Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are 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 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

018205,000002:                                                                                                  ## Copyright:   Public domain.
018206,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018207,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
018208,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
018209,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
018210,000007:                                                                                                  ## Assembler:   yaYUL
018211,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
018212,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
018213,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
018214,000011:                                                                                                  ## Mod history: 2011-01-27 JL   Adapted from corresponding Colossus 249 file.
018215,000012:                                                                                                  ##              2016-12-30 RSB  Proofed comment text using octopus/ProoferComments,
018216,000013:                                                                                                  ##                              and corrected errors found.
018217,000014: 

Page 414

018219,000016:                                                                                                  #  NAME- IMU PERFORMANCE TESTS 2
018220,000017: 
018221,000018:                                                                                                  #  DATE- MARCH 20,1967
018222,000019: 
018223,000020:                                                                                                  #  BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018224,000021: 
018225,000022:                                                                                                  #  MODNO.- ZERO
018226,000023: 
018227,000024:                                                                                                  #  FUNCTIONAL DESCRIPTION
018228,000025: 
018229,000026:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018230,000027:                                                                                                  #  THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018231,000028:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
018232,000029: 
018233,000030: 33,2004                                           BANK     33                                    
018234,000031: 33,2000                                           SETLOC   IMUCAL                                
018235,000032: 33,2000                                           BANK                                           
018236,000033: 
018237,000034: 33,2004  E5,1423                                  EBANK=   POSITON                               
018238,000035: 33,2004           34714        IMUTEST            CA       ZERO                                  
018239,000036: 33,2005           55452                           TS       DRIFTT                                
018240,000037: 33,2006           55643                           TS       GEOCOMP1                              
018241,000038: 33,2007           32443                           CAF      TESTTIME                              
018242,000039: 33,2010           55412                           TS       LENGTHOT                              
018243,000040: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018244,000041: 33,2012           34734                           CAF      1SECX                                 
018245,000042: 33,2013           55644                           TS       1SECXT1                               
018246,000043: 
018247,000044: 33,2014           32441                           CA       OC14400                               
018248,000045: 33,2015           55074                           TS       1/PIPADT                              
018249,000046: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018250,000047: 33,2017           77624                           CALL                                           
018251,000048: 33,2020           10617                                    LATAZCHK                              
018252,000049: 33,2021           57546                           COS      DCOMP                                 
018253,000050: 33,2022           77752                           SL1                                            
018254,000051: 33,2023           16447                           STODL    WANGI                                 
018255,000052: 33,2024           02403                                    LATITUDE                              
018256,000053: 33,2025           72556                           SIN      SL1                                   
018257,000054: 33,2026           02445                           STORE    WANGO                                 
018258,000055: 33,2027           77776                           EXIT                                           
018259,000056: 33,2030           04555        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018260,000057: 33,2031           16516                           CADR     IMUZERO                               
018261,000058: 33,2032           02316                           TC       IMUSTLLG                              
018262,000059: 33,2033           34714        IMUBACK            CA       ZERO                                  
018263,000060: 33,2034           55421                           TS       NDXCTR                                
018264,000061: 33,2035           55450                           TS       TORQNDX                               
018265,000062: 33,2036           55451                           TS       TORQNDX    +1                         
018266,000063: 33,2037           34375        NBPOSPL            CA       DEC17                                 
018267,000064: 33,2040           55655                           TS       ZERONDX1                              
018268,000065: 33,2041           32445                           CA       XNBADR                                

Page 415

018270,000067: 33,2042           02356                           TC       ZEROING                               
018271,000068: 33,2043           34675                           CA       HALF                                  
018272,000069: 33,2044           55713                           TS       XNB                                   
018273,000070: 33,2045           06006                           TC       INTPRET                               
018274,000071: 33,2046           73545                           DLOAD    SIN                                   
018275,000072: 33,2047           02401                                    AZIMUTH                               
018276,000073: 33,2050           02724                           STORE    YNB        +2                         
018277,000074: 33,2051           16734                           STODL    ZNB        +4                         
018278,000075: 33,2052           02401                                    AZIMUTH                               
018279,000076: 33,2053           77746                           COS                                            
018280,000077: 33,2054           02726                           STORE    YNB        +4                         
018281,000078: 33,2055           77676                           DCOMP                                          
018282,000079: 33,2056           02732                           STORE    ZNB        +2                         
018283,000080: 33,2057           77776                           EXIT                                           
018284,000081: 33,2060           05253                           TC       CHECKMM                               
018285,000082: 33,2061           00003                           MM       03         B-14                       #    SEE IF IN OPTICAL VERIFICATION
018286,000083: 33,2062           12064                           TCF      +2                                    #   NO
018287,000084: 33,2063           13433                           TCF      SETNBPOS   +1                         #     YES
018288,000085: 33,2064           06006                           TC       INTPRET                               
018289,000086: 33,2065           77624                           CALL                                           
018290,000087: 33,2066           47244                                    CALCGA                                
018291,000088: 33,2067           77776                           EXIT                                           
018292,000089: 33,2070           04555                           TC       BANKCALL                              
018293,000090: 33,2071           16602                           CADR     IMUCOARS                              
018294,000091: 33,2072           34675                           CAF      BIT14                                 #  IF BIT14 SET, GIMBAL LOCK
018295,000092: 33,2073           70077                           MASK     FLAGWRD3                              
018296,000093: 33,2074           00006                           EXTEND                                         
018297,000094: 33,2075           12077                           BZF      +2                                    
018298,000095: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK,OTHERWISE 0
018299,000096: 33,2077           05447                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018300,000097: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018301,000098: 33,2101           02316                           TC       IMUSTLLG                              
018302,000099: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018303,000100: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018304,000101: 33,2104           04555                           TC       BANKCALL                              
018305,000102: 33,2105           17012                           CADR     IMUFINE                               
018306,000103: 33,2106           02316                           TC       IMUSTLLG                              
018307,000104: 33,2107           00006                           EXTEND                                         
018308,000105: 33,2110           31657                           DCA      PERFDLAY                              
018309,000106: 33,2111           05231                           TC       LONGCALL                              
018310,000107: 33,2112  E5,1423                                  EBANK=   POSITON                               
018311,000108: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018312,000109: 
018313,000110: 33,2114           32121                           CA       ESTICADR                              
018314,000111: 33,2115           05070                           TC       JOBSLEEP                              
018315,000112: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018316,000113: 33,2117           05074                           TC       JOBWAKE                               
018317,000114: 33,2120           05213                           TC       TASKOVER                              
018318,000115: 33,2121           66453        ESTICADR           CADR     ESTIMS                                

Page 416

018320,000117: 33,2122           34714        TORQUE             CA       ZERO                                  
018321,000118: 33,2123           55050                           TS       DSPTEM2                               
018322,000119: 33,2124           31514                           CA       DRIFTI                                
018323,000120: 33,2125           55051                           TS       DSPTEM2    +1                         
018324,000121: 33,2126           51423                           INDEX    POSITON                               
018325,000122: 33,2127           55430                           TS       SOUTHDR    -1                         
018326,000123: 33,2130           02427                           TC       SHOW                                  
018327,000124: 
018328,000125: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018329,000126: 33,2132           02133                           TC       +1                                    
018330,000127: 33,2133           02417                           TC       EARTHR*                               
018331,000128: 33,2134           34374                           CA       DEC57                                 
018332,000129: 33,2135           55412                           TS       LENGTHOT                              
018333,000130: 33,2136           34712                           CA       ONE                                   
018334,000131: 33,2137           55547                           TS       RESULTCT                              
018335,000132: 33,2140           34714                           CA       ZERO                                  
018336,000133: 33,2141           51422                           INDEX    PIPINDEX                              
018337,000134: 33,2142           54037                           TS       PIPAX                                 
018338,000135: 33,2143           55502                           TS       DATAPL                                
018339,000136: 33,2144           55506                           TS       DATAPL     +4                         
018340,000137: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018341,000138: 33,2146           00004                           INHINT                                         
018342,000139: 33,2147           34711                           CAF      TWO                                   
018343,000140: 33,2150           05130                           TC       TWIDDLE                               
018344,000141: 33,2151  E5,1671                                  EBANK=   XSM                                   
018345,000142: 33,2151           02153                           ADRES    PIPATASK                              
018346,000143: 33,2152           05112                           TC       ENDOFJOB                              
018347,000144: 33,2153           00006        PIPATASK           EXTEND                                         
018348,000145: 33,2154           27412                           DIM      LENGTHOT                              
018349,000146: 33,2155           31412                           CA       LENGTHOT                              
018350,000147: 33,2156           00006                           EXTEND                                         
018351,000148: 33,2157           62163                           BZMF     STARTPIP                              
018352,000149: 33,2160           34701                           CAF      BIT10                                 
018353,000150: 33,2161           05130                           TC       TWIDDLE                               
018354,000151: 33,2162  E5,1671                                  EBANK=   XSM                                   
018355,000152: 33,2162           02153                           ADRES    PIPATASK                              
018356,000153: 33,2163           34675        STARTPIP           CAF      PRIO20                                
018357,000154: 33,2164           05042                           TC       FINDVAC                               
018358,000155: 33,2165  E5,1671                                  EBANK=   XSM                                   
018359,000156: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018360,000157: 33,2167           05213                           TC       TASKOVER                              
018361,000158: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018362,000159: 33,2171           02172                           TC       +1                                    
018363,000160: 33,2172           02417                           TC       EARTHR*                               
018364,000161: 33,2173           31412                           CA       LENGTHOT                              
018365,000162: 33,2174           00006                           EXTEND                                         
018366,000163: 33,2175           62177                           BZMF     +2                                    
018367,000164: 33,2176           05112                           TC       ENDOFJOB                              
018368,000165: 33,2177           34715                           CA       FIVE                                  

Page 417

018370,000167: 33,2200           55547                           TS       RESULTCT                              
018371,000168: 33,2201           02321                           TC       CHECKG                                
018372,000169: 33,2202           00006                           EXTEND                                         
018373,000170: 33,2203           41503                           DCS      DATAPL                                
018374,000171: 33,2204           21507                           DAS      DATAPL     +4                         
018375,000172: 
018376,000173: 33,2205           06006                           TC       INTPRET                               
018377,000174: 33,2206           45345                           DLOAD    DSU                                   
018378,000175: 33,2207           02511                                    DATAPL     +6                         
018379,000176: 33,2210           02505                                    DATAPL     +2                         
018380,000177: 33,2211           45044                           BPL      CALL                                  
018381,000178: 33,2212           66214                                    AINGOTN                               
018382,000179: 33,2213           66276                                    OVERFFIX                              
018383,000180: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018384,000181: 33,2215           02507                                    DATAPL     +4                         
018385,000182: 33,2216           57212                           SL4      DMPR                                  
018386,000183: 33,2217           27112                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018387,000184: 33,2220           77634                           RTB                                            
018388,000185: 33,2221           45541                                    SGNAGREE                              
018389,000186: 33,2222           01051                           STORE    DSPTEM2                               
018390,000187: 33,2223           77776                           EXIT                                           
018391,000188: 33,2224           11421                           CCS      NDXCTR                                
018392,000189: 33,2225           02302                           TC       COAALIGN                              #   TAKE PLATFORM OUT OF GIMBAL LOCK
018393,000190: 33,2226           02427                           TC       SHOW                                  
018394,000191: 33,2227           32447        VERTDRFT           CA       3990DEC                               #   ABOUT 1 HOUR VERTICAL DRIFT TEST
018395,000192: 33,2230           55412                           TS       LENGTHOT                              
018396,000193: 33,2231           51423                           INDEX    POSITON                               
018397,000194: 33,2232           41427                           CS       SOUTHDR    -2                         
018398,000195: 33,2233           55452                           TS       DRIFTT                                
018399,000196: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018400,000197: 33,2235           00006                           EXTEND                                         
018401,000198: 33,2236           12244                           BZF      PON2                                  
018402,000199: 33,2237           44706        PON4               CS       BIT5                                  #        OFFSET PLATFORM
018403,000200: 33,2240           27651                           ADS      ERCOMP1    +2                         
018404,000201: 33,2241           34706                           CA       BIT5                                  
018405,000202: 33,2242           27647                           ADS      ERCOMP1                               
018406,000203: 33,2243           12250                           TCF      PONG                                  
018407,000204: 33,2244           44706        PON2               CS       BIT5                                  
018408,000205: 33,2245           27651                           ADS      ERCOMP1    +2                         
018409,000206: 33,2246           34706                           CA       BIT5                                  
018410,000207: 33,2247           27653                           ADS      ERCOMP1    +4                         
018411,000208: 33,2250           02417        PONG               TC       EARTHR*                               
018412,000209: 33,2251           34714                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018413,000210: 33,2252           55404                           TS       ERVECTOR                              
018414,000211: 33,2253           55405                           TS       ERVECTOR   +1                         
018415,000212: 33,2254           34672        GUESS1             CAF      POSMAX                                
018416,000213: 33,2255           55450                           TS       TORQNDX                               
018417,000214: 33,2256           55451                           TS       TORQNDX    +1                         
018418,000215: 33,2257           30032                           CA       CDUX                                  
018419,000216: 33,2260           55413                           TS       LOSVEC                                

Page 418

018421,000218: 33,2261           02453                           TC       ESTIMS                                
018422,000219: 33,2262           31512        VALMIS             CA       DRIFTO                                
018423,000220: 33,2263           55051                           TS       DSPTEM2    +1                         
018424,000221: 33,2264           34714                           CA       ZERO                                  
018425,000222: 33,2265           55050                           TS       DSPTEM2                               
018426,000223: 33,2266           02427                           TC       SHOW                                  
018427,000224: 
018428,000225: 
018429,000226: 33,2267           05447        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018430,000227: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018431,000228: 33,2271           44714                           CS       ZERO                                  
018432,000229: 33,2272           05246                           TC       NEWMODEX   +3                         
018433,000230: 33,2273           04555                           TC       BANKCALL                              
018434,000231: 33,2274           16063                           CADR     MKRELEAS                              
018435,000232: 33,2275           05423                           TC       ENDEXT                                
018436,000233: 

Page 419

018438,000235: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018439,000236: 33,2277           15340                                    DPPOSMAX                              
018440,000237: 33,2300           27120                                    ONEDPP                                
018441,000238: 33,2301           77616                           RVQ                                            
018442,000239: 
018443,000240: 
018444,000241: 33,2302           00006        COAALIGN           EXTEND                                         #   COARSE ALIGN SUBROUTINE
018445,000242: 33,2303           23425                           QXCH     QPLACE                                
018446,000243: 33,2304           34714                           CA       ZERO                                  
018447,000244: 33,2305           55155                           TS       THETAD                                
018448,000245: 33,2306           55156                           TS       THETAD     +1                         
018449,000246: 33,2307           55157                           TS       THETAD     +2                         
018450,000247: 33,2310           04555                           TC       BANKCALL                              
018451,000248: 33,2311           16602                           CADR     IMUCOARS                              
018452,000249: 33,2312           04555                           TC       BANKCALL                              
018453,000250: 33,2313           17516                           CADR     IMUSTALL                              
018454,000251: 33,2314           03104                           TC       SOMERR2                               
018455,000252: 33,2315           01425                           TC       QPLACE                                
018456,000253: 
018457,000254: 
018458,000255: 33,2316           00006        IMUSTLLG           EXTEND                                         
018459,000256: 33,2317           23425                           QXCH     QPLACE                                
018460,000257: 33,2320           02312                           TC       COAALIGN   +10                        
018461,000258: 
018462,000259: 
018463,000260: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018464,000261: 33,2322           23425                           QXCH     QPLACE                                
018465,000262: 33,2323           02331                           TC       +6                                    
018466,000263: 33,2324           00003        CHECKG1            RELINT                                         
018467,000264: 33,2325           30067                           CA       NEWJOB                                
018468,000265: 33,2326           00006                           EXTEND                                         
018469,000266: 33,2327           62335                           BZMF     +6                                    
018470,000267: 33,2330           05057                           TC       CHANG1                                
018471,000268: 33,2331           00004                           INHINT                                         
018472,000269: 33,2332           51422                           INDEX    PIPINDEX                              
018473,000270: 33,2333           40037                           CS       PIPAX                                 
018474,000271: 33,2334           55655                           TS       ZERONDX                               
018475,000272: 33,2335           00004                           INHINT                                         
018476,000273: 33,2336           51422                           INDEX    PIPINDEX                              
018477,000274: 33,2337           30037                           CA       PIPAX                                 
018478,000275: 33,2340           61430                           AD       STOREPL                               
018479,000276: 33,2341           00006                           EXTEND                                         
018480,000277: 33,2342           12324                           BZF      CHECKG1                               
018481,000278: 33,2343           51422                           INDEX    PIPINDEX                              
018482,000279: 33,2344           30037                           CA       PIPAX                                 
018483,000280: 33,2345           51547                           INDEX    RESULTCT                              
018484,000281: 33,2346           55502                           TS       DATAPL                                
018485,000282: 33,2347           04526                           TC       FINETIME                              
018486,000283: 33,2350           51547                           INDEX    RESULTCT                              
018487,000284: 33,2351           55503                           TS       DATAPL     +1                         

Page 420

018489,000286: 33,2352           51547                           INDEX    RESULTCT                              
018490,000287: 33,2353           23504                           LXCH     DATAPL     +2                         
018491,000288: 33,2354           00003                           RELINT                                         
018492,000289: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018493,000290: 
018494,000291: 
018495,000292: 33,2356           54001        ZEROING            TS       L                                     
018496,000293: 33,2357           12361                           TCF      +2                                    
018497,000294: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018498,000295: 33,2361           34714                           CAF      ZERO                                  
018499,000296: 33,2362           50001                           INDEX    L                                     
018500,000297: 33,2363           54000                           TS       0                                     
018501,000298: 33,2364           24001                           INCR     L                                     
018502,000299: 33,2365           11655                           CCS      ZERONDX1                              
018503,000300: 33,2366           12360                           TCF      ZEROING1                              
018504,000301: 33,2367           00002                           TC       Q                                     
018505,000302: 

Page 421

018507,000304: 32,2000                                           SETLOC   IMUCAL3                               
018508,000305: 32,2000                                           BANK                                           
018509,000306: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018510,000307: 32,2001           27113                                    SCHZEROS                              #  PD24 = (SIN          -COS    0)(OMEG/MS)
018511,000308: 32,2002           02403                                    LATITUDE                              
018512,000309: 32,2003           57546                           COS      DCOMP                                 
018513,000310: 32,2004           73525                           PDDL     SIN                                   
018514,000311: 32,2005           02403                                    LATITUDE                              
018515,000312: 32,2006           74266                           VDEF     VXSC                                  
018516,000313: 32,2007           26450                                    OMEG/MS                               
018517,000314: 32,2010           02405                           STORE    ERVECTOR                              
018518,000315: 32,2011           77634                           RTB                                            
018519,000316: 32,2012           45505                                    LOADTIME                              
018520,000317: 32,2013           26443                           STOVL    TMARK                                 
018521,000318: 32,2014           27113                                    SCHZEROS                              
018522,000319: 32,2015           02650                           STORE    ERCOMP1                               
018523,000320: 32,2016           77616                           RVQ                                            
018524,000321: 33,2000                                           SETLOC   IMUCAL                                
018525,000322: 33,2000                                           BANK                                           
018526,000323: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018527,000324: 33,2371           00051                                    S2                                    
018528,000325: 33,2372           45505                                    LOADTIME                              
018529,000326: 33,2373           02441                           STORE    TEMPTIME                              
018530,000327: 33,2374           51025                           DSU      BPL                                   
018531,000328: 33,2375           02443                                    TMARK                                 
018532,000329: 33,2376           66401                                    ERTHR                                 
018533,000330: 33,2377           77624                           CALL                                           
018534,000331: 33,2400           66276                                    OVERFFIX                              
018535,000332: 33,2401           74261        ERTHR              SL       VXSC                                  
018536,000333: 33,2402           20212                                    9D                                    
018537,000334: 33,2403           02405                                    ERVECTOR                              
018538,000335: 33,2404           53321                           MXV      VAD                                   
018539,000336: 33,2405           02672                                    XSM                                   
018540,000337: 33,2406           02650                                    ERCOMP1                               
018541,000338: 33,2407           16650                           STODL    ERCOMP1                               
018542,000339: 33,2410           02441                                    TEMPTIME                              
018543,000340: 33,2411           02443                           STORE    TMARK                                 
018544,000341: 33,2412           47170                           AXT,1    RTB                                   
018545,000342: 33,2413           02647                           ECADR    ERCOMP1                               
018546,000343: 33,2414           45650                                    PULSEIMU                              
018547,000344: 33,2415           77650                           GOTO                                           
018548,000345: 33,2416           00051                                    S2                                    
018549,000346: 33,2417           00006        EARTHR*            EXTEND                                         
018550,000347: 33,2420           23426                           QXCH     QPLACES                               
018551,000348: 33,2421           06006                           TC       INTPRET                               
018552,000349: 33,2422           77624                           CALL                                           
018553,000350: 33,2423           66370                                    EARTHR                                
018554,000351: 33,2424           77776        PROUT              EXIT                                           
018555,000352: 33,2425           02316                           TC       IMUSTLLG                              
018556,000353: 33,2426           01426                           TC       QPLACES                               

Page 422

018558,000355: 33,2427           00006        SHOW               EXTEND                                         
018559,000356: 33,2430           23425                           QXCH     QPLACE                                
018560,000357: 33,2431           31423        SHOW1              CA       POSITON                               
018561,000358: 33,2432           55052                           TS       DSPTEM2    +2                         
018562,000359: 33,2433           32442                           CA       VB06N98                               
018563,000360: 33,2434           04555                           TC       BANKCALL                              
018564,000361: 33,2435           20624                           CADR     GOFLASH                               
018565,000362: 33,2436           02267                           TC       ENDTEST1                              #  V 34
018566,000363: 33,2437           01425                           TC       QPLACE                                #   V33
018567,000364: 33,2440           12431                           TCF      SHOW1                                 
018568,000365: 
018569,000366: 33,2441           14400        OC14400            OCT      14400                                 
018570,000367: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018571,000368: 33,2442           01542        VB06N98            VN       0698                                  
018572,000369: 33,2443           01602        TESTTIME           OCT      01602                                 
018573,000370: 33,2444     4375               DEC17              =        ND1                                   
018574,000371: 33,2444           02757        OGCPL              ECADR    OGC                                   
018575,000372: 33,2445     4734               1SECX              =        1SEC                                  
018576,000373: 33,2445     4374               DEC57              =        VD1                                   
018577,000374: 33,2445           01713        XNBADR             GENADR   XNB                                   
018578,000375: 33,2446           01671        XSMADR             GENADR   XSM                                   
018579,000376: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018580,000377: 
018581,000378: 
018582,000379: 33,2451           04555        P11OUT             TC       BANKCALL                              
018583,000380: 33,2452           70127                           CADR     MATRXJOB                              #  RETURN TO P11
018584,000381: 
018585,000382: 33,2453                                           COUNT    02/COMST                              
018586,000383: 
018587,000384:    4526                                           BLOCK    2                                     
018588,000385:    4526           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018589,000386:    4527           00006                           EXTEND                                         
018590,000387:    4530           00004                           READ     LOSCALAR                              
018591,000388:    4531           54001                           TS       L                                     
018592,000389:    4532           00006                           EXTEND                                         
018593,000390:    4533           06004                           RXOR     LOSCALAR                              
018594,000391:    4534           00006                           EXTEND                                         
018595,000392:    4535           14541                           BZF      +4                                    
018596,000393:    4536           00006                           EXTEND                                         
018597,000394:    4537           00004                           READ     LOSCALAR                              
018598,000395:    4540           54001                           TS       L                                     
018599,000396:    4541           44672                 +4        CS       POSMAX                                
018600,000397:    4542           60001                           AD       L                                     
018601,000398:    4543           00006                           EXTEND                                         
018602,000399:    4544           14527                           BZF      FINETIME   +1                         
018603,000400:    4545           00006                           EXTEND                                         
018604,000401:    4546           00003                           READ     HISCALAR                              
018605,000402:    4547           00002                           TC       Q                                     
018606,000403: 

Page 423

018608,000405:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018609,000406:                                                                                                  #  DATE- NOVEMBER 2  1966
018610,000407:                                                                                                  #  BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018611,000408:                                                                                                  #  MOD NO 3
018612,000409:                                                                                                  #  FUNCTIONAL DESCRIPTION
018613,000410: 
018614,000411:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018615,000412:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018616,000413:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018617,000414:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018618,000415:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018619,000416:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018620,000417:                                                                                                  #  FOR THE DATA TO FLASH.
018621,000418:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018622,000419:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018623,000420:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018624,000421:                                                                                                  #  HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018625,000422:                                                                                                  #  OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973.BOTH OF THESE
018626,000423:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018627,000424:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018628,000425:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018629,000426:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY
018630,000427:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR
018631,000428:                                                                                                  #  COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY).
018632,000429: 
018633,000430:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
018634,000431: 
018635,000432:                                                                                                  #   1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED      (NOM=.2)
018636,000433:                                                                                                  #  2- LATITUDE -DP-OF LAUNCH PAD
018637,000434:                                                                                                  #  3- AZIMUTH-DP-OF ZNB OF VEHICLE
018638,000435:                                                                                                  #  4- IMU COMPENSATION PARAMETERS
018639,000436:                                                                                                  #  5-AZ AND ELEVATION OF TARGETS 1,2     ****OPTIONAL****
018640,000437: 
018641,000438:                                                                                                  #  TO PERFORM AS PART OF COMPASS
018642,000439: 
018643,000440:                                                                                                  #  1-OPTICAL VERIFICATION- V 65 E
018644,000441:                                                                                                  #  2-AZIMUTH CHANGE-V 78 E
018645,000442: 
018646,000443:                                                                                                  #  SUBROUTINES CALLED
018647,000444: 
018648,000445:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018649,000446:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018650,000447: 
018651,000448:                                                                                                  #  NORMAL EXIT
018652,000449: 
018653,000450:                                                                                                  #  DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018654,000451:                                                                                                  #  GYROCOMPASS-MANY,SEE THE LISTING
018655,000452:                                                                                                  #  ALARMS
018656,000453: 
018657,000454:                                                                                                  #  1600     OVERFLOW IN DRIFT TEST

Page 424

018659,000456:                                                                                                  #  1601     BAD IMU TORQUE ABORT
018660,000457:                                                                                                  #  1602     BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS      CSM ONLY
018661,000458: 
018662,000459:                                                                                                  #  OUTPUT
018663,000460: 
018664,000461:                                                                                                  #  DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018665,000462:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018666,000463:                                                                                                  #     01    INITIALIZING THE PLATFORM POSITION AND ERASABLE
018667,000464:                                                                                                  #     02    GYROCOMPASSING
018668,000465:                                                                                                  #     03    DOING OPTICAL VERIFICATION (CSM)
018669,000466: 
018670,000467: 
018671,000468:                                                                                                  #  DEBRIS
018672,000469: 
018673,000470:                                                                                                  #  ALL CENTRALS,ALL OF EBANK XSM
018674,000471: 

Page 425

018676,000473:                                                                                                  #   MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018677,000474:                                                                                                  #   ON THE NEXT FEW PAGES.
018678,000475: 
018679,000476: 
018680,000477:    4550                                           COUNT    33/P02                                
018681,000478: 
018682,000479:    4550  E5,1671                                  EBANK=   XSM                                   
018683,000480: 33,2453                                           BANK     33                                    
018684,000481: 33,2000                                           SETLOC   IMUCAL                                
018685,000482: 33,2000                                           BANK                                           
018686,000483: 
018687,000484: 33,2453           05261        ESTIMS             TC       2PHSCHNG                              #   COMES HERE FROM IMU2
018688,000485: 33,2454           00075                           OCT      00075                                 
018689,000486: 33,2455           00004                           OCT      00004                                 #   TURN OFF GROUP 4 IF ON
018690,000487: 33,2456           00004        RSTGTS1            INHINT                                         #   COMES HERE PHASE1 RESTART
018691,000488: 33,2457           30025                           CA       TIME1                                 
018692,000489: 33,2460           55645                           TS       GTSWTLT1                              
018693,000490: 33,2461           34714                           CAF      ZERO                                  #  ZERO THE PIPAS
018694,000491: 33,2462           54037                           TS       PIPAX                                 
018695,000492: 33,2463           54040                           TS       PIPAY                                 
018696,000493: 33,2464           54041                           TS       PIPAZ                                 
018697,000494: 33,2465           00003                           RELINT                                         
018698,000495: 33,2466           33131                           CA       77DECML                               #   ZERO ALL NECESSARY LOCATIONS
018699,000496: 33,2467           55655                           TS       ZERONDX1                              
018700,000497: 33,2470           33132                           CA       ALXXXZ                                
018701,000498: 33,2471           02356                           TC       ZEROING                               
018702,000499: 33,2472           06006                           TC       INTPRET                               
018703,000500: 33,2473           77735                           SLOAD                                          
018704,000501: 33,2474           27113                                    SCHZEROS                              
018705,000502: 33,2475           25477                           STOVL    GCOMPSW    -1                         
018706,000503: 33,2476           27124                                    INTVAL     +2                         #   LOAD SOME INITIAL DRIFT GAINS
018707,000504: 33,2477           26455                           STOVL    ALX1S                                 
018708,000505: 33,2500           27113                                    SCHZEROS                              
018709,000506: 33,2501           01472                           STORE    GCOMP                                 
018710,000507: 33,2502           01163                           STORE    DELVX                                 #   GCOMPZER SUBROUTINE NO LONGER NEEDED
018711,000508: 33,2503           77776                           EXIT                                           
018712,000509: 
018713,000510: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018714,000511: 33,2505           02507                           TC       +2                                    
018715,000512: 33,2506           02523                           TC       SLEEPIE    +1                         
018716,000513: 33,2507           06006                           TC       INTPRET                               
018717,000514: 33,2510           77624                           CALL                                           
018718,000515: 33,2511           64000                                    ERTHRVSE                              
018719,000516: 33,2512           77776                           EXIT                                           
018720,000517: 33,2513           31412                           CA       LENGTHOT                              #    TIMES FIVE IS THE NUM OF SEC ERECTING
018721,000518: 33,2514           55646                           TS       ERECTIME                              
018722,000519: 
018723,000520: 33,2515           05243                           TC       NEWMODEX                              
018724,000521: 33,2516           00002                           MM       02         B-14                       
018725,000522: 33,2517           04555                           TC       BANKCALL                              #   SET UP PIPA FAIL TO CAUSE ISS ALARM

Page 426

018727,000524: 33,2520           17075                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018728,000525: 33,2521           03377                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018729,000526: 

Page 427

018731,000528:                                                                                                  #   COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018732,000529: 
018733,000530:                                                                                                  #  SET UP WAITLIST SECTION
018734,000531: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
018735,000532: 33,2523           05301                           TC       PHASCHNG                              #   CHANGE PHASE
018736,000533: 33,2524           00135                           OCT      00135                                 
018737,000534: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018738,000535: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018739,000536: 33,2527           03402        WTLISTNT           TC       CHKCOMED                              #         SEE IF COMPASS OVER
018740,000537: 33,2530           02532                           TC       SETGWLST                              
018741,000538: 33,2531           05112                           TC       ENDOFJOB                              
018742,000539: 
018743,000540: 33,2532           00006        SETGWLST           EXTEND                                         
018744,000541: 33,2533           22154                           QXCH     MPAC                                  #   CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018745,000542: 33,2534           00004                           INHINT                                         
018746,000543: 33,2535           40025                           CS       TIME1                                 
018747,000544: 33,2536           61645                           AD       GTSWTLT1                              
018748,000545: 33,2537           00006                           EXTEND                                         
018749,000546: 33,2540           62542                           BZMF     +2                                    
018750,000547: 33,2541           64674                           AD       NEGMAX                                #   10 MS ERROR OK
018751,000548: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018752,000549: 33,2543           00006                           EXTEND                                         
018753,000550: 33,2544           62550                           BZMF     RIGHTGTS                              
018754,000551: 33,2545           05130        WTGTSMPL           TC       TWIDDLE                               
018755,000552: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
018756,000553: 33,2546           02575                           ADRES    ALLOOP                                
018757,000554: 33,2547           00154                           TC       MPAC                                  
018758,000555: 33,2550           34710        RIGHTGTS           CAF      FOUR                                  #   SET UP NEXT WAITLIST-ALLOW SOME TIME
018759,000556: 33,2551           02545                           TC       WTGTSMPL                              #   END OF WAITLIST SECTION
018760,000557: 
018761,000558: 
018762,000559:                                                                                                  #   STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018763,000560: 
018764,000561: 33,2552           00031        25DECML            DEC      25         B-14                       
018765,000562: 
018766,000563: 33,2553           32552        STOREDTA           CAF      25DECML                               
018767,000564: 33,2554           54154                           TS       MPAC                                  
018768,000565: 33,2555           50154                           INDEX    MPAC                                  
018769,000566: 33,2556           31460                           CAE      THETAX1                               
018770,000567: 33,2557           50154                           INDEX    MPAC                                  
018771,000568: 33,2560           55577                           TS       RESTARPT                              
018772,000569: 33,2561           10154                           CCS      MPAC                                  
018773,000570: 33,2562           12554                           TCF      STOREDTA   +1                         
018774,000571: 33,2563           00002                           TC       Q                                     
018775,000572: 
018776,000573: 
018777,000574: 33,2564           32552        LOADSTDT           CAF      25DECML                               
018778,000575: 33,2565           54154                           TS       MPAC                                  
018779,000576: 33,2566           50154                           INDEX    MPAC                                  
018780,000577: 33,2567           31577                           CA       RESTARPT                              

Page 428

018782,000579: 33,2570           50154                           INDEX    MPAC                                  
018783,000580: 33,2571           55460                           TS       THETAX1                               
018784,000581: 33,2572           10154                           CCS      MPAC                                  
018785,000582: 33,2573           12565                           TCF      LOADSTDT   +1                         
018786,000583: 33,2574           00002                           TC       Q                                     
018787,000584: 
018788,000585: 
018789,000586:                                                                                                  #   COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018790,000587: 
018791,000588: 33,2575           30025        ALLOOP             CAE      TIME1                                 
018792,000589: 33,2576           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018793,000590: 33,2577           31540        ALLOOP3            CA       ALTIM                                 
018794,000591: 33,2600           55631                           TS       GEOSAVE1                              
018795,000592: 33,2601           05301                           TC       PHASCHNG                              
018796,000593: 33,2602           00115                           OCT      00115                                 
018797,000594: 33,2603           31631        ALLOOP1            CAE      GEOSAVE1                              
018798,000595: 33,2604           55540                           TS       ALTIM                                 
018799,000596: 33,2605           10000                           CCS      A                                     
018800,000597: 33,2606           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018801,000598: 33,2607           55541                           TS       ALTIMS                                
018802,000599: 33,2610           40000                           CS       A                                     
018803,000600: 33,2611           55540                           TS       ALTIM                                 
018804,000601: 33,2612           30037                           CA       PIPAX                                 
018805,000602: 33,2613           55162                           TS       DELVX                                 
018806,000603: 33,2614           30040                           CA       PIPAY                                 
018807,000604: 33,2615           55164                           TS       DELVY                                 
018808,000605: 33,2616           30041                           CA       PIPAZ                                 
018809,000606: 33,2617           55166                           TS       DELVZ                                 
018810,000607: 33,2620           34374                           CAF      19DECML                               #  23 OCT
018811,000608: 33,2621           04114                           TC       NEWPHASE                              
018812,000609: 33,2622           00005                           OCT      00005                                 
018813,000610: 33,2623           34714        SPECSTS            CAF      ZERO                                  
018814,000611: 33,2624           54037                           TS       PIPAX                                 
018815,000612: 33,2625           54040                           TS       PIPAY                                 
018816,000613: 33,2626           54041                           TS       PIPAZ                                 
018817,000614: 33,2627           34675                           CAF      PRIO20                                
018818,000615: 33,2630           05042                           TC       FINDVAC                               
018819,000616: 33,2631  E5,1631                                  EBANK=   GEOSAVE1                              
018820,000617: 33,2631           02634 66065                     2CADR    ALFLT                                 #   START THE JOB
018821,000618: 33,2633           05213                           TC       TASKOVER                              
018822,000619: 

Page 429

018824,000621:                                                                                                  #   THIS IS PART OF THE JOB DONE EVERY ITERATION
018825,000622: 
018826,000623: 33,2634           02553        ALFLT              TC       STOREDTA                              #   STORE DATA IN CASE OF RESTART IN JOB
018827,000624: 33,2635           05301                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018828,000625: 33,2636           00215                           OCT      00215                                 
018829,000626: 33,2637           12641                           TCF      +2                                    
018830,000627: 33,2640           02564        ALFLT1             TC       LOADSTDT                              #   COMES HERE ON RESTART
018831,000628: 
018832,000629: 33,2641           11643                           CCS      GEOCOMP1                              
018833,000630: 33,2642           02644                           TC       +2                                    
018834,000631: 33,2643           02647                           TC       NORMLOP                               
018835,000632: 33,2644           03402                           TC       CHKCOMED                              #       SEE IF PRELAUNCH OVER
018836,000633: 33,2645           04555                           TC       BANKCALL                              #   COMPENSATION IF IN COMPASS
018837,000634: 33,2646           15262                           CADR     1/PIPA                                
018838,000635: 
018839,000636: 33,2647           06006        NORMLOP            TC       INTPRET                               
018840,000637: 33,2650           77745                           DLOAD                                          
018841,000638: 33,2651           27122                                    INTVAL                                
018842,000639: 33,2652           24051                           STOVL    S1                                    
018843,000640: 33,2653           01163                                    DELVX                                 
018844,000641: 33,2654           76505                           VXM      VSL1                                  
018845,000642: 33,2655           02672                                    XSM                                   
018846,000643: 33,2656           57545                           DLOAD    DCOMP                                 
018847,000644: 33,2657           00160                                    MPAC       +3                         
018848,000645: 33,2660           16533                           STODL    DPIPAY                                
018849,000646: 33,2661           00162                                    MPAC       +5                         
018850,000647: 33,2662           02537                           STORE    DPIPAZ                                
018851,000648: 
018852,000649: 33,2663           76001                           SETPD    AXT,1                                 
018853,000650: 33,2664           00001                                    0                                     
018854,000651: 33,2665           00010                                    8D                                    
018855,000652: 33,2666           57535                           SLOAD    DCOMP                                 
018856,000653: 33,2667           02644                                    GEOCOMP1                              
018857,000654: 33,2670           77640                           BMN                                            
018858,000655: 33,2671           67204                                    ALWAYSG                               #  DO A QUICK COMPASS
018859,000656: 

Page 430

018861,000658:                                                                                                  #   NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018862,000659: 
018863,000660: 33,2672                                           COUNT    33/COMST                              
018864,000661: 
018865,000662: 33,2672           50135        ALCGKK             SLOAD    BMN                                   
018866,000663: 33,2673           02542                                    ALTIMS                                
018867,000664: 33,2674           66707                                    ALFLT3                                #  NO NEW GAINS NEEDED
018868,000665: 33,2675           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018869,000666: 33,2676           00014                                    12D                                   
018870,000667: 33,2677           02454                                    ALX1S                                 
018871,000668: 33,2700           62143        ALKCG2             DLOAD*   INCR,1                                
018872,000669: 33,2701           02243                                    ALFDK      +144D,1                    
018873,000670: 33,2702           77775                           DEC      -2         B-14                       
018874,000671: 33,2703           12555                           STORE    ALDK       +10D,2                     
018875,000672: 33,2704           66104                           TIX,2    SXA,1                                 
018876,000673: 33,2705           66700                                    ALKCG2                                
018877,000674: 33,2706           02454                                    ALX1S                                 
018878,000675: 
018879,000676: 33,2707           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018880,000677: 33,2710           00010                                    8D                                    #  AND GAIN UPDATES
018881,000678: 33,2711           41343        DELMLP             DLOAD*   DMP                                   
018882,000679: 33,2712           02543                                    DPIPAY     +8D,1                      
018883,000680: 33,2713           27676                                    PIPASC                                
018884,000681: 33,2714           43661                           SLR      BDSU*                                 
018885,000682: 33,2715           21212                                    9D                                    
018886,000683: 33,2716           02511                                    INTY       +8D,1                      
018887,000684: 33,2717           06511                           STORE    INTY       +8D,1                      
018888,000685: 33,2720           40725                           PDDL     DMP*                                  
018889,000686: 33,2721           27700                                    VELSC                                 
018890,000687: 33,2722           02531                                    VLAUN      +8D,1                      
018891,000688: 33,2723           77732                           SL2R                                           
018892,000689: 33,2724           45425                           DSU      STADR                                 
018893,000690: 33,2725           71206                           STORE    DELM       +8D,1                      
018894,000691: 33,2726           06573                           STORE    DELM       +10D,1                     
018895,000692: 33,2727           77100                           TIX,1    AXT,2                                 
018896,000693: 33,2730           66711                                    DELMLP                                
018897,000694: 33,2731           00004                                    4                                     
018898,000695: 33,2732           56743        ALILP              DLOAD*   DMPR*                                 
018899,000696: 33,2733           75314                                    ALK        +4,2                       
018900,000697: 33,2734           75230                                    ALDK       +4,2                       
018901,000698: 33,2735           12463                           STORE    ALK        +4,2                       
018902,000699: 33,2736           77104                           TIX,2    AXT,2                                 
018903,000700: 33,2737           66732                                    ALILP                                 
018904,000701: 33,2740           00010                                    8D                                    
018905,000702: 33,2741           66140        ALKLP              LXC,1    SXA,1                                 
018906,000703: 33,2742           02455                                    CMPX1                                 
018907,000704: 33,2743           02455                                    CMPX1                                 
018908,000705: 33,2744           56743                           DLOAD*   DMPR*                                 
018909,000706: 33,2745           02460                                    ALK        +1,1                       
018910,000707: 33,2746           75206                                    DELM       +8D,2                      

Page 431

018912,000709: 33,2747           77613                           DAD*                                           
018913,000710: 33,2750           75266                                    INTY       +8D,2                      
018914,000711: 33,2751           12511                           STORE    INTY       +8D,2                      
018915,000712: 33,2752           42743                           DLOAD*   DAD*                                  
018916,000713: 33,2753           75304                                    ALK        +12D,2                     
018917,000714: 33,2754           75220                                    ALDK       +12D,2                     
018918,000715: 33,2755           12473                           STORE    ALK        +12D,2                     
018919,000716: 33,2756           42673                           DMPR*    DAD*                                  
018920,000717: 33,2757           75206                                    DELM       +8D,2                      
018921,000718: 33,2760           75256                                    INTY       +16D,2                     
018922,000719: 33,2761           12521                           STORE    INTY       +16D,2                     
018923,000720: 33,2762           40743                           DLOAD*   DMP*                                  
018924,000721: 33,2763           27703                                    ALSK       +1,1                       
018925,000722: 33,2764           75206                                    DELM       +8D,2                      
018926,000723: 33,2765           42772                           SL1R     DAD*                                  
018927,000724: 33,2766           75246                                    VLAUN      +8D,2                      
018928,000725: 33,2767           12531                           STORE    VLAUN      +8D,2                      
018929,000726: 33,2770           76104                           TIX,2    AXT,1                                 
018930,000727: 33,2771           66741                                    ALKLP                                 
018931,000728: 33,2772           00010                                    8D                                    
018932,000729: 
018933,000730: 
018934,000731: 33,2773           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
018935,000732: 33,2774           02533                                    ACCWD      +8D,1                      
018936,000733: 33,2775           02531                                    VLAUN      +8D,1                      
018937,000734: 33,2776           55523                           PDDL*    VDEF                                  
018938,000735: 33,2777           02541                                    POSNV      +8D,1                      
018939,000736: 33,3000           76521                           MXV      VSL1                                  
018940,000737: 33,3001           02001                                    TRANSM1                               
018941,000738: 33,3002           77745                           DLOAD                                          
018942,000739: 33,3003           00155                                    MPAC                                  
018943,000740: 33,3004           06541                           STORE    POSNV      +8D,1                      
018944,000741: 33,3005           77745                           DLOAD                                          
018945,000742: 33,3006           00160                                    MPAC       +3                         
018946,000743: 33,3007           06531                           STORE    VLAUN      +8D,1                      
018947,000744: 33,3010           77745                           DLOAD                                          
018948,000745: 33,3011           00162                                    MPAC       +5                         
018949,000746: 33,3012           06533                           STORE    ACCWD      +8D,1                      
018950,000747: 33,3013           77700                           TIX,1                                          
018951,000748: 33,3014           66773                                    LOOSE                                 
018952,000749: 
018953,000750: 
018954,000751: 33,3015           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
018955,000752: 33,3016           00006                                    6                                     
018956,000753: 33,3017           00002                                    2                                     
018957,000754: 33,3020           57343        BOOP               DLOAD*   DMPR                                  
018958,000755: 33,3021           02513                                    ANGX       +2,1                       
018959,000756: 33,3022           27706                                    GEORGEJ                               
018960,000757: 33,3023           77722                           SR2R                                           
018961,000758: 33,3024           73406                           PUSH     SIN                                   

Page 432

018963,000760: 33,3025           56072                           SL3R     XAD,1                                 
018964,000761: 33,3026           00046                                    X1                                    
018965,000762: 33,3027           10021                           STORE    16D,2                                 
018966,000763: 33,3030           77745                           DLOAD                                          
018967,000764: 33,3031           77746                           COS                                            
018968,000765: 33,3032           10027                           STORE    22D,2                                 #   COSINES
018969,000766: 33,3033           77704                           TIX,2                                          
018970,000767: 33,3034           67020                                    BOOP                                  
018971,000768: 33,3035           77776        PERFERAS           EXIT                                           
018972,000769: 33,3036           34753                           CA       EBANK7                                
018973,000770: 33,3037  E7,1400                                  EBANK=   LAT(SPL)                              
018974,000771: 33,3037           54003                           TS       EBANK                                 
018975,000772: 33,3040           01400                           TC       LAT(SPL)                              #  GO TO ERASABLE ONLY TO RETURN
018976,000773: 
018977,000774:                                                                                                  #           CAUTION
018978,000775: 
018979,000776:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018980,000777:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018981,000778: 
018982,000779: 33,3041  E5,1412                                  EBANK=   LENGTHOT                              
018983,000780: 33,3041           11412        ONCEMORE           CCS      LENGTHOT                              
018984,000781: 33,3042           02522                           TC       SLEEPIE                               #   TEST NOT OVER SET UP NEXT WAITLIST
018985,000782: 
018986,000783: 33,3043           11450                           CCS      TORQNDX                               
018987,000784: 33,3044           13046                           TCF      +2                                    
018988,000785: 33,3045           03050                           TC       SETUPER1                              
018989,000786: 33,3046           30032                           CA       CDUX                                  
018990,000787: 33,3047           55414                           TS       LOSVEC     +1                         #   FOR TROUBLESHOOTING POSNS 2$4 VD
018991,000788: 33,3050           06006        SETUPER1           TC       INTPRET                               #   DRIFT TEST OVER
018992,000789: 33,3051           65345                           DLOAD    PDDL                                  #   ANGLES FROM DRIFT TEST ONLY
018993,000790: 33,3052           02503                                    ANGZ                                  
018994,000791: 33,3053           02507                                    ANGY                                  
018995,000792: 33,3054           55525                           PDDL     VDEF                                  
018996,000793: 33,3055           02511                                    ANGX                                  
018997,000794: 33,3056           74276                           VCOMP    VXSC                                  
018998,000795: 33,3057           27706                                    GEORGEJ                               
018999,000796: 33,3060           74521                           MXV      VSR1                                  
019000,000797: 33,3061           02672                                    XSM                                   
019001,000798: 33,3062           02760                           STORE    OGC                                   
019002,000799: 33,3063           77776                           EXIT                                           
019003,000800: 
019004,000801: 33,3064           05301        TORQINCH           TC       PHASCHNG                              
019005,000802: 33,3065           00005                           OCT      00005                                 
019006,000803: 33,3066           32444                           CA       OGCPL                                 
019007,000804: 33,3067           04555                           TC       BANKCALL                              
019008,000805: 33,3070           17125                           CADR     IMUPULSE                              
019009,000806: 33,3071           02316                           TC       IMUSTLLG                              
019010,000807: 33,3072           11450                           CCS      TORQNDX                               #   + IF IN VERTICAL DRIFT TEST
019011,000808: 33,3073           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019012,000809: 33,3074           06006                           TC       INTPRET                               

Page 433

019014,000811: 33,3075           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019015,000812: 33,3076           64000                                    ERTHRVSE                              
019016,000813: 33,3077           77776                           EXIT                                           
019017,000814: 33,3100           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019018,000815: 
019019,000816: 
019020,000817: 33,3101           05537        SOMEERR            TC       ALARM                                 
019021,000818: 33,3102           01600                           OCT      1600                                  
019022,000819: 33,3103           03106                           TC       +3                                    
019023,000820: 33,3104           05537        SOMERR2            TC       ALARM                                 
019024,000821: 33,3105           01601                           OCT      1601                                  
019025,000822: 33,3106           05301                           TC       PHASCHNG                              
019026,000823: 33,3107           00005                           OCT      00005                                 
019027,000824: 33,3110           02267                           TC       ENDTEST1                              
019028,000825: 
019029,000826: 
019030,000827:                                                                                                  #   THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019031,000828: 
019032,000829: 
019033,000830: 33,3111           02222        DEC585             OCT      02222                                 #  1170 B+14  ORDER IS NOW IMPORTANT
019034,000831: 33,3112           00000 00000  SCHZEROS           2DEC     .00000000                             
019035,000832: 33,3114           00000 00000                     2DEC     .00000000                             
019036,000833: 33,3116           00000                           OCT      00000                                 
019037,000834: 33,3117           00000        ONEDPP             OCT      00000                                 
019038,000835: 33,3120           00001                           OCT      00001                                 #            ABOVE ORDER IS IMPORTANT
019039,000836: 
019040,000837: 
019041,000838: 33,3121           00004        INTVAL             OCT      4                                     
019042,000839: 33,3122           00002                           OCT      2                                     
019043,000840: 33,3123           00220                           DEC      144        B-14                       
019044,000841: 33,3124           77776                           DEC      -1         B-14                       
019045,000842: 33,3125           35730 00035  SOUPLY             2DEC     .93505870                             #   INITIAL GAINS FOR PIP OUTPUTS
019046,000843: 33,3127           10317 17550                     2DEC     .26266423                             #   INITIAL GAINS/4 FOR ERECTION ANGLES
019047,000844: 
019048,000845: 
019049,000846: 33,3131           00115        77DECML            DEC      77         B-14                       
019050,000847: 33,3132           01453        ALXXXZ             GENADR   ALX1S      -1                         
019051,000848:                                                                                                  #   GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019052,000849: 
019053,000850: 
019054,000851: 33,3133                                           COUNT    33/P01                                
019055,000852: 
019056,000853:                                                                                                  #   INITIALIZATION SECTION
019057,000854: 
019058,000855: 33,3133           34712        GTSCPSS            CAF      ONE                                   #  CALLED BY V37.
019059,000856: 33,3134           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.

Page 434

019061,000858: 33,3135           33425                           CA       1/PIPAGT                              
019062,000859: 33,3136           55074                           TS       1/PIPADT                              
019063,000860: 33,3137           34703        NXXTBNN            CA       BIT8                                  
019064,000861: 33,3140           55412                           TS       LENGTHOT                              
019065,000862: 33,3141           34731                           CAF      1/2SECX                               #   COMPASS IS A .5 SEC LOOP
019066,000863: 33,3142           55644                           TS       1SECXT1                               
019067,000864: 33,3143           34712                           CAF      ONE                                   
019068,000865: 33,3144           55632                           TS       PREMTRX1                              
019069,000866: 33,3145           55657                           TS       PERFDLAY   +1                         
019070,000867: 33,3146           34714                           CAF      ZERO                                  
019071,000868: 33,3147           55656                           TS       PERFDLAY                              
019072,000869: 33,3150           00006                           EXTEND                                         
019073,000870: 33,3151           31634                           DCA      LUNCHAZ1                              
019074,000871: 33,3152           53636                           DXCH     NEWAZ1                                
019075,000872: 33,3153           00006                           EXTEND                                         
019076,000873: 33,3154           31634                           DCA      LUNCHAZ1                              
019077,000874: 33,3155           53640                           DXCH     OLDAZMTH                              
019078,000875: 33,3156           34375        SETUPGC            CA       DEC17                                 
019079,000876: 33,3157           55655                           TS       ZERONDX1                              
019080,000877: 33,3160           32446                           CA       XSMADR                                
019081,000878: 33,3161           02356                           TC       ZEROING                               
019082,000879: 33,3162           03164                           TC       POSN17C                               
019083,000880: 33,3163           02030                           TC       GEOIMUTT                              #   GO TO IMU2 FOR FURTHER INITIALIZATION
019084,000881: 
019085,000882: 
019086,000883: 33,3164           00006        POSN17C            EXTEND                                         #   COMPASS POSITION Z DOWN,X DOWNRANGE
019087,000884: 33,3165           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019088,000885: 33,3166           44675                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019089,000886: 33,3167           55705                           TS       ZSM                                   
019090,000887: 33,3170           06006                           TC       INTPRET                               
019091,000888: 33,3171           41545                           DLOAD    PUSH                                  
019092,000889: 33,3172           02636                                    NEWAZ1                                
019093,000890: 33,3173           77756                           SIN                                            
019094,000891: 33,3174           02676                           STORE    XSM        +4                         
019095,000892: 33,3175           16702                           STODL    YSM        +2                         
019096,000893: 33,3176           77746                           COS                                            
019097,000894: 33,3177           02704                           STORE    YSM        +4                         
019098,000895: 33,3200           77676                           DCOMP                                          
019099,000896: 33,3201           02674                           STORE    XSM        +2                         
019100,000897: 33,3202           77776                           EXIT                                           
019101,000898: 33,3203           01425                           TC       QPLACE                                
019102,000899: 
019103,000900: 
019104,000901:                                                                                                  #   JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019105,000902: 
019106,000903: 33,3204                                           COUNT    33/P02                                
019107,000904: 
019108,000905: 33,3204           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019109,000906: 33,3205           02543                                    DPIPAY     +8D,1                      
019110,000907: 33,3206           02505                                    FILDELV1   +8D,1                      

Page 435

019112,000909: 33,3207           42675                           DMPR     DAD*                                  
019113,000910: 33,3210           27714                                    GEOCONS1                              
019114,000911: 33,3211           02505                                    FILDELV1   +8D,1                      
019115,000912: 33,3212           06505                           STORE    FILDELV1   +8D,1                      
019116,000913: 33,3213           77613                           DAD*                                           
019117,000914: 33,3214           02507                                    INTVEC1    +8D,1                      
019118,000915: 33,3215           06507                           STORE    INTVEC1    +8D,1                      
019119,000916: 33,3216           42675                           DMPR     DAD*                                  
019120,000917: 33,3217           27716                                    GEOCONS2                              
019121,000918: 33,3220           02505                                    FILDELV1   +8D,1                      
019122,000919: 33,3221           41475                           DMPR     PUSH                                  
019123,000920: 33,3222           15330                                    GEOCONS5                              
019124,000921: 33,3223           67300                           TIX,1    SLOAD                                 
019125,000922: 33,3224           67204                                    ALWAYSG                               
019126,000923: 33,3225           02647                                    ERECTIM1                              
019127,000924: 33,3226           71254                           BZE      DLOAD                                 
019128,000925: 33,3227           67240                                    COMPGS                                
019129,000926: 33,3230           02471                                    THETAN1    +2                         
019130,000927: 33,3231           45425                           DSU      STADR                                 
019131,000928: 33,3232           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019132,000929: 33,3233           77621                           BDSU                                           
019133,000930: 33,3234           02473                                    THETAN1    +4                         
019134,000931: 33,3235           02473                           STORE    THETAN1    +4                         
019135,000932: 33,3236           77650                           GOTO                                           
019136,000933: 33,3237           67262                                    ADDINDRF                              
019137,000934: 33,3240           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019138,000935: 33,3241           02467                                    THETAN1                               
019139,000936: 33,3242           02475                                    FILDELV1                              
019140,000937: 33,3243           16467                           STODL    THETAN1                               
019141,000938: 33,3244           02475                                    FILDELV1                              
019142,000939: 33,3245           44275                           DMPR     BDSU                                  
019143,000940: 33,3246           27720                                    GEOCONS3                              
019144,000941: 33,3247           02473                                    THETAN1    +4                         
019145,000942: 33,3250           16473                           STODL    THETAN1    +4                         
019146,000943: 33,3251           02501                                    FILDELV1   +4                         
019147,000944: 33,3252           44275                           DMPR     BDSU                                  
019148,000945: 33,3253           27720                                    GEOCONS3                              
019149,000946: 33,3254           02471                                    THETAN1    +2                         
019150,000947: 33,3255           57325                           PDDL     DMPR                                  
019151,000948: 33,3256           02503                                    INTVEC1    +4                         
019152,000949: 33,3257           27722                                    GEOCONS4                              
019153,000950: 33,3260           45421                           BDSU     STADR                                 
019154,000951: 33,3261           75306                           STORE    THETAN1    +2                         
019155,000952: 33,3262           77776        ADDINDRF           EXIT                                           
019156,000953: 
019157,000954: 
019158,000955: 33,3263           11412        ENDGTSAL           CCS      LENGTHOT                              #   IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019159,000956: 33,3264           02522                           TC       SLEEPIE                               #   NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019160,000957: 33,3265           03402                           TC       CHKCOMED                              
019161,000958: 33,3266           11304                           CCS      LGYRO                                 #   YES BUT ARE GYROS BUSY

Page 436

019163,000960: 33,3267           12523                           TCF      SLEEPIE    +1                         #   BUSY-GET THEM .5 SECONDS FROM NOW
019164,000961: 
019165,000962: 33,3270           06006        LASTGTS            TC       INTPRET                               
019166,000963: 33,3271           77775                           VLOAD                                          
019167,000964: 33,3272           02650                                    ERCOMP1                               
019168,000965: 33,3273           16461                           STODL    THETAX1                               
019169,000966: 33,3274           02443                                    TMARK                                 
019170,000967: 33,3275           02457                           STORE    ALK                                   
019171,000968: 33,3276           77776                           EXIT                                           #   PREVIOUS SECTION WAS FOR RESTARTS
019172,000969: 
019173,000970: 33,3277           05301        RESTAIER           TC       PHASCHNG                              
019174,000971: 33,3300           00275                           OCT      00275                                 
019175,000972: 33,3301           06006                           TC       INTPRET                               #   ADD COMPASS COMMANDS INTO ERATE
019176,000973: 33,3302           64375                           VLOAD    MXV                                   
019177,000974: 33,3303           02467                                    THETAN1                               
019178,000975: 33,3304           02672                                    XSM                                   
019179,000976: 33,3305           53372                           VSL1     VAD                                   
019180,000977: 33,3306           02461                                    THETAX1                               
019181,000978: 33,3307           16650                           STODL    ERCOMP1                               
019182,000979: 33,3310           02457                                    ALK                                   
019183,000980: 33,3311           02443                           STORE    TMARK                                 
019184,000981: 33,3312           77776                           EXIT                                           
019185,000982: 33,3313           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
019186,000983: 33,3314           31646                           CAE      ERECTIM1                              
019187,000984: 33,3315           55631                           TS       GEOSAVE1                              
019188,000985: 33,3316           05301                           TC       PHASCHNG                              
019189,000986: 33,3317           00155                           OCT      00155                                 
019190,000987: 33,3320           06006        RESTEST1           TC       INTPRET                               
019191,000988: 33,3321           77775                           VLOAD                                          
019192,000989: 33,3322           27113                                    SCHZEROS                              
019193,000990: 33,3323           02467                           STORE    THETAN1                               
019194,000991: 33,3324           77776                           EXIT                                           
019195,000992: 33,3325           11632                           CCS      PREMTRXC                              
019196,000993: 33,3326           03375                           TC       NOCHORLD                              
019197,000994: 33,3327           05301                           TC       PHASCHNG                              
019198,000995: 33,3330           00255                           OCT      00255                                 
019199,000996: 33,3331           06006        RESTEST3           TC       INTPRET                               
019200,000997: 33,3332           77745                           DLOAD                                          
019201,000998: 33,3333           02634                                    LAUNCHAZ                              
019202,000999: 33,3334           53025                           DSU      BZE                                   
019203,001000: 33,3335           02640                                    OLDAZMTH                              
019204,001001: 33,3336           67372                                    NOAZCHGE                              
019205,001002: 33,3337           00001                           STORE    0D                                    
019206,001003: 33,3340           43335                           SLOAD    DAD                                   
019207,001004: 33,3341           27121                                    ONEDPP     +1                         
019208,001005: 33,3342           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019209,001006: 33,3343           16633                           STODL    PREMTRXC                              
019210,001007: 33,3344           02634                                    LAUNCHAZ                              
019211,001008: 33,3345           16636                           STODL    NEWAZMTH                              
019212,001009: 33,3346           00001                                    0D                                    

Page 437

019214,001011: 33,3347           02654        ADERCOMP           STORE    ERCOMP     +4                         
019215,001012: 33,3350           77776                           EXIT                                           
019216,001013: 33,3351           03164                           TC       POSN17C                               
019217,001014: 33,3352           05301                           TC       PHASCHNG                              
019218,001015: 33,3353           00335                           OCT      00335                                 
019219,001016: 33,3354           00006        RESCHNG            EXTEND                                         
019220,001017: 33,3355           31636                           DCA      NEWAZMTH                              
019221,001018: 33,3356           53640                           DXCH     OLDAZMTH                              
019222,001019: 33,3357           34704                           CA       BIT7                                  #   SPEND 320 SEC ERECTING
019223,001020: 33,3360           55412                           TS       LENGTHOT                              
019224,001021: 33,3361           05301                           TC       PHASCHNG                              
019225,001022: 33,3362           00075                           OCT      00075                                 
019226,001023: 33,3363           33424        SPITGYRO           CA       ERCOMPPL                              
019227,001024: 33,3364           04555                           TC       BANKCALL                              
019228,001025: 33,3365           17125                           CADR     IMUPULSE                              
019229,001026: 33,3366           04555                           TC       BANKCALL                              
019230,001027: 33,3367           17516                           CADR     IMUSTALL                              
019231,001028: 33,3370           03104                           TC       SOMERR2                               
019232,001029: 33,3371           02453                           TC       ESTIMS                                #   RE-INITIALIZE
019233,001030: 
019234,001031: 
019235,001032: 33,3372           77776        NOAZCHGE           EXIT                                           
019236,001033: 33,3373           34712                           CA       ONE                                   
019237,001034: 33,3374           55632                           TS       PREMTRXC                              
019238,001035: 33,3375           11631        NOCHORLD           CCS      GEOSAVE1                              
019239,001036: 33,3376           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019240,001037: 
019241,001038: 33,3377           34334        ANNNNNN            CAF      NINE                                  
019242,001039: 33,3400           55412                           TS       LENGTHOT                              
019243,001040: 33,3401           02523                           TC       SLEEPIE    +1                         
019244,001041: 
019245,001042: 
019246,001043: 33,3402           00004        CHKCOMED           INHINT                                         
019247,001044: 33,3403           44714                           CS       ZERO                                  
019248,001045: 33,3404           00006                           EXTEND                                         
019249,001046: 33,3405           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019250,001047: 33,3406           74706                           MASK     BIT5                                  #  LIFTOFF BIT
019251,001048: 33,3407           10000                           CCS      A                                     
019252,001049: 33,3410           13417                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019253,001050: 
019254,001051: 33,3411           34706                           CA       BIT5                                  #  CHECK FOR BACKUP LIFTOFF
019255,001052: 33,3412           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019256,001053: 33,3413           10000                           CCS      A                                     
019257,001054: 33,3414           13417                           TCF      PRELTERM                              #  BACKUP RECEIVED
019258,001055: 
019259,001056: 33,3415           00003                           RELINT                                         
019260,001057: 33,3416           00002                           TC       Q                                     #  CONTINUE PRELAUNCH
019261,001058: 
019262,001059: 
019263,001060: 33,3417           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11

Page 438

019265,001062: 33,3420           05103                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019266,001063: 33,3421           00004                           INHINT                                         
019267,001064: 33,3422           04574                           TC       POSTJUMP                              
019268,001065: 33,3423           70002                           CADR     P11                                   
019269,001066: 
019270,001067: 
019271,001068: 33,3424           02647        ERCOMPPL           ECADR    ERCOMP                                
019272,001069: 
019273,001070: 33,3425  26,3327               GEOCONS5           EQUALS   HIDPHALF                              
019274,001071: 33,3425           06200        1/PIPAGT           OCT      06200                                 
019275,001072: 33,3426     4375               17DECML            =        ND1                                   #  OCT 21
019276,001073: 33,3426     4374               19DECML            =        VD1                                   #  OCT 23
019277,001074: 33,3426     4731               1/2SECX            =        .5SEC                                 
019278,001075: 

Page 439

019280,001077: 33,3426     5112               GEOSTRT4           EQUALS   ENDOFJOB                              
019281,001078: 

Page 440

019283,001080:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019284,001081: 
019285,001082: 33,3426                                           COUNT    33/P03                                
019286,001083: 
019287,001084: 33,3426           05301        GCOMPVER           TC       PHASCHNG                              #   OPTICAL VERIFICATION ROUTINE
019288,001085: 33,3427           00154                           OCT      00154                                 
019289,001086: 33,3430           05243                           TC       NEWMODEX                              #    ENTERED BY VERB 65 ENTER
019290,001087: 33,3431           00003                           MM       03         B-14                       
019291,001088: 33,3432           02037        SETNBPOS           TC       NBPOSPL                               
019292,001089: 33,3433           04555                           TC       BANKCALL                              
019293,001090: 33,3434           16063                           CADR     MKRELEAS                              
019294,001091: 33,3435           34712        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019295,001092: 33,3436           22007                           ZL                                             #  T 1,THEN TARGET 2
019296,001093: 33,3437           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019297,001094: 33,3440           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019298,001095: 33,3441           00006                           EXTEND                                         
019299,001096: 33,3442           51427                           INDEX    RUN                                   
019300,001097: 33,3443           31433                           DCA      TAZEL1                                
019301,001098: 33,3444           53046                           DXCH     DSPTEM1                               
019302,001099: 33,3445           33470                           CAF      V05N30E                               
019303,001100: 33,3446           04555                           TC       BANKCALL                              
019304,001101: 33,3447           20577                           CADR     GODSPRET                              
019305,001102: 33,3450           33456                           CAF      VN0641                                
019306,001103: 33,3451           04555                           TC       BANKCALL                              
019307,001104: 33,3452           20624                           CADR     GOFLASH                               
019308,001105: 33,3453           03611                           TC       GCOMP5                                
019309,001106: 33,3454           03457                           TC       +3                                    
019310,001107: 33,3455           03445                           TC       -8D                                   
019311,001108: 33,3456           01451        VN0641             VN       0641                                  
019312,001109: 33,3457           53046                           DXCH     DSPTEM1                               #  TAZEL1  TARGET 1 AZIMUTH
019313,001110: 33,3460           51427                           INDEX    RUN                                   
019314,001111: 33,3461           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019315,001112: 33,3462           11427                           CCS      RUN                                   
019316,001113: 33,3463           13467                           TCF      +4                                    
019317,001114: 33,3464           34711                           CAF      TWO                                   
019318,001115: 33,3465           54001                           TS       L                                     
019319,001116: 33,3466           13437                           TCF      OPTDATA    +2                         #  MPAC    1ST PASS=0  2ND PASS=2
019320,001117: 
019321,001118: 
019322,001119: 33,3467           03531                           TC       CONTIN33                              
019323,001120: 
019324,001121: 33,3470           01236        V05N30E            VN       0530                                  
019325,001122: 
019326,001123: 33,3471           06006                           TC       INTPRET                               #   UNDYNAMIC ASSEMBLER
019327,001124: 33,3472           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019328,001125: 33,3473           00002                                    2                                     #  SIN(EL)  -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019329,001126: 33,3474           00014                                    12D                                   
019330,001127: 33,3475           40331                           SSP      SETPD                                 
019331,001128: 33,3476           00052                                    S2                                    
019332,001129: 33,3477           00006                                    6                                     

Page 441

019334,001131: 33,3500           00001                                    0                                     
019335,001132: 33,3501           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019336,001133: 33,3502           02436                                    TAZEL1     +3,1                       
019337,001134: 33,3503           00001                           STORE    0                                     #  PD00    ELEVATION    PD00
019338,001135: 33,3504           77756                           SIN                                            
019339,001136: 33,3505           10023                           STORE    18D,2                                 #  PD06 ***    SIN(EL)   ***PD12
019340,001137: 33,3506           77745                           DLOAD                                          
019341,001138: 33,3507           00001                                    0                                     
019342,001139: 33,3510           41546                           COS      PUSH                                  #  PD00     COS(EL)   PD00
019343,001140: 33,3511           47133                           SLOAD*   RTB                                   
019344,001141: 33,3512           02435                                    TAZEL1     +2,1                       
019345,001142: 33,3513           45510                                    CDULOGIC                              
019346,001143: 33,3514           00003                           STORE    2                                     #  PD02        AZIMUTH   PD02
019347,001144: 33,3515           41356                           SIN      DMP                                   
019348,001145: 33,3516           00001                                    0                                     
019349,001146: 33,3517           77752                           SL1                                            
019350,001147: 33,3520           10027                           STORE    22D,2                                 #  PD10  *** SIN(AZ)COS(EL)  ***PD16
019351,001148: 33,3521           71545                           DLOAD    COS                                   
019352,001149: 33,3522           00003                                    2                                     
019353,001150: 33,3523           72405                           DMP      SL1                                   
019354,001151: 33,3524           76076                           DCOMP    AXT,1                                 
019355,001152: 33,3525           00000                                    0                                     
019356,001153: 33,3526           10025                           STORE    20D,2                                 #  PD08 ***   -COS(AZ)COS(EL)  ***PD14
019357,001154: 33,3527           43504                           TIX,2    RVQ                                   
019358,001155: 33,3530           67501                                    TAR1                                  
019359,001156: 
019360,001157: 
019361,001158: 33,3531                                           BANK     33                                    
019362,001159: 33,2000                                           SETLOC   IMUCAL                                
019363,001160: 33,2000                                           BANK                                           
019364,001161: 33,3531                                           COUNT*   $$/P03                                
019365,001162: 
019366,001163: 33,3531           34712        CONTIN33           CA       ONE                                   
019367,001164: 33,3532           54735                           TS       STARCODE                              
019368,001165: 33,3533           34714                           CA       ZERO                                  
019369,001166: 33,3534           03626                           TC       TARGDRVE                              
019370,001167: 33,3535           06006                           TC       INTPRET                               
019371,001168: 33,3536           77624                           CALL                                           
019372,001169: 33,3537           67472                                    TAR/EREF                              
019373,001170: 33,3540           64375        NEXTBNKS           VLOAD    MXV                                   
019374,001171: 33,3541           00007                                    6D                                    
019375,001172: 33,3542           02672                                    XSM                                   
019376,001173: 33,3543           77772                           VSL1                                           
019377,001174: 33,3544           26736                           STOVL    STARAD                                
019378,001175: 33,3545           00015                                    12D                                   
019379,001176: 33,3546           76521                           MXV      VSL1                                  
019380,001177: 33,3547           02672                                    XSM                                   
019381,001178: 33,3550           02744                           STORE    STARAD     +6                         
019382,001179: 33,3551           77624                           CALL                                           
019383,001180: 33,3552           67723                                    LITTLSUB                              

Page 442

019385,001182: 33,3553           02414                           STORE    LOSVEC                                
019386,001183: 33,3554           77776                           EXIT                                           
019387,001184: 33,3555           04555                           TC       BANKCALL                              
019388,001185: 33,3556           16063                           CADR     MKRELEAS                              
019389,001186: 
019390,001187: 
019391,001188: 33,3557           34711        NEXBNKSS           CAF      TWO                                   
019392,001189: 33,3560           54735                           TS       STARCODE                              
019393,001190: 33,3561           36211                           CAF      SIX                                   
019394,001191: 33,3562           03626                           TC       TARGDRVE                              
019395,001192: 33,3563           06006                           TC       INTPRET                               
019396,001193: 33,3564           77624                           CALL                                           
019397,001194: 33,3565           67723                                    LITTLSUB                              
019398,001195: 33,3566           24015                           STOVL    12D                                   
019399,001196: 33,3567           02414                                    LOSVEC                                
019400,001197: 33,3570           34007                           STCALL   06D                                   
019401,001198: 33,3571           47334                                    AXISGEN                               
019402,001199: 33,3572           77624                           CALL                                           
019403,001200: 33,3573           47140                                    CALCGTA                               
019404,001201: 33,3574           77776                           EXIT                                           
019405,001202: 33,3575           33622        GCOMP4             CAF      V06N93S                               
019406,001203: 33,3576           04555                           TC       BANKCALL                              
019407,001204: 33,3577           20624                           CADR     GOFLASH                               
019408,001205: 33,3600           03611                           TC       GCOMP5                                
019409,001206: 33,3601           13603                           TCF      +2                                    
019410,001207: 33,3602           13575                           TCF      GCOMP4                                
019411,001208: 33,3603           06006                           TC       INTPRET                               
019412,001209: 33,3604           53375                           VLOAD    VAD                                   
019413,001210: 33,3605           02760                                    OGC                                   
019414,001211: 33,3606           02650                                    ERCOMP1                               
019415,001212: 33,3607           02650                           STORE    ERCOMP1                               
019416,001213: 33,3610           77776                           EXIT                                           
019417,001214: 33,3611           04555        GCOMP5             TC       BANKCALL                              
019418,001215: 33,3612           16063                           CADR     MKRELEAS                              
019419,001216: 33,3613           05447                           TC       DOWNFLAG                              
019420,001217: 33,3614           00032                           ADRES    TRM03FLG                              
019421,001218: 
019422,001219: 33,3615           05243                           TC       NEWMODEX                              
019423,001220: 33,3616           00002                           MM       02         B-14                       
019424,001221: 33,3617           05301                           TC       PHASCHNG                              
019425,001222: 33,3620           00004                           OCT      00004                                 
019426,001223: 33,3621           05112                           TC       ENDOFJOB                              
019427,001224: 33,3622           01535        V06N93S            VN       0693                                  
019428,001225: 33,3623           05537        GTSOPTCS           TC       ALARM                                 
019429,001226: 33,3624           01602        GTSOPTSS           OCT      01602                                 
019430,001227: 33,3625           03611                           TC       GCOMP5                                
019431,001228: 
019432,001229: 
019433,001230: 34,2002                                           BANK     34                                    
019434,001231: 04,2000                                           SETLOC   IMUCAL1                               

Page 443

019436,001233: 04,2000                                           BANK                                           
019437,001234: 
019438,001235: 04,2617                                           COUNT    34/COMST                              
019439,001236: 
019440,001237: 04,2617           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019441,001238: 04,2620           02403                                    LATITUDE                              
019442,001239: 04,2621           15047                           STODL    DSPTEM1    +1                         
019443,001240: 04,2622           02401                                    AZIMUTH                               
019444,001241: 04,2623           77434                           RTB      EXIT                                  
019445,001242: 04,2624           45543                                    1STO2S                                
019446,001243: 04,2625           56154                           XCH      MPAC                                  
019447,001244: 04,2626           55045                           TS       DSPTEM1                               
019448,001245: 04,2627           04555                           TC       BANKCALL                              
019449,001246: 04,2630           20607                           CADR     CLEANDSP                              
019450,001247: 04,2631           32650                           CAF      VNG0641                               
019451,001248: 04,2632           04555                           TC       BANKCALL                              
019452,001249: 04,2633           20624                           CADR     GOFLASH                               
019453,001250: 04,2634           02636                           TC       +2                                    #   NOT ALLOWED
019454,001251: 04,2635           02637                           TC       +2                                    
019455,001252: 04,2636           02631                           TC       -5                                    
019456,001253: 04,2637           06006                           TC       INTPRET                               
019457,001254: 04,2640           47135                           SLOAD    RTB                                   
019458,001255: 04,2641           01046                                    DSPTEM1                               
019459,001256: 04,2642           45510                                    CDULOGIC                              
019460,001257: 04,2643           02401                           STORE    AZIMUTH                               
019461,001258: 04,2644           60535                           SLOAD    SR2                                   
019462,001259: 04,2645           01047                                    DSPTEM1    +1                         
019463,001260: 04,2646           02403                           STORE    LATITUDE                              
019464,001261: 04,2647           77616                           RVQ                                            
019465,001262: 
019466,001263: 
019467,001264: 04,2650           01451        VNG0641            VN       0641                                  
019468,001265: 33,3626                                           BANK     33                                    
019469,001266: 33,2000                                           SETLOC   IMUCAL                                
019470,001267: 33,2000                                           BANK                                           
019471,001268: 
019472,001269: 
019473,001270: 33,3626                                           COUNT*   $$/P03                                
019474,001271: 33,3626           00006        TARGDRVE           EXTEND                                         
019475,001272: 33,3627           23424                           QXCH     QPLAC                                 
019476,001273: 33,3630           55431                           TS       TARG1/2                               
019477,001274: 33,3631           06006                           TC       INTPRET                               
019478,001275: 33,3632           77624                           CALL                                           
019479,001276: 33,3633           67472                                    TAR/EREF                              
019480,001277: 33,3634           76740                           LXC,1    VLOAD*                                
019481,001278: 33,3635           02431                                    TARG1/2                               
019482,001279: 33,3636           00007                                    6D,1                                  
019483,001280: 33,3637           36766                           STCALL   STAR                                  
019484,001281: 33,3640           46053                                    SXTANG                                
019485,001282: 33,3641           77776                           EXIT                                           

Page 444

019487,001284: 33,3642           31773                           CA       SAC                                   
019488,001285: 33,3643           55161                           TS       DESOPTS                               
019489,001286: 33,3644           31775                           CA       PAC                                   
019490,001287: 33,3645           55160                           TS       DESOPTT                               
019491,001288: 33,3646           34714        RETARG             CAF      ZERO                                  
019492,001289: 33,3647           55303                           TS       OPTIND                                
019493,001290: 33,3650           34712                           CAF      ONE                                   
019494,001291: 33,3651           04555                           TC       BANKCALL                              
019495,001292: 33,3652           16002                           CADR     SXTMARK                               
019496,001293: 33,3653           04555                           TC       BANKCALL                              
019497,001294: 33,3654           17512                           CADR     OPTSTALL                              
019498,001295: 33,3655           03623                           TC       GTSOPTCS                              
019499,001296: 33,3656           30075                           CAE      FLAGWRD1                              
019500,001297: 33,3657           74707                           MASK     TRM03BIT                              
019501,001298: 33,3660           10000                           CCS      A                                     
019502,001299: 33,3661           03611                           TC       GCOMP5                                
019503,001300: 
019504,001301: 33,3662           51330                           INDEX    MARKSTAT                              
019505,001302: 33,3663           30052                           CA       QPRET                                 
019506,001303: 33,3664           00006                           EXTEND                                         
019507,001304: 33,3665           13667                           BZF      RETARG1                               
019508,001305: 33,3666           01424                           TC       QPLAC                                 
019509,001306: 
019510,001307: 
019511,001308: 33,3667           34714        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019512,001309: 33,3670           57330                           XCH      MARKSTAT                              
019513,001310: 33,3671           10000                           CCS      A                                     
019514,001311: 33,3672           50000                           INDEX    A                                     
019515,001312: 33,3673           54000                           TS       A                                     
019516,001313: 33,3674           13646                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019517,001314: 33,3675                                           BANK     33                                    
019518,001315: 33,2000                                           SETLOC   IMUCAL                                
019519,001316: 33,2000                                           BANK                                           
019520,001317: 33,3675                                           COUNT*   $$/P03                                
019521,001318: 33,3675           30341 22444  PIPASC             2DEC     .76376833                             
019522,001319: 33,3677           57223 66451  VELSC              2DEC     -.52223476                            
019523,001320: 33,3701           05427 12577  ALSK               2DEC     .17329931                             
019524,001321: 33,3703           77567 44202                     2DEC     -.00835370                            
019525,001322: 33,3705           24276 14066  GEORGEJ            2DEC     .63661977                             
019526,001323: 33,3707           23073 11773  GEORGEK            2DEC     .59737013                             
019527,001324: 33,3711           00055 20267  2DEGRES            2DEC     .00277778                             
019528,001325: 33,3713           03146 14632  GEOCONS1           2DEC     .1                                    

Page 445

019530,001327: 33,3715           00121 35341  GEOCONS2           2DEC     .005                                  
019531,001328: 33,3717           01767 31666  GEOCONS3           2DEC     .062                                  
019532,001329: 33,3721           00004 35223  GEOCONS4           2DEC     .0003                                 
019533,001330: 33,3723                                           COUNT    33/P02                                
019534,001331: 33,3723           77620        LITTLSUB           STQ                                            
019535,001332: 33,3724           02424                                    QPLAC                                 
019536,001333: 33,3725           76740                           LXC,1    VLOAD*                                
019537,001334: 33,3726           01330                                    MARKSTAT                              
019538,001335: 33,3727           00003                                    2,1                                   
019539,001336: 33,3730           34767                           STCALL   CDUSPOT                               
019540,001337: 33,3731           46000                                    SXTNB                                 
019541,001338: 33,3732           77624                           CALL                                           
019542,001339: 33,3733           47572                                    TRG*NBSM                              
019543,001340: 33,3734           77650                           GOTO                                           
019544,001341: 33,3735           02424                                    QPLAC                                 
019545,001342: 
019546,001343: 
019547,001344: 33,3736           77776                           EXIT                                           
019548,001345: 33,3737           06006        AZMTHCG1           TC       INTPRET                               
019549,001346: 33,3740           47145                           DLOAD    RTB                                   
019550,001347: 33,3741           02636                                    NEWAZMTH                              
019551,001348: 33,3742           45543                                    1STO2S                                
019552,001349: 33,3743           77776                           EXIT                                           
019553,001350: 33,3744           56154                           XCH      MPAC                                  
019554,001351: 33,3745           55045                           TS       DSPTEM1                               
019555,001352: 33,3746           04555                           TC       BANKCALL                              
019556,001353: 33,3747           20607                           CADR     CLEANDSP                              
019557,001354: 33,3750           33772                           CAF      VN0629                                
019558,001355: 33,3751           04555                           TC       BANKCALL                              
019559,001356: 33,3752           20624                           CADR     GOFLASH                               
019560,001357: 33,3753           13755                           TCF      +2                                    
019561,001358: 33,3754           13756                           TCF      +2                                    
019562,001359: 33,3755           13750                           TCF      -5                                    
019563,001360: 33,3756           06006                           TC       INTPRET                               
019564,001361: 33,3757           47135                           SLOAD    RTB                                   
019565,001362: 33,3760           01046                                    DSPTEM1                               
019566,001363: 33,3761           45510                                    CDULOGIC                              
019567,001364: 33,3762           02634                           STORE    LAUNCHAZ                              
019568,001365: 33,3763           77776                           EXIT                                           
019569,001366: 33,3764           34714                           CA       ZERO                                  
019570,001367: 33,3765           55632                           TS       PREMTRXC                              
019571,001368: 33,3766           05301                           TC       PHASCHNG                              
019572,001369: 33,3767           00004                           OCT      00004                                 
019573,001370: 33,3770           04574                           TC       POSTJUMP                              
019574,001371: 33,3771           21176                           CADR     PINBRNCH                              
019575,001372: 
019576,001373: 33,3772           01435        VN0629             VN       0629                                  
019577,001374: 

Page 446 This page is empty.


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