005                           OCT      00005                                 
019452,000464: 33,2401  01,2300               5P23SPT1           =        5.23SPOT                              
019453,000465: 33,2401           37644        SPECSTS            CAF      PRIO22                                
019454,000466: 33,2402           05135                           TC       FINDVAC                               
019455,000467: 33,2403  E5,1631                                  EBANK=   GEOSAVE1                              
019456,000468: 33,2403           02406 66065                     2CADR    ALFLT                                 #  START THE JOB
019457,000469: 
019458,000470: 33,2405           05314                           TC       TASKOVER                              
019459,000471: 

Page 439

019461,000473:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
019462,000474: 
019463,000475: 33,2406           02326        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
019464,000476: 33,2407           05402                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
019465,000477: 33,2410           00215                           OCT      00215                                 
019466,000478: 33,2411  01,2275               5P21SPT1           =        5.21SPOT                              
019467,000479: 33,2411           12413                           TCF      +2                                    
019468,000480: 33,2412           02337        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
019469,000481: 
019470,000482: 33,2413           11643                           CCS      GEOCOMP1                              
019471,000483: 33,2414           02416                           TC       +2                                    
019472,000484: 33,2415           02421                           TC       NORMLOP                               
019473,000485: 33,2416           03162                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
019474,000486: 33,2417           04636                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
019475,000487: 33,2420           15276                           CADR     1/PIPA                                
019476,000488: 
019477,000489: 33,2421           06006        NORMLOP            TC       INTPRET                               
019478,000490: 33,2422           77745                           DLOAD                                          
019479,000491: 33,2423           26672                                    INTVAL                                
019480,000492: 33,2424           24051                           STOVL    S1                                    
019481,000493: 33,2425           01315                                    DELVX                                 
019482,000494: 33,2426           76505                           VXM      VSL1                                  
019483,000495: 33,2427           02672                                    XSM                                   
019484,000496: 33,2430           57545                           DLOAD    DCOMP                                 
019485,000497: 33,2431           00160                                    MPAC       +3                         
019486,000498: 33,2432           16533                           STODL    DPIPAY                                
019487,000499: 33,2433           00162                                    MPAC       +5                         
019488,000500: 33,2434           02537                           STORE    DPIPAZ                                
019489,000501: 
019490,000502: 33,2435           76001                           SETPD    AXT,1                                 
019491,000503: 33,2436           00001                                    0                                     
019492,000504: 33,2437           00010                                    8D                                    
019493,000505: 33,2440           57535                           SLOAD    DCOMP                                 
019494,000506: 33,2441           02644                                    GEOCOMP1                              
019495,000507: 33,2442           77640                           BMN                                            
019496,000508: 33,2443           66764                                    ALWAYSG                               #  DO A QUICK COMPASS
019497,000509: 

Page 440

019499,000511:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019500,000512: 
019501,000513: 33,2444                                           COUNT*   $$/COMST                              
019502,000514: 33,2444           50135        ALCGKK             SLOAD    BMN                                   
019503,000515: 33,2445           02542                                    ALTIMS                                
019504,000516: 33,2446           66461                                    ALFLT3                                #  NO NEW GAINS NEEDED
019505,000517: 33,2447           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
019506,000518: 33,2450           00014                                    12D                                   
019507,000519: 33,2451           02454                                    ALX1S                                 
019508,000520: 33,2452           62143        ALKCG2             DLOAD*   INCR,1                                
019509,000521: 33,2453           02243                                    ALFDK      +144D,1                    
019510,000522: 33,2454           77775                           DEC      -2         B-14                       
019511,000523: 33,2455           12555                           STORE    ALDK       +10D,2                     
019512,000524: 33,2456           66104                           TIX,2    SXA,1                                 
019513,000525: 33,2457           66452                                    ALKCG2                                
019514,000526: 33,2460           02454                                    ALX1S                                 
019515,000527: 
019516,000528: 33,2461           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
019517,000529: 33,2462           00010                                    8D                                    #  AND GAIN UPDATES
019518,000530: 33,2463           41343        DELMLP             DLOAD*   DMP                                   
019519,000531: 33,2464           02543                                    DPIPAY     +8D,1                      
019520,000532: 33,2465           27427                                    PIPASC                                
019521,000533: 33,2466           43661                           SLR      BDSU*                                 
019522,000534: 33,2467           21212                                    9D                                    
019523,000535: 33,2470           02511                                    INTY       +8D,1                      
019524,000536: 33,2471           06511                           STORE    INTY       +8D,1                      
019525,000537: 33,2472           40725                           PDDL     DMP*                                  
019526,000538: 33,2473           27431                                    VELSC                                 
019527,000539: 33,2474           02531                                    VLAUN      +8D,1                      
019528,000540: 33,2475           77732                           SL2R                                           
019529,000541: 33,2476           45425                           DSU      STADR                                 
019530,000542: 33,2477           71206                           STORE    DELM       +8D,1                      
019531,000543: 33,2500           06573                           STORE    DELM       +10D,1                     
019532,000544: 33,2501           77100                           TIX,1    AXT,2                                 
019533,000545: 33,2502           66463                                    DELMLP                                
019534,000546: 33,2503           00004                                    4                                     
019535,000547: 33,2504           56743        ALILP              DLOAD*   DMPR*                                 
019536,000548: 33,2505           75314                                    ALK        +4,2                       
019537,000549: 33,2506           75230                                    ALDK       +4,2                       
019538,000550: 33,2507           12463                           STORE    ALK        +4,2                       
019539,000551: 33,2510           77104                           TIX,2    AXT,2                                 
019540,000552: 33,2511           66504                                    ALILP                                 
019541,000553: 33,2512           00010                                    8D                                    
019542,000554: 33,2513           66140        ALKLP              LXC,1    SXA,1                                 
019543,000555: 33,2514           02455                                    CMPX1                                 
019544,000556: 33,2515           02455                                    CMPX1                                 
019545,000557: 33,2516           56743                           DLOAD*   DMPR*                                 
019546,000558: 33,2517           02460                                    ALK        +1,1                       
019547,000559: 33,2520           75206                                    DELM       +8D,2                      
019548,000560: 33,2521           77613                           DAD*                                           

Page 441

019550,000562: 33,2522           75266                                    INTY       +8D,2                      
019551,000563: 33,2523           12511                           STORE    INTY       +8D,2                      
019552,000564: 33,2524           42743                           DLOAD*   DAD*                                  
019553,000565: 33,2525           75304                                    ALK        +12D,2                     
019554,000566: 33,2526           75220                                    ALDK       +12D,2                     
019555,000567: 33,2527           12473                           STORE    ALK        +12D,2                     
019556,000568: 33,2530           42673                           DMPR*    DAD*                                  
019557,000569: 33,2531           75206                                    DELM       +8D,2                      
019558,000570: 33,2532           75256                                    INTY       +16D,2                     
019559,000571: 33,2533           12521                           STORE    INTY       +16D,2                     
019560,000572: 33,2534           40743                           DLOAD*   DMP*                                  
019561,000573: 33,2535           27434                                    ALSK       +1,1                       
019562,000574: 33,2536           75206                                    DELM       +8D,2                      
019563,000575: 33,2537           42772                           SL1R     DAD*                                  
019564,000576: 33,2540           75246                                    VLAUN      +8D,2                      
019565,000577: 33,2541           12531                           STORE    VLAUN      +8D,2                      
019566,000578: 33,2542           76104                           TIX,2    AXT,1                                 
019567,000579: 33,2543           66513                                    ALKLP                                 
019568,000580: 33,2544           00010                                    8D                                    
019569,000581: 
019570,000582: 33,2545           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
019571,000583: 33,2546           02533                                    ACCWD      +8D,1                      
019572,000584: 33,2547           02531                                    VLAUN      +8D,1                      
019573,000585: 33,2550           55523                           PDDL*    VDEF                                  
019574,000586: 33,2551           02541                                    POSNV      +8D,1                      
019575,000587: 33,2552           76521                           MXV      VSL1                                  
019576,000588: 33,2553           02001                                    TRANSM1                               
019577,000589: 33,2554           77745                           DLOAD                                          
019578,000590: 33,2555           00155                                    MPAC                                  
019579,000591: 33,2556           06541                           STORE    POSNV      +8D,1                      
019580,000592: 33,2557           77745                           DLOAD                                          
019581,000593: 33,2560           00160                                    MPAC       +3                         
019582,000594: 33,2561           06531                           STORE    VLAUN      +8D,1                      
019583,000595: 33,2562           77745                           DLOAD                                          
019584,000596: 33,2563           00162                                    MPAC       +5                         
019585,000597: 33,2564           06533                           STORE    ACCWD      +8D,1                      
019586,000598: 33,2565           77700                           TIX,1                                          
019587,000599: 33,2566           66545                                    LOOSE                                 
019588,000600: 
019589,000601: 33,2567           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
019590,000602: 33,2570           00006                                    6                                     
019591,000603: 33,2571           00002                                    2                                     
019592,000604: 33,2572           57343        BOOP               DLOAD*   DMPR                                  
019593,000605: 33,2573           02513                                    ANGX       +2,1                       
019594,000606: 33,2574           27437                                    GEORGEJ                               
019595,000607: 33,2575           77722                           SR2R                                           
019596,000608: 33,2576           73406                           PUSH     SIN                                   
019597,000609: 33,2577           56072                           SL3R     XAD,1                                 

Page 442

019599,000611: 33,2600           00046                                    X1                                    
019600,000612: 33,2601           10021                           STORE    16D,2                                 
019601,000613: 33,2602           77745                           DLOAD                                          
019602,000614: 33,2603           77746                           COS                                            
019603,000615: 33,2604           10027                           STORE    22D,2                                 #  COSINES
019604,000616: 33,2605           77704                           TIX,2                                          
019605,000617: 33,2606           66572                                    BOOP                                  
019606,000618: 33,2607           77776        PERFERAS           EXIT                                           
019607,000619: 33,2610           04606                           TC       E7SETTER                              
019608,000620: 33,2611  E7,1400                                  EBANK=   LAT(SPL)                              
019609,000621: 33,2611           01400                           TC       LAT(SPL)                              #  GO TO ERASABLE ONLY TO RETURN
019610,000622: 
019611,000623:                                                                                                  #        CAUTION
019612,000624: 
019613,000625:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019614,000626:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019615,000627: 
019616,000628: 33,2612  E5,1412                                  EBANK=   LENGTHOT                              
019617,000629: 33,2612           11412        ONCEMORE           CCS      LENGTHOT                              
019618,000630: 33,2613           02276                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
019619,000631: 
019620,000632: 33,2614           11450                           CCS      TORQNDX                               
019621,000633: 33,2615           12617                           TCF      +2                                    
019622,000634: 33,2616           02621                           TC       SETUPER1                              
019623,000635: 33,2617           30032                           CA       CDUX                                  
019624,000636: 33,2620           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
019625,000637: 33,2621           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
019626,000638: 33,2622           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
019627,000639: 33,2623           02503                                    ANGZ                                  
019628,000640: 33,2624           02507                                    ANGY                                  
019629,000641: 33,2625           55525                           PDDL     VDEF                                  
019630,000642: 33,2626           02511                                    ANGX                                  
019631,000643: 33,2627           74276                           VCOMP    VXSC                                  
019632,000644: 33,2630           27437                                    GEORGEJ                               
019633,000645: 33,2631           74521                           MXV      VSR1                                  
019634,000646: 33,2632           02672                                    XSM                                   
019635,000647: 33,2633           02760                           STORE    OGC                                   
019636,000648: 33,2634           77776                           EXIT                                           
019637,000649: 
019638,000650: 33,2635           05402        TORQINCH           TC       PHASCHNG                              
019639,000651: 33,2636           00005                           OCT      00005                                 
019640,000652: 33,2637           32220                           CA       OGCPL                                 
019641,000653: 33,2640           04636                           TC       BANKCALL                              
019642,000654: 33,2641           17244                           CADR     IMUPULSE                              
019643,000655: 33,2642           02126                           TC       IMUSTLLG                              
019644,000656: 33,2643           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
019645,000657: 33,2644           02106                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019646,000658: 33,2645           06006                           TC       INTPRET                               
019647,000659: 33,2646           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019648,000660: 33,2647           64000                                    ERTHRVSE                              

Page 443

019650,000662: 33,2650           77776                           EXIT                                           
019651,000663: 33,2651           02074                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019652,000664: 
019653,000665: 
019654,000666: 33,2652           05671        SOMEERRR           TC       ALARM                                 
019655,000667: 33,2653           01600                           OCT      1600                                  
019656,000668: 33,2654           02657                           TC       +3                                    
019657,000669: 33,2655           05671        SOMERR2            TC       ALARM                                 
019658,000670: 33,2656           01601                           OCT      1601                                  
019659,000671: 33,2657           05402                           TC       PHASCHNG                              
019660,000672: 33,2660           00005                           OCT      00005                                 
019661,000673: 33,2661           02113                           TC       ENDTEST1                              
019662,000674: 
019663,000675: 
019664,000676:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.         
019665,000677: 
019666,000678: 
019667,000679: 33,2662           00000 00000  SCHZEROS           2DEC     .00000000                             
019668,000680: 33,2664           00000 00000                     2DEC     .00000000                             
019669,000681: 33,2666           00000                           OCT      00000                                 
019670,000682: 33,2667           00000        ONEDPP             OCT      00000                                 
019671,000683: 33,2670           00001                 +1        OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
019672,000684: 
019673,000685: 33,2671           00004        INTVAL             OCT      4                                     
019674,000686: 33,2672           00002                           OCT      2                                     
019675,000687: 33,2673           00220                           DEC      144        B-14                       
019676,000688: 33,2674           77776                           DEC      -1         B-14                       
019677,000689: 33,2675           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019678,000690: 33,2677           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019679,000691: 
019680,000692: 
019681,000693: 33,2701           00115        77DECML            DEC      77         B-14                       
019682,000694: 33,2702           01453        ALXXXZ             GENADR   ALX1S      -1                         
019683,000695: 
019684,000696:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019685,000697: 
019686,000698: 33,2703                                           COUNT*   $$/P01                                
019687,000699: 
019688,000700:                                                                                                  #  INITIALIZATION SECTION
019689,000701: 
019690,000702: 33,2703           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
019691,000703: 33,2704           74755                           MASK     NOP01BIT                              
019692,000704: 33,2705           00006                           EXTEND                                         
019693,000705: 33,2706           12711                           BZF      GTSCPSSA                              
019694,000706: 33,2707           05726                           TC       POODOO                                
019695,000707: 33,2710           21521                           OCT      21521                                 #  NO DO ALARM FOR P01 - P11 ALREADY DONE

Page 444

019697,000709: 33,2711           34753        GTSCPSSA           CAF      PRIO20                                #  INITIAL PRIORITY ONLY 13
019698,000710: 33,2712           05176                           TC       PRIOCHNG                              #  CHANGE TO 20
019699,000711: 
019700,000712: 33,2713           34770                           CAF      ONE                                   
019701,000713: 33,2714           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
019702,000714: 33,2715           33211                           CA       1/PIPAGT                              
019703,000715: 33,2716           55277                           TS       1/PIPADT                              
019704,000716: 33,2717           34761        NXXTBNN            CA       BIT8                                  
019705,000717: 33,2720           55412                           TS       LENGTHOT                              
019706,000718: 33,2721           35011                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019707,000719: 33,2722           55644                           TS       1SECXT1                               
019708,000720: 33,2723           34770                           CAF      ONE                                   
019709,000721: 33,2724           55632                           TS       PREMTRX1                              
019710,000722: 33,2725           55657                           TS       PERFDLAY   +1                         
019711,000723: 33,2726           34772                           CAF      ZERO                                  
019712,000724: 33,2727           55656                           TS       PERFDLAY                              
019713,000725: 33,2730           00006                           EXTEND                                         
019714,000726: 33,2731           31634                           DCA      LUNCHAZ1                              
019715,000727: 33,2732           53636                           DXCH     NEWAZ1                                
019716,000728: 33,2733           00006                           EXTEND                                         
019717,000729: 33,2734           31634                           DCA      LUNCHAZ1                              
019718,000730: 33,2735           53640                           DXCH     OLDAZMTH                              
019719,000731: 33,2736           34352        SETUPGC            CA       DEC17                                 
019720,000732: 33,2737           55655                           TS       ZERONDX1                              
019721,000733: 33,2740           32222                           CA       XSMADR                                
019722,000734: 33,2741           02134                           TC       ZEROING                               
019723,000735: 33,2742           02744                           TC       POSN17C                               
019724,000736: 33,2743           02002                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019725,000737: 
019726,000738: 
019727,000739: 33,2744           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN,X DOWNRANGE
019728,000740: 33,2745           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019729,000741: 33,2746           44753                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019730,000742: 33,2747           55705                           TS       ZSM                                   
019731,000743: 33,2750           06006                           TC       INTPRET                               
019732,000744: 33,2751           41545                           DLOAD    PUSH                                  
019733,000745: 33,2752           02636                                    NEWAZ1                                
019734,000746: 33,2753           77756                           SIN                                            
019735,000747: 33,2754           02676                           STORE    XSM        +4                         
019736,000748: 33,2755           16702                           STODL    YSM        +2                         
019737,000749: 33,2756           77746                           COS                                            
019738,000750: 33,2757           02704                           STORE    YSM        +4                         
019739,000751: 33,2760           77676                           DCOMP                                          
019740,000752: 33,2761           02674                           STORE    XSM        +2                         
019741,000753: 33,2762           77776                           EXIT                                           
019742,000754: 33,2763           01425                           TC       QPLACE                                
019743,000755: 
019744,000756:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019745,000757: 

Page 445

019747,000759: 33,2764                                           COUNT*   $$/P02                                
019748,000760: 33,2764           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019749,000761: 33,2765           02543                                    DPIPAY     +8D,1                      
019750,000762: 33,2766           02505                                    FILDELV1   +8D,1                      
019751,000763: 33,2767           42675                           DMPR     DAD*                                  
019752,000764: 33,2770           27441                                    GEOCONS1                              
019753,000765: 33,2771           02505                                    FILDELV1   +8D,1                      
019754,000766: 33,2772           06505                           STORE    FILDELV1   +8D,1                      
019755,000767: 33,2773           77613                           DAD*                                           
019756,000768: 33,2774           02507                                    INTVEC1    +8D,1                      
019757,000769: 33,2775           06507                           STORE    INTVEC1    +8D,1                      
019758,000770: 33,2776           42675                           DMPR     DAD*                                  
019759,000771: 33,2777           27443                                    GEOCONS2                              
019760,000772: 33,3000           02505                                    FILDELV1   +8D,1                      
019761,000773: 33,3001           41475                           DMPR     PUSH                                  
019762,000774: 33,3002           15334                                    GEOCONS5                              
019763,000775: 33,3003           67300                           TIX,1    SLOAD                                 
019764,000776: 33,3004           66764                                    ALWAYSG                               
019765,000777: 33,3005           02647                                    ERECTIM1                              
019766,000778: 33,3006           71254                           BZE      DLOAD                                 
019767,000779: 33,3007           67020                                    COMPGS                                
019768,000780: 33,3010           02471                                    THETAN1    +2                         
019769,000781: 33,3011           45425                           DSU      STADR                                 
019770,000782: 33,3012           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019771,000783: 33,3013           77621                           BDSU                                           
019772,000784: 33,3014           02473                                    THETAN1    +4                         
019773,000785: 33,3015           02473                           STORE    THETAN1    +4                         
019774,000786: 33,3016           77650                           GOTO                                           
019775,000787: 33,3017           67042                                    ADDINDRF                              
019776,000788: 33,3020           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019777,000789: 33,3021           02467                                    THETAN1                               
019778,000790: 33,3022           02475                                    FILDELV1                              
019779,000791: 33,3023           16467                           STODL    THETAN1                               
019780,000792: 33,3024           02475                                    FILDELV1                              
019781,000793: 33,3025           44275                           DMPR     BDSU                                  
019782,000794: 33,3026           27445                                    GEOCONS3                              
019783,000795: 33,3027           02473                                    THETAN1    +4                         
019784,000796: 33,3030           16473                           STODL    THETAN1    +4                         
019785,000797: 33,3031           02501                                    FILDELV1   +4                         
019786,000798: 33,3032           44275                           DMPR     BDSU                                  
019787,000799: 33,3033           27445                                    GEOCONS3                              
019788,000800: 33,3034           02471                                    THETAN1    +2                         
019789,000801: 33,3035           57325                           PDDL     DMPR                                  
019790,000802: 33,3036           02503                                    INTVEC1    +4                         
019791,000803: 33,3037           27447                                    GEOCONS4                              
019792,000804: 33,3040           45421                           BDSU     STADR                                 
019793,000805: 33,3041           75306                           STORE    THETAN1    +2                         
019794,000806: 33,3042           77776        ADDINDRF           EXIT                                           
019795,000807: 

Page 446

019797,000809: 
019798,000810: 33,3043           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019799,000811: 33,3044           02276                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019800,000812: 33,3045           03162                           TC       CHKCOMED                              
019801,000813: 33,3046           11324                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
019802,000814: 33,3047           12277                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019803,000815: 
019804,000816: 33,3050           06006        LASTGTS            TC       INTPRET                               
019805,000817: 33,3051           77775                           VLOAD                                          
019806,000818: 33,3052           02650                                    ERCOMP1                               
019807,000819: 33,3053           16461                           STODL    THETAX1                               
019808,000820: 33,3054           02443                                    TMARK                                 
019809,000821: 33,3055           02457                           STORE    ALK                                   
019810,000822: 33,3056           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019811,000823: 
019812,000824: 33,3057           05402        RESTAIER           TC       PHASCHNG                              
019813,000825: 33,3060           00275                           OCT      00275                                 
019814,000826: 33,3061  01,2306               5P27SPT1           =        5.27SPOT                              
019815,000827: 33,3061           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019816,000828: 33,3062           64375                           VLOAD    MXV                                   
019817,000829: 33,3063           02467                                    THETAN1                               
019818,000830: 33,3064           02672                                    XSM                                   
019819,000831: 33,3065           53372                           VSL1     VAD                                   
019820,000832: 33,3066           02461                                    THETAX1                               
019821,000833: 33,3067           16650                           STODL    ERCOMP1                               
019822,000834: 33,3070           02457                                    ALK                                   
019823,000835: 33,3071           02443                           STORE    TMARK                                 
019824,000836: 33,3072           77776                           EXIT                                           
019825,000837: 33,3073           02175                           TC       EARTHR*                               #  TORQUE IT ALL IN
019826,000838: 33,3074           31646                           CAE      ERECTIM1                              
019827,000839: 33,3075           55631                           TS       GEOSAVE1                              
019828,000840: 33,3076           05402                           TC       PHASCHNG                              
019829,000841: 33,3077           00155                           OCT      00155                                 
019830,000842: 33,3100  01,2267               5P15SPT1           =        5.15SPOT                              
019831,000843: 33,3100           06006        RESTEST1           TC       INTPRET                               
019832,000844: 33,3101           77775                           VLOAD                                          
019833,000845: 33,3102           26663                                    SCHZEROS                              
019834,000846: 33,3103           02467                           STORE    THETAN1                               
019835,000847: 33,3104           77776                           EXIT                                           
019836,000848: 33,3105           11632                           CCS      PREMTRXC                              
019837,000849: 33,3106           03155                           TC       NOCHORLD                              
019838,000850: 33,3107           05402                           TC       PHASCHNG                              
019839,000851: 33,3110           00255                           OCT      00255                                 
019840,000852: 33,3111  01,2303               5P25SPT1           =        5.25SPOT                              
019841,000853: 33,3111           06006        RESTEST3           TC       INTPRET                               
019842,000854: 33,3112           77745                           DLOAD                                          
019843,000855: 33,3113           02634                                    LAUNCHAZ                              
019844,000856: 33,3114           53025                           DSU      BZE                                   
019845,000857: 33,3115           02640                                    OLDAZMTH                              
019846,000858: 33,3116           67152                                    NOAZCHGE                              
019847,000859: 33,3117           00001                           STORE    0D                                    

Page 447

019849,000861: 33,3120           43335                           SLOAD    DAD                                   
019850,000862: 33,3121           26671                                    ONEDPP     +1                         
019851,000863: 33,3122           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019852,000864: 33,3123           16633                           STODL    PREMTRXC                              
019853,000865: 33,3124           02634                                    LAUNCHAZ                              
019854,000866: 33,3125           16636                           STODL    NEWAZMTH                              
019855,000867: 33,3126           00001                                    0D                                    
019856,000868: 33,3127           02654        ADERCOMP           STORE    ERCOMP     +4                         
019857,000869: 33,3130           77776                           EXIT                                           
019858,000870: 33,3131           02744                           TC       POSN17C                               
019859,000871: 33,3132           05402                           TC       PHASCHNG                              
019860,000872: 33,3133           00335                           OCT      00335                                 
019861,000873: 33,3134  01,2314               5P33SPT1           =        5.33SPOT                              
019862,000874: 33,3134           00006        RESCHNG            EXTEND                                         
019863,000875: 33,3135           31636                           DCA      NEWAZMTH                              
019864,000876: 33,3136           53640                           DXCH     OLDAZMTH                              
019865,000877: 33,3137           34762                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
019866,000878: 33,3140           55412                           TS       LENGTHOT                              
019867,000879: 33,3141           05402                           TC       PHASCHNG                              
019868,000880: 33,3142           00075                           OCT      00075                                 
019869,000881: 33,3143  01,2256               5P7SPT2            =        5.7SPOT                               
019870,000882: 33,3143           33210        SPITGYRO           CA       ERCOMPPL                              
019871,000883: 33,3144           04636                           TC       BANKCALL                              
019872,000884: 33,3145           17244                           CADR     IMUPULSE                              
019873,000885: 33,3146           04636                           TC       BANKCALL                              
019874,000886: 33,3147           17644                           CADR     IMUSTALL                              
019875,000887: 33,3150           02655                           TC       SOMERR2                               
019876,000888: 33,3151           02227                           TC       ESTIMS                                #  RE-INITIALIZE
019877,000889: 
019878,000890: 
019879,000891: 33,3152           77776        NOAZCHGE           EXIT                                           
019880,000892: 33,3153           34770                           CA       ONE                                   
019881,000893: 33,3154           55632                           TS       PREMTRXC                              
019882,000894: 33,3155           11631        NOCHORLD           CCS      GEOSAVE1                              
019883,000895: 33,3156           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019884,000896: 
019885,000897: 33,3157           34322        ANNNNNN            CAF      NINE                                  
019886,000898: 33,3160           55412                           TS       LENGTHOT                              
019887,000899: 33,3161           02277                           TC       SLEEPIE    +1                         
019888,000900: 
019889,000901: 
019890,000902: 33,3162           00004        CHKCOMED           INHINT                                         
019891,000903: 33,3163           41214                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
019892,000904: 33,3164           64774                           AD       SEVEN                                 
019893,000905: 33,3165           00006                           EXTEND                                         
019894,000906: 33,3166           13202                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
019895,000907: 33,3167           44772                           CS       ZERO                                  
019896,000908: 33,3170           00006                           EXTEND                                         
019897,000909: 33,3171           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019898,000910: 33,3172           74764                           MASK     BIT5                                  #  LIFTOFF BIT

Page 448

019900,000912: 33,3173           10000                           CCS      A                                     
019901,000913: 33,3174           13203                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019902,000914: 
019903,000915: 33,3175           34764                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
019904,000916: 33,3176           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019905,000917: 33,3177           10000                           CCS      A                                     
019906,000918: 33,3200           13203                           TCF      PRELTERM                              #  BACKUP RECEIVED
019907,000919: 
019908,000920: 33,3201           00003                           RELINT                                         
019909,000921: 33,3202           00002        GOBKCALB           TC       Q                                     
019910,000922: 
019911,000923: 33,3203           37644        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
019912,000924: 33,3204           05176                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019913,000925: 33,3205           00004                           INHINT                                         
019914,000926: 33,3206           04655                           TC       POSTJUMP                              
019915,000927: 33,3207           70000                           CADR     P11                                   
019916,000928: 
019917,000929: 
019918,000930: 33,3210           02647        ERCOMPPL           ECADR    ERCOMP                                
019919,000931: 
019920,000932: 33,3211  26,3333               GEOCONS5           EQUALS   HIDPHALF                              
019921,000933: 33,3211           06200        1/PIPAGT           OCT      06200                                 
019922,000934: 33,3212     4352               17DECML            =        ND1                                   #  OCT 21
019923,000935: 33,3212     4351               19DECML            =        VD1                                   #  OCT 23
019924,000936: 33,3212     5011               1/2SECX            =        .5SEC                                 
019925,000937: 

Page 449

019927,000939:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019928,000940: 
019929,000941: 33,3212                                           COUNT*   $$/P03                                
019930,000942: 33,3212           05402        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019931,000943: 33,3213           00154                           OCT      00154                                 
019932,000944: 33,3214  01,2143               4P15SPT1           =        4.15SPOT                              
019933,000945: 33,3214           05344                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
019934,000946: 33,3215           00003                           MM       03         B-14                       
019935,000947: 33,3216           02011        SETNBPOS           TC       NBPOSPL                               
019936,000948: 33,3217           04636                 +1        TC       BANKCALL                              
019937,000949: 33,3220           16073                           CADR     MKRELEAS                              
019938,000950: 33,3221           34770        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019939,000951: 33,3222           22007                           ZL                                             #  T 1,THEN TARGET 2
019940,000952: 33,3223           23427                 +2        LXCH     RUN                                   
019941,000953: 33,3224           55252                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019942,000954: 33,3225           00006                           EXTEND                                         
019943,000955: 33,3226           51427                           INDEX    RUN                                   
019944,000956: 33,3227           31433                           DCA      TAZEL1                                
019945,000957: 33,3230           53251                           DXCH     DSPTEM1                               
019946,000958: 33,3231           33252        OPTDATA8           CAF      V05N30E                               
019947,000959: 33,3232           04636                           TC       BANKCALL                              
019948,000960: 33,3233           20705                           CADR     GODSPRET                              
019949,000961: 33,3234           35032                           CAF      V06N41                                
019950,000962: 33,3235           04636                           TC       BANKCALL                              
019951,000963: 33,3236           20743                           CADR     GOFLASH                               
019952,000964: 33,3237           03370                           TC       GCOMP5                                
019953,000965: 33,3240           03242                           TC       +2                                    
019954,000966: 33,3241           13231                           TCF      OPTDATA8                              
019955,000967: 
019956,000968: 33,3242           53251                           DXCH     DSPTEM1                               #  TAZEL1  TARGET 1 AZIMUTH
019957,000969: 33,3243           51427                           INDEX    RUN                                   
019958,000970: 33,3244           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019959,000971: 33,3245           11427                           CCS      RUN                                   
019960,000972: 33,3246           13313                           TCF      CONTIN33                              
019961,000973: 33,3247           34767                           CAF      TWO                                   
019962,000974: 33,3250           54001                           TS       L                                     
019963,000975: 33,3251           13223                           TCF      OPTDATA    +2                         #  MPAC    1ST PASS=0  2ND PASS=2
019964,000976: 
019965,000977: 33,3252           01236        V05N30E            VN       0530                                  
019966,000978: 
019967,000979: 33,3253           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019968,000980: 33,3254           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019969,000981: 33,3255           00002                                    2                                     #  SIN(EL)  -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019970,000982: 33,3256           00014                                    12D                                   
019971,000983: 33,3257           40331                           SSP      SETPD                                 
019972,000984: 33,3260           00052                                    S2                                    
019973,000985: 33,3261           00006                                    6                                     
019974,000986: 33,3262           00001                                    0                                     
019975,000987: 33,3263           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6

Page 450

019977,000989: 33,3264           02436                                    TAZEL1     +3,1                       
019978,000990: 33,3265           00001                           STORE    0                                     #  PD00    ELEVATION    PD00
019979,000991: 33,3266           77756                           SIN                                            
019980,000992: 33,3267           10023                           STORE    18D,2                                 #  PD06 ***    SIN(EL)   ***PD12
019981,000993: 33,3270           77745                           DLOAD                                          
019982,000994: 33,3271           00001                                    0                                     
019983,000995: 33,3272           41546                           COS      PUSH                                  #  PD00     COS(EL)   PD00
019984,000996: 33,3273           47133                           SLOAD*   RTB                                   
019985,000997: 33,3274           02435                                    TAZEL1     +2,1                       
019986,000998: 33,3275           51754                                    CDULOGIC                              
019987,000999: 33,3276           00003                           STORE    2                                     #  PD02        AZIMUTH   PD02
019988,001000: 33,3277           41356                           SIN      DMP                                   
019989,001001: 33,3300           00001                                    0                                     
019990,001002: 33,3301           77752                           SL1                                            
019991,001003: 33,3302           10027                           STORE    22D,2                                 #  PD10  *** SIN(AZ)COS(EL)  ***PD16
019992,001004: 33,3303           71545                           DLOAD    COS                                   
019993,001005: 33,3304           00003                                    2                                     
019994,001006: 33,3305           72405                           DMP      SL1                                   
019995,001007: 33,3306           76076                           DCOMP    AXT,1                                 
019996,001008: 33,3307           00000                                    0                                     
019997,001009: 33,3310           10025                           STORE    20D,2                                 #  PD08 ***   -COS(AZ)COS(EL)  ***PD14
019998,001010: 33,3311           43504                           TIX,2    RVQ                                   
019999,001011: 33,3312           67263                                    TAR1                                  
020000,001012: 
020001,001013: 
020002,001014: 33,2000                                           SETLOC   IMUCAL                                
020003,001015: 33,2000                                           BANK                                           
020004,001016: 33,3313                                           COUNT*   $$/P03                                
020005,001017: 33,3313           34770        CONTIN33           CA       ONE                                   
020006,001018: 33,3314           55140                           TS       STARCODE                              
020007,001019: 33,3315           34772                           CA       ZERO                                  
020008,001020: 33,3316           03375                           TC       TARGDRVE                              
020009,001021: 33,3317           06006                           TC       INTPRET                               
020010,001022: 33,3320           77624                           CALL                                           
020011,001023: 33,3321           67254                                    TAR/EREF                              
020012,001024: 33,3322           64375        NEXTBNKS           VLOAD    MXV                                   
020013,001025: 33,3323           00007                                    6D                                    
020014,001026: 33,3324           02672                                    XSM                                   
020015,001027: 33,3325           77772                           VSL1                                           
020016,001028: 33,3326           26736                           STOVL    STARAD                                
020017,001029: 33,3327           00015                                    12D                                   
020018,001030: 33,3330           76521                           MXV      VSL1                                  
020019,001031: 33,3331           02672                                    XSM                                   
020020,001032: 33,3332           36744                           STCALL   STARAD     +6                         
020021,001033: 33,3333           67450                                    LITTLSUB                              
020022,001034: 33,3334           02414                           STORE    LOSVEC                                
020023,001035: 33,3335           77776                           EXIT                                           
020024,001036: 33,3336           34767        NEXBNKSS           CAF      TWO                                   
020025,001037: 33,3337           55140                           TS       STARCODE                              
020026,001038: 33,3340           36211                           CAF      SIX                                   

Page 451

020028,001040: 33,3341           03375                           TC       TARGDRVE                              
020029,001041: 33,3342           06006                           TC       INTPRET                               
020030,001042: 33,3343           77624                           CALL                                           
020031,001043: 33,3344           67450                                    LITTLSUB                              
020032,001044: 33,3345           24015                           STOVL    12D                                   
020033,001045: 33,3346           02414                                    LOSVEC                                
020034,001046: 33,3347           34007                           STCALL   06D                                   
020035,001047: 33,3350           47432                                    AXISGEN                               
020036,001048: 33,3351           77624                           CALL                                           
020037,001049: 33,3352           47240                                    CALCGTA                               
020038,001050: 33,3353           77776                           EXIT                                           
020039,001051: 33,3354           35040        GCOMP4             CAF      V06N93                                
020040,001052: 33,3355           04636                           TC       BANKCALL                              
020041,001053: 33,3356           20743                           CADR     GOFLASH                               
020042,001054: 33,3357           03370                           TC       GCOMP5                                
020043,001055: 33,3360           13362                           TCF      +2                                    
020044,001056: 33,3361           13354                           TCF      GCOMP4                                
020045,001057: 33,3362           06006                           TC       INTPRET                               
020046,001058: 33,3363           53375                           VLOAD    VAD                                   
020047,001059: 33,3364           02760                                    OGC                                   
020048,001060: 33,3365           02650                                    ERCOMP1                               
020049,001061: 33,3366           02650                           STORE    ERCOMP1                               
020050,001062: 33,3367           77776                           EXIT                                           
020051,001063: 33,3370           05344        GCOMP5             TC       NEWMODEX                              
020052,001064: 33,3371           00002                           MM       02         B-14                       
020053,001065: 33,3372           05402                           TC       PHASCHNG                              
020054,001066: 33,3373           00004                           OCT      00004                                 
020055,001067: 33,3374           05205                           TC       ENDOFJOB                              
020056,001068: 33,2000                                           SETLOC   IMUCAL                                
020057,001069: 33,2000                                           BANK                                           
020058,001070: 
020059,001071: 
020060,001072: 33,3375                                           COUNT*   $$/P03                                
020061,001073: 33,3375           00006        TARGDRVE           EXTEND                                         
020062,001074: 33,3376           23424                           QXCH     QPLAC                                 
020063,001075: 33,3377           55431                           TS       TARG1/2                               
020064,001076: 33,3400           06006                           TC       INTPRET                               
020065,001077: 33,3401           77624                           CALL                                           
020066,001078: 33,3402           67254                                    TAR/EREF                              
020067,001079: 33,3403           76740                           LXC,1    VLOAD*                                
020068,001080: 33,3404           02431                                    TARG1/2                               
020069,001081: 33,3405           00007                                    6D,1                                  
020070,001082: 33,3406           36766                           STCALL   STAR                                  
020071,001083: 33,3407           46053                                    SXTANG                                
020072,001084: 33,3410           77776                           EXIT                                           
020073,001085: 33,3411           31773                           CA       SAC                                   
020074,001086: 33,3412           55313                           TS       DESOPTS                               
020075,001087: 33,3413           31775                           CA       PAC                                   
020076,001088: 33,3414           55312                           TS       DESOPTT                               
020077,001089: 33,3415           34772        RETARG             CAF      ZERO                                  

Page 452

020079,001091: 33,3416           55323                           TS       OPTIND                                
020080,001092: 33,3417           04636                           TC       BANKCALL                              
020081,001093: 33,3420           16000                           CADR     SXTMARK                               
020082,001094: 33,3421           10301                           CCS      MARKINDX                              
020083,001095: 33,3422           03415                           TC       RETARG                                #  NO MARK TAKEN - DO AGAIN
020084,001096: 
020085,001097: 33,3423           04636                           TC       BANKCALL                              
020086,001098: 33,3424           16073                           CADR     MKRELEAS                              
020087,001099: 
020088,001100: 33,3425           01424                           TC       QPLAC                                 
020089,001101: 
020090,001102: 
020091,001103: 33,2000                                           SETLOC   IMUCAL                                
020092,001104: 33,2000                                           BANK                                           
020093,001105: 33,3426                                           COUNT*   $$/P03                                
020094,001106: 33,3426           30341 22444  PIPASC             2DEC     .76376833                             
020095,001107: 33,3430           57223 66451  VELSC              2DEC     -.52223476                            
020096,001108: 33,3432           05427 12577  ALSK               2DEC     .17329931                             
020097,001109: 33,3434           77567 44202                     2DEC     -.00835370                            
020098,001110: 33,3436           24276 14066  GEORGEJ            2DEC     .63661977                             
020099,001111: 33,3440           03146 14632  GEOCONS1           2DEC     .1                                    
020100,001112: 33,3442           00121 35341  GEOCONS2           2DEC     .005                                  
020101,001113: 33,3444           01767 31666  GEOCONS3           2DEC     .062                                  
020102,001114: 33,3446           00004 35223  GEOCONS4           2DEC     .0003                                 
020103,001115: 
020104,001116: 33,3450                                           COUNT*   $$/P02                                
020105,001117: 33,3450           74020        LITTLSUB           STQ      AXC,1                                 
020106,001118: 33,3451           00300                                    QMAJ                                  
020107,001119: 33,3452           03722                                    MRKBUF1                               
020108,001120: 33,3453           77650                           GOTO                                           
020109,001121: 33,3454           36073                                    SXTSM2                                
020110,001122: 
020111,001123: 
020112,001124: 43,2000                                           SETLOC   EXTVERBS                              
020113,001125: 43,2000                                           BANK                                           
020114,001126: 
020115,001127: 43,3132                                           COUNT*   $$/EXTVB                              
020116,001128: 43,3132           06006        AZMTHCG1           TC       INTPRET                               
020117,001129: 43,3133           47145                           DLOAD    RTB                                   
020118,001130: 43,3134           02636                                    NEWAZMTH                              
020119,001131: 43,3135           45640                                    1STO2S                                
020120,001132: 43,3136           77776                           EXIT                                           

Page 453

020122,001134: 43,3137           56154                           XCH      MPAC                                  
020123,001135: 43,3140           55250                           TS       DSPTEM1                               
020124,001136: 43,3141           04636                           TC       BANKCALL                              
020125,001137: 43,3142           20715                           CADR     CLEANDSP                              
020126,001138: 43,3143           33165                           CAF      VN0629                                
020127,001139: 43,3144           04636                           TC       BANKCALL                              
020128,001140: 43,3145           20743                           CADR     GOFLASH                               
020129,001141: 43,3146           13157                           TCF      +11                                   
020130,001142: 43,3147           13151                           TCF      +2                                    
020131,001143: 43,3150           13143                           TCF      -5                                    
020132,001144: 43,3151           06006                           TC       INTPRET                               
020133,001145: 43,3152           47135                           SLOAD    RTB                                   
020134,001146: 43,3153           01251                                    DSPTEM1                               
020135,001147: 43,3154           51754                                    CDULOGIC                              
020136,001148: 43,3155           02634                           STORE    LAUNCHAZ                              
020137,001149: 43,3156           77776                           EXIT                                           
020138,001150: 43,3157           34772                 +11       CAF      ZERO                                  
020139,001151: 43,3160           55632                           TS       PREMTRXC                              
020140,001152: 43,3161           05402                           TC       PHASCHNG                              
020141,001153: 43,3162           00004                           OCT      00004                                 
020142,001154: 43,3163           04655                           TC       POSTJUMP                              
020143,001155: 43,3164           21275                           CADR     PINBRNCH                              
020144,001156: 
020145,001157: 43,3165           01435        VN0629             VN       0629                                  
020146,001158: 

Page 454 Only assembler-generated messages on this page.


End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc.  Parent file is MAIN.agc