Source Code
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These source-code files are part of a reconstructed copy of Comanche 44, the
initial release (though not the final mission release) of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases
were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 44, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 51
(separately previously reconstructed from an Apollo-era listing of Comanche 55,
flown on Apollo 11). Comanche 51 source code was then modified
by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed
Comanche 44 source code was verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code match those on the Comanche 55 printout,
although the source code would likely have different page numbers in a contemporary
Comanche 44 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced
in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the
explanatory annotations, there is also
a step-by-step commentary about the reconstruction process.
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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018322,000002: ## Copyright: Public domain.
018323,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018324,000004: ## Purpose: A section of Comanche revision 044.
018325,000005: ## It is part of the reconstructed source code for the
018326,000006: ## original release of the flight software for the Command
018327,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
018328,000008: ## The code has been recreated from a copy of Comanche 055. It
018329,000009: ## has been adapted such that the resulting bugger words
018330,000010: ## exactly match those specified for Comanche 44 in NASA drawing
018331,000011: ## 2021153D, which gives relatively high confidence that the
018332,000012: ## reconstruction is correct.
018333,000013: ## Assembler: yaYUL
018334,000014: ## Contact: Ron Burkey <info@sandroid.org>.
018335,000015: ## Website: www.ibiblio.org/apollo/index.html
018336,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
018337,000017: ## 2021-05-30 ABS Single instance of $$/P03 -> $$/PO3 to match Comanche 55.
018338,000018:
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Page 423
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018340,000020: # NAME- IMU PERFORMANCE TESTS 2
018341,000021:
018342,000022: # DATE- MARCH 20, 1967
018343,000023:
018344,000024: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018345,000025:
018346,000026: # MODNO.- ZERO
018347,000027:
018348,000028: # FUNCTIONAL DESCRIPTION
018349,000029:
018350,000030: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018351,000031: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018352,000032: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018353,000033:
018354,000034: 33,2004 BANK 33
018355,000035: 33,2000 SETLOC IMUCAL
018356,000036: 33,2000 BANK
018357,000037:
018358,000038: 33,2004 E5,1423 EBANK= POSITON
018359,000039: 33,2004 35021 IMUTEST CA ZERO
018360,000040: 33,2005 55452 TS DRIFTT
018361,000041: 33,2006 55643 TS GEOCOMP1
018362,000042: 33,2007 32443 CAF TESTTIME
018363,000043: 33,2010 55412 TS LENGTHOT
018364,000044: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG
018365,000045: 33,2012 35041 CAF 1SECX
018366,000046: 33,2013 55644 TS 1SECXT1
018367,000047:
018368,000048: 33,2014 32441 CA OC14400
018369,000049: 33,2015 55074 TS 1/PIPADT
018370,000050: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
018371,000051: 33,2017 77624 CALL
018372,000052: 33,2020 10613 LATAZCHK
018373,000053: 33,2021 57546 COS DCOMP
018374,000054: 33,2022 77752 SL1
018375,000055: 33,2023 16447 STODL WANGI
018376,000056: 33,2024 02403 LATITUDE
018377,000057: 33,2025 72556 SIN SL1
018378,000058: 33,2026 02445 STORE WANGO
018379,000059: 33,2027 77776 EXIT
018380,000060: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018381,000061: 33,2031 16577 CADR IMUZERO
018382,000062: 33,2032 02316 TC IMUSTLLG
018383,000063: 33,2033 35021 IMUBACK CA ZERO
018384,000064: 33,2034 55421 TS NDXCTR
018385,000065: 33,2035 55450 TS TORQNDX
018386,000066: 33,2036 55451 TS TORQNDX +1
018387,000067: 33,2037 34375 NBPOSPL CA DEC17
018388,000068: 33,2040 55655 TS ZERONDX1
018389,000069: 33,2041 32445 CA XNBADR
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Page 424
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018391,000071: 33,2042 02356 TC ZEROING
018392,000072: 33,2043 35002 CA HALF
018393,000073: 33,2044 55713 TS XNB
018394,000074: 33,2045 06006 TC INTPRET
018395,000075: 33,2046 73545 DLOAD SIN
018396,000076: 33,2047 02401 AZIMUTH
018397,000077: 33,2050 02724 STORE YNB +2
018398,000078: 33,2051 16734 STODL ZNB +4
018399,000079: 33,2052 02401 AZIMUTH
018400,000080: 33,2053 77746 COS
018401,000081: 33,2054 02726 STORE YNB +4
018402,000082: 33,2055 77676 DCOMP
018403,000083: 33,2056 02732 STORE ZNB +2
018404,000084: 33,2057 77776 EXIT
018405,000085: 33,2060 05364 TC CHECKMM
018406,000086: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018407,000087: 33,2062 12064 TCF +2 # NO
018408,000088: 33,2063 13443 TCF SETNBPOS +1 # YES
018409,000089: 33,2064 06006 TC INTPRET
018410,000090: 33,2065 77624 CALL
018411,000091: 33,2066 47311 CALCGA
018412,000092: 33,2067 77776 EXIT
018413,000093: 33,2070 04662 TC BANKCALL
018414,000094: 33,2071 16663 CADR IMUCOARS
018415,000095: 33,2072 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018416,000096: 33,2073 70077 MASK FLAGWRD3
018417,000097: 33,2074 00006 EXTEND
018418,000098: 33,2075 12077 BZF +2
018419,000099: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018420,000100: 33,2077 05560 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018421,000101: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018422,000102: 33,2101 02316 TC IMUSTLLG
018423,000103: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018424,000104: 33,2103 02131 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018425,000105: 33,2104 04662 TC BANKCALL
018426,000106: 33,2105 17073 CADR IMUFINE
018427,000107: 33,2106 02316 TC IMUSTLLG
018428,000108: 33,2107 00006 EXTEND
018429,000109: 33,2110 31657 DCA PERFDLAY
018430,000110: 33,2111 05342 TC LONGCALL
018431,000111: 33,2112 E5,1423 EBANK= POSITON
018432,000112: 33,2112 02116 66065 2CADR GOESTIMS
018433,000113:
018434,000114: 33,2114 32121 CA ESTICADR
018435,000115: 33,2115 05175 TC JOBSLEEP
018436,000116: 33,2116 32121 GOESTIMS CA ESTICADR
018437,000117: 33,2117 05201 TC JOBWAKE
018438,000118: 33,2120 05324 TC TASKOVER
018439,000119: 33,2121 66453 ESTICADR CADR ESTIMS
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018441,000121: 33,2122 35021 TORQUE CA ZERO
018442,000122: 33,2123 55050 TS DSPTEM2
018443,000123: 33,2124 31514 CA DRIFTI
018444,000124: 33,2125 55051 TS DSPTEM2 +1
018445,000125: 33,2126 51423 INDEX POSITON
018446,000126: 33,2127 55430 TS SOUTHDR -1
018447,000127: 33,2130 02427 TC SHOW
018448,000128:
018449,000129: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST
018450,000130: 33,2132 02133 TC +1
018451,000131: 33,2133 02417 TC EARTHR*
018452,000132: 33,2134 34374 CA DEC57
018453,000133: 33,2135 55412 TS LENGTHOT
018454,000134: 33,2136 35017 CA ONE
018455,000135: 33,2137 55547 TS RESULTCT
018456,000136: 33,2140 35021 CA ZERO
018457,000137: 33,2141 51422 INDEX PIPINDEX
018458,000138: 33,2142 54037 TS PIPAX
018459,000139: 33,2143 55502 TS DATAPL
018460,000140: 33,2144 55506 TS DATAPL +4
018461,000141: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE
018462,000142: 33,2146 00004 INHINT
018463,000143: 33,2147 35016 CAF TWO
018464,000144: 33,2150 05235 TC TWIDDLE
018465,000145: 33,2151 E5,1671 EBANK= XSM
018466,000146: 33,2151 02153 ADRES PIPATASK
018467,000147: 33,2152 05217 TC ENDOFJOB
018468,000148: 33,2153 00006 PIPATASK EXTEND
018469,000149: 33,2154 27412 DIM LENGTHOT
018470,000150: 33,2155 31412 CA LENGTHOT
018471,000151: 33,2156 00006 EXTEND
018472,000152: 33,2157 62163 BZMF STARTPIP
018473,000153: 33,2160 35006 CAF BIT10
018474,000154: 33,2161 05235 TC TWIDDLE
018475,000155: 33,2162 E5,1671 EBANK= XSM
018476,000156: 33,2162 02153 ADRES PIPATASK
018477,000157: 33,2163 35002 STARTPIP CAF PRIO20
018478,000158: 33,2164 05147 TC FINDVAC
018479,000159: 33,2165 E5,1671 EBANK= XSM
018480,000160: 33,2165 02170 66065 2CADR PIPJOBB
018481,000161:
018482,000162: 33,2167 05324 TC TASKOVER
018483,000163:
018484,000164: 33,2170 51421 PIPJOBB INDEX NDXCTR
018485,000165: 33,2171 02172 TC +1
018486,000166: 33,2172 02417 TC EARTHR*
018487,000167: 33,2173 31412 CA LENGTHOT
018488,000168: 33,2174 00006 EXTEND
018489,000169: 33,2175 62177 BZMF +2
018490,000170: 33,2176 05217 TC ENDOFJOB
018491,000171: 33,2177 35022 CA FIVE
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018493,000173: 33,2200 55547 TS RESULTCT
018494,000174: 33,2201 02321 TC CHECKG
018495,000175: 33,2202 00006 EXTEND
018496,000176: 33,2203 41503 DCS DATAPL
018497,000177: 33,2204 21507 DAS DATAPL +4
018498,000178:
018499,000179: 33,2205 06006 TC INTPRET
018500,000180: 33,2206 45345 DLOAD DSU
018501,000181: 33,2207 02511 DATAPL +6
018502,000182: 33,2210 02505 DATAPL +2
018503,000183: 33,2211 45044 BPL CALL
018504,000184: 33,2212 66214 AINGOTN
018505,000185: 33,2213 66276 OVERFFIX
018506,000186: 33,2214 56325 AINGOTN PDDL DDV
018507,000187: 33,2215 02507 DATAPL +4
018508,000188: 33,2216 57212 SL4 DMPR
018509,000189: 33,2217 27110 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
018510,000190: 33,2220 77634 RTB
018511,000191: 33,2221 45544 SGNAGREE
018512,000192: 33,2222 01051 STORE DSPTEM2
018513,000193: 33,2223 77776 EXIT
018514,000194: 33,2224 11421 CCS NDXCTR
018515,000195: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
018516,000196: 33,2226 02427 TC SHOW
018517,000197: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
018518,000198: 33,2230 55412 TS LENGTHOT
018519,000199: 33,2231 51423 INDEX POSITON
018520,000200: 33,2232 41427 CS SOUTHDR -2
018521,000201: 33,2233 55452 TS DRIFTT
018522,000202: 33,2234 31675 CA XSM +4 # 0 IF POSN 4
018523,000203: 33,2235 00006 EXTEND
018524,000204: 33,2236 12244 BZF PON2
018525,000205: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM
018526,000206: 33,2240 27651 ADS ERCOMP1 +2
018527,000207: 33,2241 35013 CA BIT5
018528,000208: 33,2242 27647 ADS ERCOMP1
018529,000209: 33,2243 12250 TCF PONG
018530,000210: 33,2244 45013 PON2 CS BIT5
018531,000211: 33,2245 27651 ADS ERCOMP1 +2
018532,000212: 33,2246 35013 CA BIT5
018533,000213: 33,2247 27653 ADS ERCOMP1 +4
018534,000214: 33,2250 02417 PONG TC EARTHR*
018535,000215: 33,2251 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018536,000216: 33,2252 55404 TS ERVECTOR
018537,000217: 33,2253 55405 TS ERVECTOR +1
018538,000218: 33,2254 34777 GUESS1 CAF POSMAX
018539,000219: 33,2255 55450 TS TORQNDX
018540,000220: 33,2256 55451 TS TORQNDX +1
018541,000221: 33,2257 30032 CA CDUX
018542,000222: 33,2260 55413 TS LOSVEC
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018544,000224: 33,2261 02453 TC ESTIMS
018545,000225: 33,2262 31512 VALMIS CA DRIFTO
018546,000226: 33,2263 55051 TS DSPTEM2 +1
018547,000227: 33,2264 35021 CA ZERO
018548,000228: 33,2265 55050 TS DSPTEM2
018549,000229: 33,2266 02427 TC SHOW
018550,000230:
018551,000231: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
018552,000232: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0
018553,000233: 33,2271 45021 CS ZERO
018554,000234: 33,2272 05357 TC NEWMODEX +3
018555,000235: 33,2273 04662 TC BANKCALL
018556,000236: 33,2274 16063 CADR MKRELEAS
018557,000237: 33,2275 05534 TC ENDEXT
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Page 428
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018559,000239:
018560,000240: 33,2276 43215 OVERFFIX DAD DAD
018561,000241: 33,2277 15343 DPPOSMAX
018562,000242: 33,2300 27116 ONEDPP
018563,000243: 33,2301 77616 RVQ
018564,000244:
018565,000245: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
018566,000246: 33,2303 23425 QXCH QPLACE
018567,000247: 33,2304 35021 CA ZERO
018568,000248: 33,2305 55155 TS THETAD
018569,000249: 33,2306 55156 TS THETAD +1
018570,000250: 33,2307 55157 TS THETAD +2
018571,000251: 33,2310 04662 TC BANKCALL
018572,000252: 33,2311 16663 CADR IMUCOARS
018573,000253: 33,2312 04662 TC BANKCALL
018574,000254: 33,2313 17577 CADR IMUSTALL
018575,000255: 33,2314 03102 TC SOMERR2
018576,000256: 33,2315 01425 TC QPLACE
018577,000257:
018578,000258: 33,2316 00006 IMUSTLLG EXTEND
018579,000259: 33,2317 23425 QXCH QPLACE
018580,000260: 33,2320 02312 TC COAALIGN +10
018581,000261:
018582,000262: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
018583,000263: 33,2322 23425 QXCH QPLACE
018584,000264: 33,2323 02331 TC +6
018585,000265: 33,2324 00003 CHECKG1 RELINT
018586,000266: 33,2325 30067 CA NEWJOB
018587,000267: 33,2326 00006 EXTEND
018588,000268: 33,2327 62335 BZMF +6
018589,000269: 33,2330 05164 TC CHANG1
018590,000270: 33,2331 00004 INHINT
018591,000271: 33,2332 51422 INDEX PIPINDEX
018592,000272: 33,2333 40037 CS PIPAX
018593,000273: 33,2334 55655 TS ZERONDX
018594,000274: 33,2335 00004 INHINT
018595,000275: 33,2336 51422 INDEX PIPINDEX
018596,000276: 33,2337 30037 CA PIPAX
018597,000277: 33,2340 61655 AD ZERONDX
018598,000278: 33,2341 00006 EXTEND
018599,000279: 33,2342 12324 BZF CHECKG1
018600,000280: 33,2343 51422 INDEX PIPINDEX
018601,000281: 33,2344 30037 CA PIPAX
018602,000282: 33,2345 51547 INDEX RESULTCT
018603,000283: 33,2346 55502 TS DATAPL
018604,000284: 33,2347 04553 TC FINETIME
018605,000285: 33,2350 51547 INDEX RESULTCT
018606,000286: 33,2351 55503 TS DATAPL +1
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Page 429
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018608,000288: 33,2352 51547 INDEX RESULTCT
018609,000289: 33,2353 23504 LXCH DATAPL +2
018610,000290: 33,2354 00003 RELINT
018611,000291: 33,2355 01425 ENDCHKG TC QPLACE
018612,000292:
018613,000293: 33,2356 54001 ZEROING TS L
018614,000294: 33,2357 12361 TCF +2
018615,000295: 33,2360 55655 ZEROING1 TS ZERONDX1
018616,000296: 33,2361 35021 CAF ZERO
018617,000297: 33,2362 50001 INDEX L
018618,000298: 33,2363 54000 TS 0
018619,000299: 33,2364 24001 INCR L
018620,000300: 33,2365 11655 CCS ZERONDX1
018621,000301: 33,2366 12360 TCF ZEROING1
018622,000302: 33,2367 00002 TC Q
018623,000303:
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018625,000305: 32,2000 SETLOC IMUCAL3
018626,000306: 32,2000 BANK
018627,000307: 32,2000 65345 ERTHRVSE DLOAD PDDL
018628,000308: 32,2001 27111 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
018629,000309: 32,2002 02403 LATITUDE
018630,000310: 32,2003 57546 COS DCOMP
018631,000311: 32,2004 73525 PDDL SIN
018632,000312: 32,2005 02403 LATITUDE
018633,000313: 32,2006 74266 VDEF VXSC
018634,000314: 32,2007 26450 OMEG/MS
018635,000315: 32,2010 02405 STORE ERVECTOR
018636,000316: 32,2011 77634 RTB
018637,000317: 32,2012 45510 LOADTIME
018638,000318: 32,2013 26443 STOVL TMARK
018639,000319: 32,2014 27111 SCHZEROS
018640,000320: 32,2015 02650 STORE ERCOMP1
018641,000321: 32,2016 77616 RVQ
018642,000322: 33,2000 SETLOC IMUCAL
018643,000323: 33,2000 BANK
018644,000324: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
018645,000325: 33,2371 00051 S2
018646,000326: 33,2372 45510 LOADTIME
018647,000327: 33,2373 02441 STORE TEMPTIME
018648,000328: 33,2374 51025 DSU BPL
018649,000329: 33,2375 02443 TMARK
018650,000330: 33,2376 66401 ERTHR
018651,000331: 33,2377 77624 CALL
018652,000332: 33,2400 66276 OVERFFIX
018653,000333: 33,2401 74261 ERTHR SL VXSC
018654,000334: 33,2402 20212 9D
018655,000335: 33,2403 02405 ERVECTOR
018656,000336: 33,2404 53321 MXV VAD
018657,000337: 33,2405 02672 XSM
018658,000338: 33,2406 02650 ERCOMP1
018659,000339: 33,2407 16650 STODL ERCOMP1
018660,000340: 33,2410 02441 TEMPTIME
018661,000341: 33,2411 02443 STORE TMARK
018662,000342: 33,2412 47170 AXT,1 RTB
018663,000343: 33,2413 02647 ECADR ERCOMP1
018664,000344: 33,2414 45653 PULSEIMU
018665,000345: 33,2415 77650 GOTO
018666,000346: 33,2416 00051 S2
018667,000347:
018668,000348: 33,2417 00006 EARTHR* EXTEND
018669,000349: 33,2420 23426 QXCH QPLACES
018670,000350: 33,2421 06006 TC INTPRET
018671,000351: 33,2422 77624 CALL
018672,000352: 33,2423 66370 EARTHR
018673,000353: 33,2424 77776 PROUT EXIT
018674,000354: 33,2425 02316 TC IMUSTLLG
018675,000355: 33,2426 01426 TC QPLACES
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Page 431
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018677,000357:
018678,000358: 33,2427 00006 SHOW EXTEND
018679,000359: 33,2430 23425 QXCH QPLACE
018680,000360: 33,2431 31423 SHOW1 CA POSITON
018681,000361: 33,2432 55052 TS DSPTEM2 +2
018682,000362: 33,2433 32442 CA VB06N98
018683,000363: 33,2434 04662 TC BANKCALL
018684,000364: 33,2435 20720 CADR GOFLASH
018685,000365: 33,2436 02267 TC ENDTEST1 # V34
018686,000366: 33,2437 01425 TC QPLACE # V33
018687,000367: 33,2440 12431 TCF SHOW1
018688,000368:
018689,000369: 33,2441 14400 OC14400 OCT 14400
018690,000370: 33,2442 33,2447 3990DEC = OMEG/MS
018691,000371: 33,2442 01542 VB06N98 VN 0698
018692,000372: 33,2443 01602 TESTTIME OCT 01602
018693,000373: 33,2444 4375 DEC17 = ND1
018694,000374: 33,2444 02757 OGCPL ECADR OGC
018695,000375: 33,2445 5041 1SECX = 1SEC
018696,000376: 33,2445 4374 DEC57 = VD1
018697,000377: 33,2445 01713 XNBADR GENADR XNB
018698,000378: 33,2446 01671 XSMADR GENADR XSM
018699,000379: 33,2447 07623 26552 OMEG/MS 2DEC .24339048
018700,000380:
018701,000381: 33,2451 04662 P11OUT TC BANKCALL
018702,000382: 33,2452 70133 CADR MATRXJOB # RETURN TO P11
018703,000383:
018704,000384: 33,2453 COUNT 02/COMST
018705,000385:
018706,000386: 4553 BLOCK 2
018707,000387: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
018708,000388: 4554 00006 EXTEND
018709,000389: 4555 00004 READ LOSCALAR
018710,000390: 4556 54001 TS L
018711,000391: 4557 00006 EXTEND
018712,000392: 4560 06004 RXOR LOSCALAR
018713,000393: 4561 00006 EXTEND
018714,000394: 4562 14566 BZF +4
018715,000395: 4563 00006 EXTEND
018716,000396: 4564 00004 READ LOSCALAR
018717,000397: 4565 54001 TS L
018718,000398: 4566 44777 +4 CS POSMAX
018719,000399: 4567 60001 AD L
018720,000400: 4570 00006 EXTEND
018721,000401: 4571 14554 BZF FINETIME +1
018722,000402: 4572 00006 EXTEND
018723,000403: 4573 00003 READ HISCALAR
018724,000404: 4574 00002 TC Q
018725,000405:
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Page 432
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018727,000407: # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018728,000408: # DATE- NOVEMBER 2 1966
018729,000409: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018730,000410: # MOD NO 3
018731,000411:
018732,000412: # FUNCTIONAL DESCRIPTION
018733,000413:
018734,000414: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018735,000415: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018736,000416: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
018737,000417: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018738,000418: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018739,000419: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018740,000420: # FOR THE DATA TO FLASH.
018741,000421:
018742,000422: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018743,000423: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018744,000424: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018745,000425: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
018746,000426: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
018747,000427: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018748,000428: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018749,000429: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018750,000430: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018751,000431: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018752,000432: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018753,000433:
018754,000434: # COMPASS ERASABLE LOAD REQUIRED
018755,000435:
018756,000436: # 1- LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
018757,000437: # 2- LATITUDE-DP-OF LAUNCH PAD
018758,000438: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
018759,000439: # 4- IMU COMPENSATION PARAMETERS
018760,000440: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
018761,000441:
018762,000442: # TO PERFORM AS PART OF COMPASS
018763,000443:
018764,000444: # 1- OPTICAL VERIFICATION- V 65 E
018765,000445: # 2- AZIMUTH CHANGE- V 78 E
018766,000446:
018767,000447: # SUBROUTINES CALLED
018768,000448:
018769,000449: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018770,000450: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018771,000451:
018772,000452: # NORMAL EXIT
018773,000453:
018774,000454: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018775,000455: # GYROCOMPASS-MANY, SEE THE LISTING
018776,000456:
018777,000457: # ALARMS
018778,000458:
018779,000459: # 1600 OVERFLOW IN DRIFT TEST
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Page 433
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018781,000461: # 1601 BAD IMU TORQUE ABORT
018782,000462: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
018783,000463:
018784,000464: # OUTPUT
018785,000465:
018786,000466: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018787,000467: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018788,000468: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
018789,000469: # 02 GYROCOMPASSING
018790,000470: # 03 DOING OPTICAL VERIFICATION (CSM)
018791,000471:
018792,000472: # DEBRIS
018793,000473:
018794,000474: # ALL CENTRALS, ALL OF EBANK XSM
018795,000475:
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Page 434
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018797,000477: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018798,000478: # ON THE NEXT FEW PAGES.
018799,000479:
018800,000480: 4575 COUNT 33/P02
018801,000481:
018802,000482: 4575 E5,1671 EBANK= XSM
018803,000483: 33,2453 BANK 33
018804,000484: 33,2000 SETLOC IMUCAL
018805,000485: 33,2000 BANK
018806,000486:
018807,000487: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
018808,000488: 33,2454 00075 OCT 00075
018809,000489: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
018810,000490: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
018811,000491: 33,2457 30025 CA TIME1
018812,000492: 33,2460 55645 TS GTSWTLT1
018813,000493: 33,2461 35021 CAF ZERO # ZERO THE PIPAS
018814,000494: 33,2462 54037 TS PIPAX
018815,000495: 33,2463 54040 TS PIPAY
018816,000496: 33,2464 54041 TS PIPAZ
018817,000497: 33,2465 00003 RELINT
018818,000498: 33,2466 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
018819,000499: 33,2467 55655 TS ZERONDX1
018820,000500: 33,2470 33130 CA ALXXXZ
018821,000501: 33,2471 02356 TC ZEROING
018822,000502: 33,2472 06006 TC INTPRET
018823,000503: 33,2473 77735 SLOAD
018824,000504: 33,2474 27111 SCHZEROS
018825,000505: 33,2475 25477 STOVL GCOMPSW -1
018826,000506: 33,2476 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
018827,000507: 33,2477 26455 STOVL ALX1S
018828,000508: 33,2500 27111 SCHZEROS
018829,000509: 33,2501 01472 STORE GCOMP
018830,000510: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
018831,000511: 33,2503 77776 EXIT
018832,000512:
018833,000513: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
018834,000514: 33,2505 02507 TC +2
018835,000515: 33,2506 02523 TC SLEEPIE +1
018836,000516: 33,2507 06006 TC INTPRET
018837,000517: 33,2510 77624 CALL
018838,000518: 33,2511 64000 ERTHRVSE
018839,000519: 33,2512 77776 EXIT
018840,000520: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
018841,000521: 33,2514 55646 TS ERECTIME
018842,000522:
018843,000523: 33,2515 05354 TC NEWMODEX
018844,000524: 33,2516 00002 MM 02 B-14
018845,000525: 33,2517 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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Page 435
|
018847,000527: 33,2520 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
018848,000528: 33,2521 03403 TC ANNNNNN # END OF FIRST TIME THROUGH
018849,000529:
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Page 436
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018851,000531: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018852,000532:
018853,000533: # SET UP WAITLIST SECTION
018854,000534: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
018855,000535: 33,2523 05412 TC PHASCHNG # CHANGE PHASE
018856,000536: 33,2524 00135 OCT 00135
018857,000537: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
018858,000538: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO
018859,000539: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
018860,000540: 33,2530 02532 TC SETGWLST
018861,000541: 33,2531 05217 TC ENDOFJOB
018862,000542:
018863,000543: 33,2532 00006 SETGWLST EXTEND
018864,000544: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018865,000545: 33,2534 00004 INHINT
018866,000546: 33,2535 40025 CS TIME1
018867,000547: 33,2536 61645 AD GTSWTLT1
018868,000548: 33,2537 00006 EXTEND
018869,000549: 33,2540 62542 BZMF +2
018870,000550: 33,2541 65001 AD NEGMAX # 10 MS ERROR OK
018871,000551: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018872,000552: 33,2543 00006 EXTEND
018873,000553: 33,2544 62550 BZMF RIGHTGTS
018874,000554: 33,2545 05235 WTGTSMPL TC TWIDDLE
018875,000555: 33,2546 E5,1540 EBANK= ALTIM
018876,000556: 33,2546 02574 ADRES ALLOOP
018877,000557: 33,2547 00154 TC MPAC
018878,000558: 33,2550 35015 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
018879,000559: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION
018880,000560:
018881,000561: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018882,000562:
018883,000563: 33,2552 4113 25DECML EQUALS OCT31
018884,000564: 33,2552 34113 STOREDTA CAF 25DECML
018885,000565: 33,2553 54154 TS MPAC
018886,000566: 33,2554 50154 INDEX MPAC
018887,000567: 33,2555 31460 CAE THETAX1
018888,000568: 33,2556 50154 INDEX MPAC
018889,000569: 33,2557 55577 TS RESTARPT
018890,000570: 33,2560 10154 CCS MPAC
018891,000571: 33,2561 12553 TCF STOREDTA +1
018892,000572: 33,2562 00002 TC Q
018893,000573:
018894,000574: 33,2563 34113 LOADSTDT CAF 25DECML
018895,000575: 33,2564 54154 TS MPAC
018896,000576: 33,2565 50154 INDEX MPAC
018897,000577: 33,2566 31577 CA RESTARPT
018898,000578: 33,2567 50154 INDEX MPAC
018899,000579:
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Page 437
|
018901,000581: 33,2570 55460 TS THETAX1
018902,000582: 33,2571 10154 CCS MPAC
018903,000583: 33,2572 12564 TCF LOADSTDT +1
018904,000584: 33,2573 00002 TC Q
018905,000585:
018906,000586: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018907,000587:
018908,000588: 33,2574 30025 ALLOOP CA TIME1
018909,000589: 33,2575 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
018910,000590: 33,2576 31540 ALLOOP3 CA ALTIM
018911,000591: 33,2577 55631 TS GEOSAVE1
018912,000592: 33,2600 05412 TC PHASCHNG
018913,000593: 33,2601 00115 OCT 00115
018914,000594: 33,2602 31631 ALLOOP1 CAE GEOSAVE1
018915,000595: 33,2603 55540 TS ALTIM
018916,000596: 33,2604 10000 CCS A
018917,000597: 33,2605 30000 CA A # SHOULD NEVER HIT THIS LOCATION
018918,000598: 33,2606 55541 TS ALTIMS
018919,000599: 33,2607 40000 CS A
018920,000600: 33,2610 55540 TS ALTIM
018921,000601: 33,2611 35021 CAF ZERO
018922,000602: 33,2612 56037 XCH PIPAX
018923,000603: 33,2613 55162 TS DELVX
018924,000604: 33,2614 35021 CAF ZERO
018925,000605: 33,2615 56040 XCH PIPAY
018926,000606: 33,2616 55164 TS DELVY
018927,000607: 33,2617 35021 CAF ZERO
018928,000608: 33,2620 56041 XCH PIPAZ
018929,000609: 33,2621 55166 TS DELVZ
018930,000610: 33,2622 34374 CAF 19DECML # 23 OCT
018931,000611: 33,2623 04114 TC NEWPHASE
018932,000612: 33,2624 00005 OCT 00005
018933,000613: 33,2625 37657 SPECSTS CAF PRIO22
018934,000614: 33,2626 05147 TC FINDVAC
018935,000615: 33,2627 E5,1631 EBANK= GEOSAVE1
018936,000616: 33,2627 02632 66065 2CADR ALFLT # START THE JOB
018937,000617:
018938,000618: 33,2631 05324 TC TASKOVER
018939,000619:
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Page 438
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018941,000621: # THIS IS PART OF THE JOB DONE EVERY ITERATION
018942,000622:
018943,000623: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
018944,000624: 33,2633 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
018945,000625: 33,2634 00215 OCT 00215
018946,000626: 33,2635 12637 TCF +2
018947,000627: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
018948,000628:
018949,000629: 33,2637 11643 CCS GEOCOMP1
018950,000630: 33,2640 02642 TC +2
018951,000631: 33,2641 02645 TC NORMLOP
018952,000632: 33,2642 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER
018953,000633: 33,2643 04662 TC BANKCALL # COMPENSATION IF IN COMPASS
018954,000634: 33,2644 15262 CADR 1/PIPA
018955,000635: 33,2645 06006 NORMLOP TC INTPRET
018956,000636: 33,2646 77745 DLOAD
018957,000637: 33,2647 27120 INTVAL
018958,000638: 33,2650 24051 STOVL S1
018959,000639: 33,2651 01163 DELVX
018960,000640: 33,2652 76505 VXM VSL1
018961,000641: 33,2653 02672 XSM
018962,000642: 33,2654 57545 DLOAD DCOMP
018963,000643: 33,2655 00160 MPAC +3
018964,000644: 33,2656 16533 STODL DPIPAY
018965,000645: 33,2657 00162 MPAC +5
018966,000646: 33,2660 02537 STORE DPIPAZ
018967,000647:
018968,000648: 33,2661 76001 SETPD AXT,1
018969,000649: 33,2662 00001 0
018970,000650: 33,2663 00010 8D
018971,000651: 33,2664 57535 SLOAD DCOMP
018972,000652: 33,2665 02644 GEOCOMP1
018973,000653: 33,2666 77640 BMN
018974,000654: 33,2667 67210 ALWAYSG # DO A QUICK COMPASS
018975,000655:
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Page 439
|
018977,000657: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018978,000658:
018979,000659: 33,2670 COUNT 33/COMST
018980,000660:
018981,000661: 33,2670 50135 ALCGKK SLOAD BMN
018982,000662: 33,2671 02542 ALTIMS
018983,000663: 33,2672 66705 ALFLT3 # NO NEW GAINS NEEDED
018984,000664: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
018985,000665: 33,2674 00014 12D
018986,000666: 33,2675 02454 ALX1S
018987,000667: 33,2676 62143 ALKCG2 DLOAD* INCR,1
018988,000668: 33,2677 02243 ALFDK +144D,1
018989,000669: 33,2700 77775 DEC -2 B-14
018990,000670: 33,2701 12555 STORE ALDK +10D,2
018991,000671: 33,2702 66104 TIX,2 SXA,1
018992,000672: 33,2703 66676 ALKCG2
018993,000673: 33,2704 02454 ALX1S
018994,000674:
018995,000675: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
018996,000676: 33,2706 00010 8D # AND GAIN UPDATES
018997,000677: 33,2707 41343 DELMLP DLOAD* DMP
018998,000678: 33,2710 02543 DPIPAY +8D,1
018999,000679: 33,2711 27705 PIPASC
019000,000680: 33,2712 43661 SLR BDSU*
019001,000681: 33,2713 21212 9D
019002,000682: 33,2714 02511 INTY +8D,1
019003,000683: 33,2715 06511 STORE INTY +8D,1
019004,000684: 33,2716 40725 PDDL DMP*
019005,000685: 33,2717 27707 VELSC
019006,000686: 33,2720 02531 VLAUN +8D,1
019007,000687: 33,2721 77732 SL2R
019008,000688: 33,2722 45425 DSU STADR
019009,000689: 33,2723 71206 STORE DELM +8D,1
019010,000690: 33,2724 06573 STORE DELM +10D,1
019011,000691: 33,2725 77100 TIX,1 AXT,2
019012,000692: 33,2726 66707 DELMLP
019013,000693: 33,2727 00004 4
019014,000694: 33,2730 56743 ALILP DLOAD* DMPR*
019015,000695: 33,2731 75314 ALK +4,2
019016,000696: 33,2732 75230 ALDK +4,2
019017,000697: 33,2733 12463 STORE ALK +4,2
019018,000698: 33,2734 77104 TIX,2 AXT,2
019019,000699: 33,2735 66730 ALILP
019020,000700: 33,2736 00010 8D
019021,000701: 33,2737 66140 ALKLP LXC,1 SXA,1
019022,000702: 33,2740 02455 CMPX1
019023,000703: 33,2741 02455 CMPX1
019024,000704: 33,2742 56743 DLOAD* DMPR*
019025,000705: 33,2743 02460 ALK +1,1
019026,000706: 33,2744 75206 DELM +8D,2
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Page 440
|
019028,000708: 33,2745 77613 DAD*
019029,000709: 33,2746 75266 INTY +8D,2
019030,000710: 33,2747 12511 STORE INTY +8D,2
019031,000711: 33,2750 42743 DLOAD* DAD*
019032,000712: 33,2751 75304 ALK +12D,2
019033,000713: 33,2752 75220 ALDK +12D,2
019034,000714: 33,2753 12473 STORE ALK +12D,2
019035,000715: 33,2754 42673 DMPR* DAD*
019036,000716: 33,2755 75206 DELM +8D,2
019037,000717: 33,2756 75256 INTY +16D,2
019038,000718: 33,2757 12521 STORE INTY +16D,2
019039,000719: 33,2760 40743 DLOAD* DMP*
019040,000720: 33,2761 27712 ALSK +1,1
019041,000721: 33,2762 75206 DELM +8D,2
019042,000722: 33,2763 42772 SL1R DAD*
019043,000723: 33,2764 75246 VLAUN +8D,2
019044,000724: 33,2765 12531 STORE VLAUN +8D,2
019045,000725: 33,2766 76104 TIX,2 AXT,1
019046,000726: 33,2767 66737 ALKLP
019047,000727: 33,2770 00010 8D
019048,000728:
019049,000729: 33,2771 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019050,000730: 33,2772 02533 ACCWD +8D,1
019051,000731: 33,2773 02531 VLAUN +8D,1
019052,000732: 33,2774 55523 PDDL* VDEF
019053,000733: 33,2775 02541 POSNV +8D,1
019054,000734: 33,2776 76521 MXV VSL1
019055,000735: 33,2777 02001 TRANSM1
019056,000736: 33,3000 77745 DLOAD
019057,000737: 33,3001 00155 MPAC
019058,000738: 33,3002 06541 STORE POSNV +8D,1
019059,000739: 33,3003 77745 DLOAD
019060,000740: 33,3004 00160 MPAC +3
019061,000741: 33,3005 06531 STORE VLAUN +8D,1
019062,000742: 33,3006 77745 DLOAD
019063,000743: 33,3007 00162 MPAC +5
019064,000744: 33,3010 06533 STORE ACCWD +8D,1
019065,000745: 33,3011 77700 TIX,1
019066,000746: 33,3012 66771 LOOSE
019067,000747:
019068,000748: 33,3013 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019069,000749: 33,3014 00006 6
019070,000750: 33,3015 00002 2
019071,000751: 33,3016 57343 BOOP DLOAD* DMPR
019072,000752: 33,3017 02513 ANGX +2,1
019073,000753: 33,3020 27715 GEORGEJ
019074,000754: 33,3021 77722 SR2R
019075,000755: 33,3022 73406 PUSH SIN
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Page 441
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019077,000757: 33,3023 56072 SL3R XAD,1
019078,000758: 33,3024 00046 X1
019079,000759: 33,3025 10021 STORE 16D,2
019080,000760: 33,3026 77745 DLOAD
019081,000761: 33,3027 77746 COS
019082,000762: 33,3030 10027 STORE 22D,2 # COSINES
019083,000763: 33,3031 77704 TIX,2
019084,000764: 33,3032 67016 BOOP
019085,000765:
019086,000766: 33,3033 77776 PERFERAS EXIT
019087,000767: 33,3034 35060 CA EBANK7
019088,000768: 33,3035 E7,1400 EBANK= LAT(SPL)
019089,000769: 33,3035 54003 TS EBANK
019090,000770: 33,3036 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
019091,000771:
019092,000772: # CAUTION
019093,000773:
019094,000774: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019095,000775: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019096,000776:
019097,000777: 33,3037 E5,1412 EBANK= LENGTHOT
019098,000778: 33,3037 11412 ONCEMORE CCS LENGTHOT
019099,000779: 33,3040 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019100,000780: 33,3041 11450 CCS TORQNDX
019101,000781: 33,3042 13044 TCF +2
019102,000782: 33,3043 03046 TC SETUPER1
019103,000783: 33,3044 30032 CA CDUX
019104,000784: 33,3045 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019105,000785: 33,3046 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019106,000786: 33,3047 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019107,000787: 33,3050 02503 ANGZ
019108,000788: 33,3051 02507 ANGY
019109,000789: 33,3052 55525 PDDL VDEF
019110,000790: 33,3053 02511 ANGX
019111,000791: 33,3054 74276 VCOMP VXSC
019112,000792: 33,3055 27715 GEORGEJ
019113,000793: 33,3056 74521 MXV VSR1
019114,000794: 33,3057 02672 XSM
019115,000795: 33,3060 02760 STORE OGC
019116,000796: 33,3061 77776 EXIT
019117,000797:
019118,000798: 33,3062 05412 TORQINCH TC PHASCHNG
019119,000799: 33,3063 00005 OCT 00005
019120,000800: 33,3064 32444 CA OGCPL
019121,000801: 33,3065 04662 TC BANKCALL
019122,000802: 33,3066 17206 CADR IMUPULSE
019123,000803: 33,3067 02316 TC IMUSTLLG
019124,000804: 33,3070 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019125,000805: 33,3071 02262 TC VALMIS # VERT DRIFT TEST OVER
019126,000806: 33,3072 06006 TC INTPRET
|
|
Page 442
|
019128,000808: 33,3073 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019129,000809: 33,3074 64000 ERTHRVSE
019130,000810: 33,3075 77776 EXIT
019131,000811: 33,3076 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019132,000812:
019133,000813: 33,3077 05650 SOMEERRR TC ALARM
019134,000814: 33,3100 01600 OCT 1600
019135,000815: 33,3101 03104 TC +3
019136,000816: 33,3102 05650 SOMERR2 TC ALARM
019137,000817: 33,3103 01601 OCT 1601
019138,000818: 33,3104 05412 TC PHASCHNG
019139,000819: 33,3105 00005 OCT 00005
019140,000820: 33,3106 02267 TC ENDTEST1
019141,000821:
019142,000822: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019143,000823:
019144,000824: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
019145,000825: 33,3110 00000 00000 SCHZEROS 2DEC .00000000
019146,000826: 33,3112 00000 00000 2DEC .00000000
019147,000827: 33,3114 00000 OCT 00000
019148,000828: 33,3115 00000 ONEDPP OCT 00000
019149,000829: 33,3116 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT
019150,000830:
019151,000831: 33,3117 00004 INTVAL OCT 4
019152,000832: 33,3120 00002 OCT 2
019153,000833: 33,3121 00220 DEC 144 B-14
019154,000834: 33,3122 77776 DEC -1 B-14
019155,000835: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019156,000836: 33,3125 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019157,000837:
019158,000838: 33,3127 00115 77DECML DEC 77 B-14
019159,000839: 33,3130 01453 ALXXXZ GENADR ALX1S -1
019160,000840:
019161,000841: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019162,000842:
019163,000843: 33,3131 COUNT 33/P01
019164,000844:
019165,000845: # INITIALIZATION SECTION
019166,000846:
019167,000847: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019168,000848: 33,3132 75004 MASK NOP01BIT
|
|
Page 443
|
019170,000850: 33,3133 00006 EXTEND
019171,000851: 33,3134 13137 BZF GTSCPSSA
019172,000852: 33,3135 05721 TC POODOO
019173,000853: 33,3136 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
019174,000854:
019175,000855: 33,3137 35017 GTSCPSSA CAF ONE
019176,000856: 33,3140 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019177,000857: 33,3141 33435 CA 1/PIPAGT
019178,000858: 33,3142 55074 TS 1/PIPADT
019179,000859: 33,3143 35010 NXXTENN CA BIT8
019180,000860: 33,3144 55412 TS LENGTHOT
019181,000861: 33,3145 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019182,000862: 33,3146 55644 TS 1SECXT1
019183,000863: 33,3147 35017 CAF ONE
019184,000864: 33,3150 55632 TS PREMTRX1
019185,000865: 33,3151 55657 TS PERFDLAY +1
019186,000866: 33,3152 35021 CAF ZERO
019187,000867: 33,3153 55656 TS PERFDLAY
019188,000868: 33,3154 00006 EXTEND
019189,000869: 33,3155 31634 DCA LUNCHAZ1
019190,000870: 33,3156 53636 DXCH NEWAZ1
019191,000871: 33,3157 00006 EXTEND
019192,000872: 33,3160 31634 DCA LUNCHAZ1
019193,000873: 33,3161 53640 DXCH OLDAZMTH
019194,000874: 33,3162 34375 SETUPGC CA DEC17
019195,000875: 33,3163 55655 TS ZERONDX1
019196,000876: 33,3164 32446 CA XSMADR
019197,000877: 33,3165 02356 TC ZEROING
019198,000878: 33,3166 03170 TC POSN17C
019199,000879: 33,3167 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019200,000880:
019201,000881:
019202,000882: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
019203,000883: 33,3171 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019204,000884: 33,3172 45002 CS HALF # ALL THIS TO INITIALIZE MATRIX
019205,000885: 33,3173 55705 TS ZSM
019206,000886: 33,3174 06006 TC INTPRET
019207,000887: 33,3175 41545 DLOAD PUSH
019208,000888: 33,3176 02636 NEWAZ1
019209,000889: 33,3177 77756 SIN
019210,000890: 33,3200 02676 STORE XSM +4
019211,000891: 33,3201 16702 STODL YSM +2
019212,000892: 33,3202 77746 COS
019213,000893: 33,3203 02704 STORE YSM +4
019214,000894: 33,3204 77676 DCOMP
019215,000895: 33,3205 02674 STORE XSM +2
019216,000896: 33,3206 77776 EXIT
019217,000897: 33,3207 01425 TC QPLACE
019218,000898:
|
|
Page 444
|
019220,000900: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019221,000901:
019222,000902: 33,3210 COUNT 33/P02
019223,000903:
019224,000904: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019225,000905: 33,3211 02543 DPIPAY +8D,1
019226,000906: 33,3212 02505 FILDELV1 +8D,1
019227,000907: 33,3213 42675 DMPR DAD*
019228,000908: 33,3214 27717 GEOCONS1
019229,000909: 33,3215 02505 FILDELV1 +8D,1
019230,000910: 33,3216 06505 STORE FILDELV1 +8D,1
019231,000911: 33,3217 77613 DAD*
019232,000912: 33,3220 02507 INTVEC1 +8D,1
019233,000913: 33,3221 06507 STORE INTVEC1 +8D,1
019234,000914: 33,3222 42675 DMPR DAD*
019235,000915: 33,3223 27721 GEOCONS2
019236,000916: 33,3224 02505 FILDELV1 +8D,1
019237,000917: 33,3225 41475 DMPR PUSH
019238,000918: 33,3226 15333 GEOCONS5
019239,000919: 33,3227 67300 TIX,1 SLOAD
019240,000920: 33,3230 67210 ALWAYSG
019241,000921: 33,3231 02647 ERECTIM1
019242,000922: 33,3232 71254 BZE DLOAD
019243,000923: 33,3233 67244 COMPGS
019244,000924: 33,3234 02471 THETAN1 +2
019245,000925: 33,3235 45425 DSU STADR
019246,000926: 33,3236 61306 STODL THETAN1 +2 # ERECTION ONLY.
019247,000927: 33,3237 77621 BDSU
019248,000928: 33,3240 02473 THETAN1 +4
019249,000929: 33,3241 02473 STORE THETAN1 +4
019250,000930: 33,3242 77650 GOTO
019251,000931: 33,3243 67266 ADDINDRF
019252,000932: 33,3244 43345 COMPGS DLOAD DAD # COMPASS
019253,000933: 33,3245 02467 THETAN1
019254,000934: 33,3246 02475 FILDELV1
019255,000935: 33,3247 16467 STODL THETAN1
019256,000936: 33,3250 02475 FILDELV1
019257,000937: 33,3251 44275 DMPR BDSU
019258,000938: 33,3252 27723 GEOCONS3
019259,000939: 33,3253 02473 THETAN1 +4
019260,000940: 33,3254 16473 STODL THETAN1 +4
019261,000941: 33,3255 02501 FILDELV1 +4
019262,000942: 33,3256 44275 DMPR BDSU
019263,000943: 33,3257 27723 GEOCONS3
019264,000944: 33,3260 02471 THETAN1 +2
019265,000945: 33,3261 57325 PDDL DMPR
019266,000946: 33,3262 02503 INTVEC1 +4
019267,000947: 33,3263 27725 GEOCONS4
019268,000948: 33,3264 45421 BDSU STADR
019269,000949: 33,3265 75306 STORE THETAN1 +2
|
|
Page 445
|
019271,000951: 33,3266 77776 ADDINDRF EXIT
019272,000952:
019273,000953:
019274,000954: 33,3267 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019275,000955: 33,3270 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019276,000956: 33,3271 03406 TC CHKCOMED
019277,000957: 33,3272 11304 CCS LGYRO # YES BUT ARE GYROS BUSY
019278,000958: 33,3273 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019279,000959:
019280,000960: 33,3274 06006 LASTGTS TC INTPRET
019281,000961: 33,3275 77775 VLOAD
019282,000962: 33,3276 02650 ERCOMP1
019283,000963: 33,3277 16461 STODL THETAX1
019284,000964: 33,3300 02443 TMARK
019285,000965: 33,3301 02457 STORE ALK
019286,000966: 33,3302 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019287,000967:
019288,000968: 33,3303 05412 RESTAIER TC PHASCHNG
019289,000969: 33,3304 00275 OCT 00275
019290,000970: 33,3305 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019291,000971: 33,3306 64375 VLOAD MXV
019292,000972: 33,3307 02467 THETAN1
019293,000973: 33,3310 02672 XSM
019294,000974: 33,3311 53372 VSL1 VAD
019295,000975: 33,3312 02461 THETAX1
019296,000976: 33,3313 16650 STODL ERCOMP1
019297,000977: 33,3314 02457 ALK
019298,000978: 33,3315 02443 STORE TMARK
019299,000979: 33,3316 77776 EXIT
019300,000980: 33,3317 02417 TC EARTHR* # TORQUE IT ALL IN
019301,000981: 33,3320 31646 CAE ERECTIM1
019302,000982: 33,3321 55631 TS GEOSAVE1
019303,000983: 33,3322 05412 TC PHASCHNG
019304,000984: 33,3323 00155 OCT 00155
019305,000985: 33,3324 06006 RESTEST1 TC INTPRET
019306,000986: 33,3325 77775 VLOAD
019307,000987: 33,3326 27111 SCHZEROS
019308,000988: 33,3327 02467 STORE THETAN1
019309,000989: 33,3330 77776 EXIT
019310,000990: 33,3331 11632 CCS PREMTRXC
019311,000991: 33,3332 03401 TC NOCHORLD
019312,000992: 33,3333 05412 TC PHASCHNG
019313,000993: 33,3334 00255 OCT 00255
019314,000994: 33,3335 06006 RESTEST3 TC INTPRET
019315,000995: 33,3336 77745 DLOAD
019316,000996: 33,3337 02634 LAUNCHAZ
019317,000997: 33,3340 53025 DSU BZE
019318,000998: 33,3341 02640 OLDAZMTH
019319,000999: 33,3342 67376 NOAZCHGE
019320,001000: 33,3343 00001 STORE 0D
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|
Page 446
|
019322,001002: 33,3344 43335 SLOAD DAD
019323,001003: 33,3345 27117 ONEDPP +1
019324,001004: 33,3346 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019325,001005: 33,3347 16633 STODL PREMTRXC
019326,001006: 33,3350 02634 LAUNCHAZ
019327,001007: 33,3351 16636 STODL NEWAZMTH
019328,001008: 33,3352 00001 0D
019329,001009: 33,3353 02654 ADERCOMP STORE ERCOMP +4
019330,001010: 33,3354 77776 EXIT
019331,001011: 33,3355 03170 TC POSN17C
019332,001012: 33,3356 05412 TC PHASCHNG
019333,001013: 33,3357 00335 OCT 00335
019334,001014: 33,3360 00006 RESCHNG EXTEND
019335,001015: 33,3361 31636 DCA NEWAZMTH
019336,001016: 33,3362 53640 DXCH OLDAZMTH
019337,001017: 33,3363 35011 CA BIT7 # SPEND 320 SEC ERECTING
019338,001018: 33,3364 55412 TS LENGTHOT
019339,001019: 33,3365 05412 TC PHASCHNG
019340,001020: 33,3366 00075 OCT 00075
019341,001021: 33,3367 33434 SPITGYRO CA ERCOMPPL
019342,001022: 33,3370 04662 TC BANKCALL
019343,001023: 33,3371 17206 CADR IMUPULSE
019344,001024: 33,3372 04662 TC BANKCALL
019345,001025: 33,3373 17577 CADR IMUSTALL
019346,001026: 33,3374 03102 TC SOMERR2
019347,001027: 33,3375 02453 TC ESTIMS # RE-INITIALIZE
019348,001028:
019349,001029:
019350,001030: 33,3376 77776 NOAZCHGE EXIT
019351,001031: 33,3377 35017 CA ONE
019352,001032: 33,3400 55632 TS PREMTRXC
019353,001033: 33,3401 11631 NOCHORLD CCS GEOSAVE1
019354,001034: 33,3402 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019355,001035:
019356,001036: 33,3403 34334 ANNNNNN CAF NINE
019357,001037: 33,3404 55412 TS LENGTHOT
019358,001038: 33,3405 02523 TC SLEEPIE +1
019359,001039:
019360,001040:
019361,001041: 33,3406 00004 CHKCOMED INHINT
019362,001042: 33,3407 41011 CS MODREG # CHECK FOR MM 07 FIRST
019363,001043: 33,3410 65023 AD SEVEN
019364,001044: 33,3411 00006 EXTEND
019365,001045: 33,3412 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019366,001046: 33,3413 45021 CS ZERO
019367,001047: 33,3414 00006 EXTEND
019368,001048: 33,3415 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019369,001049: 33,3416 75013 MASK BIT5 # LIFTOFF BIT
019370,001050: 33,3417 10000 CCS A
019371,001051: 33,3420 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED
019372,001052:
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|
Page 447
|
019374,001054: 33,3421 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019375,001055: 33,3422 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019376,001056: 33,3423 10000 CCS A
019377,001057: 33,3424 13427 TCF PRELTERM # BACKUP RECEIVED
019378,001058:
019379,001059: 33,3425 00003 RELINT
019380,001060: 33,3426 00002 GOBKCALB TC Q
019381,001061:
019382,001062: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019383,001063: 33,3430 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019384,001064: 33,3431 00004 INHINT
019385,001065: 33,3432 04701 TC POSTJUMP
019386,001066: 33,3433 70002 CADR P11
019387,001067:
019388,001068:
019389,001069: 33,3434 02647 ERCOMPPL ECADR ERCOMP
019390,001070:
019391,001071: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF
019392,001072: 33,3435 06200 1/PIPAGT OCT 06200
019393,001073: 33,3436 4375 17DECML = ND1 # OCT 21
019394,001074: 33,3436 4374 19DECML = VD1 # OCT 23
019395,001075: 33,3436 5036 1/2SECX = .5SEC
019396,001076:
019397,001077:
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|
Page 448
|
019399,001079: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB
019400,001080:
|
|
Page 449
|
019402,001082: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019403,001083:
019404,001084: 33,3436 COUNT 33/P03
019405,001085:
019406,001086: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019407,001087: 33,3437 00154 OCT 00154
019408,001088: 33,3440 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019409,001089: 33,3441 00003 MM 03 B-14
019410,001090: 33,3442 02037 SETNBPOS TC NBPOSPL
019411,001091: 33,3443 04662 TC BANKCALL
019412,001092: 33,3444 16063 CADR MKRELEAS
019413,001093: 33,3445 35017 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019414,001094: 33,3446 22007 ZL # T 1,THEN TARGET 2
019415,001095: 33,3447 23427 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019416,001096: 33,3450 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019417,001097: 33,3451 00006 EXTEND
019418,001098: 33,3452 51427 INDEX RUN
019419,001099: 33,3453 31433 DCA TAZEL1
019420,001100: 33,3454 53046 DXCH DSPTEM1
019421,001101: 33,3455 33500 CAF V05N30E
019422,001102: 33,3456 04662 TC BANKCALL
019423,001103: 33,3457 20673 CADR GODSPRET
019424,001104: 33,3460 33466 CAF VN0641
019425,001105: 33,3461 04662 TC BANKCALL
019426,001106: 33,3462 20720 CADR GOFLASH
019427,001107: 33,3463 03620 TC GCOMP5
019428,001108: 33,3464 03467 TC +3
019429,001109: 33,3465 03455 TC -8D
019430,001110: 33,3466 01451 VN0641 VN 0641
019431,001111: 33,3467 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019432,001112: 33,3470 51427 INDEX RUN
019433,001113: 33,3471 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019434,001114: 33,3472 11427 CCS RUN
019435,001115: 33,3473 13477 TCF +4
019436,001116: 33,3474 35016 CAF TWO
019437,001117: 33,3475 54001 TS L
019438,001118: 33,3476 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019439,001119:
019440,001120: 33,3477 03541 TC CONTIN33
019441,001121:
019442,001122: 33,3500 01236 V05N30E VN 0530
019443,001123:
019444,001124: 33,3501 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019445,001125: 33,3502 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019446,001126: 33,3503 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019447,001127: 33,3504 00014 12D
019448,001128: 33,3505 40331 SSP SETPD
019449,001129: 33,3506 00052 S2
019450,001130: 33,3507 00006 6
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Page 450
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019452,001132: 33,3510 00001 0
019453,001133: 33,3511 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019454,001134: 33,3512 02436 TAZEL1 +3,1
019455,001135: 33,3513 00001 STORE 0 # PD00 ELEVATION PD00
019456,001136: 33,3514 77756 SIN
019457,001137: 33,3515 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019458,001138: 33,3516 77745 DLOAD
019459,001139: 33,3517 00001 0
019460,001140: 33,3520 41546 COS PUSH # PD00 COS(EL) PD00
019461,001141: 33,3521 47133 SLOAD* RTB
019462,001142: 33,3522 02435 TAZEL1 +2,1
019463,001143: 33,3523 45513 CDULOGIC
019464,001144: 33,3524 00003 STORE 2 # PD02 AZIMUTH PD02
019465,001145: 33,3525 41356 SIN DMP
019466,001146: 33,3526 00001 0
019467,001147: 33,3527 77752 SL1
019468,001148: 33,3530 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019469,001149: 33,3531 71545 DLOAD COS
019470,001150: 33,3532 00003 2
019471,001151: 33,3533 72405 DMP SL1
019472,001152: 33,3534 76076 DCOMP AXT,1
019473,001153: 33,3535 00000 0
019474,001154: 33,3536 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019475,001155: 33,3537 43504 TIX,2 RVQ
019476,001156: 33,3540 67511 TAR1
019477,001157:
019478,001158:
019479,001159: 33,3541 BANK 33
019480,001160: 33,2000 SETLOC IMUCAL
019481,001161: 33,2000 BANK
019482,001162: 33,3541 COUNT* $$/PO3
019483,001163:
019484,001164: 33,3541 35017 CONTIN33 CA ONE
019485,001165: 33,3542 54735 TS STARCODE
019486,001166: 33,3543 35021 CA ZERO
019487,001167: 33,3544 03635 TC TARGDRVE
019488,001168: 33,3545 06006 TC INTPRET
019489,001169: 33,3546 77624 CALL
019490,001170: 33,3547 67502 TAR/EREF
019491,001171: 33,3550 64375 NEXTBNKS VLOAD MXV
019492,001172: 33,3551 00007 6D
019493,001173: 33,3552 02672 XSM
019494,001174: 33,3553 77772 VSL1
019495,001175: 33,3554 26736 STOVL STARAD
019496,001176: 33,3555 00015 12D
019497,001177: 33,3556 76521 MXV VSL1
019498,001178: 33,3557 02672 XSM
019499,001179: 33,3560 36744 STCALL STARAD +6
019500,001180: 33,3561 67726 LITTLSUB
019501,001181: 33,3562 02414 STORE LOSVEC
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Page 451
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019503,001183: 33,3563 77776 EXIT
019504,001184: 33,3564 04662 TC BANKCALL
019505,001185: 33,3565 16063 CADR MKRELEAS
019506,001186:
019507,001187:
019508,001188: 33,3566 35016 NEXBNKSS CAF TWO
019509,001189: 33,3567 54735 TS STARCODE
019510,001190: 33,3570 36211 CAF SIX
019511,001191: 33,3571 03635 TC TARGDRVE
019512,001192: 33,3572 06006 TC INTPRET
019513,001193: 33,3573 77624 CALL
019514,001194: 33,3574 67726 LITTLSUB
019515,001195: 33,3575 24015 STOVL 12D
019516,001196: 33,3576 02414 LOSVEC
019517,001197: 33,3577 34007 STCALL 06D
019518,001198: 33,3600 47401 AXISGEN
019519,001199: 33,3601 77624 CALL
019520,001200: 33,3602 47205 CALCGTA
019521,001201: 33,3603 77776 EXIT
019522,001202: 33,3604 33631 GCOMP4 CAF V06N93S
019523,001203: 33,3605 04662 TC BANKCALL
019524,001204: 33,3606 20720 CADR GOFLASH
019525,001205: 33,3607 03620 TC GCOMP5
019526,001206: 33,3610 13612 TCF +2
019527,001207: 33,3611 13604 TCF GCOMP4
019528,001208: 33,3612 06006 TC INTPRET
019529,001209: 33,3613 53375 VLOAD VAD
019530,001210: 33,3614 02760 OGC
019531,001211: 33,3615 02650 ERCOMP1
019532,001212: 33,3616 02650 STORE ERCOMP1
019533,001213: 33,3617 77776 EXIT
019534,001214: 33,3620 04662 GCOMP5 TC BANKCALL
019535,001215: 33,3621 16063 CADR MKRELEAS
019536,001216: 33,3622 05560 TC DOWNFLAG
019537,001217: 33,3623 00032 ADRES TRM03FLG
019538,001218:
019539,001219: 33,3624 05354 TC NEWMODEX
019540,001220: 33,3625 00002 MM 02 B-14
019541,001221: 33,3626 05412 TC PHASCHNG
019542,001222: 33,3627 00004 OCT 00004
019543,001223: 33,3630 05217 TC ENDOFJOB
019544,001224: 33,3631 01535 V06N93S VN 0693
019545,001225: 33,3632 05650 GTSOPTCS TC ALARM
019546,001226: 33,3633 01602 GTSOPTSS OCT 01602
019547,001227: 33,3634 03620 TC GCOMP5
019548,001228:
019549,001229:
019550,001230: 34,2002 BANK 34
019551,001231: 04,2000 SETLOC IMUCAL1
019552,001232: 04,2000 BANK
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Page 452
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019554,001234:
019555,001235: 04,2613 COUNT 34/COMST
019556,001236:
019557,001237: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
019558,001238: 04,2614 02403 LATITUDE
019559,001239: 04,2615 15047 STODL DSPTEM1 +1
019560,001240: 04,2616 02401 AZIMUTH
019561,001241: 04,2617 77434 RTB EXIT
019562,001242: 04,2620 45546 1STO2S
019563,001243: 04,2621 56154 XCH MPAC
019564,001244: 04,2622 55045 TS DSPTEM1
019565,001245: 04,2623 04662 TC BANKCALL
019566,001246: 04,2624 20703 CADR CLEANDSP
019567,001247: 04,2625 32644 CAF VNG0641
019568,001248: 04,2626 04662 TC BANKCALL
019569,001249: 04,2627 20720 CADR GOFLASH
019570,001250: 04,2630 02632 TC +2 # NOT ALLOWED
019571,001251: 04,2631 02633 TC +2
019572,001252: 04,2632 02625 TC -5
019573,001253: 04,2633 06006 TC INTPRET
019574,001254: 04,2634 47135 SLOAD RTB
019575,001255: 04,2635 01046 DSPTEM1
019576,001256: 04,2636 45513 CDULOGIC
019577,001257: 04,2637 02401 STORE AZIMUTH
019578,001258: 04,2640 60535 SLOAD SR2
019579,001259: 04,2641 01047 DSPTEM1 +1
019580,001260: 04,2642 02403 STORE LATITUDE
019581,001261: 04,2643 77616 RVQ
019582,001262: 04,2644 01451 VNG0641 VN 0641
019583,001263: 33,3635 BANK 33
019584,001264: 33,2000 SETLOC IMUCAL
019585,001265: 33,2000 BANK
019586,001266:
019587,001267:
019588,001268: 33,3635 COUNT* $$/P03
019589,001269: 33,3635 00006 TARGDRVE EXTEND
019590,001270: 33,3636 23424 QXCH QPLAC
019591,001271: 33,3637 55431 TS TARG1/2
019592,001272: 33,3640 06006 TC INTPRET
019593,001273: 33,3641 77624 CALL
019594,001274: 33,3642 67502 TAR/EREF
019595,001275: 33,3643 76740 LXC,1 VLOAD*
019596,001276: 33,3644 02431 TARG1/2
019597,001277: 33,3645 00007 6D,1
019598,001278: 33,3646 36766 STCALL STAR
019599,001279: 33,3647 46053 SXTANG
019600,001280: 33,3650 77776 EXIT
019601,001281: 33,3651 31773 CA SAC
019602,001282: 33,3652 55161 TS DESOPTS
019603,001283:
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|
Page 453
|
019605,001285: 33,3653 31775 CA PAC
019606,001286: 33,3654 55160 TS DESOPTT
019607,001287: 33,3655 35021 RETARG CAF ZERO
019608,001288: 33,3656 55303 TS OPTIND
019609,001289: 33,3657 35017 CAF ONE
019610,001290: 33,3660 04662 TC BANKCALL
019611,001291: 33,3661 16002 CADR SXTMARK
019612,001292: 33,3662 04662 TC BANKCALL
019613,001293: 33,3663 17573 CADR OPTSTALL
019614,001294: 33,3664 03632 TC GTSOPTCS
019615,001295: 33,3665 30075 CAE FLAGWRD1
019616,001296: 33,3666 75014 MASK TRM03BIT
019617,001297: 33,3667 10000 CCS A
019618,001298: 33,3670 03620 TC GCOMP5
019619,001299:
019620,001300: 33,3671 51330 INDEX MARKSTAT
019621,001301: 33,3672 30052 CA QPRET
019622,001302: 33,3673 00006 EXTEND
019623,001303: 33,3674 13676 BZF RETARG1
019624,001304: 33,3675 01424 TC QPLAC
019625,001305:
019626,001306:
019627,001307: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
019628,001308: 33,3677 57330 XCH MARKSTAT
019629,001309: 33,3700 10000 CCS A
019630,001310: 33,3701 50000 INDEX A
019631,001311: 33,3702 54000 TS A
019632,001312: 33,3703 13655 TCF RETARG # GO DO SXTMARK AGAIN
019633,001313: 33,3704 BANK 33
019634,001314: 33,2000 SETLOC IMUCAL
019635,001315: 33,2000 BANK
019636,001316: 33,3704 COUNT* $$/P03
019637,001317: 33,3704 30341 22444 PIPASC 2DEC .76376833
019638,001318:
019639,001319: 33,3706 57223 66451 VELSC 2DEC -.52223476
019640,001320:
019641,001321: 33,3710 05427 12577 ALSK 2DEC .17329931
019642,001322:
019643,001323: 33,3712 77567 44202 2DEC -.00835370
019644,001324:
019645,001325: 33,3714 24276 14066 GEORGEJ 2DEC .63661977
019646,001326:
019647,001327: 33,3716 03146 14632 GEOCONS1 2DEC .1
019648,001328:
019649,001329: 33,3720 00121 35341 GEOCONS2 2DEC .005
019650,001330:
019651,001331: 33,3722 01767 31666 GEOCONS3 2DEC .062
019652,001332:
019653,001333: 33,3724 00004 35223 GEOCONS4 2DEC .0003
019654,001334:
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Page 454
|
019656,001336:
019657,001337: 33,3726 COUNT 33/P02
019658,001338: 33,3726 77620 LITTLSUB STQ
019659,001339: 33,3727 02424 QPLAC
019660,001340: 33,3730 76740 LXC,1 VLOAD*
019661,001341: 33,3731 01330 MARKSTAT
019662,001342: 33,3732 00003 2,1
019663,001343: 33,3733 34767 STCALL CDUSPOT
019664,001344: 33,3734 46000 SXTNB
019665,001345: 33,3735 77624 CALL
019666,001346: 33,3736 47637 TRG*NBSM
019667,001347: 33,3737 77650 GOTO
019668,001348: 33,3740 02424 QPLAC
019669,001349:
019670,001350:
019671,001351: 33,3741 77776 EXIT
019672,001352: 33,3742 06006 AZMTHCG1 TC INTPRET
019673,001353: 33,3743 47145 DLOAD RTB
019674,001354: 33,3744 02636 NEWAZMTH
019675,001355: 33,3745 45546 1STO2S
019676,001356: 33,3746 77776 EXIT
019677,001357: 33,3747 56154 XCH MPAC
019678,001358: 33,3750 55045 TS DSPTEM1
019679,001359: 33,3751 04662 TC BANKCALL
019680,001360: 33,3752 20703 CADR CLEANDSP
019681,001361: 33,3753 33775 CAF VN0629
019682,001362: 33,3754 04662 TC BANKCALL
019683,001363: 33,3755 20720 CADR GOFLASH
019684,001364: 33,3756 13760 TCF +2
019685,001365: 33,3757 13761 TCF +2
019686,001366: 33,3760 13753 TCF -5
019687,001367: 33,3761 06006 TC INTPRET
019688,001368: 33,3762 47135 SLOAD RTB
019689,001369: 33,3763 01046 DSPTEM1
019690,001370: 33,3764 45513 CDULOGIC
019691,001371: 33,3765 02634 STORE LAUNCHAZ
019692,001372: 33,3766 77776 EXIT
019693,001373: 33,3767 35021 CA ZERO
019694,001374: 33,3770 55632 TS PREMTRXC
019695,001375: 33,3771 05412 TC PHASCHNG
019696,001376: 33,3772 00004 OCT 00004
019697,001377: 33,3773 04701 TC POSTJUMP
019698,001378: 33,3774 21272 CADR PINBRNCH
019699,001379:
019700,001380: 33,3775 01435 VN0629 VN 0629
019701,001381:
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Page 455
Only assembler-generated messages appear on this page.
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019704,001384:
019705,001385:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc