Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality 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:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

018382,000002:                                                                                                  ## Copyright:   Public domain.
018383,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018384,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
018385,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
018386,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
018387,000007:                                                                                                  ## Assembler:   yaYUL
018388,000008:                                                                                                  ## Reference:   pp. 416-448.
018389,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
018390,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
018391,000011:                                                                                                  ## Mod history: 08/11/04   RSB  Began transcribing.
018392,000012:                                                                                                  ##              2010-10-24 JL   Indentation fixes.
018393,000013:                                                                                                  ##              2011-05-07 JL   Flag SBANK= workarounds for future removal.
018394,000014:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
018395,000015:                                                                                                  ##                              original harcopy, as opposed to the PDF page
018396,000016:                                                                                                  ##                              numbers in 1701.pdf.
018397,000017:                                                                                                  ##              2017-01-14 RSB  Cross-diff'd comment text (not whitespace)
018398,000018:                                                                                                  ##                              vs the already-proofed corresponding Colossus
018399,000019:                                                                                                  ##                              237 and Comanche 55 source-code files
018400,000020:                                                                                                  ##                              and corrected errors found.
018401,000021:                                                                                                  ##              2017-06-17 MAS  Globally removed all SBANK= workarounds.
018402,000022:                                                                                                  ##
018403,000023:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
018404,000024:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
018405,000025:                                                                                                  ## document read, in part:
018406,000026:                                                                                                  ##
018407,000027:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
018408,000028:                                                                                                  ##      2021111-041.  October 28, 1968.  
018409,000029:                                                                                                  ##
018410,000030:                                                                                                  ##      This AGC program shall also be referred to as
018411,000031:                                                                                                  ##                              Colossus 1A
018412,000032:                                                                                                  ##
018413,000033:                                                                                                  ##      Prepared by
018414,000034:                                                                                                  ##                      Massachusetts Institute of Technology
018415,000035:                                                                                                  ##                      75 Cambridge Parkway
018416,000036:                                                                                                  ##                      Cambridge, Massachusetts
018417,000037:                                                                                                  ##      under NASA contract NAS 9-4065.
018418,000038:                                                                                                  ##
018419,000039:                                                                                                  ## Refer directly to the online document mentioned above for further information.
018420,000040:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
018421,000041:                                                                                                  ##
018422,000042:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
018423,000043:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
018424,000044:                                                                                                  ## source file, and then is proofed to incorporate any changes.
018425,000045: 

Page 416

018427,000047:                                                                                                  #  NAME -        IMU PERFORMANCE TESTS 2
018428,000048: 
018429,000049:                                                                                                  #  DATE -        MARCH 20, 1967
018430,000050: 
018431,000051:                                                                                                  #  BY -          SYSTEM TEST GROUP 864-6900 EXT. 1274
018432,000052: 
018433,000053:                                                                                                  #  MODNO.-       ZERO
018434,000054: 
018435,000055:                                                                                                  #  FUNCTIONAL DESCRIPTION
018436,000056: 
018437,000057:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018438,000058:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018439,000059:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.  THEORETICAL REF. E-1973
018440,000060: 
018441,000061: 33,2004                                           BANK     33                                    
018442,000062: 33,2000                                           SETLOC   IMUCAL                                
018443,000063: 33,2000                                           BANK                                           
018444,000064: 33,2004  E5,1423                                  EBANK=   POSITON                               
018445,000065: 
018446,000066: 33,2004           34714        IMUTEST            CA       ZERO                                  
018447,000067: 33,2005           55452                           TS       DRIFTT                                
018448,000068: 33,2006           55643                           TS       GEOCOMP1                              
018449,000069: 33,2007           32443                           CAF      TESTTIME                              
018450,000070: 33,2010           55412                           TS       LENGTHOT                              
018451,000071: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018452,000072: 33,2012           34734                           CAF      1SECX                                 
018453,000073: 33,2013           55644                           TS       1SECXT1                               
018454,000074: 
018455,000075: 33,2014           32441                           CA       OC14400                               
018456,000076: 33,2015           55074                           TS       1/PIPADT                              
018457,000077: 
018458,000078: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018459,000079: 33,2017           77624                           CALL                                           
018460,000080: 33,2020           10617                                    LATAZCHK                              
018461,000081: 33,2021           57546                           COS      DCOMP                                 
018462,000082: 33,2022           77752                           SL1                                            
018463,000083: 33,2023           16447                           STODL    WANGI                                 
018464,000084: 33,2024           02403                                    LATITUDE                              
018465,000085: 33,2025           72556                           SIN      SL1                                   
018466,000086: 33,2026           02445                           STORE    WANGO                                 
018467,000087: 33,2027           77776                           EXIT                                           
018468,000088: 33,2030           04555        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018469,000089: 33,2031           16516                           CADR     IMUZERO                               
018470,000090: 33,2032           02316                           TC       IMUSTLLG                              
018471,000091: 33,2033           34714        IMUBACK            CA       ZERO                                  
018472,000092: 33,2034           55421                           TS       NDXCTR                                
018473,000093: 33,2035           55450                           TS       TORQNDX                               
018474,000094: 33,2036           55451                           TS       TORQNDX    +1                         
018475,000095: 33,2037           34375        NBPOSPL            CA       DEC17                                 
018476,000096: 33,2040           55655                           TS       ZERONDX1                              
018477,000097: 33,2041           32445                           CA       XNBADR                                

Page 417

018479,000099: 33,2042           02356                           TC       ZEROING                               
018480,000100: 33,2043           34675                           CA       HALF                                  
018481,000101: 33,2044           55713                           TS       XNB                                   
018482,000102: 33,2045           06006                           TC       INTPRET                               
018483,000103: 33,2046           73545                           DLOAD    SIN                                   
018484,000104: 33,2047           02401                                    AZIMUTH                               
018485,000105: 33,2050           02724                           STORE    YNB        +2                         
018486,000106: 33,2051           16734                           STODL    ZNB        +4                         
018487,000107: 33,2052           02401                                    AZIMUTH                               
018488,000108: 33,2053           77746                           COS                                            
018489,000109: 33,2054           02726                           STORE    YNB        +4                         
018490,000110: 33,2055           77676                           DCOMP                                          
018491,000111: 33,2056           02732                           STORE    ZNB        +2                         
018492,000112: 33,2057           77776                           EXIT                                           
018493,000113: 33,2060           05253                           TC       CHECKMM                               
018494,000114: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
018495,000115: 33,2062           12064                           TCF      +2                                    #  NO
018496,000116: 33,2063           13432                           TCF      SETNBPOS   +1                         #  YES
018497,000117: 33,2064           06006                           TC       INTPRET                               
018498,000118: 33,2065           77624                           CALL                                           
018499,000119: 33,2066           47244                                    CALCGA                                
018500,000120: 33,2067           77776                           EXIT                                           
018501,000121: 33,2070           04555                           TC       BANKCALL                              
018502,000122: 33,2071           16602                           CADR     IMUCOARS                              
018503,000123: 33,2072           34675                           CAF      BIT14                                 #  IF BIT14 SET, GIMBAL LOCK
018504,000124: 33,2073           70077                           MASK     FLAGWRD3                              
018505,000125: 33,2074           00006                           EXTEND                                         
018506,000126: 33,2075           12077                           BZF      +2                                    
018507,000127: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
018508,000128: 33,2077           05447                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018509,000129: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018510,000130: 33,2101           02316                           TC       IMUSTLLG                              
018511,000131: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018512,000132: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018513,000133: 33,2104           04555                           TC       BANKCALL                              
018514,000134: 33,2105           17012                           CADR     IMUFINE                               
018515,000135: 33,2106           02316                           TC       IMUSTLLG                              
018516,000136: 33,2107           00006                           EXTEND                                         
018517,000137: 33,2110           31657                           DCA      PERFDLAY                              
018518,000138: 33,2111           05231                           TC       LONGCALL                              
018519,000139: 33,2112  E5,1423                                  EBANK=   POSITON                               
018520,000140: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018521,000141: 
018522,000142: 33,2114           32121                           CA       ESTICADR                              
018523,000143: 33,2115           05070                           TC       JOBSLEEP                              
018524,000144: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018525,000145: 33,2117           05074                           TC       JOBWAKE                               
018526,000146: 33,2120           05213                           TC       TASKOVER                              
018527,000147: 33,2121           66453        ESTICADR           CADR     ESTIMS                                

Page 418

018529,000149: 33,2122           34714        TORQUE             CA       ZERO                                  
018530,000150: 33,2123           55050                           TS       DSPTEM2                               
018531,000151: 33,2124           31514                           CA       DRIFTI                                
018532,000152: 33,2125           55051                           TS       DSPTEM2    +1                         
018533,000153: 33,2126           51423                           INDEX    POSITON                               
018534,000154: 33,2127           55430                           TS       SOUTHDR    -1                         
018535,000155: 33,2130           02427                           TC       SHOW                                  
018536,000156: 
018537,000157: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018538,000158: 33,2132           02133                           TC       +1                                    
018539,000159: 33,2133           02417                           TC       EARTHR*                               
018540,000160: 33,2134           34374                           CA       DEC57                                 
018541,000161: 33,2135           55412                           TS       LENGTHOT                              
018542,000162: 33,2136           34712                           CA       ONE                                   
018543,000163: 33,2137           55547                           TS       RESULTCT                              
018544,000164: 33,2140           34714                           CA       ZERO                                  
018545,000165: 33,2141           51422                           INDEX    PIPINDEX                              
018546,000166: 33,2142           54037                           TS       PIPAX                                 
018547,000167: 33,2143           55502                           TS       DATAPL                                
018548,000168: 33,2144           55506                           TS       DATAPL     +4                         
018549,000169: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018550,000170: 33,2146           00004                           INHINT                                         
018551,000171: 33,2147           34711                           CAF      TWO                                   
018552,000172: 33,2150           05130                           TC       TWIDDLE                               
018553,000173: 33,2151  E5,1671                                  EBANK=   XSM                                   
018554,000174: 33,2151           02153                           ADRES    PIPATASK                              
018555,000175: 33,2152           05112                           TC       ENDOFJOB                              
018556,000176: 
018557,000177: 33,2153           00006        PIPATASK           EXTEND                                         
018558,000178: 33,2154           27412                           DIM      LENGTHOT                              
018559,000179: 33,2155           31412                           CA       LENGTHOT                              
018560,000180: 33,2156           00006                           EXTEND                                         
018561,000181: 33,2157           62163                           BZMF     STARTPIP                              
018562,000182: 33,2160           34701                           CAF      BIT10                                 
018563,000183: 33,2161           05130                           TC       TWIDDLE                               
018564,000184: 33,2162  E5,1671                                  EBANK=   XSM                                   
018565,000185: 33,2162           02153                           ADRES    PIPATASK                              
018566,000186: 33,2163           34675        STARTPIP           CAF      PRIO20                                
018567,000187: 33,2164           05042                           TC       FINDVAC                               
018568,000188: 33,2165  E5,1671                                  EBANK=   XSM                                   
018569,000189: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018570,000190: 
018571,000191: 33,2167           05213                           TC       TASKOVER                              
018572,000192: 
018573,000193: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018574,000194: 33,2171           02172                           TC       +1                                    
018575,000195: 33,2172           02417                           TC       EARTHR*                               
018576,000196: 33,2173           31412                           CA       LENGTHOT                              
018577,000197: 33,2174           00006                           EXTEND                                         
018578,000198: 33,2175           62177                           BZMF     +2                                    
018579,000199: 33,2176           05112                           TC       ENDOFJOB                              
018580,000200: 33,2177           34715                           CA       FIVE                                  

Page 419

018582,000202: 33,2200           55547                           TS       RESULTCT                              
018583,000203: 33,2201           02321                           TC       CHECKG                                
018584,000204: 33,2202           00006                           EXTEND                                         
018585,000205: 33,2203           41503                           DCS      DATAPL                                
018586,000206: 33,2204           21507                           DAS      DATAPL     +4                         
018587,000207: 
018588,000208: 33,2205           06006                           TC       INTPRET                               
018589,000209: 33,2206           45345                           DLOAD    DSU                                   
018590,000210: 33,2207           02511                                    DATAPL     +6                         
018591,000211: 33,2210           02505                                    DATAPL     +2                         
018592,000212: 33,2211           45044                           BPL      CALL                                  
018593,000213: 33,2212           66214                                    AINGOTN                               
018594,000214: 33,2213           66276                                    OVERFFIX                              
018595,000215: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018596,000216: 33,2215           02507                                    DATAPL     +4                         
018597,000217: 33,2216           57212                           SL4      DMPR                                  
018598,000218: 33,2217           27111                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018599,000219: 33,2220           77634                           RTB                                            
018600,000220: 33,2221           45541                                    SGNAGREE                              
018601,000221: 33,2222           01051                           STORE    DSPTEM2                               
018602,000222: 33,2223           77776                           EXIT                                           
018603,000223: 33,2224           11421                           CCS      NDXCTR                                
018604,000224: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018605,000225: 33,2226           02427                           TC       SHOW                                  
018606,000226: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018607,000227: 33,2230           55412                           TS       LENGTHOT                              
018608,000228: 33,2231           51423                           INDEX    POSITON                               
018609,000229: 33,2232           41427                           CS       SOUTHDR    -2                         
018610,000230: 33,2233           55452                           TS       DRIFTT                                
018611,000231: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018612,000232: 33,2235           00006                           EXTEND                                         
018613,000233: 33,2236           12244                           BZF      PON2                                  
018614,000234: 33,2237           44706        PON4               CS       BIT5                                  #  OFFSET PLATFORM
018615,000235: 33,2240           27651                           ADS      ERCOMP1    +2                         
018616,000236: 33,2241           34706                           CA       BIT5                                  
018617,000237: 33,2242           27647                           ADS      ERCOMP1                               
018618,000238: 33,2243           12250                           TCF      PONG                                  
018619,000239: 33,2244           44706        PON2               CS       BIT5                                  
018620,000240: 33,2245           27651                           ADS      ERCOMP1    +2                         
018621,000241: 33,2246           34706                           CA       BIT5                                  
018622,000242: 33,2247           27653                           ADS      ERCOMP1    +4                         
018623,000243: 33,2250           02417        PONG               TC       EARTHR*                               
018624,000244: 33,2251           34714                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018625,000245: 33,2252           55404                           TS       ERVECTOR                              
018626,000246: 33,2253           55405                           TS       ERVECTOR   +1                         
018627,000247: 33,2254           34672        GUESS1             CAF      POSMAX                                
018628,000248: 33,2255           55450                           TS       TORQNDX                               
018629,000249: 33,2256           55451                           TS       TORQNDX    +1                         
018630,000250: 33,2257           30032                           CA       CDUX                                  
018631,000251: 33,2260           55413                           TS       LOSVEC                                

Page 420

018633,000253: 33,2261           02453                           TC       ESTIMS                                
018634,000254: 33,2262           31512        VALMIS             CA       DRIFTO                                
018635,000255: 33,2263           55051                           TS       DSPTEM2    +1                         
018636,000256: 33,2264           34714                           CA       ZERO                                  
018637,000257: 33,2265           55050                           TS       DSPTEM2                               
018638,000258: 33,2266           02427                           TC       SHOW                                  
018639,000259: 
018640,000260: 33,2267           05447        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018641,000261: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018642,000262: 33,2271           44714                           CS       ZERO                                  
018643,000263: 33,2272           05246                           TC       NEWMODEX   +3                         
018644,000264: 33,2273           04555                           TC       BANKCALL                              
018645,000265: 33,2274           16063                           CADR     MKRELEAS                              
018646,000266: 33,2275           05423                           TC       ENDEXT                                

Page 421

018648,000268: 
018649,000269: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018650,000270: 33,2277           15340                                    DPPOSMAX                              
018651,000271: 33,2300           27117                                    ONEDPP                                
018652,000272: 33,2301           77616                           RVQ                                            
018653,000273: 
018654,000274: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
018655,000275: 33,2303           23425                           QXCH     QPLACE                                
018656,000276: 33,2304           34714                           CA       ZERO                                  
018657,000277: 33,2305           55155                           TS       THETAD                                
018658,000278: 33,2306           55156                           TS       THETAD     +1                         
018659,000279: 33,2307           55157                           TS       THETAD     +2                         
018660,000280: 33,2310           04555                           TC       BANKCALL                              
018661,000281: 33,2311           16602                           CADR     IMUCOARS                              
018662,000282: 33,2312           04555                           TC       BANKCALL                              
018663,000283: 33,2313           17516                           CADR     IMUSTALL                              
018664,000284: 33,2314           03103                           TC       SOMERR2                               
018665,000285: 33,2315           01425                           TC       QPLACE                                
018666,000286: 
018667,000287: 33,2316           00006        IMUSTLLG           EXTEND                                         
018668,000288: 33,2317           23425                           QXCH     QPLACE                                
018669,000289: 33,2320           02312                           TC       COAALIGN   +10                        
018670,000290: 
018671,000291: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018672,000292: 33,2322           23425                           QXCH     QPLACE                                
018673,000293: 33,2323           02331                           TC       +6                                    
018674,000294: 33,2324           00003        CHECKG1            RELINT                                         
018675,000295: 33,2325           30067                           CA       NEWJOB                                
018676,000296: 33,2326           00006                           EXTEND                                         
018677,000297: 33,2327           62335                           BZMF     +6                                    
018678,000298: 33,2330           05057                           TC       CHANG1                                
018679,000299: 33,2331           00004                           INHINT                                         
018680,000300: 33,2332           51422                           INDEX    PIPINDEX                              
018681,000301: 33,2333           40037                           CS       PIPAX                                 
018682,000302: 33,2334           55655                           TS       ZERONDX                               
018683,000303: 33,2335           00004                           INHINT                                         
018684,000304: 33,2336           51422                           INDEX    PIPINDEX                              
018685,000305: 33,2337           30037                           CA       PIPAX                                 
018686,000306: 33,2340           61655                           AD       ZERONDX                               
018687,000307: 33,2341           00006                           EXTEND                                         
018688,000308: 33,2342           12324                           BZF      CHECKG1                               
018689,000309: 33,2343           51422                           INDEX    PIPINDEX                              
018690,000310: 33,2344           30037                           CA       PIPAX                                 
018691,000311: 33,2345           51547                           INDEX    RESULTCT                              
018692,000312: 33,2346           55502                           TS       DATAPL                                
018693,000313: 33,2347           04526                           TC       FINETIME                              
018694,000314: 33,2350           51547                           INDEX    RESULTCT                              
018695,000315: 33,2351           55503                           TS       DATAPL     +1                         

Page 422

018697,000317: 33,2352           51547                           INDEX    RESULTCT                              
018698,000318: 33,2353           23504                           LXCH     DATAPL     +2                         
018699,000319: 33,2354           00003                           RELINT                                         
018700,000320: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018701,000321: 
018702,000322: 33,2356           54001        ZEROING            TS       L                                     
018703,000323: 33,2357           12361                           TCF      +2                                    
018704,000324: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018705,000325: 33,2361           34714                           CAF      ZERO                                  
018706,000326: 33,2362           50001                           INDEX    L                                     
018707,000327: 33,2363           54000                           TS       0                                     
018708,000328: 33,2364           24001                           INCR     L                                     
018709,000329: 33,2365           11655                           CCS      ZERONDX1                              
018710,000330: 33,2366           12360                           TCF      ZEROING1                              
018711,000331: 33,2367           00002                           TC       Q                                     
018712,000332: 

Page 423

018714,000334: 32,2000                                           SETLOC   IMUCAL3                               
018715,000335: 32,2000                                           BANK                                           
018716,000336: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018717,000337: 32,2001           27112                                    SCHZEROS                              #  PD24 = (SIN          -COS    0)(OMEG/MS)
018718,000338: 32,2002           02403                                    LATITUDE                              
018719,000339: 32,2003           57546                           COS      DCOMP                                 
018720,000340: 32,2004           73525                           PDDL     SIN                                   
018721,000341: 32,2005           02403                                    LATITUDE                              
018722,000342: 32,2006           74266                           VDEF     VXSC                                  
018723,000343: 32,2007           26450                                    OMEG/MS                               
018724,000344: 32,2010           02405                           STORE    ERVECTOR                              
018725,000345: 32,2011           77634                           RTB                                            
018726,000346: 32,2012           45505                                    LOADTIME                              
018727,000347: 32,2013           26443                           STOVL    TMARK                                 
018728,000348: 32,2014           27112                                    SCHZEROS                              
018729,000349: 32,2015           02650                           STORE    ERCOMP1                               
018730,000350: 32,2016           77616                           RVQ                                            
018731,000351: 33,2000                                           SETLOC   IMUCAL                                
018732,000352: 33,2000                                           BANK                                           
018733,000353: 
018734,000354: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018735,000355: 33,2371           00051                                    S2                                    
018736,000356: 33,2372           45505                                    LOADTIME                              
018737,000357: 33,2373           02441                           STORE    TEMPTIME                              
018738,000358: 33,2374           51025                           DSU      BPL                                   
018739,000359: 33,2375           02443                                    TMARK                                 
018740,000360: 33,2376           66401                                    ERTHR                                 
018741,000361: 33,2377           77624                           CALL                                           
018742,000362: 33,2400           66276                                    OVERFFIX                              
018743,000363: 33,2401           74261        ERTHR              SL       VXSC                                  
018744,000364: 33,2402           20212                                    9D                                    
018745,000365: 33,2403           02405                                    ERVECTOR                              
018746,000366: 33,2404           53321                           MXV      VAD                                   
018747,000367: 33,2405           02672                                    XSM                                   
018748,000368: 33,2406           02650                                    ERCOMP1                               
018749,000369: 33,2407           16650                           STODL    ERCOMP1                               
018750,000370: 33,2410           02441                                    TEMPTIME                              
018751,000371: 33,2411           02443                           STORE    TMARK                                 
018752,000372: 33,2412           47170                           AXT,1    RTB                                   
018753,000373: 33,2413           02647                           ECADR    ERCOMP1                               
018754,000374: 33,2414           45650                                    PULSEIMU                              
018755,000375: 33,2415           77650                           GOTO                                           
018756,000376: 33,2416           00051                                    S2                                    
018757,000377: 
018758,000378: 33,2417           00006        EARTHR*            EXTEND                                         
018759,000379: 33,2420           23426                           QXCH     QPLACES                               
018760,000380: 33,2421           06006                           TC       INTPRET                               
018761,000381: 33,2422           77624                           CALL                                           
018762,000382: 33,2423           66370                                    EARTHR                                
018763,000383: 33,2424           77776        PROUT              EXIT                                           
018764,000384: 33,2425           02316                           TC       IMUSTLLG                              
018765,000385: 33,2426           01426                           TC       QPLACES                               

Page 424

018767,000387: 
018768,000388: 33,2427           00006        SHOW               EXTEND                                         
018769,000389: 33,2430           23425                           QXCH     QPLACE                                
018770,000390: 33,2431           31423        SHOW1              CA       POSITON                               
018771,000391: 33,2432           55052                           TS       DSPTEM2    +2                         
018772,000392: 33,2433           32442                           CA       VB06N98                               
018773,000393: 33,2434           04555                           TC       BANKCALL                              
018774,000394: 33,2435           20624                           CADR     GOFLASH                               
018775,000395: 33,2436           02267                           TC       ENDTEST1                              #  V34
018776,000396: 33,2437           01425                           TC       QPLACE                                #  V33
018777,000397: 33,2440           12431                           TCF      SHOW1                                 
018778,000398: 
018779,000399: 33,2441           14400        OC14400            OCT      14400                                 
018780,000400: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018781,000401: 33,2442           01542        VB06N98            VN       0698                                  
018782,000402: 33,2443           01602        TESTTIME           OCT      01602                                 
018783,000403: 33,2444     4375               DEC17              =        ND1                                   
018784,000404: 33,2444           02757        OGCPL              ECADR    OGC                                   
018785,000405: 33,2445     4734               1SECX              =        1SEC                                  
018786,000406: 33,2445     4374               DEC57              =        VD1                                   
018787,000407: 33,2445           01713        XNBADR             GENADR   XNB                                   
018788,000408: 33,2446           01671        XSMADR             GENADR   XSM                                   
018789,000409: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018790,000410: 
018791,000411: 33,2451           04555        P11OUT             TC       BANKCALL                              
018792,000412: 33,2452           70127                           CADR     MATRXJOB                              #  RETURN TO P11
018793,000413: 
018794,000414: 33,2453                                           COUNT    02.COMST                              
018795,000415: 
018796,000416:    4526                                           BLOCK    2                                     
018797,000417: 
018798,000418:    4526           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018799,000419:    4527           00006                           EXTEND                                         
018800,000420:    4530           00004                           READ     LOSCALAR                              
018801,000421:    4531           54001                           TS       L                                     
018802,000422:    4532           00006                           EXTEND                                         
018803,000423:    4533           06004                           RXOR     LOSCALAR                              
018804,000424:    4534           00006                           EXTEND                                         
018805,000425:    4535           14541                           BZF      +4                                    
018806,000426:    4536           00006                           EXTEND                                         
018807,000427:    4537           00004                           READ     LOSCALAR                              
018808,000428:    4540           54001                           TS       L                                     
018809,000429:    4541           44672                 +4        CS       POSMAX                                
018810,000430:    4542           60001                           AD       L                                     
018811,000431:    4543           00006                           EXTEND                                         
018812,000432:    4544           14527                           BZF      FINETIME   +1                         
018813,000433:    4545           00006                           EXTEND                                         
018814,000434:    4546           00003                           READ     HISCALAR                              
018815,000435:    4547           00002                           TC       Q                                     
018816,000436: 

Page 425

018818,000438:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018819,000439:                                                                                                  #  DATE-  NOVEMBER 2 1966
018820,000440:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
018821,000441:                                                                                                  #  MOD NO 3
018822,000442: 
018823,000443:                                                                                                  #  FUNCTIONAL DESCRIPTION
018824,000444: 
018825,000445:                                                                                                  #  THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018826,000446:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
018827,000447:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018828,000448:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018829,000449:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
018830,000450:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018831,000451:                                                                                                  #  FOR THE DATA TO FLASH.
018832,000452: 
018833,000453:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018834,000454:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018835,000455:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018836,000456:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018837,000457:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
018838,000458:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
018839,000459:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
018840,000460:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018841,000461:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018842,000462:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018843,000463:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018844,000464: 
018845,000465:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
018846,000466: 
018847,000467:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
018848,000468:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
018849,000469:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
018850,000470:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
018851,000471:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
018852,000472: 
018853,000473:                                                                                                  #  TO PERFORM AS PART OF COMPASS
018854,000474: 
018855,000475:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
018856,000476:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
018857,000477: 
018858,000478:                                                                                                  #  SUBROUTINES CALLED
018859,000479: 
018860,000480:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018861,000481:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
018862,000482: 
018863,000483:                                                                                                  #  NORMAL EXIT
018864,000484: 
018865,000485:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018866,000486:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
018867,000487: 
018868,000488:                                                                                                  #  ALARMS
018869,000489: 
018870,000490:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST

Page 426

018872,000492:                                                                                                  #  1601  BAD IMU TORQUE ABORT
018873,000493:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
018874,000494: 
018875,000495:                                                                                                  #  OUTPUT
018876,000496: 
018877,000497:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018878,000498:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018879,000499:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
018880,000500:                                                                                                  #        02      GYROCOMPASSING
018881,000501:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
018882,000502: 
018883,000503:                                                                                                  #  DEBRIS
018884,000504: 
018885,000505:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
018886,000506: 

Page 427

018888,000508:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018889,000509:                                                                                                  #  ON THE NEXT FEW PAGES.
018890,000510: 
018891,000511:    4550                                           COUNT    33/P02                                
018892,000512: 
018893,000513:    4550  E5,1671                                  EBANK=   XSM                                   
018894,000514: 33,2453                                           BANK     33                                    
018895,000515: 33,2000                                           SETLOC   IMUCAL                                
018896,000516: 33,2000                                           BANK                                           
018897,000517: 
018898,000518: 33,2453           05261        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
018899,000519: 33,2454           00075                           OCT      00075                                 
018900,000520: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
018901,000521: 
018902,000522: 
018903,000523: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
018904,000524: 33,2457           30025                           CA       TIME1                                 
018905,000525: 33,2460           55645                           TS       GTSWTLT1                              
018906,000526: 33,2461           34714                           CAF      ZERO                                  #  ZERO THE PIPAS
018907,000527: 33,2462           54037                           TS       PIPAX                                 
018908,000528: 33,2463           54040                           TS       PIPAY                                 
018909,000529: 33,2464           54041                           TS       PIPAZ                                 
018910,000530: 33,2465           00003                           RELINT                                         
018911,000531: 33,2466           33130                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
018912,000532: 33,2467           55655                           TS       ZERONDX1                              
018913,000533: 33,2470           33131                           CA       ALXXXZ                                
018914,000534: 33,2471           02356                           TC       ZEROING                               
018915,000535: 33,2472           06006                           TC       INTPRET                               
018916,000536: 33,2473           77735                           SLOAD                                          
018917,000537: 33,2474           27112                                    SCHZEROS                              
018918,000538: 33,2475           25477                           STOVL    GCOMPSW    -1                         
018919,000539: 33,2476           27123                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
018920,000540: 33,2477           26455                           STOVL    ALX1S                                 
018921,000541: 33,2500           27112                                    SCHZEROS                              
018922,000542: 33,2501           01472                           STORE    GCOMP                                 
018923,000543: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
018924,000544: 33,2503           77776                           EXIT                                           
018925,000545: 
018926,000546: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018927,000547: 33,2505           02507                           TC       +2                                    
018928,000548: 33,2506           02523                           TC       SLEEPIE    +1                         
018929,000549: 33,2507           06006                           TC       INTPRET                               
018930,000550: 33,2510           77624                           CALL                                           
018931,000551: 33,2511           64000                                    ERTHRVSE                              
018932,000552: 33,2512           77776                           EXIT                                           
018933,000553: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
018934,000554: 33,2514           55646                           TS       ERECTIME                              
018935,000555: 
018936,000556: 33,2515           05243                           TC       NEWMODEX                              
018937,000557: 33,2516           00002                           MM       02         B-14                       
018938,000558: 33,2517           04555                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM

Page 428

018940,000560: 33,2520           17075                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018941,000561: 33,2521           03376                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018942,000562: 

Page 429

018944,000564:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018945,000565: 
018946,000566:                                                                                                  #  SET UP WAITLIST SECTION
018947,000567: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
018948,000568: 33,2523           05301                           TC       PHASCHNG                              #  CHANGE PHASE
018949,000569: 33,2524           00135                           OCT      00135                                 
018950,000570: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018951,000571: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018952,000572: 33,2527           03401        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
018953,000573: 33,2530           02532                           TC       SETGWLST                              
018954,000574: 33,2531           05112                           TC       ENDOFJOB                              
018955,000575: 
018956,000576: 33,2532           00006        SETGWLST           EXTEND                                         
018957,000577: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018958,000578: 33,2534           00004                           INHINT                                         
018959,000579: 33,2535           40025                           CS       TIME1                                 
018960,000580: 33,2536           61645                           AD       GTSWTLT1                              
018961,000581: 33,2537           00006                           EXTEND                                         
018962,000582: 33,2540           62542                           BZMF     +2                                    
018963,000583: 33,2541           64674                           AD       NEGMAX                                #  10 MS ERROR OK
018964,000584: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018965,000585: 33,2543           00006                           EXTEND                                         
018966,000586: 33,2544           62550                           BZMF     RIGHTGTS                              
018967,000587: 33,2545           05130        WTGTSMPL           TC       TWIDDLE                               
018968,000588: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
018969,000589: 33,2546           02575                           ADRES    ALLOOP                                
018970,000590: 33,2547           00154                           TC       MPAC                                  
018971,000591: 33,2550           34710        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
018972,000592: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
018973,000593: 
018974,000594:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018975,000595: 
018976,000596: 33,2552           00031        25DECML            DEC      25         B-14                       
018977,000597: 
018978,000598: 33,2553           32552        STOREDTA           CAF      25DECML                               
018979,000599: 33,2554           54154                           TS       MPAC                                  
018980,000600: 33,2555           50154                           INDEX    MPAC                                  
018981,000601: 33,2556           31460                           CAE      THETAX1                               
018982,000602: 33,2557           50154                           INDEX    MPAC                                  
018983,000603: 33,2560           55577                           TS       RESTARPT                              
018984,000604: 33,2561           10154                           CCS      MPAC                                  
018985,000605: 33,2562           12554                           TCF      STOREDTA   +1                         
018986,000606: 33,2563           00002                           TC       Q                                     
018987,000607: 33,2564           32552        LOADSTDT           CAF      25DECML                               
018988,000608: 33,2565           54154                           TS       MPAC                                  
018989,000609: 33,2566           50154                           INDEX    MPAC                                  
018990,000610: 33,2567           31577                           CA       RESTARPT                              

Page 430

018992,000612: 33,2570           50154                           INDEX    MPAC                                  
018993,000613: 33,2571           55460                           TS       THETAX1                               
018994,000614: 33,2572           10154                           CCS      MPAC                                  
018995,000615: 33,2573           12565                           TCF      LOADSTDT   +1                         
018996,000616: 33,2574           00002                           TC       Q                                     
018997,000617: 
018998,000618:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018999,000619: 
019000,000620: 33,2575           30025        ALLOOP             CAE      TIME1                                 
019001,000621: 33,2576           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
019002,000622: 33,2577           31540        ALLOOP3            CA       ALTIM                                 
019003,000623: 33,2600           55631                           TS       GEOSAVE1                              
019004,000624: 33,2601           05301                           TC       PHASCHNG                              
019005,000625: 33,2602           00115                           OCT      00115                                 
019006,000626: 33,2603           31631        ALLOOP1            CAE      GEOSAVE1                              
019007,000627: 33,2604           55540                           TS       ALTIM                                 
019008,000628: 33,2605           10000                           CCS      A                                     
019009,000629: 33,2606           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
019010,000630: 33,2607           55541                           TS       ALTIMS                                
019011,000631: 33,2610           40000                           CS       A                                     
019012,000632: 33,2611           55540                           TS       ALTIM                                 
019013,000633: 33,2612           34714                           CAF      ZERO                                  
019014,000634: 33,2613           56037                           XCH      PIPAX                                 
019015,000635: 33,2614           55162                           TS       DELVX                                 
019016,000636: 33,2615           34714                           CAF      ZERO                                  
019017,000637: 33,2616           56040                           XCH      PIPAY                                 
019018,000638: 33,2617           55164                           TS       DELVY                                 
019019,000639: 33,2620           34714                           CAF      ZERO                                  
019020,000640: 33,2621           56041                           XCH      PIPAZ                                 
019021,000641: 33,2622           55166                           TS       DELVZ                                 
019022,000642: 33,2623           34374                           CAF      19DECML                               #  23 OCT
019023,000643: 33,2624           04114                           TC       NEWPHASE                              
019024,000644: 33,2625           00005                           OCT      00005                                 
019025,000645: 33,2626           34675        SPECSTS            CAF      PRIO20                                
019026,000646: 33,2627           05042                           TC       FINDVAC                               
019027,000647: 33,2630  E5,1631                                  EBANK=   GEOSAVE1                              
019028,000648: 33,2630           02633 66065                     2CADR    ALFLT                                 #  START THE JOB
019029,000649: 
019030,000650: 33,2632           05213                           TC       TASKOVER                              
019031,000651: 

Page 431

019033,000653:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
019034,000654: 
019035,000655: 33,2633           02553        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
019036,000656: 33,2634           05301                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
019037,000657: 33,2635           00215                           OCT      00215                                 
019038,000658: 33,2636           12640                           TCF      +2                                    
019039,000659: 33,2637           02564        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
019040,000660: 
019041,000661: 33,2640           11643                           CCS      GEOCOMP1                              
019042,000662: 33,2641           02643                           TC       +2                                    
019043,000663: 33,2642           02646                           TC       NORMLOP                               
019044,000664: 33,2643           03401                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
019045,000665: 33,2644           04555                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
019046,000666: 33,2645           15262                           CADR     1/PIPA                                
019047,000667: 33,2646           06006        NORMLOP            TC       INTPRET                               
019048,000668: 33,2647           77745                           DLOAD                                          
019049,000669: 33,2650           27121                                    INTVAL                                
019050,000670: 33,2651           24051                           STOVL    S1                                    
019051,000671: 33,2652           01163                                    DELVX                                 
019052,000672: 33,2653           76505                           VXM      VSL1                                  
019053,000673: 33,2654           02672                                    XSM                                   
019054,000674: 33,2655           57545                           DLOAD    DCOMP                                 
019055,000675: 33,2656           00160                                    MPAC       +3                         
019056,000676: 33,2657           16533                           STODL    DPIPAY                                
019057,000677: 33,2660           00162                                    MPAC       +5                         
019058,000678: 33,2661           02537                           STORE    DPIPAZ                                
019059,000679: 
019060,000680: 33,2662           76001                           SETPD    AXT,1                                 
019061,000681: 33,2663           00001                                    0                                     
019062,000682: 33,2664           00010                                    8D                                    
019063,000683: 33,2665           57535                           SLOAD    DCOMP                                 
019064,000684: 33,2666           02644                                    GEOCOMP1                              
019065,000685: 33,2667           77640                           BMN                                            
019066,000686: 33,2670           67203                                    ALWAYSG                               #  DO A QUICK COMPASS
019067,000687: 

Page 432

019069,000689:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019070,000690: 
019071,000691: 33,2671                                           COUNT    33/COMST                              
019072,000692: 
019073,000693: 33,2671           50135        ALCGKK             SLOAD    BMN                                   
019074,000694: 33,2672           02542                                    ALTIMS                                
019075,000695: 33,2673           66706                                    ALFLT3                                #  NO NEW GAINS NEEDED
019076,000696: 33,2674           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
019077,000697: 33,2675           00014                                    12D                                   
019078,000698: 33,2676           02454                                    ALX1S                                 
019079,000699: 33,2677           62143        ALKCG2             DLOAD*   INCR,1                                
019080,000700: 33,2700           02243                                    ALFDK      +144D,1                    
019081,000701: 33,2701           77775                           DEC      -2         B-14                       
019082,000702: 33,2702           12555                           STORE    ALDK       +10D,2                     
019083,000703: 33,2703           66104                           TIX,2    SXA,1                                 
019084,000704: 33,2704           66677                                    ALKCG2                                
019085,000705: 33,2705           02454                                    ALX1S                                 
019086,000706: 
019087,000707: 33,2706           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
019088,000708: 33,2707           00010                                    8D                                    #  AND GAIN UPDATES
019089,000709: 33,2710           41343        DELMLP             DLOAD*   DMP                                   
019090,000710: 33,2711           02543                                    DPIPAY     +8D,1                      
019091,000711: 33,2712           27675                                    PIPASC                                
019092,000712: 33,2713           43661                           SLR      BDSU*                                 
019093,000713: 33,2714           21212                                    9D                                    
019094,000714: 33,2715           02511                                    INTY       +8D,1                      
019095,000715: 33,2716           06511                           STORE    INTY       +8D,1                      
019096,000716: 33,2717           40725                           PDDL     DMP*                                  
019097,000717: 33,2720           27677                                    VELSC                                 
019098,000718: 33,2721           02531                                    VLAUN      +8D,1                      
019099,000719: 33,2722           77732                           SL2R                                           
019100,000720: 33,2723           45425                           DSU      STADR                                 
019101,000721: 33,2724           71206                           STORE    DELM       +8D,1                      
019102,000722: 33,2725           06573                           STORE    DELM       +10D,1                     
019103,000723: 33,2726           77100                           TIX,1    AXT,2                                 
019104,000724: 33,2727           66710                                    DELMLP                                
019105,000725: 33,2730           00004                                    4                                     
019106,000726: 33,2731           56743        ALILP              DLOAD*   DMPR*                                 
019107,000727: 33,2732           75314                                    ALK        +4,2                       
019108,000728: 33,2733           75230                                    ALDK       +4,2                       
019109,000729: 33,2734           12463                           STORE    ALK        +4,2                       
019110,000730: 33,2735           77104                           TIX,2    AXT,2                                 
019111,000731: 33,2736           66731                                    ALILP                                 
019112,000732: 33,2737           00010                                    8D                                    
019113,000733: 33,2740           66140        ALKLP              LXC,1    SXA,1                                 
019114,000734: 33,2741           02455                                    CMPX1                                 
019115,000735: 33,2742           02455                                    CMPX1                                 
019116,000736: 33,2743           56743                           DLOAD*   DMPR*                                 
019117,000737: 33,2744           02460                                    ALK        +1,1                       
019118,000738: 33,2745           75206                                    DELM       +8D,2                      

Page 433

019120,000740: 33,2746           77613                           DAD*                                           
019121,000741: 33,2747           75266                                    INTY       +8D,2                      
019122,000742: 33,2750           12511                           STORE    INTY       +8D,2                      
019123,000743: 33,2751           42743                           DLOAD*   DAD*                                  
019124,000744: 33,2752           75304                                    ALK        +12D,2                     
019125,000745: 33,2753           75220                                    ALDK       +12D,2                     
019126,000746: 33,2754           12473                           STORE    ALK        +12D,2                     
019127,000747: 33,2755           42673                           DMPR*    DAD*                                  
019128,000748: 33,2756           75206                                    DELM       +8D,2                      
019129,000749: 33,2757           75256                                    INTY       +16D,2                     
019130,000750: 33,2760           12521                           STORE    INTY       +16D,2                     
019131,000751: 33,2761           40743                           DLOAD*   DMP*                                  
019132,000752: 33,2762           27702                                    ALSK       +1,1                       
019133,000753: 33,2763           75206                                    DELM       +8D,2                      
019134,000754: 33,2764           42772                           SL1R     DAD*                                  
019135,000755: 33,2765           75246                                    VLAUN      +8D,2                      
019136,000756: 33,2766           12531                           STORE    VLAUN      +8D,2                      
019137,000757: 33,2767           76104                           TIX,2    AXT,1                                 
019138,000758: 33,2770           66740                                    ALKLP                                 
019139,000759: 33,2771           00010                                    8D                                    
019140,000760: 
019141,000761: 33,2772           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
019142,000762: 33,2773           02533                                    ACCWD      +8D,1                      
019143,000763: 33,2774           02531                                    VLAUN      +8D,1                      
019144,000764: 33,2775           55523                           PDDL*    VDEF                                  
019145,000765: 33,2776           02541                                    POSNV      +8D,1                      
019146,000766: 33,2777           76521                           MXV      VSL1                                  
019147,000767: 33,3000           02001                                    TRANSM1                               
019148,000768: 33,3001           77745                           DLOAD                                          
019149,000769: 33,3002           00155                                    MPAC                                  
019150,000770: 33,3003           06541                           STORE    POSNV      +8D,1                      
019151,000771: 33,3004           77745                           DLOAD                                          
019152,000772: 33,3005           00160                                    MPAC       +3                         
019153,000773: 33,3006           06531                           STORE    VLAUN      +8D,1                      
019154,000774: 33,3007           77745                           DLOAD                                          
019155,000775: 33,3010           00162                                    MPAC       +5                         
019156,000776: 33,3011           06533                           STORE    ACCWD      +8D,1                      
019157,000777: 33,3012           77700                           TIX,1                                          
019158,000778: 33,3013           66772                                    LOOSE                                 
019159,000779: 
019160,000780: 33,3014           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
019161,000781: 33,3015           00006                                    6                                     
019162,000782: 33,3016           00002                                    2                                     
019163,000783: 33,3017           57343        BOOP               DLOAD*   DMPR                                  
019164,000784: 33,3020           02513                                    ANGX       +2,1                       
019165,000785: 33,3021           27705                                    GEORGEJ                               
019166,000786: 33,3022           77722                           SR2R                                           
019167,000787: 33,3023           73406                           PUSH     SIN                                   

Page 434

019169,000789: 33,3024           56072                           SL3R     XAD,1                                 
019170,000790: 33,3025           00046                                    X1                                    
019171,000791: 33,3026           10021                           STORE    16D,2                                 
019172,000792: 33,3027           77745                           DLOAD                                          
019173,000793: 33,3030           77746                           COS                                            
019174,000794: 33,3031           10027                           STORE    22D,2                                 #  COSINES
019175,000795: 33,3032           77704                           TIX,2                                          
019176,000796: 33,3033           67017                                    BOOP                                  
019177,000797: 
019178,000798: 33,3034           77776        PERFERAS           EXIT                                           
019179,000799: 33,3035           34753                           CA       EBANK7                                
019180,000800: 33,3036  E7,1400                                  EBANK=   LAT(SPL)                              
019181,000801: 33,3036           54003                           TS       EBANK                                 
019182,000802: 33,3037           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
019183,000803: 
019184,000804:                                                                                                  #  CAUTION
019185,000805: 
019186,000806:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019187,000807:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019188,000808: 
019189,000809: 33,3040  E5,1412                                  EBANK=   LENGTHOT                              
019190,000810: 33,3040           11412        ONCEMORE           CCS      LENGTHOT                              
019191,000811: 33,3041           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
019192,000812: 33,3042           11450                           CCS      TORQNDX                               
019193,000813: 33,3043           13045                           TCF      +2                                    
019194,000814: 33,3044           03047                           TC       SETUPER1                              
019195,000815: 33,3045           30032                           CA       CDUX                                  
019196,000816: 33,3046           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
019197,000817: 
019198,000818: 33,3047           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
019199,000819: 33,3050           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
019200,000820: 33,3051           02503                                    ANGZ                                  
019201,000821: 33,3052           02507                                    ANGY                                  
019202,000822: 33,3053           55525                           PDDL     VDEF                                  
019203,000823: 33,3054           02511                                    ANGX                                  
019204,000824: 33,3055           74276                           VCOMP    VXSC                                  
019205,000825: 33,3056           27705                                    GEORGEJ                               
019206,000826: 33,3057           74521                           MXV      VSR1                                  
019207,000827: 33,3060           02672                                    XSM                                   
019208,000828: 33,3061           02760                           STORE    OGC                                   
019209,000829: 33,3062           77776                           EXIT                                           
019210,000830: 
019211,000831: 33,3063           05301        TORQINCH           TC       PHASCHNG                              
019212,000832: 33,3064           00005                           OCT      00005                                 
019213,000833: 
019214,000834: 33,3065           32444                           CA       OGCPL                                 
019215,000835: 33,3066           04555                           TC       BANKCALL                              
019216,000836: 33,3067           17125                           CADR     IMUPULSE                              
019217,000837: 33,3070           02316                           TC       IMUSTLLG                              
019218,000838: 33,3071           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
019219,000839: 33,3072           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019220,000840: 33,3073           06006                           TC       INTPRET                               

Page 435

019222,000842: 33,3074           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019223,000843: 33,3075           64000                                    ERTHRVSE                              
019224,000844: 33,3076           77776                           EXIT                                           
019225,000845: 33,3077           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019226,000846: 
019227,000847: 33,3100           05537        SOMEERR            TC       ALARM                                 
019228,000848: 33,3101           01600                           OCT      1600                                  
019229,000849: 33,3102           03105                           TC       +3                                    
019230,000850: 33,3103           05537        SOMERR2            TC       ALARM                                 
019231,000851: 33,3104           01601                           OCT      1601                                  
019232,000852: 33,3105           05301                           TC       PHASCHNG                              
019233,000853: 33,3106           00005                           OCT      00005                                 
019234,000854: 33,3107           02267                           TC       ENDTEST1                              
019235,000855: 
019236,000856:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.         
019237,000857: 
019238,000858: 33,3110           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
019239,000859: 33,3111           00000 00000  SCHZEROS           2DEC     .00000000                             
019240,000860: 33,3113           00000 00000                     2DEC     .00000000                             
019241,000861: 33,3115           00000                           OCT      00000                                 
019242,000862: 33,3116           00000        ONEDPP             OCT      00000                                 
019243,000863: 33,3117           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
019244,000864: 
019245,000865: 33,3120           00004        INTVAL             OCT      4                                     
019246,000866: 33,3121           00002                           OCT      2                                     
019247,000867: 33,3122           00220                           DEC      144        B-14                       
019248,000868: 33,3123           77776                           DEC      -1         B-14                       
019249,000869: 33,3124           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019250,000870: 33,3126           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019251,000871: 
019252,000872: 33,3130           00115        77DECML            DEC      77         B-14                       
019253,000873: 33,3131           01453        ALXXXZ             GENADR   ALX1S      -1                         
019254,000874: 
019255,000875:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019256,000876: 
019257,000877: 33,3132                                           COUNT    33/P01                                
019258,000878: 
019259,000879:                                                                                                  #  INITIALIZATION SECTION
019260,000880: 
019261,000881: 33,3132           34712        GTSCPSS            CAF      ONE                                   #  CALLED BY V37.
019262,000882: 33,3133           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.

Page 436

019264,000884: 33,3134           33424                           CA       1/PIPAGT                              
019265,000885: 33,3135           55074                           TS       1/PIPADT                              
019266,000886: 33,3136           34703        NXXTENN            CA       BIT8                                  
019267,000887: 33,3137           55412                           TS       LENGTHOT                              
019268,000888: 33,3140           34731                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019269,000889: 33,3141           55644                           TS       1SECXT1                               
019270,000890: 33,3142           34712                           CAF      ONE                                   
019271,000891: 33,3143           55632                           TS       PREMTRX1                              
019272,000892: 33,3144           55657                           TS       PERFDLAY   +1                         
019273,000893: 33,3145           34714                           CAF      ZERO                                  
019274,000894: 33,3146           55656                           TS       PERFDLAY                              
019275,000895: 33,3147           00006                           EXTEND                                         
019276,000896: 33,3150           31634                           DCA      LUNCHAZ1                              
019277,000897: 33,3151           53636                           DXCH     NEWAZ1                                
019278,000898: 33,3152           00006                           EXTEND                                         
019279,000899: 33,3153           31634                           DCA      LUNCHAZ1                              
019280,000900: 33,3154           53640                           DXCH     OLDAZMTH                              
019281,000901: 33,3155           34375        SETUPGC            CA       DEC17                                 
019282,000902: 33,3156           55655                           TS       ZERONDX1                              
019283,000903: 33,3157           32446                           CA       XSMADR                                
019284,000904: 33,3160           02356                           TC       ZEROING                               
019285,000905: 33,3161           03163                           TC       POSN17C                               
019286,000906: 33,3162           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019287,000907: 33,3163           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
019288,000908: 33,3164           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019289,000909: 33,3165           44675                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019290,000910: 33,3166           55705                           TS       ZSM                                   
019291,000911: 33,3167           06006                           TC       INTPRET                               
019292,000912: 33,3170           41545                           DLOAD    PUSH                                  
019293,000913: 33,3171           02636                                    NEWAZ1                                
019294,000914: 33,3172           77756                           SIN                                            
019295,000915: 33,3173           02676                           STORE    XSM        +4                         
019296,000916: 33,3174           16702                           STODL    YSM        +2                         
019297,000917: 33,3175           77746                           COS                                            
019298,000918: 33,3176           02704                           STORE    YSM        +4                         
019299,000919: 33,3177           77676                           DCOMP                                          
019300,000920: 33,3200           02674                           STORE    XSM        +2                         
019301,000921: 33,3201           77776                           EXIT                                           
019302,000922: 33,3202           01425                           TC       QPLACE                                
019303,000923: 
019304,000924:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
019305,000925: 
019306,000926: 33,3203                                           COUNT    33/P02                                
019307,000927: 
019308,000928: 33,3203           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019309,000929: 33,3204           02543                                    DPIPAY     +8D,1                      
019310,000930: 33,3205           02505                                    FILDELV1   +8D,1                      

Page 437

019312,000932: 33,3206           42675                           DMPR     DAD*                                  
019313,000933: 33,3207           27713                                    GEOCONS1                              
019314,000934: 33,3210           02505                                    FILDELV1   +8D,1                      
019315,000935: 33,3211           06505                           STORE    FILDELV1   +8D,1                      
019316,000936: 33,3212           77613                           DAD*                                           
019317,000937: 33,3213           02507                                    INTVEC1    +8D,1                      
019318,000938: 33,3214           06507                           STORE    INTVEC1    +8D,1                      
019319,000939: 33,3215           42675                           DMPR     DAD*                                  
019320,000940: 33,3216           27715                                    GEOCONS2                              
019321,000941: 33,3217           02505                                    FILDELV1   +8D,1                      
019322,000942: 33,3220           41475                           DMPR     PUSH                                  
019323,000943: 33,3221           15330                                    GEOCONS5                              
019324,000944: 33,3222           67300                           TIX,1    SLOAD                                 
019325,000945: 33,3223           67203                                    ALWAYSG                               
019326,000946: 33,3224           02647                                    ERECTIM1                              
019327,000947: 33,3225           71254                           BZE      DLOAD                                 
019328,000948: 33,3226           67237                                    COMPGS                                
019329,000949: 33,3227           02471                                    THETAN1    +2                         
019330,000950: 33,3230           45425                           DSU      STADR                                 
019331,000951: 33,3231           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019332,000952: 33,3232           77621                           BDSU                                           
019333,000953: 33,3233           02473                                    THETAN1    +4                         
019334,000954: 33,3234           02473                           STORE    THETAN1    +4                         
019335,000955: 33,3235           77650                           GOTO                                           
019336,000956: 33,3236           67261                                    ADDINDRF                              
019337,000957: 33,3237           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019338,000958: 33,3240           02467                                    THETAN1                               
019339,000959: 33,3241           02475                                    FILDELV1                              
019340,000960: 33,3242           16467                           STODL    THETAN1                               
019341,000961: 33,3243           02475                                    FILDELV1                              
019342,000962: 33,3244           44275                           DMPR     BDSU                                  
019343,000963: 33,3245           27717                                    GEOCONS3                              
019344,000964: 33,3246           02473                                    THETAN1    +4                         
019345,000965: 33,3247           16473                           STODL    THETAN1    +4                         
019346,000966: 33,3250           02501                                    FILDELV1   +4                         
019347,000967: 33,3251           44275                           DMPR     BDSU                                  
019348,000968: 33,3252           27717                                    GEOCONS3                              
019349,000969: 33,3253           02471                                    THETAN1    +2                         
019350,000970: 33,3254           57325                           PDDL     DMPR                                  
019351,000971: 33,3255           02503                                    INTVEC1    +4                         
019352,000972: 33,3256           27721                                    GEOCONS4                              
019353,000973: 33,3257           45421                           BDSU     STADR                                 
019354,000974: 33,3260           75306                           STORE    THETAN1    +2                         
019355,000975: 33,3261           77776        ADDINDRF           EXIT                                           
019356,000976: 33,3262           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019357,000977: 33,3263           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019358,000978: 33,3264           03401                           TC       CHKCOMED                              
019359,000979: 33,3265           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY

Page 438

019361,000981: 33,3266           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019362,000982: 
019363,000983: 33,3267           06006        LASTGTS            TC       INTPRET                               
019364,000984: 33,3270           77775                           VLOAD                                          
019365,000985: 33,3271           02650                                    ERCOMP1                               
019366,000986: 33,3272           16461                           STODL    THETAX1                               
019367,000987: 33,3273           02443                                    TMARK                                 
019368,000988: 33,3274           02457                           STORE    ALK                                   
019369,000989: 33,3275           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019370,000990: 
019371,000991: 33,3276           05301        RESTAIER           TC       PHASCHNG                              
019372,000992: 33,3277           00275                           OCT      00275                                 
019373,000993: 33,3300           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019374,000994: 33,3301           64375                           VLOAD    MXV                                   
019375,000995: 33,3302           02467                                    THETAN1                               
019376,000996: 33,3303           02672                                    XSM                                   
019377,000997: 33,3304           53372                           VSL1     VAD                                   
019378,000998: 33,3305           02461                                    THETAX1                               
019379,000999: 33,3306           16650                           STODL    ERCOMP1                               
019380,001000: 33,3307           02457                                    ALK                                   
019381,001001: 33,3310           02443                           STORE    TMARK                                 
019382,001002: 33,3311           77776                           EXIT                                           
019383,001003: 33,3312           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
019384,001004: 33,3313           31646                           CAE      ERECTIM1                              
019385,001005: 33,3314           55631                           TS       GEOSAVE1                              
019386,001006: 33,3315           05301                           TC       PHASCHNG                              
019387,001007: 33,3316           00155                           OCT      00155                                 
019388,001008: 33,3317           06006        RESTEST1           TC       INTPRET                               
019389,001009: 33,3320           77775                           VLOAD                                          
019390,001010: 33,3321           27112                                    SCHZEROS                              
019391,001011: 33,3322           02467                           STORE    THETAN1                               
019392,001012: 33,3323           77776                           EXIT                                           
019393,001013: 33,3324           11632                           CCS      PREMTRXC                              
019394,001014: 33,3325           03374                           TC       NOCHORLD                              
019395,001015: 33,3326           05301                           TC       PHASCHNG                              
019396,001016: 33,3327           00255                           OCT      00255                                 
019397,001017: 33,3330           06006        RESTEST3           TC       INTPRET                               
019398,001018: 33,3331           77745                           DLOAD                                          
019399,001019: 33,3332           02634                                    LAUNCHAZ                              
019400,001020: 33,3333           53025                           DSU      BZE                                   
019401,001021: 33,3334           02640                                    OLDAZMTH                              
019402,001022: 33,3335           67371                                    NOAZCHGE                              
019403,001023: 33,3336           00001                           STORE    0D                                    
019404,001024: 33,3337           43335                           SLOAD    DAD                                   
019405,001025: 33,3340           27120                                    ONEDPP     +1                         
019406,001026: 33,3341           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019407,001027: 33,3342           16633                           STODL    PREMTRXC                              
019408,001028: 33,3343           02634                                    LAUNCHAZ                              
019409,001029: 33,3344           16636                           STODL    NEWAZMTH                              
019410,001030: 33,3345           00001                                    0D                                    

Page 439

019412,001032: 33,3346           02654        ADERCOMP           STORE    ERCOMP     +4                         
019413,001033: 33,3347           77776                           EXIT                                           
019414,001034: 33,3350           03163                           TC       POSN17C                               
019415,001035: 33,3351           05301                           TC       PHASCHNG                              
019416,001036: 33,3352           00335                           OCT      00335                                 
019417,001037: 33,3353           00006        RESCHNG            EXTEND                                         
019418,001038: 33,3354           31636                           DCA      NEWAZMTH                              
019419,001039: 33,3355           53640                           DXCH     OLDAZMTH                              
019420,001040: 33,3356           34704                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
019421,001041: 33,3357           55412                           TS       LENGTHOT                              
019422,001042: 33,3360           05301                           TC       PHASCHNG                              
019423,001043: 33,3361           00075                           OCT      00075                                 
019424,001044: 33,3362           33423        SPITGYRO           CA       ERCOMPPL                              
019425,001045: 33,3363           04555                           TC       BANKCALL                              
019426,001046: 33,3364           17125                           CADR     IMUPULSE                              
019427,001047: 33,3365           04555                           TC       BANKCALL                              
019428,001048: 33,3366           17516                           CADR     IMUSTALL                              
019429,001049: 33,3367           03103                           TC       SOMERR2                               
019430,001050: 33,3370           02453                           TC       ESTIMS                                #  RE-INITIALIZE
019431,001051: 33,3371           77776        NOAZCHGE           EXIT                                           
019432,001052: 33,3372           34712                           CA       ONE                                   
019433,001053: 33,3373           55632                           TS       PREMTRXC                              
019434,001054: 33,3374           11631        NOCHORLD           CCS      GEOSAVE1                              
019435,001055: 33,3375           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019436,001056: 
019437,001057: 33,3376           34334        ANNNNNN            CAF      NINE                                  
019438,001058: 33,3377           55412                           TS       LENGTHOT                              
019439,001059: 33,3400           02523                           TC       SLEEPIE    +1                         
019440,001060: 33,3401           00004        CHKCOMED           INHINT                                         
019441,001061: 33,3402           44714                           CS       ZERO                                  
019442,001062: 33,3403           00006                           EXTEND                                         
019443,001063: 33,3404           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019444,001064: 33,3405           74706                           MASK     BIT5                                  #  LIFTOFF BIT
019445,001065: 33,3406           10000                           CCS      A                                     
019446,001066: 33,3407           13416                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019447,001067: 
019448,001068: 33,3410           34706                           CA       BIT5                                  #  CHECK FOR BACKUP LIFTOFF
019449,001069: 33,3411           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019450,001070: 33,3412           10000                           CCS      A                                     
019451,001071: 33,3413           13416                           TCF      PRELTERM                              #  BACKUP RECEIVED
019452,001072: 
019453,001073: 33,3414           00003                           RELINT                                         
019454,001074: 33,3415           00002                           TC       Q                                     #  CONTINUE PRELAUNCH
019455,001075: 33,3416           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11

Page 440

019457,001077: 33,3417           05103                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019458,001078: 33,3420           00004                           INHINT                                         
019459,001079: 33,3421           04574                           TC       POSTJUMP                              
019460,001080: 33,3422           70002                           CADR     P11                                   
019461,001081: 33,3423           02647        ERCOMPPL           ECADR    ERCOMP                                
019462,001082: 
019463,001083: 33,3424  26,3327               GEOCONS5           EQUALS   HIDPHALF                              
019464,001084: 33,3424           06200        1/PIPAGT           OCT      06200                                 
019465,001085: 33,3425     4375               17DECML            =        ND1                                   #  OCT 21
019466,001086: 33,3425     4374               19DECML            =        VD1                                   #  OCT 23
019467,001087: 33,3425     4731               1/2SECX            =        .5SEC                                 

Page 441

019469,001089: 33,3425     5112               GEOSTRT4           EQUALS   ENDOFJOB                              
019470,001090: 

Page 442

019472,001092:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019473,001093: 
019474,001094: 33,3425                                           COUNT    33/P03                                
019475,001095: 
019476,001096: 33,3425           05301        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019477,001097: 33,3426           00154                           OCT      00154                                 
019478,001098: 33,3427           05243                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
019479,001099: 33,3430           00003                           MM       03         B-14                       
019480,001100: 33,3431           02037        SETNBPOS           TC       NBPOSPL                               
019481,001101: 33,3432           04555                           TC       BANKCALL                              
019482,001102: 33,3433           16063                           CADR     MKRELEAS                              
019483,001103: 33,3434           34712        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019484,001104: 33,3435           22007                           ZL                                             #  T 1, THEN TARGET 2
019485,001105: 33,3436           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019486,001106: 33,3437           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019487,001107: 33,3440           00006                           EXTEND                                         
019488,001108: 33,3441           51427                           INDEX    RUN                                   
019489,001109: 33,3442           31433                           DCA      TAZEL1                                
019490,001110: 33,3443           53046                           DXCH     DSPTEM1                               
019491,001111: 33,3444           33467                           CAF      V05N30E                               
019492,001112: 33,3445           04555                           TC       BANKCALL                              
019493,001113: 33,3446           20577                           CADR     GODSPRET                              
019494,001114: 33,3447           33455                           CAF      VN0641                                
019495,001115: 33,3450           04555                           TC       BANKCALL                              
019496,001116: 33,3451           20624                           CADR     GOFLASH                               
019497,001117: 33,3452           03610                           TC       GCOMP5                                
019498,001118: 33,3453           03456                           TC       +3                                    
019499,001119: 33,3454           03444                           TC       -8D                                   
019500,001120: 33,3455           01451        VN0641             VN       0641                                  
019501,001121: 33,3456           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
019502,001122: 33,3457           51427                           INDEX    RUN                                   
019503,001123: 33,3460           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019504,001124: 33,3461           11427                           CCS      RUN                                   
019505,001125: 33,3462           13466                           TCF      +4                                    
019506,001126: 33,3463           34711                           CAF      TWO                                   
019507,001127: 33,3464           54001                           TS       L                                     
019508,001128: 33,3465           13436                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
019509,001129: 33,3466           03530                           TC       CONTIN33                              
019510,001130: 
019511,001131: 33,3467           01236        V05N30E            VN       0530                                  
019512,001132: 
019513,001133: 33,3470           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019514,001134: 33,3471           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019515,001135: 33,3472           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019516,001136: 33,3473           00014                                    12D                                   
019517,001137: 33,3474           40331                           SSP      SETPD                                 
019518,001138: 33,3475           00052                                    S2                                    
019519,001139: 33,3476           00006                                    6                                     

Page 443

019521,001141: 33,3477           00001                                    0                                     
019522,001142: 33,3500           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019523,001143: 33,3501           02436                                    TAZEL1     +3,1                       
019524,001144: 33,3502           00001                           STORE    0                                     #  PD00 ELEVATION PD00
019525,001145: 33,3503           77756                           SIN                                            
019526,001146: 33,3504           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019527,001147: 33,3505           77745                           DLOAD                                          
019528,001148: 33,3506           00001                                    0                                     
019529,001149: 33,3507           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
019530,001150: 33,3510           47133                           SLOAD*   RTB                                   
019531,001151: 33,3511           02435                                    TAZEL1     +2,1                       
019532,001152: 33,3512           45510                                    CDULOGIC                              
019533,001153: 33,3513           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
019534,001154: 33,3514           41356                           SIN      DMP                                   
019535,001155: 33,3515           00001                                    0                                     
019536,001156: 33,3516           77752                           SL1                                            
019537,001157: 33,3517           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019538,001158: 33,3520           71545                           DLOAD    COS                                   
019539,001159: 33,3521           00003                                    2                                     
019540,001160: 33,3522           72405                           DMP      SL1                                   
019541,001161: 33,3523           76076                           DCOMP    AXT,1                                 
019542,001162: 33,3524           00000                                    0                                     
019543,001163: 33,3525           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019544,001164: 33,3526           43504                           TIX,2    RVQ                                   
019545,001165: 33,3527           67500                                    TAR1                                  
019546,001166: 33,3530                                           BANK     33                                    
019547,001167: 33,2000                                           SETLOC   IMUCAL                                
019548,001168: 33,2000                                           BANK                                           
019549,001169: 33,3530                                           COUNT*   $$/P03                                
019550,001170: 
019551,001171: 33,3530           34712        CONTIN33           CA       ONE                                   
019552,001172: 33,3531           54735                           TS       STARCODE                              
019553,001173: 33,3532           34714                           CA       ZERO                                  
019554,001174: 33,3533           03625                           TC       TARGDRVE                              
019555,001175: 33,3534           06006                           TC       INTPRET                               
019556,001176: 33,3535           77624                           CALL                                           
019557,001177: 33,3536           67471                                    TAR/EREF                              
019558,001178: 33,3537           64375        NEXTBNKS           VLOAD    MXV                                   
019559,001179: 33,3540           00007                                    6D                                    
019560,001180: 33,3541           02672                                    XSM                                   
019561,001181: 33,3542           77772                           VSL1                                           
019562,001182: 33,3543           26736                           STOVL    STARAD                                
019563,001183: 33,3544           00015                                    12D                                   
019564,001184: 33,3545           76521                           MXV      VSL1                                  
019565,001185: 33,3546           02672                                    XSM                                   
019566,001186: 33,3547           02744                           STORE    STARAD     +6                         
019567,001187: 33,3550           77624                           CALL                                           
019568,001188: 33,3551           67722                                    LITTLSUB                              

Page 444

019570,001190: 33,3552           02414                           STORE    LOSVEC                                
019571,001191: 33,3553           77776                           EXIT                                           
019572,001192: 33,3554           04555                           TC       BANKCALL                              
019573,001193: 33,3555           16063                           CADR     MKRELEAS                              
019574,001194: 33,3556           34711        NEXBNKSS           CAF      TWO                                   
019575,001195: 33,3557           54735                           TS       STARCODE                              
019576,001196: 33,3560           36211                           CAF      SIX                                   
019577,001197: 33,3561           03625                           TC       TARGDRVE                              
019578,001198: 33,3562           06006                           TC       INTPRET                               
019579,001199: 33,3563           77624                           CALL                                           
019580,001200: 33,3564           67722                                    LITTLSUB                              
019581,001201: 33,3565           24015                           STOVL    12D                                   
019582,001202: 33,3566           02414                                    LOSVEC                                
019583,001203: 33,3567           34007                           STCALL   06D                                   
019584,001204: 33,3570           47334                                    AXISGEN                               
019585,001205: 33,3571           77624                           CALL                                           
019586,001206: 33,3572           47140                                    CALCGTA                               
019587,001207: 33,3573           77776                           EXIT                                           
019588,001208: 33,3574           33621        GCOMP4             CAF      V06N93S                               
019589,001209: 33,3575           04555                           TC       BANKCALL                              
019590,001210: 33,3576           20624                           CADR     GOFLASH                               
019591,001211: 33,3577           03610                           TC       GCOMP5                                
019592,001212: 33,3600           13602                           TCF      +2                                    
019593,001213: 33,3601           13574                           TCF      GCOMP4                                
019594,001214: 33,3602           06006                           TC       INTPRET                               
019595,001215: 33,3603           53375                           VLOAD    VAD                                   
019596,001216: 33,3604           02760                                    OGC                                   
019597,001217: 33,3605           02650                                    ERCOMP1                               
019598,001218: 33,3606           02650                           STORE    ERCOMP1                               
019599,001219: 33,3607           77776                           EXIT                                           
019600,001220: 33,3610           04555        GCOMP5             TC       BANKCALL                              
019601,001221: 33,3611           16063                           CADR     MKRELEAS                              
019602,001222: 33,3612           05447                           TC       DOWNFLAG                              
019603,001223: 33,3613           00032                           ADRES    TRM03FLG                              
019604,001224: 
019605,001225: 33,3614           05243                           TC       NEWMODEX                              
019606,001226: 33,3615           00002                           MM       02         B-14                       
019607,001227: 33,3616           05301                           TC       PHASCHNG                              
019608,001228: 33,3617           00004                           OCT      00004                                 
019609,001229: 33,3620           05112                           TC       ENDOFJOB                              
019610,001230: 33,3621           01535        V06N93S            VN       0693                                  
019611,001231: 33,3622           05537        GTSOPTCS           TC       ALARM                                 
019612,001232: 33,3623           01602        GTSOPTSS           OCT      01602                                 
019613,001233: 33,3624           03610                           TC       GCOMP5                                
019614,001234: 34,2002                                           BANK     34                                    
019615,001235: 04,2000                                           SETLOC   IMUCAL1                               

Page 445

019617,001237: 04,2000                                           BANK                                           
019618,001238: 
019619,001239: 04,2617                                           COUNT    34/COMST                              
019620,001240: 
019621,001241: 04,2617           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019622,001242: 04,2620           02403                                    LATITUDE                              
019623,001243: 04,2621           15047                           STODL    DSPTEM1    +1                         
019624,001244: 04,2622           02401                                    AZIMUTH                               
019625,001245: 04,2623           77434                           RTB      EXIT                                  
019626,001246: 04,2624           45543                                    1STO2S                                
019627,001247: 04,2625           56154                           XCH      MPAC                                  
019628,001248: 04,2626           55045                           TS       DSPTEM1                               
019629,001249: 04,2627           04555                           TC       BANKCALL                              
019630,001250: 04,2630           20607                           CADR     CLEANDSP                              
019631,001251: 04,2631           32650                           CAF      VNG0641                               
019632,001252: 04,2632           04555                           TC       BANKCALL                              
019633,001253: 04,2633           20624                           CADR     GOFLASH                               
019634,001254: 04,2634           02636                           TC       +2                                    #  NOT ALLOWED
019635,001255: 04,2635           02637                           TC       +2                                    
019636,001256: 04,2636           02631                           TC       -5                                    
019637,001257: 04,2637           06006                           TC       INTPRET                               
019638,001258: 04,2640           47135                           SLOAD    RTB                                   
019639,001259: 04,2641           01046                                    DSPTEM1                               
019640,001260: 04,2642           45510                                    CDULOGIC                              
019641,001261: 04,2643           02401                           STORE    AZIMUTH                               
019642,001262: 04,2644           60535                           SLOAD    SR2                                   
019643,001263: 04,2645           01047                                    DSPTEM1    +1                         
019644,001264: 04,2646           02403                           STORE    LATITUDE                              
019645,001265: 04,2647           77616                           RVQ                                            
019646,001266: 04,2650           01451        VNG0641            VN       0641                                  
019647,001267: 33,3625                                           BANK     33                                    
019648,001268: 33,2000                                           SETLOC   IMUCAL                                
019649,001269: 33,2000                                           BANK                                           
019650,001270: 33,3625                                           COUNT*   $$/P03                                
019651,001271: 33,3625           00006        TARGDRVE           EXTEND                                         
019652,001272: 33,3626           23424                           QXCH     QPLAC                                 
019653,001273: 33,3627           55431                           TS       TARG1/2                               
019654,001274: 33,3630           06006                           TC       INTPRET                               
019655,001275: 33,3631           77624                           CALL                                           
019656,001276: 33,3632           67471                                    TAR/EREF                              
019657,001277: 33,3633           76740                           LXC,1    VLOAD*                                
019658,001278: 33,3634           02431                                    TARG1/2                               
019659,001279: 33,3635           00007                                    6D,1                                  
019660,001280: 33,3636           36766                           STCALL   STAR                                  
019661,001281: 33,3637           46053                                    SXTANG                                
019662,001282: 33,3640           77776                           EXIT                                           

Page 446

019664,001284: 33,3641           31773                           CA       SAC                                   
019665,001285: 33,3642           55161                           TS       DESOPTS                               
019666,001286: 33,3643           31775                           CA       PAC                                   
019667,001287: 33,3644           55160                           TS       DESOPTT                               
019668,001288: 33,3645           34714        RETARG             CAF      ZERO                                  
019669,001289: 33,3646           55303                           TS       OPTIND                                
019670,001290: 33,3647           34712                           CAF      ONE                                   
019671,001291: 33,3650           04555                           TC       BANKCALL                              
019672,001292: 33,3651           16002                           CADR     SXTMARK                               
019673,001293: 33,3652           04555                           TC       BANKCALL                              
019674,001294: 33,3653           17512                           CADR     OPTSTALL                              
019675,001295: 33,3654           03622                           TC       GTSOPTCS                              
019676,001296: 33,3655           30075                           CAE      FLAGWRD1                              
019677,001297: 33,3656           74707                           MASK     TRM03BIT                              
019678,001298: 33,3657           10000                           CCS      A                                     
019679,001299: 33,3660           03610                           TC       GCOMP5                                
019680,001300: 
019681,001301: 33,3661           51330                           INDEX    MARKSTAT                              
019682,001302: 33,3662           30052                           CA       QPRET                                 
019683,001303: 33,3663           00006                           EXTEND                                         
019684,001304: 33,3664           13666                           BZF      RETARG1                               
019685,001305: 33,3665           01424                           TC       QPLAC                                 
019686,001306: 33,3666           34714        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019687,001307: 33,3667           57330                           XCH      MARKSTAT                              
019688,001308: 33,3670           10000                           CCS      A                                     
019689,001309: 33,3671           50000                           INDEX    A                                     
019690,001310: 33,3672           54000                           TS       A                                     
019691,001311: 33,3673           13645                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019692,001312: 33,3674                                           BANK     33                                    
019693,001313: 33,2000                                           SETLOC   IMUCAL                                
019694,001314: 33,2000                                           BANK                                           
019695,001315: 33,3674                                           COUNT*   $$/P03                                
019696,001316: 33,3674           30341 22444  PIPASC             2DEC     .76376833                             
019697,001317: 33,3676           57223 66451  VELSC              2DEC     -.52223476                            
019698,001318: 33,3700           05427 12577  ALSK               2DEC     .17329931                             
019699,001319: 33,3702           77567 44202                     2DEC     -.00835370                            
019700,001320: 33,3704           24276 14066  GEORGEJ            2DEC     .63661977                             
019701,001321: 33,3706           23073 11773  GEORGEK            2DEC     .59737013                             
019702,001322: 33,3710           00055 20267  2DEGRES            2DEC     .00277778                             
019703,001323: 33,3712           03146 14632  GEOCONS1           2DEC     .1                                    

Page 447

019705,001325: 33,3714           00121 35341  GEOCONS2           2DEC     .005                                  
019706,001326: 33,3716           01767 31666  GEOCONS3           2DEC     .062                                  
019707,001327: 33,3720           00004 35223  GEOCONS4           2DEC     .0003                                 
019708,001328: 
019709,001329: 33,3722                                           COUNT    33/P02                                
019710,001330: 33,3722           77620        LITTLSUB           STQ                                            
019711,001331: 33,3723           02424                                    QPLAC                                 
019712,001332: 33,3724           76740                           LXC,1    VLOAD*                                
019713,001333: 33,3725           01330                                    MARKSTAT                              
019714,001334: 33,3726           00003                                    2,1                                   
019715,001335: 33,3727           34767                           STCALL   CDUSPOT                               
019716,001336: 33,3730           46000                                    SXTNB                                 
019717,001337: 33,3731           77624                           CALL                                           
019718,001338: 33,3732           47572                                    TRG*NBSM                              
019719,001339: 33,3733           77650                           GOTO                                           
019720,001340: 33,3734           02424                                    QPLAC                                 
019721,001341: 33,3735           77776                           EXIT                                           
019722,001342: 33,3736           06006        AZMTHCG1           TC       INTPRET                               
019723,001343: 33,3737           47145                           DLOAD    RTB                                   
019724,001344: 33,3740           02636                                    NEWAZMTH                              
019725,001345: 33,3741           45543                                    1STO2S                                
019726,001346: 33,3742           77776                           EXIT                                           
019727,001347: 33,3743           56154                           XCH      MPAC                                  
019728,001348: 33,3744           55045                           TS       DSPTEM1                               
019729,001349: 33,3745           04555                           TC       BANKCALL                              
019730,001350: 33,3746           20607                           CADR     CLEANDSP                              
019731,001351: 33,3747           33771                           CAF      VN0629                                
019732,001352: 33,3750           04555                           TC       BANKCALL                              
019733,001353: 33,3751           20624                           CADR     GOFLASH                               
019734,001354: 33,3752           13754                           TCF      +2                                    
019735,001355: 33,3753           13755                           TCF      +2                                    
019736,001356: 33,3754           13747                           TCF      -5                                    
019737,001357: 33,3755           06006                           TC       INTPRET                               
019738,001358: 33,3756           47135                           SLOAD    RTB                                   
019739,001359: 33,3757           01046                                    DSPTEM1                               
019740,001360: 33,3760           45510                                    CDULOGIC                              
019741,001361: 33,3761           02634                           STORE    LAUNCHAZ                              
019742,001362: 33,3762           77776                           EXIT                                           
019743,001363: 33,3763           34714                           CA       ZERO                                  
019744,001364: 33,3764           55632                           TS       PREMTRXC                              
019745,001365: 33,3765           05301                           TC       PHASCHNG                              
019746,001366: 33,3766           00004                           OCT      00004                                 
019747,001367: 33,3767           04574                           TC       POSTJUMP                              
019748,001368: 33,3770           21176                           CADR     PINBRNCH                              
019749,001369: 
019750,001370: 33,3771           01435        VN0629             VN       0629                                  
019751,001371: 

Page 448 Empty page.

019754,001374: 

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