GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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, 1971Note that the date is the date of the printout, not the date of the program revision. |
018996,000002: ## Copyright: Public domain.
018997,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018998,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
018999,000005: ## build 072. This is for the Command Module's (CM)
019000,000006: ## Apollo Guidance Computer (AGC), for
019001,000007: ## Apollo 15-17.
019002,000008: ## Assembler: yaYUL
019003,000009: ## Contact: Sergio Navarro <sergionavarrog@gmail.com>
019004,000010: ## Website: www.ibiblio.org/apollo/index.html
019005,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
019006,000012: ## Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
019007,000013: ## 2009-09-03 JL Fixed symbol names.
019008,000014: ## 2009-09-06 JL Fixed typos.
019009,000015: ## 2010-01-31 JL Fixed build errors.
019010,000016: ## 2010-02-02 JL Fixed whitespace.
019011,000017: ## 2010-02-20 RSB Un-##'d this header.
019012,000018: ## 2017-02-05 RSB Proofed comment text by diff'ing vs Comanche 55
019013,000019: ## and corrected errors found.
019014,000020:
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Page 427 |
019016,000022:
019017,000023: # NAME- IMU PERFORMANCE TESTS 2
019018,000024:
019019,000025: # DATE- MARCH 20,1967
019020,000026:
019021,000027: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
019022,000028:
019023,000029: # MODNO.- ZERO
019024,000030:
019025,000031: # FUNCTIONAL DESCRIPTION
019026,000032:
019027,000033: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
019028,000034: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
019029,000035: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
019030,000036:
019031,000037: 33,2000 SETLOC IMUCAL
019032,000038: 33,2000 BANK
019033,000039:
019034,000040: 33,2002 E5,1423 EBANK= POSITON
019035,000041: 33,2002 COUNT* $$/COMST
019036,000042: 33,2002 04636 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
019037,000043: 33,2003 16627 CADR IMUZERO
019038,000044: 33,2004 02126 TC IMUSTLLG
019039,000045: 33,2005 34772 IMUBACK CA ZERO
019040,000046: 33,2006 55421 TS NDXCTR
019041,000047: 33,2007 55450 TS TORQNDX
019042,000048: 33,2010 55451 TS TORQNDX +1
019043,000049: 33,2011 34352 NBPOSPL CA DEC17
019044,000050: 33,2012 55655 TS ZERONDX1
019045,000051: 33,2013 32221 CA XNBADR
019046,000052: 33,2014 02134 TC ZEROING
019047,000053: 33,2015 34753 CA HALF
019048,000054: 33,2016 55713 TS XNB
019049,000055: 33,2017 06006 TC INTPRET
019050,000056: 33,2020 73545 DLOAD SIN
019051,000057: 33,2021 02401 AZIMUTH
019052,000058: 33,2022 02724 STORE YNB +2
019053,000059: 33,2023 16734 STODL ZNB +4
019054,000060: 33,2024 02401 AZIMUTH
019055,000061: 33,2025 77746 COS
019056,000062: 33,2026 02726 STORE YNB +4
019057,000063: 33,2027 77676 DCOMP
019058,000064: 33,2030 02732 STORE ZNB +2
019059,000065: 33,2031 77776 EXIT
019060,000066: 33,2032 05354 TC CHECKMM
019061,000067: 33,2033 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
019062,000068: 33,2034 12036 TCF +2 # NO
019063,000069: 33,2035 13217 TCF SETNBPOS +1 # YES
019064,000070: 33,2036 06006 TC INTPRET
019065,000071: 33,2037 77624 CALL
019066,000072: 33,2040 47344 CALCGA
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Page 428 |
019068,000074: 33,2041 77776 EXIT
019069,000075: 33,2042 04636 TC BANKCALL
019070,000076: 33,2043 16724 CADR IMUCOARS
019071,000077: 33,2044 34753 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
019072,000078: 33,2045 70077 MASK FLAGWRD3
019073,000079: 33,2046 00006 EXTEND
019074,000080: 33,2047 12051 BZF +2
019075,000081: 33,2050 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
019076,000082: 33,2051 05561 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
019077,000083: 33,2052 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
019078,000084: 33,2053 02126 TC IMUSTLLG
019079,000085: 33,2054 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
019080,000086: 33,2055 02103 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
019081,000087: 33,2056 04636 TC BANKCALL
019082,000088: 33,2057 17133 CADR IMUFINE
019083,000089: 33,2060 02126 TC IMUSTLLG
019084,000090: 33,2061 00006 EXTEND
019085,000091: 33,2062 31657 DCA PERFDLAY
019086,000092: 33,2063 05332 TC LONGCALL
019087,000093: 33,2064 E5,1423 EBANK= POSITON
019088,000094: 33,2064 02070 66065 2CADR GOESTIMS
019089,000095:
019090,000096: 33,2066 32073 CA ESTICADR
019091,000097: 33,2067 05163 TC JOBSLEEP
019092,000098: 33,2070 32073 GOESTIMS CA ESTICADR
019093,000099: 33,2071 05167 TC JOBWAKE
019094,000100: 33,2072 05314 TC TASKOVER
019095,000101: 33,2073 66227 ESTICADR CADR ESTIMS
019096,000102:
019097,000103: 33,2074 34772 TORQUE CA ZERO
019098,000104: 33,2075 55253 TS DSPTEM2
019099,000105: 33,2076 31514 CA DRIFTI
019100,000106: 33,2077 55254 TS DSPTEM2 +1
019101,000107: 33,2100 51423 INDEX POSITON
019102,000108: 33,2101 55430 TS SOUTHDR -1
019103,000109: 33,2102 02205 TC SHOW
019104,000110:
019105,000111: 33,2103 34756 PIPACHK CA EBANK4
019106,000112: 33,2104 54003 TS EBANK
019107,000113: 33,2105 E4,1400 EBANK= ERASPIP
019108,000114: 33,2105 01400 TC ERASPIP
019109,000115: 33,2106 E5,1512 EBANK= DRIFTO
019110,000116: 33,2106 31512 VALMIS CA DRIFTO
019111,000117: 33,2107 55254 TS DSPTEM2 +1
019112,000118: 33,2110 34772 CA ZERO
019113,000119: 33,2111 55253 TS DSPTEM2
019114,000120: 33,2112 02205 TC SHOW
019115,000121:
019116,000122: 33,2113 05561 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
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Page 429 |
019118,000124: 33,2114 00007 ADRES IMUSE # BIT 8 FLAG 0
019119,000125: 33,2115 44772 CS ZERO
019120,000126: 33,2116 05347 TC NEWMODEA
019121,000127: 33,2117 04636 TC BANKCALL
019122,000128: 33,2120 16073 CADR MKRELEAS
019123,000129: 33,2121 05524 TC ENDEXT
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Page 430 |
019125,000131: 33,2122 43215 OVERFFIX DAD DAD
019126,000132: 33,2123 15344 DPPOSMAX
019127,000133: 33,2124 26670 ONEDPP
019128,000134: 33,2125 77616 RVQ
019129,000135:
019130,000136: 33,2126 00006 IMUSTLLG EXTEND
019131,000137: 33,2127 23425 QXCH QPLACE
019132,000138: 33,2130 04636 TC BANKCALL
019133,000139: 33,2131 17644 CADR IMUSTALL
019134,000140: 33,2132 02655 TC SOMERR2
019135,000141: 33,2133 01425 TC QPLACE
019136,000142: 33,2134 54001 ZEROING TS L
019137,000143: 33,2135 12137 TCF +2
019138,000144: 33,2136 55655 ZEROING1 TS ZERONDX1
019139,000145: 33,2137 34772 CAF ZERO
019140,000146: 33,2140 50001 INDEX L
019141,000147: 33,2141 54000 TS 0
019142,000148: 33,2142 24001 INCR L
019143,000149: 33,2143 11655 CCS ZERONDX1
019144,000150: 33,2144 12136 TCF ZEROING1
019145,000151: 33,2145 00002 TC Q
019146,000152:
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Page 431 |
019148,000154: 32,2000 SETLOC IMUCAL3
019149,000155: 32,2000 BANK
019150,000156: 32,2000 COUNT* $$/COMST
019151,000157: 32,2000 65345 ERTHRVSE DLOAD PDDL
019152,000158: 32,2001 26663 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
019153,000159: 32,2002 02403 LATITUDE
019154,000160: 32,2003 57546 COS DCOMP
019155,000161: 32,2004 73525 PDDL SIN
019156,000162: 32,2005 02403 LATITUDE
019157,000163: 32,2006 74266 VDEF VXSC
019158,000164: 32,2007 26224 OMEG/MS
019159,000165: 32,2010 02405 STORE ERVECTOR
019160,000166: 32,2011 77634 RTB
019161,000167: 32,2012 51751 LOADTIME
019162,000168: 32,2013 26443 STOVL TMARK
019163,000169: 32,2014 26663 SCHZEROS
019164,000170: 32,2015 02650 STORE ERCOMP1
019165,000171: 32,2016 77616 RVQ
019166,000172: 33,2000 SETLOC IMUCAL
019167,000173: 33,2000 BANK
019168,000174: 33,2146 COUNT* $$/COMST
019169,000175: 33,2146 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
019170,000176: 33,2147 00051 S2
019171,000177: 33,2150 51751 LOADTIME
019172,000178: 33,2151 02441 +3 STORE TEMPTIME
019173,000179: 33,2152 51025 DSU BPL
019174,000180: 33,2153 02443 TMARK
019175,000181: 33,2154 66157 ERTHR
019176,000182: 33,2155 77624 CALL
019177,000183: 33,2156 66122 OVERFFIX
019178,000184: 33,2157 74261 ERTHR SL VXSC
019179,000185: 33,2160 20212 9D
019180,000186: 33,2161 02405 ERVECTOR
019181,000187: 33,2162 53321 MXV VAD
019182,000188: 33,2163 02672 XSM
019183,000189: 33,2164 02650 ERCOMP1
019184,000190: 33,2165 16650 STODL ERCOMP1
019185,000191: 33,2166 02441 TEMPTIME
019186,000192: 33,2167 02443 STORE TMARK
019187,000193: 33,2170 47170 AXT,1 RTB
019188,000194: 33,2171 02647 ECADR ERCOMP1
019189,000195: 33,2172 45722 PULSEIMU
019190,000196: 33,2173 77650 GOTO
019191,000197: 33,2174 00051 S2
019192,000198: 33,2175 00006 EARTHR* EXTEND
019193,000199: 33,2176 23426 QXCH QPLACES
019194,000200: 33,2177 06006 TC INTPRET
019195,000201: 33,2200 77624 CALL
019196,000202: 33,2201 66146 EARTHR
019197,000203: 33,2202 77776 PROUT EXIT
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Page 432 |
019199,000205: 33,2203 02126 TC IMUSTLLG
019200,000206: 33,2204 01426 TC QPLACES
019201,000207: 33,2205 00006 SHOW EXTEND
019202,000208: 33,2206 23425 QXCH QPLACE
019203,000209: 33,2207 31423 SHOW1 CA POSITON
019204,000210: 33,2210 55255 TS DSPTEM2 +2
019205,000211: 33,2211 32217 CA VB06N98
019206,000212: 33,2212 04636 TC BANKCALL
019207,000213: 33,2213 20743 CADR GOFLASH
019208,000214: 33,2214 02113 TC ENDTEST1 # V34
019209,000215: 33,2215 01425 TC QPLACE # V33
019210,000216: 33,2216 12207 TCF SHOW1
019211,000217:
019212,000218:
019213,000219: 33,2217 33,2223 3990DEC = OMEG/MS
019214,000220: 33,2217 01542 VB06N98 VN 0698
019215,000221: 33,2220 4352 DEC17 = ND1
019216,000222: 33,2220 02757 OGCPL ECADR OGC
019217,000223: 33,2221 5016 1SECX = 1SEC
019218,000224: 33,2221 4351 DEC57 = VD1
019219,000225: 33,2221 01713 XNBADR GENADR XNB
019220,000226: 33,2222 01671 XSMADR GENADR XSM
019221,000227: 33,2223 07623 26552 OMEG/MS 2DEC .24339048
019222,000228:
019223,000229:
019224,000230: 33,2225 04636 P11OUT TC BANKCALL
019225,000231: 33,2226 70115 CADR MATRXJOB # RETURN TO P11
019226,000232:
019227,000233: 4000 SETLOC FFTAG1
019228,000234: 4000 BANK
019229,000235:
019230,000236: 4510 COUNT* $$/COMST
019231,000237: 4510 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
019232,000238: 4511 00006 +1 EXTEND
019233,000239: 4512 00004 READ LOSCALAR
019234,000240: 4513 54001 TS L
019235,000241: 4514 00006 EXTEND
019236,000242: 4515 06004 RXOR LOSCALAR
019237,000243: 4516 00006 EXTEND
019238,000244: 4517 14523 BZF +4
019239,000245: 4520 00006 EXTEND
019240,000246: 4521 00004 READ LOSCALAR
019241,000247: 4522 54001 TS L
019242,000248: 4523 44750 +4 CS POSMAX
019243,000249: 4524 60001 AD L
019244,000250: 4525 00006 EXTEND
019245,000251: 4526 14511 BZF FINETIME +1
019246,000252: 4527 00006 EXTEND
019247,000253: 4530 00003 READ HISCALAR
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Page 433 |
019249,000255: 4531 00002 TC Q
019250,000256:
019251,000257:
019252,000258: # PROGRAM NAME- OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019253,000259: # DATE- NOVEMBER 2 1966
019254,000260: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
019255,000261: # MOD NO 3
019256,000262:
019257,000263: # FUNCTIONAL DESCRIPTION
019258,000264:
019259,000265: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019260,000266: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
019261,000267: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
019262,000268: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019263,000269: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
019264,000270: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT
019265,000271: # FOR THE DATA TO FLASH.
019266,000272:
019267,000273: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019268,000274: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019269,000275: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019270,000276: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
019271,000277: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
019272,000278: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
019273,000279: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
019274,000280: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019275,000281: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019276,000282: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019277,000283: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019278,000284:
019279,000285: # COMPASS ERASABLE LOAD REQUIRED
019280,000286:
019281,000287: # 1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
019282,000288: # 2- LATITUDE -DP-OF LAUNCH PAD
019283,000289: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
019284,000290: # 4- IMU COMPENSATION PARAMETERS
019285,000291: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
019286,000292:
019287,000293: # TO PERFORM AS PART OF COMPASS
019288,000294:
019289,000295: # 1-OPTICAL VERIFICATION- V 65 E
019290,000296: # 2-AZIMUTH CHANGE- V 78 E
019291,000297:
019292,000298: # SUBROUTINES CALLED
019293,000299:
019294,000300: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019295,000301: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
019296,000302:
019297,000303: # NORMAL EXIT
019298,000304:
019299,000305: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019300,000306: # GYROCOMPASS-MANY,SEE THE LISTING
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Page 434 |
019302,000308:
019303,000309: # ALARMS
019304,000310:
019305,000311: # 1600 OVERFLOW IN DRIFT TEST
019306,000312: # 1601 BAD IMU TORQUE ABORT
019307,000313: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
019308,000314:
019309,000315: # OUTPUT
019310,000316:
019311,000317: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019312,000318: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019313,000319: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
019314,000320: # 02 GYROCOMPASSING
019315,000321: # 03 DOING OPTICAL VERIFICATION (CSM)
019316,000322:
019317,000323:
019318,000324: # DEBRIS
019319,000325:
019320,000326: # ALL CENTRALS,ALL OF EBANK XSM
019321,000327:
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Page 435 |
019323,000329: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019324,000330: # ON THE NEXT FEW PAGES.
019325,000331:
019326,000332: 4532 E5,1671 EBANK= XSM
019327,000333: 33,2000 SETLOC IMUCAL
019328,000334: 33,2000 BANK
019329,000335:
019330,000336: 33,2227 COUNT* $$/P02
019331,000337: 33,2227 05362 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
019332,000338: 33,2230 00075 OCT 00075
019333,000339: 33,2231 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
019334,000340: 33,2232 01,2256 5P7SPT1 = 5.7SPOT
019335,000341: 33,2232 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
019336,000342: 33,2233 30025 CA TIME1
019337,000343: 33,2234 55645 TS GTSWTLT1
019338,000344: 33,2235 34772 CAF ZERO # ZERO THE PIPAS
019339,000345: 33,2236 54037 TS PIPAX
019340,000346: 33,2237 54040 TS PIPAY
019341,000347: 33,2240 54041 TS PIPAZ
019342,000348: 33,2241 00003 RELINT
019343,000349: 33,2242 32701 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
019344,000350: 33,2243 55655 TS ZERONDX1
019345,000351: 33,2244 32702 CA ALXXXZ
019346,000352: 33,2245 02134 TC ZEROING
019347,000353: 33,2246 06006 TC INTPRET
019348,000354: 33,2247 77735 SLOAD
019349,000355: 33,2250 26663 SCHZEROS
019350,000356: 33,2251 25477 STOVL GCOMPSW -1
019351,000357: 33,2252 26674 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
019352,000358: 33,2253 26455 STOVL ALX1S
019353,000359: 33,2254 26663 SCHZEROS
019354,000360: 33,2255 01472 STORE GCOMP
019355,000361: 33,2256 01315 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
019356,000362: 33,2257 77776 EXIT
019357,000363:
019358,000364: 33,2260 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
019359,000365: 33,2261 02263 TC +2
019360,000366: 33,2262 02277 TC SLEEPIE +1
019361,000367: 33,2263 06006 TC INTPRET
019362,000368: 33,2264 77624 CALL
019363,000369: 33,2265 64000 ERTHRVSE
019364,000370: 33,2266 77776 EXIT
019365,000371: 33,2267 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
019366,000372: 33,2270 55646 TS ERECTIME
019367,000373:
019368,000374: 33,2271 05344 TC NEWMODEX
019369,000375: 33,2272 00002 MM 02 B-14
019370,000376: 33,2273 04636 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
019371,000377: 33,2274 17214 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
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Page 436 |
019373,000379: 33,2275 03157 TC ANNNNNN # END OF FIRST TIME THROUGH
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Page 437 |
019375,000381:
019376,000382: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019377,000383:
019378,000384: # SET UP WAITLIST SECTION
019379,000385: 33,2276 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
019380,000386: 33,2277 05402 +1 TC PHASCHNG # CHANGE PHASE
019381,000387: 33,2300 00135 OCT 00135
019382,000388: 33,2301 01,2264 5P13SPT1 = 5.13SPOT
019383,000389: 33,2301 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
019384,000390: 33,2302 02175 TC EARTHR* # TRUE TORQUE SOUTH GYRO
019385,000391: 33,2303 03162 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
019386,000392: 33,2304 02306 TC SETGWLST
019387,000393: 33,2305 05205 TC ENDOFJOB
019388,000394:
019389,000395: 33,2306 00006 SETGWLST EXTEND
019390,000396: 33,2307 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019391,000397: 33,2310 00004 INHINT
019392,000398: 33,2311 40025 CS TIME1
019393,000399: 33,2312 61645 AD GTSWTLT1
019394,000400: 33,2313 00006 EXTEND
019395,000401: 33,2314 62316 BZMF +2
019396,000402: 33,2315 64752 AD NEGMAX # 10 MS ERROR OK
019397,000403: 33,2316 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019398,000404: 33,2317 00006 EXTEND
019399,000405: 33,2320 62324 BZMF RIGHTGTS
019400,000406: 33,2321 05223 WTGTSMPL TC TWIDDLE
019401,000407: 33,2322 02350 ADRES ALLOOP
019402,000408: 33,2323 00154 TC MPAC
019403,000409: 33,2324 34766 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
019404,000410: 33,2325 02321 TC WTGTSMPL # END OF WAITLIST SECTION
019405,000411:
019406,000412: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019407,000413:
019408,000414: 33,2326 4125 25DECML EQUALS OCT31
019409,000415: 33,2326 34125 STOREDTA CAF 25DECML
019410,000416: 33,2327 54154 +1 TS MPAC
019411,000417: 33,2330 50154 INDEX MPAC
019412,000418: 33,2331 31460 CAE THETAX1
019413,000419: 33,2332 50154 INDEX MPAC
019414,000420: 33,2333 55577 TS RESTARPT
019415,000421: 33,2334 10154 CCS MPAC
019416,000422: 33,2335 12327 TCF STOREDTA +1
019417,000423: 33,2336 00002 TC Q
019418,000424:
019419,000425: 33,2337 34125 LOADSTDT CAF 25DECML
019420,000426: 33,2340 54154 +1 TS MPAC
019421,000427: 33,2341 50154 INDEX MPAC
019422,000428: 33,2342 31577 CA RESTARPT
019423,000429: 33,2343 50154 INDEX MPAC
|
|
Page 438 |
019425,000431: 33,2344 55460 TS THETAX1
019426,000432: 33,2345 10154 CCS MPAC
019427,000433: 33,2346 12340 TCF LOADSTDT +1
019428,000434: 33,2347 00002 TC Q
019429,000435:
019430,000436: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019431,000437:
019432,000438: 33,2350 30025 ALLOOP CA TIME1
019433,000439: 33,2351 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
019434,000440: 33,2352 31540 ALLOOP3 CA ALTIM
019435,000441: 33,2353 55631 TS GEOSAVE1
019436,000442: 33,2354 05402 TC PHASCHNG
019437,000443: 33,2355 00115 OCT 00115
019438,000444: 33,2356 01,2261 5P11SPT1 = 5.11SPOT
019439,000445: 33,2356 31631 ALLOOP1 CAE GEOSAVE1
019440,000446: 33,2357 55540 TS ALTIM
019441,000447: 33,2360 10000 CCS A
019442,000448: 33,2361 30000 CA A # SHOULD NEVER HIT THIS LOCATION
019443,000449: 33,2362 55541 TS ALTIMS
019444,000450: 33,2363 40000 CS A
019445,000451: 33,2364 55540 TS ALTIM
019446,000452: 33,2365 34772 CAF ZERO
019447,000453: 33,2366 56037 XCH PIPAX
019448,000454: 33,2367 55314 TS DELVX
019449,000455: 33,2370 34772 CAF ZERO
019450,000456: 33,2371 56040 XCH PIPAY
019451,000457: 33,2372 55316 TS DELVY
019452,000458: 33,2373 34772 CAF ZERO
019453,000459: 33,2374 56041 XCH PIPAZ
019454,000460: 33,2375 55320 TS DELVZ
019455,000461: 33,2376 34351 CAF 19DECML # 23 OCT
019456,000462: 33,2377 04126 TC NEWPHASE
019457,000463: 33,2400 00005 OCT 00005
019458,000464: 33,2401 01,2300 5P23SPT1 = 5.23SPOT
019459,000465: 33,2401 37644 SPECSTS CAF PRIO22
019460,000466: 33,2402 05135 TC FINDVAC
019461,000467: 33,2403 E5,1631 EBANK= GEOSAVE1
019462,000468: 33,2403 02406 66065 2CADR ALFLT # START THE JOB
019463,000469:
019464,000470: 33,2405 05314 TC TASKOVER
019465,000471:
|
|
Page 439 |
019467,000473: # THIS IS PART OF THE JOB DONE EVERY ITERATION
019468,000474:
019469,000475: 33,2406 02326 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
019470,000476: 33,2407 05402 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
019471,000477: 33,2410 00215 OCT 00215
019472,000478: 33,2411 01,2275 5P21SPT1 = 5.21SPOT
019473,000479: 33,2411 12413 TCF +2
019474,000480: 33,2412 02337 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
019475,000481:
019476,000482: 33,2413 11643 CCS GEOCOMP1
019477,000483: 33,2414 02416 TC +2
019478,000484: 33,2415 02421 TC NORMLOP
019479,000485: 33,2416 03162 TC CHKCOMED # SEE IF PRELAUNCH OVER
019480,000486: 33,2417 04636 TC BANKCALL # COMPENSATION IF IN COMPASS
019481,000487: 33,2420 15276 CADR 1/PIPA
019482,000488:
019483,000489: 33,2421 06006 NORMLOP TC INTPRET
019484,000490: 33,2422 77745 DLOAD
019485,000491: 33,2423 26672 INTVAL
019486,000492: 33,2424 24051 STOVL S1
019487,000493: 33,2425 01315 DELVX
019488,000494: 33,2426 76505 VXM VSL1
019489,000495: 33,2427 02672 XSM
019490,000496: 33,2430 57545 DLOAD DCOMP
019491,000497: 33,2431 00160 MPAC +3
019492,000498: 33,2432 16533 STODL DPIPAY
019493,000499: 33,2433 00162 MPAC +5
019494,000500: 33,2434 02537 STORE DPIPAZ
019495,000501:
019496,000502: 33,2435 76001 SETPD AXT,1
019497,000503: 33,2436 00001 0
019498,000504: 33,2437 00010 8D
019499,000505: 33,2440 57535 SLOAD DCOMP
019500,000506: 33,2441 02644 GEOCOMP1
019501,000507: 33,2442 77640 BMN
019502,000508: 33,2443 66764 ALWAYSG # DO A QUICK COMPASS
019503,000509:
|
|
Page 440 |
019505,000511: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019506,000512:
019507,000513: 33,2444 COUNT* $$/COMST
019508,000514: 33,2444 50135 ALCGKK SLOAD BMN
019509,000515: 33,2445 02542 ALTIMS
019510,000516: 33,2446 66461 ALFLT3 # NO NEW GAINS NEEDED
019511,000517: 33,2447 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
019512,000518: 33,2450 00014 12D
019513,000519: 33,2451 02454 ALX1S
019514,000520: 33,2452 62143 ALKCG2 DLOAD* INCR,1
019515,000521: 33,2453 02243 ALFDK +144D,1
019516,000522: 33,2454 77775 DEC -2 B-14
019517,000523: 33,2455 12555 STORE ALDK +10D,2
019518,000524: 33,2456 66104 TIX,2 SXA,1
019519,000525: 33,2457 66452 ALKCG2
019520,000526: 33,2460 02454 ALX1S
019521,000527:
019522,000528: 33,2461 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
019523,000529: 33,2462 00010 8D # AND GAIN UPDATES
019524,000530: 33,2463 41343 DELMLP DLOAD* DMP
019525,000531: 33,2464 02543 DPIPAY +8D,1
019526,000532: 33,2465 27427 PIPASC
019527,000533: 33,2466 43661 SLR BDSU*
019528,000534: 33,2467 21212 9D
019529,000535: 33,2470 02511 INTY +8D,1
019530,000536: 33,2471 06511 STORE INTY +8D,1
019531,000537: 33,2472 40725 PDDL DMP*
019532,000538: 33,2473 27431 VELSC
019533,000539: 33,2474 02531 VLAUN +8D,1
019534,000540: 33,2475 77732 SL2R
019535,000541: 33,2476 45425 DSU STADR
019536,000542: 33,2477 71206 STORE DELM +8D,1
019537,000543: 33,2500 06573 STORE DELM +10D,1
019538,000544: 33,2501 77100 TIX,1 AXT,2
019539,000545: 33,2502 66463 DELMLP
019540,000546: 33,2503 00004 4
019541,000547: 33,2504 56743 ALILP DLOAD* DMPR*
019542,000548: 33,2505 75314 ALK +4,2
019543,000549: 33,2506 75230 ALDK +4,2
019544,000550: 33,2507 12463 STORE ALK +4,2
019545,000551: 33,2510 77104 TIX,2 AXT,2
019546,000552: 33,2511 66504 ALILP
019547,000553: 33,2512 00010 8D
019548,000554: 33,2513 66140 ALKLP LXC,1 SXA,1
019549,000555: 33,2514 02455 CMPX1
019550,000556: 33,2515 02455 CMPX1
019551,000557: 33,2516 56743 DLOAD* DMPR*
019552,000558: 33,2517 02460 ALK +1,1
019553,000559: 33,2520 75206 DELM +8D,2
019554,000560: 33,2521 77613 DAD*
|
|
Page 441 |
019556,000562: 33,2522 75266 INTY +8D,2
019557,000563: 33,2523 12511 STORE INTY +8D,2
019558,000564: 33,2524 42743 DLOAD* DAD*
019559,000565: 33,2525 75304 ALK +12D,2
019560,000566: 33,2526 75220 ALDK +12D,2
019561,000567: 33,2527 12473 STORE ALK +12D,2
019562,000568: 33,2530 42673 DMPR* DAD*
019563,000569: 33,2531 75206 DELM +8D,2
019564,000570: 33,2532 75256 INTY +16D,2
019565,000571: 33,2533 12521 STORE INTY +16D,2
019566,000572: 33,2534 40743 DLOAD* DMP*
019567,000573: 33,2535 27434 ALSK +1,1
019568,000574: 33,2536 75206 DELM +8D,2
019569,000575: 33,2537 42772 SL1R DAD*
019570,000576: 33,2540 75246 VLAUN +8D,2
019571,000577: 33,2541 12531 STORE VLAUN +8D,2
019572,000578: 33,2542 76104 TIX,2 AXT,1
019573,000579: 33,2543 66513 ALKLP
019574,000580: 33,2544 00010 8D
019575,000581:
019576,000582: 33,2545 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019577,000583: 33,2546 02533 ACCWD +8D,1
019578,000584: 33,2547 02531 VLAUN +8D,1
019579,000585: 33,2550 55523 PDDL* VDEF
019580,000586: 33,2551 02541 POSNV +8D,1
019581,000587: 33,2552 76521 MXV VSL1
019582,000588: 33,2553 02001 TRANSM1
019583,000589: 33,2554 77745 DLOAD
019584,000590: 33,2555 00155 MPAC
019585,000591: 33,2556 06541 STORE POSNV +8D,1
019586,000592: 33,2557 77745 DLOAD
019587,000593: 33,2560 00160 MPAC +3
019588,000594: 33,2561 06531 STORE VLAUN +8D,1
019589,000595: 33,2562 77745 DLOAD
019590,000596: 33,2563 00162 MPAC +5
019591,000597: 33,2564 06533 STORE ACCWD +8D,1
019592,000598: 33,2565 77700 TIX,1
019593,000599: 33,2566 66545 LOOSE
019594,000600:
019595,000601: 33,2567 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019596,000602: 33,2570 00006 6
019597,000603: 33,2571 00002 2
019598,000604: 33,2572 57343 BOOP DLOAD* DMPR
019599,000605: 33,2573 02513 ANGX +2,1
019600,000606: 33,2574 27437 GEORGEJ
019601,000607: 33,2575 77722 SR2R
019602,000608: 33,2576 73406 PUSH SIN
019603,000609: 33,2577 56072 SL3R XAD,1
|
|
Page 442 |
019605,000611: 33,2600 00046 X1
019606,000612: 33,2601 10021 STORE 16D,2
019607,000613: 33,2602 77745 DLOAD
019608,000614: 33,2603 77746 COS
019609,000615: 33,2604 10027 STORE 22D,2 # COSINES
019610,000616: 33,2605 77704 TIX,2
019611,000617: 33,2606 66572 BOOP
019612,000618: 33,2607 77776 PERFERAS EXIT
019613,000619: 33,2610 04606 TC E7SETTER
019614,000620: 33,2611 E7,1400 EBANK= LAT(SPL)
019615,000621: 33,2611 01400 TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
019616,000622:
019617,000623: # CAUTION
019618,000624:
019619,000625: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019620,000626: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019621,000627:
019622,000628: 33,2612 E5,1412 EBANK= LENGTHOT
019623,000629: 33,2612 11412 ONCEMORE CCS LENGTHOT
019624,000630: 33,2613 02276 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019625,000631:
019626,000632: 33,2614 11450 CCS TORQNDX
019627,000633: 33,2615 12617 TCF +2
019628,000634: 33,2616 02621 TC SETUPER1
019629,000635: 33,2617 30032 CA CDUX
019630,000636: 33,2620 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019631,000637: 33,2621 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019632,000638: 33,2622 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019633,000639: 33,2623 02503 ANGZ
019634,000640: 33,2624 02507 ANGY
019635,000641: 33,2625 55525 PDDL VDEF
019636,000642: 33,2626 02511 ANGX
019637,000643: 33,2627 74276 VCOMP VXSC
019638,000644: 33,2630 27437 GEORGEJ
019639,000645: 33,2631 74521 MXV VSR1
019640,000646: 33,2632 02672 XSM
019641,000647: 33,2633 02760 STORE OGC
019642,000648: 33,2634 77776 EXIT
019643,000649:
019644,000650: 33,2635 05402 TORQINCH TC PHASCHNG
019645,000651: 33,2636 00005 OCT 00005
019646,000652: 33,2637 32220 CA OGCPL
019647,000653: 33,2640 04636 TC BANKCALL
019648,000654: 33,2641 17244 CADR IMUPULSE
019649,000655: 33,2642 02126 TC IMUSTLLG
019650,000656: 33,2643 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019651,000657: 33,2644 02106 TC VALMIS # VERT DRIFT TEST OVER
019652,000658: 33,2645 06006 TC INTPRET
019653,000659: 33,2646 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019654,000660: 33,2647 64000 ERTHRVSE
|
|
Page 443 |
019656,000662: 33,2650 77776 EXIT
019657,000663: 33,2651 02074 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019658,000664:
019659,000665:
019660,000666: 33,2652 05671 SOMEERRR TC ALARM
019661,000667: 33,2653 01600 OCT 1600
019662,000668: 33,2654 02657 TC +3
019663,000669: 33,2655 05671 SOMERR2 TC ALARM
019664,000670: 33,2656 01601 OCT 1601
019665,000671: 33,2657 05402 TC PHASCHNG
019666,000672: 33,2660 00005 OCT 00005
019667,000673: 33,2661 02113 TC ENDTEST1
019668,000674:
019669,000675:
019670,000676: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019671,000677:
019672,000678:
019673,000679: 33,2662 00000 00000 SCHZEROS 2DEC .00000000
019674,000680: 33,2664 00000 00000 2DEC .00000000
019675,000681: 33,2666 00000 OCT 00000
019676,000682: 33,2667 00000 ONEDPP OCT 00000
019677,000683: 33,2670 00001 +1 OCT 00001 # ABOVE ORDER IS IMPORTANT
019678,000684:
019679,000685: 33,2671 00004 INTVAL OCT 4
019680,000686: 33,2672 00002 OCT 2
019681,000687: 33,2673 00220 DEC 144 B-14
019682,000688: 33,2674 77776 DEC -1 B-14
019683,000689: 33,2675 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019684,000690: 33,2677 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019685,000691:
019686,000692:
019687,000693: 33,2701 00115 77DECML DEC 77 B-14
019688,000694: 33,2702 01453 ALXXXZ GENADR ALX1S -1
019689,000695:
019690,000696: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019691,000697:
019692,000698: 33,2703 COUNT* $$/P01
019693,000699:
019694,000700: # INITIALIZATION SECTION
019695,000701:
019696,000702: 33,2703 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019697,000703: 33,2704 74755 MASK NOP01BIT
019698,000704: 33,2705 00006 EXTEND
019699,000705: 33,2706 12711 BZF GTSCPSSA
019700,000706: 33,2707 05726 TC POODOO
019701,000707: 33,2710 21521 OCT 21521 # NO DO ALARM FOR P01 - P11 ALREADY DONE
|
|
Page 444 |
019703,000709: 33,2711 34753 GTSCPSSA CAF PRIO20 # INITIAL PRIORITY ONLY 13
019704,000710: 33,2712 05176 TC PRIOCHNG # CHANGE TO 20
019705,000711:
019706,000712: 33,2713 34770 CAF ONE
019707,000713: 33,2714 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019708,000714: 33,2715 33211 CA 1/PIPAGT
019709,000715: 33,2716 55277 TS 1/PIPADT
019710,000716: 33,2717 34761 NXXTBNN CA BIT8
019711,000717: 33,2720 55412 TS LENGTHOT
019712,000718: 33,2721 35011 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019713,000719: 33,2722 55644 TS 1SECXT1
019714,000720: 33,2723 34770 CAF ONE
019715,000721: 33,2724 55632 TS PREMTRX1
019716,000722: 33,2725 55657 TS PERFDLAY +1
019717,000723: 33,2726 34772 CAF ZERO
019718,000724: 33,2727 55656 TS PERFDLAY
019719,000725: 33,2730 00006 EXTEND
019720,000726: 33,2731 31634 DCA LUNCHAZ1
019721,000727: 33,2732 53636 DXCH NEWAZ1
019722,000728: 33,2733 00006 EXTEND
019723,000729: 33,2734 31634 DCA LUNCHAZ1
019724,000730: 33,2735 53640 DXCH OLDAZMTH
019725,000731: 33,2736 34352 SETUPGC CA DEC17
019726,000732: 33,2737 55655 TS ZERONDX1
019727,000733: 33,2740 32222 CA XSMADR
019728,000734: 33,2741 02134 TC ZEROING
019729,000735: 33,2742 02744 TC POSN17C
019730,000736: 33,2743 02002 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019731,000737:
019732,000738:
019733,000739: 33,2744 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE
019734,000740: 33,2745 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019735,000741: 33,2746 44753 CS HALF # ALL THIS TO INITIALIZE MATRIX
019736,000742: 33,2747 55705 TS ZSM
019737,000743: 33,2750 06006 TC INTPRET
019738,000744: 33,2751 41545 DLOAD PUSH
019739,000745: 33,2752 02636 NEWAZ1
019740,000746: 33,2753 77756 SIN
019741,000747: 33,2754 02676 STORE XSM +4
019742,000748: 33,2755 16702 STODL YSM +2
019743,000749: 33,2756 77746 COS
019744,000750: 33,2757 02704 STORE YSM +4
019745,000751: 33,2760 77676 DCOMP
019746,000752: 33,2761 02674 STORE XSM +2
019747,000753: 33,2762 77776 EXIT
019748,000754: 33,2763 01425 TC QPLACE
019749,000755:
019750,000756: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019751,000757:
|
|
Page 445 |
019753,000759: 33,2764 COUNT* $$/P02
019754,000760: 33,2764 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019755,000761: 33,2765 02543 DPIPAY +8D,1
019756,000762: 33,2766 02505 FILDELV1 +8D,1
019757,000763: 33,2767 42675 DMPR DAD*
019758,000764: 33,2770 27441 GEOCONS1
019759,000765: 33,2771 02505 FILDELV1 +8D,1
019760,000766: 33,2772 06505 STORE FILDELV1 +8D,1
019761,000767: 33,2773 77613 DAD*
019762,000768: 33,2774 02507 INTVEC1 +8D,1
019763,000769: 33,2775 06507 STORE INTVEC1 +8D,1
019764,000770: 33,2776 42675 DMPR DAD*
019765,000771: 33,2777 27443 GEOCONS2
019766,000772: 33,3000 02505 FILDELV1 +8D,1
019767,000773: 33,3001 41475 DMPR PUSH
019768,000774: 33,3002 15334 GEOCONS5
019769,000775: 33,3003 67300 TIX,1 SLOAD
019770,000776: 33,3004 66764 ALWAYSG
019771,000777: 33,3005 02647 ERECTIM1
019772,000778: 33,3006 71254 BZE DLOAD
019773,000779: 33,3007 67020 COMPGS
019774,000780: 33,3010 02471 THETAN1 +2
019775,000781: 33,3011 45425 DSU STADR
019776,000782: 33,3012 61306 STODL THETAN1 +2 # ERECTION ONLY.
019777,000783: 33,3013 77621 BDSU
019778,000784: 33,3014 02473 THETAN1 +4
019779,000785: 33,3015 02473 STORE THETAN1 +4
019780,000786: 33,3016 77650 GOTO
019781,000787: 33,3017 67042 ADDINDRF
019782,000788: 33,3020 43345 COMPGS DLOAD DAD # COMPASS
019783,000789: 33,3021 02467 THETAN1
019784,000790: 33,3022 02475 FILDELV1
019785,000791: 33,3023 16467 STODL THETAN1
019786,000792: 33,3024 02475 FILDELV1
019787,000793: 33,3025 44275 DMPR BDSU
019788,000794: 33,3026 27445 GEOCONS3
019789,000795: 33,3027 02473 THETAN1 +4
019790,000796: 33,3030 16473 STODL THETAN1 +4
019791,000797: 33,3031 02501 FILDELV1 +4
019792,000798: 33,3032 44275 DMPR BDSU
019793,000799: 33,3033 27445 GEOCONS3
019794,000800: 33,3034 02471 THETAN1 +2
019795,000801: 33,3035 57325 PDDL DMPR
019796,000802: 33,3036 02503 INTVEC1 +4
019797,000803: 33,3037 27447 GEOCONS4
019798,000804: 33,3040 45421 BDSU STADR
019799,000805: 33,3041 75306 STORE THETAN1 +2
019800,000806: 33,3042 77776 ADDINDRF EXIT
019801,000807:
|
|
Page 446 |
019803,000809:
019804,000810: 33,3043 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019805,000811: 33,3044 02276 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019806,000812: 33,3045 03162 TC CHKCOMED
019807,000813: 33,3046 11324 CCS LGYRO # YES BUT ARE GYROS BUSY
019808,000814: 33,3047 12277 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019809,000815:
019810,000816: 33,3050 06006 LASTGTS TC INTPRET
019811,000817: 33,3051 77775 VLOAD
019812,000818: 33,3052 02650 ERCOMP1
019813,000819: 33,3053 16461 STODL THETAX1
019814,000820: 33,3054 02443 TMARK
019815,000821: 33,3055 02457 STORE ALK
019816,000822: 33,3056 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019817,000823:
019818,000824: 33,3057 05402 RESTAIER TC PHASCHNG
019819,000825: 33,3060 00275 OCT 00275
019820,000826: 33,3061 01,2306 5P27SPT1 = 5.27SPOT
019821,000827: 33,3061 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019822,000828: 33,3062 64375 VLOAD MXV
019823,000829: 33,3063 02467 THETAN1
019824,000830: 33,3064 02672 XSM
019825,000831: 33,3065 53372 VSL1 VAD
019826,000832: 33,3066 02461 THETAX1
019827,000833: 33,3067 16650 STODL ERCOMP1
019828,000834: 33,3070 02457 ALK
019829,000835: 33,3071 02443 STORE TMARK
019830,000836: 33,3072 77776 EXIT
019831,000837: 33,3073 02175 TC EARTHR* # TORQUE IT ALL IN
019832,000838: 33,3074 31646 CAE ERECTIM1
019833,000839: 33,3075 55631 TS GEOSAVE1
019834,000840: 33,3076 05402 TC PHASCHNG
019835,000841: 33,3077 00155 OCT 00155
019836,000842: 33,3100 01,2267 5P15SPT1 = 5.15SPOT
019837,000843: 33,3100 06006 RESTEST1 TC INTPRET
019838,000844: 33,3101 77775 VLOAD
019839,000845: 33,3102 26663 SCHZEROS
019840,000846: 33,3103 02467 STORE THETAN1
019841,000847: 33,3104 77776 EXIT
019842,000848: 33,3105 11632 CCS PREMTRXC
019843,000849: 33,3106 03155 TC NOCHORLD
019844,000850: 33,3107 05402 TC PHASCHNG
019845,000851: 33,3110 00255 OCT 00255
019846,000852: 33,3111 01,2303 5P25SPT1 = 5.25SPOT
019847,000853: 33,3111 06006 RESTEST3 TC INTPRET
019848,000854: 33,3112 77745 DLOAD
019849,000855: 33,3113 02634 LAUNCHAZ
019850,000856: 33,3114 53025 DSU BZE
019851,000857: 33,3115 02640 OLDAZMTH
019852,000858: 33,3116 67152 NOAZCHGE
019853,000859: 33,3117 00001 STORE 0D
|
|
Page 447 |
019855,000861: 33,3120 43335 SLOAD DAD
019856,000862: 33,3121 26671 ONEDPP +1
019857,000863: 33,3122 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019858,000864: 33,3123 16633 STODL PREMTRXC
019859,000865: 33,3124 02634 LAUNCHAZ
019860,000866: 33,3125 16636 STODL NEWAZMTH
019861,000867: 33,3126 00001 0D
019862,000868: 33,3127 02654 ADERCOMP STORE ERCOMP +4
019863,000869: 33,3130 77776 EXIT
019864,000870: 33,3131 02744 TC POSN17C
019865,000871: 33,3132 05402 TC PHASCHNG
019866,000872: 33,3133 00335 OCT 00335
019867,000873: 33,3134 01,2314 5P33SPT1 = 5.33SPOT
019868,000874: 33,3134 00006 RESCHNG EXTEND
019869,000875: 33,3135 31636 DCA NEWAZMTH
019870,000876: 33,3136 53640 DXCH OLDAZMTH
019871,000877: 33,3137 34762 CA BIT7 # SPEND 320 SEC ERECTING
019872,000878: 33,3140 55412 TS LENGTHOT
019873,000879: 33,3141 05402 TC PHASCHNG
019874,000880: 33,3142 00075 OCT 00075
019875,000881: 33,3143 01,2256 5P7SPT2 = 5.7SPOT
019876,000882: 33,3143 33210 SPITGYRO CA ERCOMPPL
019877,000883: 33,3144 04636 TC BANKCALL
019878,000884: 33,3145 17244 CADR IMUPULSE
019879,000885: 33,3146 04636 TC BANKCALL
019880,000886: 33,3147 17644 CADR IMUSTALL
019881,000887: 33,3150 02655 TC SOMERR2
019882,000888: 33,3151 02227 TC ESTIMS # RE-INITIALIZE
019883,000889:
019884,000890:
019885,000891: 33,3152 77776 NOAZCHGE EXIT
019886,000892: 33,3153 34770 CA ONE
019887,000893: 33,3154 55632 TS PREMTRXC
019888,000894: 33,3155 11631 NOCHORLD CCS GEOSAVE1
019889,000895: 33,3156 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019890,000896:
019891,000897: 33,3157 34322 ANNNNNN CAF NINE
019892,000898: 33,3160 55412 TS LENGTHOT
019893,000899: 33,3161 02277 TC SLEEPIE +1
019894,000900:
019895,000901:
019896,000902: 33,3162 00004 CHKCOMED INHINT
019897,000903: 33,3163 41214 CS MODREG # CHECK FOR MM 07 FIRST
019898,000904: 33,3164 64774 AD SEVEN
019899,000905: 33,3165 00006 EXTEND
019900,000906: 33,3166 13202 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019901,000907: 33,3167 44772 CS ZERO
019902,000908: 33,3170 00006 EXTEND
019903,000909: 33,3171 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019904,000910: 33,3172 74764 MASK BIT5 # LIFTOFF BIT
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|
Page 448 |
019906,000912: 33,3173 10000 CCS A
019907,000913: 33,3174 13203 TCF PRELTERM # LIFTOFF HAS OCCURRED
019908,000914:
019909,000915: 33,3175 34764 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019910,000916: 33,3176 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019911,000917: 33,3177 10000 CCS A
019912,000918: 33,3200 13203 TCF PRELTERM # BACKUP RECEIVED
019913,000919:
019914,000920: 33,3201 00003 RELINT
019915,000921: 33,3202 00002 GOBKCALB TC Q
019916,000922:
019917,000923: 33,3203 37644 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019918,000924: 33,3204 05176 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019919,000925: 33,3205 00004 INHINT
019920,000926: 33,3206 04655 TC POSTJUMP
019921,000927: 33,3207 70000 CADR P11
019922,000928:
019923,000929:
019924,000930: 33,3210 02647 ERCOMPPL ECADR ERCOMP
019925,000931:
019926,000932: 33,3211 26,3333 GEOCONS5 EQUALS HIDPHALF
019927,000933: 33,3211 06200 1/PIPAGT OCT 06200
019928,000934: 33,3212 4352 17DECML = ND1 # OCT 21
019929,000935: 33,3212 4351 19DECML = VD1 # OCT 23
019930,000936: 33,3212 5011 1/2SECX = .5SEC
019931,000937:
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|
Page 449 |
019933,000939: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019934,000940:
019935,000941: 33,3212 COUNT* $$/P03
019936,000942: 33,3212 05402 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019937,000943: 33,3213 00154 OCT 00154
019938,000944: 33,3214 01,2143 4P15SPT1 = 4.15SPOT
019939,000945: 33,3214 05344 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019940,000946: 33,3215 00003 MM 03 B-14
019941,000947: 33,3216 02011 SETNBPOS TC NBPOSPL
019942,000948: 33,3217 04636 +1 TC BANKCALL
019943,000949: 33,3220 16073 CADR MKRELEAS
019944,000950: 33,3221 34770 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019945,000951: 33,3222 22007 ZL # T 1,THEN TARGET 2
019946,000952: 33,3223 23427 +2 LXCH RUN
019947,000953: 33,3224 55252 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019948,000954: 33,3225 00006 EXTEND
019949,000955: 33,3226 51427 INDEX RUN
019950,000956: 33,3227 31433 DCA TAZEL1
019951,000957: 33,3230 53251 DXCH DSPTEM1
019952,000958: 33,3231 33252 OPTDATA8 CAF V05N30E
019953,000959: 33,3232 04636 TC BANKCALL
019954,000960: 33,3233 20705 CADR GODSPRET
019955,000961: 33,3234 35032 CAF V06N41
019956,000962: 33,3235 04636 TC BANKCALL
019957,000963: 33,3236 20743 CADR GOFLASH
019958,000964: 33,3237 03370 TC GCOMP5
019959,000965: 33,3240 03242 TC +2
019960,000966: 33,3241 13231 TCF OPTDATA8
019961,000967:
019962,000968: 33,3242 53251 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019963,000969: 33,3243 51427 INDEX RUN
019964,000970: 33,3244 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019965,000971: 33,3245 11427 CCS RUN
019966,000972: 33,3246 13313 TCF CONTIN33
019967,000973: 33,3247 34767 CAF TWO
019968,000974: 33,3250 54001 TS L
019969,000975: 33,3251 13223 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019970,000976:
019971,000977: 33,3252 01236 V05N30E VN 0530
019972,000978:
019973,000979: 33,3253 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019974,000980: 33,3254 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019975,000981: 33,3255 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019976,000982: 33,3256 00014 12D
019977,000983: 33,3257 40331 SSP SETPD
019978,000984: 33,3260 00052 S2
019979,000985: 33,3261 00006 6
019980,000986: 33,3262 00001 0
019981,000987: 33,3263 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
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Page 450 |
019983,000989: 33,3264 02436 TAZEL1 +3,1
019984,000990: 33,3265 00001 STORE 0 # PD00 ELEVATION PD00
019985,000991: 33,3266 77756 SIN
019986,000992: 33,3267 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019987,000993: 33,3270 77745 DLOAD
019988,000994: 33,3271 00001 0
019989,000995: 33,3272 41546 COS PUSH # PD00 COS(EL) PD00
019990,000996: 33,3273 47133 SLOAD* RTB
019991,000997: 33,3274 02435 TAZEL1 +2,1
019992,000998: 33,3275 51754 CDULOGIC
019993,000999: 33,3276 00003 STORE 2 # PD02 AZIMUTH PD02
019994,001000: 33,3277 41356 SIN DMP
019995,001001: 33,3300 00001 0
019996,001002: 33,3301 77752 SL1
019997,001003: 33,3302 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019998,001004: 33,3303 71545 DLOAD COS
019999,001005: 33,3304 00003 2
020000,001006: 33,3305 72405 DMP SL1
020001,001007: 33,3306 76076 DCOMP AXT,1
020002,001008: 33,3307 00000 0
020003,001009: 33,3310 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
020004,001010: 33,3311 43504 TIX,2 RVQ
020005,001011: 33,3312 67263 TAR1
020006,001012:
020007,001013:
020008,001014: 33,2000 SETLOC IMUCAL
020009,001015: 33,2000 BANK
020010,001016: 33,3313 COUNT* $$/P03
020011,001017: 33,3313 34770 CONTIN33 CA ONE
020012,001018: 33,3314 55140 TS STARCODE
020013,001019: 33,3315 34772 CA ZERO
020014,001020: 33,3316 03375 TC TARGDRVE
020015,001021: 33,3317 06006 TC INTPRET
020016,001022: 33,3320 77624 CALL
020017,001023: 33,3321 67254 TAR/EREF
020018,001024: 33,3322 64375 NEXTBNKS VLOAD MXV
020019,001025: 33,3323 00007 6D
020020,001026: 33,3324 02672 XSM
020021,001027: 33,3325 77772 VSL1
020022,001028: 33,3326 26736 STOVL STARAD
020023,001029: 33,3327 00015 12D
020024,001030: 33,3330 76521 MXV VSL1
020025,001031: 33,3331 02672 XSM
020026,001032: 33,3332 36744 STCALL STARAD +6
020027,001033: 33,3333 67450 LITTLSUB
020028,001034: 33,3334 02414 STORE LOSVEC
020029,001035: 33,3335 77776 EXIT
020030,001036: 33,3336 34767 NEXBNKSS CAF TWO
020031,001037: 33,3337 55140 TS STARCODE
020032,001038: 33,3340 36211 CAF SIX
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Page 451 |
020034,001040: 33,3341 03375 TC TARGDRVE
020035,001041: 33,3342 06006 TC INTPRET
020036,001042: 33,3343 77624 CALL
020037,001043: 33,3344 67450 LITTLSUB
020038,001044: 33,3345 24015 STOVL 12D
020039,001045: 33,3346 02414 LOSVEC
020040,001046: 33,3347 34007 STCALL 06D
020041,001047: 33,3350 47432 AXISGEN
020042,001048: 33,3351 77624 CALL
020043,001049: 33,3352 47240 CALCGTA
020044,001050: 33,3353 77776 EXIT
020045,001051: 33,3354 35040 GCOMP4 CAF V06N93
020046,001052: 33,3355 04636 TC BANKCALL
020047,001053: 33,3356 20743 CADR GOFLASH
020048,001054: 33,3357 03370 TC GCOMP5
020049,001055: 33,3360 13362 TCF +2
020050,001056: 33,3361 13354 TCF GCOMP4
020051,001057: 33,3362 06006 TC INTPRET
020052,001058: 33,3363 53375 VLOAD VAD
020053,001059: 33,3364 02760 OGC
020054,001060: 33,3365 02650 ERCOMP1
020055,001061: 33,3366 02650 STORE ERCOMP1
020056,001062: 33,3367 77776 EXIT
020057,001063: 33,3370 05344 GCOMP5 TC NEWMODEX
020058,001064: 33,3371 00002 MM 02 B-14
020059,001065: 33,3372 05402 TC PHASCHNG
020060,001066: 33,3373 00004 OCT 00004
020061,001067: 33,3374 05205 TC ENDOFJOB
020062,001068: 33,2000 SETLOC IMUCAL
020063,001069: 33,2000 BANK
020064,001070:
020065,001071:
020066,001072: 33,3375 COUNT* $$/P03
020067,001073: 33,3375 00006 TARGDRVE EXTEND
020068,001074: 33,3376 23424 QXCH QPLAC
020069,001075: 33,3377 55431 TS TARG1/2
020070,001076: 33,3400 06006 TC INTPRET
020071,001077: 33,3401 77624 CALL
020072,001078: 33,3402 67254 TAR/EREF
020073,001079: 33,3403 76740 LXC,1 VLOAD*
020074,001080: 33,3404 02431 TARG1/2
020075,001081: 33,3405 00007 6D,1
020076,001082: 33,3406 36766 STCALL STAR
020077,001083: 33,3407 46053 SXTANG
020078,001084: 33,3410 77776 EXIT
020079,001085: 33,3411 31773 CA SAC
020080,001086: 33,3412 55313 TS DESOPTS
020081,001087: 33,3413 31775 CA PAC
020082,001088: 33,3414 55312 TS DESOPTT
020083,001089: 33,3415 34772 RETARG CAF ZERO
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Page 452 |
020085,001091: 33,3416 55323 TS OPTIND
020086,001092: 33,3417 04636 TC BANKCALL
020087,001093: 33,3420 16000 CADR SXTMARK
020088,001094: 33,3421 10301 CCS MARKINDX
020089,001095: 33,3422 03415 TC RETARG # NO MARK TAKEN - DO AGAIN
020090,001096:
020091,001097: 33,3423 04636 TC BANKCALL
020092,001098: 33,3424 16073 CADR MKRELEAS
020093,001099:
020094,001100: 33,3425 01424 TC QPLAC
020095,001101:
020096,001102:
020097,001103: 33,2000 SETLOC IMUCAL
020098,001104: 33,2000 BANK
020099,001105: 33,3426 COUNT* $$/P03
020100,001106: 33,3426 30341 22444 PIPASC 2DEC .76376833
020101,001107: 33,3430 57223 66451 VELSC 2DEC -.52223476
020102,001108: 33,3432 05427 12577 ALSK 2DEC .17329931
020103,001109: 33,3434 77567 44202 2DEC -.00835370
020104,001110: 33,3436 24276 14066 GEORGEJ 2DEC .63661977
020105,001111: 33,3440 03146 14632 GEOCONS1 2DEC .1
020106,001112: 33,3442 00121 35341 GEOCONS2 2DEC .005
020107,001113: 33,3444 01767 31666 GEOCONS3 2DEC .062
020108,001114: 33,3446 00004 35223 GEOCONS4 2DEC .0003
020109,001115:
020110,001116: 33,3450 COUNT* $$/P02
020111,001117: 33,3450 74020 LITTLSUB STQ AXC,1
020112,001118: 33,3451 00300 QMAJ
020113,001119: 33,3452 03722 MRKBUF1
020114,001120: 33,3453 77650 GOTO
020115,001121: 33,3454 36073 SXTSM2
020116,001122:
020117,001123:
020118,001124: 43,2000 SETLOC EXTVERBS
020119,001125: 43,2000 BANK
020120,001126:
020121,001127: 43,3132 COUNT* $$/EXTVB
020122,001128: 43,3132 06006 AZMTHCG1 TC INTPRET
020123,001129: 43,3133 47145 DLOAD RTB
020124,001130: 43,3134 02636 NEWAZMTH
020125,001131: 43,3135 45640 1STO2S
020126,001132: 43,3136 77776 EXIT
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|
Page 453 |
020128,001134: 43,3137 56154 XCH MPAC
020129,001135: 43,3140 55250 TS DSPTEM1
020130,001136: 43,3141 04636 TC BANKCALL
020131,001137: 43,3142 20715 CADR CLEANDSP
020132,001138: 43,3143 33165 CAF VN0629
020133,001139: 43,3144 04636 TC BANKCALL
020134,001140: 43,3145 20743 CADR GOFLASH
020135,001141: 43,3146 13157 TCF +11
020136,001142: 43,3147 13151 TCF +2
020137,001143: 43,3150 13143 TCF -5
020138,001144: 43,3151 06006 TC INTPRET
020139,001145: 43,3152 47135 SLOAD RTB
020140,001146: 43,3153 01251 DSPTEM1
020141,001147: 43,3154 51754 CDULOGIC
020142,001148: 43,3155 02634 STORE LAUNCHAZ
020143,001149: 43,3156 77776 EXIT
020144,001150: 43,3157 34772 +11 CAF ZERO
020145,001151: 43,3160 55632 TS PREMTRXC
020146,001152: 43,3161 05402 TC PHASCHNG
020147,001153: 43,3162 00004 OCT 00004
020148,001154: 43,3163 04655 TC POSTJUMP
020149,001155: 43,3164 21275 CADR PINBRNCH
020150,001156:
020151,001157: 43,3165 01435 VN0629 VN 0629
020152,001158:
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Page 454 Only assembler-generated messages on this page. |
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc