Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 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 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 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 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
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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018172,000002: ## Copyright: Public domain.
018173,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018174,000004: ## Purpose: A section of Comanche revision 051.
018175,000005: ## It is part of the reconstructed source code for the
018176,000006: ## original release of the flight software for the Command
018177,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
018178,000008: ## The code has been recreated from a copy of Comanche 055. It
018179,000009: ## has been adapted such that the resulting bugger words
018180,000010: ## exactly match those specified for Comanche 51 in NASA drawing
018181,000011: ## 2021153D, which gives relatively high confidence that the
018182,000012: ## reconstruction is correct.
018183,000013: ## Reference: pp. 423-455
018184,000014: ## Assembler: yaYUL
018185,000015: ## Contact: Ron Burkey <info@sandroid.org>.
018186,000016: ## Website: www.ibiblio.org/apollo/index.html
018187,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
018188,000018: ## 2021-05-30 ABS Single instance of $$/P03 -> $$/PO3 to match Comanche 55.
018189,000019:
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Page 423
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018191,000021: # NAME- IMU PERFORMANCE TESTS 2
018192,000022:
018193,000023: # DATE- MARCH 20, 1967
018194,000024:
018195,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018196,000026:
018197,000027: # MODNO.- ZERO
018198,000028:
018199,000029: # FUNCTIONAL DESCRIPTION
018200,000030:
018201,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018202,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018203,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018204,000034:
018205,000035: 33,2004 BANK 33
018206,000036: 33,2000 SETLOC IMUCAL
018207,000037: 33,2000 BANK
018208,000038:
018209,000039: 33,2004 E5,1423 EBANK= POSITON
018210,000040: 33,2004 35021 IMUTEST CA ZERO
018211,000041: 33,2005 55452 TS DRIFTT
018212,000042: 33,2006 55643 TS GEOCOMP1
018213,000043: 33,2007 32443 CAF TESTTIME
018214,000044: 33,2010 55412 TS LENGTHOT
018215,000045: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG
018216,000046: 33,2012 35041 CAF 1SECX
018217,000047: 33,2013 55644 TS 1SECXT1
018218,000048:
018219,000049: 33,2014 32441 CA OC14400
018220,000050: 33,2015 55074 TS 1/PIPADT
018221,000051: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
018222,000052: 33,2017 77624 CALL
018223,000053: 33,2020 10613 LATAZCHK
018224,000054: 33,2021 57546 COS DCOMP
018225,000055: 33,2022 77752 SL1
018226,000056: 33,2023 16447 STODL WANGI
018227,000057: 33,2024 02403 LATITUDE
018228,000058: 33,2025 72556 SIN SL1
018229,000059: 33,2026 02445 STORE WANGO
018230,000060: 33,2027 77776 EXIT
018231,000061: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018232,000062: 33,2031 16577 CADR IMUZERO
018233,000063: 33,2032 02316 TC IMUSTLLG
018234,000064: 33,2033 35021 IMUBACK CA ZERO
018235,000065: 33,2034 55421 TS NDXCTR
018236,000066: 33,2035 55450 TS TORQNDX
018237,000067: 33,2036 55451 TS TORQNDX +1
018238,000068: 33,2037 34375 NBPOSPL CA DEC17
018239,000069: 33,2040 55655 TS ZERONDX1
018240,000070: 33,2041 32445 CA XNBADR
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Page 424
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018242,000072: 33,2042 02356 TC ZEROING
018243,000073: 33,2043 35002 CA HALF
018244,000074: 33,2044 55713 TS XNB
018245,000075: 33,2045 06006 TC INTPRET
018246,000076: 33,2046 73545 DLOAD SIN
018247,000077: 33,2047 02401 AZIMUTH
018248,000078: 33,2050 02724 STORE YNB +2
018249,000079: 33,2051 16734 STODL ZNB +4
018250,000080: 33,2052 02401 AZIMUTH
018251,000081: 33,2053 77746 COS
018252,000082: 33,2054 02726 STORE YNB +4
018253,000083: 33,2055 77676 DCOMP
018254,000084: 33,2056 02732 STORE ZNB +2
018255,000085: 33,2057 77776 EXIT
018256,000086: 33,2060 05364 TC CHECKMM
018257,000087: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018258,000088: 33,2062 12064 TCF +2 # NO
018259,000089: 33,2063 13443 TCF SETNBPOS +1 # YES
018260,000090: 33,2064 06006 TC INTPRET
018261,000091: 33,2065 77624 CALL
018262,000092: 33,2066 47311 CALCGA
018263,000093: 33,2067 77776 EXIT
018264,000094: 33,2070 04662 TC BANKCALL
018265,000095: 33,2071 16663 CADR IMUCOARS
018266,000096: 33,2072 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018267,000097: 33,2073 70077 MASK FLAGWRD3
018268,000098: 33,2074 00006 EXTEND
018269,000099: 33,2075 12077 BZF +2
018270,000100: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018271,000101: 33,2077 05560 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018272,000102: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018273,000103: 33,2101 02316 TC IMUSTLLG
018274,000104: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018275,000105: 33,2103 02131 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018276,000106: 33,2104 04662 TC BANKCALL
018277,000107: 33,2105 17073 CADR IMUFINE
018278,000108: 33,2106 02316 TC IMUSTLLG
018279,000109: 33,2107 00006 EXTEND
018280,000110: 33,2110 31657 DCA PERFDLAY
018281,000111: 33,2111 05342 TC LONGCALL
018282,000112: 33,2112 E5,1423 EBANK= POSITON
018283,000113: 33,2112 02116 66065 2CADR GOESTIMS
018284,000114:
018285,000115: 33,2114 32121 CA ESTICADR
018286,000116: 33,2115 05175 TC JOBSLEEP
018287,000117: 33,2116 32121 GOESTIMS CA ESTICADR
018288,000118: 33,2117 05201 TC JOBWAKE
018289,000119: 33,2120 05324 TC TASKOVER
018290,000120: 33,2121 66453 ESTICADR CADR ESTIMS
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Page 425
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018292,000122: 33,2122 35021 TORQUE CA ZERO
018293,000123: 33,2123 55050 TS DSPTEM2
018294,000124: 33,2124 31514 CA DRIFTI
018295,000125: 33,2125 55051 TS DSPTEM2 +1
018296,000126: 33,2126 51423 INDEX POSITON
018297,000127: 33,2127 55430 TS SOUTHDR -1
018298,000128: 33,2130 02427 TC SHOW
018299,000129:
018300,000130: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST
018301,000131: 33,2132 02133 TC +1
018302,000132: 33,2133 02417 TC EARTHR*
018303,000133: 33,2134 34374 CA DEC57
018304,000134: 33,2135 55412 TS LENGTHOT
018305,000135: 33,2136 35017 CA ONE
018306,000136: 33,2137 55547 TS RESULTCT
018307,000137: 33,2140 35021 CA ZERO
018308,000138: 33,2141 51422 INDEX PIPINDEX
018309,000139: 33,2142 54037 TS PIPAX
018310,000140: 33,2143 55502 TS DATAPL
018311,000141: 33,2144 55506 TS DATAPL +4
018312,000142: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE
018313,000143: 33,2146 00004 INHINT
018314,000144: 33,2147 35016 CAF TWO
018315,000145: 33,2150 05235 TC TWIDDLE
018316,000146: 33,2151 E5,1671 EBANK= XSM
018317,000147: 33,2151 02153 ADRES PIPATASK
018318,000148: 33,2152 05217 TC ENDOFJOB
018319,000149: 33,2153 00006 PIPATASK EXTEND
018320,000150: 33,2154 27412 DIM LENGTHOT
018321,000151: 33,2155 31412 CA LENGTHOT
018322,000152: 33,2156 00006 EXTEND
018323,000153: 33,2157 62163 BZMF STARTPIP
018324,000154: 33,2160 35006 CAF BIT10
018325,000155: 33,2161 05235 TC TWIDDLE
018326,000156: 33,2162 E5,1671 EBANK= XSM
018327,000157: 33,2162 02153 ADRES PIPATASK
018328,000158: 33,2163 35002 STARTPIP CAF PRIO20
018329,000159: 33,2164 05147 TC FINDVAC
018330,000160: 33,2165 E5,1671 EBANK= XSM
018331,000161: 33,2165 02170 66065 2CADR PIPJOBB
018332,000162:
018333,000163: 33,2167 05324 TC TASKOVER
018334,000164:
018335,000165: 33,2170 51421 PIPJOBB INDEX NDXCTR
018336,000166: 33,2171 02172 TC +1
018337,000167: 33,2172 02417 TC EARTHR*
018338,000168: 33,2173 31412 CA LENGTHOT
018339,000169: 33,2174 00006 EXTEND
018340,000170: 33,2175 62177 BZMF +2
018341,000171: 33,2176 05217 TC ENDOFJOB
018342,000172: 33,2177 35022 CA FIVE
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Page 426
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018344,000174: 33,2200 55547 TS RESULTCT
018345,000175: 33,2201 02321 TC CHECKG
018346,000176: 33,2202 00006 EXTEND
018347,000177: 33,2203 41503 DCS DATAPL
018348,000178: 33,2204 21507 DAS DATAPL +4
018349,000179:
018350,000180: 33,2205 06006 TC INTPRET
018351,000181: 33,2206 45345 DLOAD DSU
018352,000182: 33,2207 02511 DATAPL +6
018353,000183: 33,2210 02505 DATAPL +2
018354,000184: 33,2211 45044 BPL CALL
018355,000185: 33,2212 66214 AINGOTN
018356,000186: 33,2213 66276 OVERFFIX
018357,000187: 33,2214 56325 AINGOTN PDDL DDV
018358,000188: 33,2215 02507 DATAPL +4
018359,000189: 33,2216 57212 SL4 DMPR
018360,000190: 33,2217 27110 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
018361,000191: 33,2220 77634 RTB
018362,000192: 33,2221 45544 SGNAGREE
018363,000193: 33,2222 01051 STORE DSPTEM2
018364,000194: 33,2223 77776 EXIT
018365,000195: 33,2224 11421 CCS NDXCTR
018366,000196: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
018367,000197: 33,2226 02427 TC SHOW
018368,000198: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
018369,000199: 33,2230 55412 TS LENGTHOT
018370,000200: 33,2231 51423 INDEX POSITON
018371,000201: 33,2232 41427 CS SOUTHDR -2
018372,000202: 33,2233 55452 TS DRIFTT
018373,000203: 33,2234 31675 CA XSM +4 # 0 IF POSN 4
018374,000204: 33,2235 00006 EXTEND
018375,000205: 33,2236 12244 BZF PON2
018376,000206: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM
018377,000207: 33,2240 27651 ADS ERCOMP1 +2
018378,000208: 33,2241 35013 CA BIT5
018379,000209: 33,2242 27647 ADS ERCOMP1
018380,000210: 33,2243 12250 TCF PONG
018381,000211: 33,2244 45013 PON2 CS BIT5
018382,000212: 33,2245 27651 ADS ERCOMP1 +2
018383,000213: 33,2246 35013 CA BIT5
018384,000214: 33,2247 27653 ADS ERCOMP1 +4
018385,000215: 33,2250 02417 PONG TC EARTHR*
018386,000216: 33,2251 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018387,000217: 33,2252 55404 TS ERVECTOR
018388,000218: 33,2253 55405 TS ERVECTOR +1
018389,000219: 33,2254 34777 GUESS1 CAF POSMAX
018390,000220: 33,2255 55450 TS TORQNDX
018391,000221: 33,2256 55451 TS TORQNDX +1
018392,000222: 33,2257 30032 CA CDUX
018393,000223: 33,2260 55413 TS LOSVEC
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Page 427
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018395,000225: 33,2261 02453 TC ESTIMS
018396,000226: 33,2262 31512 VALMIS CA DRIFTO
018397,000227: 33,2263 55051 TS DSPTEM2 +1
018398,000228: 33,2264 35021 CA ZERO
018399,000229: 33,2265 55050 TS DSPTEM2
018400,000230: 33,2266 02427 TC SHOW
018401,000231:
018402,000232: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
018403,000233: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0
018404,000234: 33,2271 45021 CS ZERO
018405,000235: 33,2272 05357 TC NEWMODEX +3
018406,000236: 33,2273 04662 TC BANKCALL
018407,000237: 33,2274 16063 CADR MKRELEAS
018408,000238: 33,2275 05534 TC ENDEXT
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Page 428
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018410,000240:
018411,000241: 33,2276 43215 OVERFFIX DAD DAD
018412,000242: 33,2277 15343 DPPOSMAX
018413,000243: 33,2300 27116 ONEDPP
018414,000244: 33,2301 77616 RVQ
018415,000245:
018416,000246: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
018417,000247: 33,2303 23425 QXCH QPLACE
018418,000248: 33,2304 35021 CA ZERO
018419,000249: 33,2305 55155 TS THETAD
018420,000250: 33,2306 55156 TS THETAD +1
018421,000251: 33,2307 55157 TS THETAD +2
018422,000252: 33,2310 04662 TC BANKCALL
018423,000253: 33,2311 16663 CADR IMUCOARS
018424,000254: 33,2312 04662 TC BANKCALL
018425,000255: 33,2313 17577 CADR IMUSTALL
018426,000256: 33,2314 03102 TC SOMERR2
018427,000257: 33,2315 01425 TC QPLACE
018428,000258:
018429,000259: 33,2316 00006 IMUSTLLG EXTEND
018430,000260: 33,2317 23425 QXCH QPLACE
018431,000261: 33,2320 02312 TC COAALIGN +10
018432,000262:
018433,000263: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
018434,000264: 33,2322 23425 QXCH QPLACE
018435,000265: 33,2323 02331 TC +6
018436,000266: 33,2324 00003 CHECKG1 RELINT
018437,000267: 33,2325 30067 CA NEWJOB
018438,000268: 33,2326 00006 EXTEND
018439,000269: 33,2327 62335 BZMF +6
018440,000270: 33,2330 05164 TC CHANG1
018441,000271: 33,2331 00004 INHINT
018442,000272: 33,2332 51422 INDEX PIPINDEX
018443,000273: 33,2333 40037 CS PIPAX
018444,000274: 33,2334 55655 TS ZERONDX
018445,000275: 33,2335 00004 INHINT
018446,000276: 33,2336 51422 INDEX PIPINDEX
018447,000277: 33,2337 30037 CA PIPAX
018448,000278: 33,2340 61655 AD ZERONDX
018449,000279: 33,2341 00006 EXTEND
018450,000280: 33,2342 12324 BZF CHECKG1
018451,000281: 33,2343 51422 INDEX PIPINDEX
018452,000282: 33,2344 30037 CA PIPAX
018453,000283: 33,2345 51547 INDEX RESULTCT
018454,000284: 33,2346 55502 TS DATAPL
018455,000285: 33,2347 04553 TC FINETIME
018456,000286: 33,2350 51547 INDEX RESULTCT
018457,000287: 33,2351 55503 TS DATAPL +1
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Page 429
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018459,000289: 33,2352 51547 INDEX RESULTCT
018460,000290: 33,2353 23504 LXCH DATAPL +2
018461,000291: 33,2354 00003 RELINT
018462,000292: 33,2355 01425 ENDCHKG TC QPLACE
018463,000293:
018464,000294: 33,2356 54001 ZEROING TS L
018465,000295: 33,2357 12361 TCF +2
018466,000296: 33,2360 55655 ZEROING1 TS ZERONDX1
018467,000297: 33,2361 35021 CAF ZERO
018468,000298: 33,2362 50001 INDEX L
018469,000299: 33,2363 54000 TS 0
018470,000300: 33,2364 24001 INCR L
018471,000301: 33,2365 11655 CCS ZERONDX1
018472,000302: 33,2366 12360 TCF ZEROING1
018473,000303: 33,2367 00002 TC Q
018474,000304:
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018476,000306: 32,2000 SETLOC IMUCAL3
018477,000307: 32,2000 BANK
018478,000308: 32,2000 65345 ERTHRVSE DLOAD PDDL
018479,000309: 32,2001 27111 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
018480,000310: 32,2002 02403 LATITUDE
018481,000311: 32,2003 57546 COS DCOMP
018482,000312: 32,2004 73525 PDDL SIN
018483,000313: 32,2005 02403 LATITUDE
018484,000314: 32,2006 74266 VDEF VXSC
018485,000315: 32,2007 26450 OMEG/MS
018486,000316: 32,2010 02405 STORE ERVECTOR
018487,000317: 32,2011 77634 RTB
018488,000318: 32,2012 45510 LOADTIME
018489,000319: 32,2013 26443 STOVL TMARK
018490,000320: 32,2014 27111 SCHZEROS
018491,000321: 32,2015 02650 STORE ERCOMP1
018492,000322: 32,2016 77616 RVQ
018493,000323: 33,2000 SETLOC IMUCAL
018494,000324: 33,2000 BANK
018495,000325: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
018496,000326: 33,2371 00051 S2
018497,000327: 33,2372 45510 LOADTIME
018498,000328: 33,2373 02441 STORE TEMPTIME
018499,000329: 33,2374 51025 DSU BPL
018500,000330: 33,2375 02443 TMARK
018501,000331: 33,2376 66401 ERTHR
018502,000332: 33,2377 77624 CALL
018503,000333: 33,2400 66276 OVERFFIX
018504,000334: 33,2401 74261 ERTHR SL VXSC
018505,000335: 33,2402 20212 9D
018506,000336: 33,2403 02405 ERVECTOR
018507,000337: 33,2404 53321 MXV VAD
018508,000338: 33,2405 02672 XSM
018509,000339: 33,2406 02650 ERCOMP1
018510,000340: 33,2407 16650 STODL ERCOMP1
018511,000341: 33,2410 02441 TEMPTIME
018512,000342: 33,2411 02443 STORE TMARK
018513,000343: 33,2412 47170 AXT,1 RTB
018514,000344: 33,2413 02647 ECADR ERCOMP1
018515,000345: 33,2414 45653 PULSEIMU
018516,000346: 33,2415 77650 GOTO
018517,000347: 33,2416 00051 S2
018518,000348:
018519,000349: 33,2417 00006 EARTHR* EXTEND
018520,000350: 33,2420 23426 QXCH QPLACES
018521,000351: 33,2421 06006 TC INTPRET
018522,000352: 33,2422 77624 CALL
018523,000353: 33,2423 66370 EARTHR
018524,000354: 33,2424 77776 PROUT EXIT
018525,000355: 33,2425 02316 TC IMUSTLLG
018526,000356: 33,2426 01426 TC QPLACES
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Page 431
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018528,000358:
018529,000359: 33,2427 00006 SHOW EXTEND
018530,000360: 33,2430 23425 QXCH QPLACE
018531,000361: 33,2431 31423 SHOW1 CA POSITON
018532,000362: 33,2432 55052 TS DSPTEM2 +2
018533,000363: 33,2433 32442 CA VB06N98
018534,000364: 33,2434 04662 TC BANKCALL
018535,000365: 33,2435 20720 CADR GOFLASH
018536,000366: 33,2436 02267 TC ENDTEST1 # V34
018537,000367: 33,2437 01425 TC QPLACE # V33
018538,000368: 33,2440 12431 TCF SHOW1
018539,000369:
018540,000370: 33,2441 14400 OC14400 OCT 14400
018541,000371: 33,2442 33,2447 3990DEC = OMEG/MS
018542,000372: 33,2442 01542 VB06N98 VN 0698
018543,000373: 33,2443 01602 TESTTIME OCT 01602
018544,000374: 33,2444 4375 DEC17 = ND1
018545,000375: 33,2444 02757 OGCPL ECADR OGC
018546,000376: 33,2445 5041 1SECX = 1SEC
018547,000377: 33,2445 4374 DEC57 = VD1
018548,000378: 33,2445 01713 XNBADR GENADR XNB
018549,000379: 33,2446 01671 XSMADR GENADR XSM
018550,000380: 33,2447 07623 26552 OMEG/MS 2DEC .24339048
018551,000381:
018552,000382: 33,2451 04662 P11OUT TC BANKCALL
018553,000383: 33,2452 70117 CADR MATRXJOB # RETURN TO P11
018554,000384:
018555,000385: 33,2453 COUNT 02/COMST
018556,000386:
018557,000387: 4553 BLOCK 2
018558,000388: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
018559,000389: 4554 00006 EXTEND
018560,000390: 4555 00004 READ LOSCALAR
018561,000391: 4556 54001 TS L
018562,000392: 4557 00006 EXTEND
018563,000393: 4560 06004 RXOR LOSCALAR
018564,000394: 4561 00006 EXTEND
018565,000395: 4562 14566 BZF +4
018566,000396: 4563 00006 EXTEND
018567,000397: 4564 00004 READ LOSCALAR
018568,000398: 4565 54001 TS L
018569,000399: 4566 44777 +4 CS POSMAX
018570,000400: 4567 60001 AD L
018571,000401: 4570 00006 EXTEND
018572,000402: 4571 14554 BZF FINETIME +1
018573,000403: 4572 00006 EXTEND
018574,000404: 4573 00003 READ HISCALAR
018575,000405: 4574 00002 TC Q
018576,000406:
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018578,000408: # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018579,000409: # DATE- NOVEMBER 2 1966
018580,000410: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018581,000411: # MOD NO 3
018582,000412:
018583,000413: # FUNCTIONAL DESCRIPTION
018584,000414:
018585,000415: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018586,000416: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018587,000417: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
018588,000418: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018589,000419: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018590,000420: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018591,000421: # FOR THE DATA TO FLASH.
018592,000422:
018593,000423: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018594,000424: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018595,000425: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018596,000426: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
018597,000427: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
018598,000428: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018599,000429: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018600,000430: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018601,000431: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018602,000432: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018603,000433: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018604,000434:
018605,000435: # COMPASS ERASABLE LOAD REQUIRED
018606,000436:
018607,000437: # 1- LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
018608,000438: # 2- LATITUDE-DP-OF LAUNCH PAD
018609,000439: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
018610,000440: # 4- IMU COMPENSATION PARAMETERS
018611,000441: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
018612,000442:
018613,000443: # TO PERFORM AS PART OF COMPASS
018614,000444:
018615,000445: # 1- OPTICAL VERIFICATION- V 65 E
018616,000446: # 2- AZIMUTH CHANGE- V 78 E
018617,000447:
018618,000448: # SUBROUTINES CALLED
018619,000449:
018620,000450: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018621,000451: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018622,000452:
018623,000453: # NORMAL EXIT
018624,000454:
018625,000455: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018626,000456: # GYROCOMPASS-MANY, SEE THE LISTING
018627,000457:
018628,000458: # ALARMS
018629,000459:
018630,000460: # 1600 OVERFLOW IN DRIFT TEST
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018632,000462: # 1601 BAD IMU TORQUE ABORT
018633,000463: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
018634,000464:
018635,000465: # OUTPUT
018636,000466:
018637,000467: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018638,000468: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018639,000469: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
018640,000470: # 02 GYROCOMPASSING
018641,000471: # 03 DOING OPTICAL VERIFICATION (CSM)
018642,000472:
018643,000473: # DEBRIS
018644,000474:
018645,000475: # ALL CENTRALS, ALL OF EBANK XSM
018646,000476:
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018648,000478: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018649,000479: # ON THE NEXT FEW PAGES.
018650,000480:
018651,000481: 4575 COUNT 33/P02
018652,000482:
018653,000483: 4575 E5,1671 EBANK= XSM
018654,000484: 33,2453 BANK 33
018655,000485: 33,2000 SETLOC IMUCAL
018656,000486: 33,2000 BANK
018657,000487:
018658,000488: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
018659,000489: 33,2454 00075 OCT 00075
018660,000490: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
018661,000491: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
018662,000492: 33,2457 30025 CA TIME1
018663,000493: 33,2460 55645 TS GTSWTLT1
018664,000494: 33,2461 35021 CAF ZERO # ZERO THE PIPAS
018665,000495: 33,2462 54037 TS PIPAX
018666,000496: 33,2463 54040 TS PIPAY
018667,000497: 33,2464 54041 TS PIPAZ
018668,000498: 33,2465 00003 RELINT
018669,000499: 33,2466 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
018670,000500: 33,2467 55655 TS ZERONDX1
018671,000501: 33,2470 33130 CA ALXXXZ
018672,000502: 33,2471 02356 TC ZEROING
018673,000503: 33,2472 06006 TC INTPRET
018674,000504: 33,2473 77735 SLOAD
018675,000505: 33,2474 27111 SCHZEROS
018676,000506: 33,2475 25477 STOVL GCOMPSW -1
018677,000507: 33,2476 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
018678,000508: 33,2477 26455 STOVL ALX1S
018679,000509: 33,2500 27111 SCHZEROS
018680,000510: 33,2501 01472 STORE GCOMP
018681,000511: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
018682,000512: 33,2503 77776 EXIT
018683,000513:
018684,000514: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
018685,000515: 33,2505 02507 TC +2
018686,000516: 33,2506 02523 TC SLEEPIE +1
018687,000517: 33,2507 06006 TC INTPRET
018688,000518: 33,2510 77624 CALL
018689,000519: 33,2511 64000 ERTHRVSE
018690,000520: 33,2512 77776 EXIT
018691,000521: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
018692,000522: 33,2514 55646 TS ERECTIME
018693,000523:
018694,000524: 33,2515 05354 TC NEWMODEX
018695,000525: 33,2516 00002 MM 02 B-14
018696,000526: 33,2517 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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Page 435
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018698,000528: 33,2520 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
018699,000529: 33,2521 03403 TC ANNNNNN # END OF FIRST TIME THROUGH
018700,000530:
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Page 436
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018702,000532: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018703,000533:
018704,000534: # SET UP WAITLIST SECTION
018705,000535: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
018706,000536: 33,2523 05412 TC PHASCHNG # CHANGE PHASE
018707,000537: 33,2524 00135 OCT 00135
018708,000538: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
018709,000539: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO
018710,000540: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
018711,000541: 33,2530 02532 TC SETGWLST
018712,000542: 33,2531 05217 TC ENDOFJOB
018713,000543:
018714,000544: 33,2532 00006 SETGWLST EXTEND
018715,000545: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018716,000546: 33,2534 00004 INHINT
018717,000547: 33,2535 40025 CS TIME1
018718,000548: 33,2536 61645 AD GTSWTLT1
018719,000549: 33,2537 00006 EXTEND
018720,000550: 33,2540 62542 BZMF +2
018721,000551: 33,2541 65001 AD NEGMAX # 10 MS ERROR OK
018722,000552: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018723,000553: 33,2543 00006 EXTEND
018724,000554: 33,2544 62550 BZMF RIGHTGTS
018725,000555: 33,2545 05235 WTGTSMPL TC TWIDDLE
018726,000556: 33,2546 E5,1540 EBANK= ALTIM
018727,000557: 33,2546 02574 ADRES ALLOOP
018728,000558: 33,2547 00154 TC MPAC
018729,000559: 33,2550 35015 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
018730,000560: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION
018731,000561:
018732,000562: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018733,000563:
018734,000564: 33,2552 4113 25DECML EQUALS OCT31
018735,000565: 33,2552 34113 STOREDTA CAF 25DECML
018736,000566: 33,2553 54154 TS MPAC
018737,000567: 33,2554 50154 INDEX MPAC
018738,000568: 33,2555 31460 CAE THETAX1
018739,000569: 33,2556 50154 INDEX MPAC
018740,000570: 33,2557 55577 TS RESTARPT
018741,000571: 33,2560 10154 CCS MPAC
018742,000572: 33,2561 12553 TCF STOREDTA +1
018743,000573: 33,2562 00002 TC Q
018744,000574:
018745,000575: 33,2563 34113 LOADSTDT CAF 25DECML
018746,000576: 33,2564 54154 TS MPAC
018747,000577: 33,2565 50154 INDEX MPAC
018748,000578: 33,2566 31577 CA RESTARPT
018749,000579: 33,2567 50154 INDEX MPAC
018750,000580:
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Page 437
|
018752,000582: 33,2570 55460 TS THETAX1
018753,000583: 33,2571 10154 CCS MPAC
018754,000584: 33,2572 12564 TCF LOADSTDT +1
018755,000585: 33,2573 00002 TC Q
018756,000586:
018757,000587: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018758,000588:
018759,000589: 33,2574 30025 ALLOOP CA TIME1
018760,000590: 33,2575 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
018761,000591: 33,2576 31540 ALLOOP3 CA ALTIM
018762,000592: 33,2577 55631 TS GEOSAVE1
018763,000593: 33,2600 05412 TC PHASCHNG
018764,000594: 33,2601 00115 OCT 00115
018765,000595: 33,2602 31631 ALLOOP1 CAE GEOSAVE1
018766,000596: 33,2603 55540 TS ALTIM
018767,000597: 33,2604 10000 CCS A
018768,000598: 33,2605 30000 CA A # SHOULD NEVER HIT THIS LOCATION
018769,000599: 33,2606 55541 TS ALTIMS
018770,000600: 33,2607 40000 CS A
018771,000601: 33,2610 55540 TS ALTIM
018772,000602: 33,2611 35021 CAF ZERO
018773,000603: 33,2612 56037 XCH PIPAX
018774,000604: 33,2613 55162 TS DELVX
018775,000605: 33,2614 35021 CAF ZERO
018776,000606: 33,2615 56040 XCH PIPAY
018777,000607: 33,2616 55164 TS DELVY
018778,000608: 33,2617 35021 CAF ZERO
018779,000609: 33,2620 56041 XCH PIPAZ
018780,000610: 33,2621 55166 TS DELVZ
018781,000611: 33,2622 34374 CAF 19DECML # 23 OCT
018782,000612: 33,2623 04114 TC NEWPHASE
018783,000613: 33,2624 00005 OCT 00005
018784,000614: 33,2625 37657 SPECSTS CAF PRIO22
018785,000615: 33,2626 05147 TC FINDVAC
018786,000616: 33,2627 E5,1631 EBANK= GEOSAVE1
018787,000617: 33,2627 02632 66065 2CADR ALFLT # START THE JOB
018788,000618:
018789,000619: 33,2631 05324 TC TASKOVER
018790,000620:
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Page 438
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018792,000622: # THIS IS PART OF THE JOB DONE EVERY ITERATION
018793,000623:
018794,000624: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
018795,000625: 33,2633 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
018796,000626: 33,2634 00215 OCT 00215
018797,000627: 33,2635 12637 TCF +2
018798,000628: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
018799,000629:
018800,000630: 33,2637 11643 CCS GEOCOMP1
018801,000631: 33,2640 02642 TC +2
018802,000632: 33,2641 02645 TC NORMLOP
018803,000633: 33,2642 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER
018804,000634: 33,2643 04662 TC BANKCALL # COMPENSATION IF IN COMPASS
018805,000635: 33,2644 15262 CADR 1/PIPA
018806,000636: 33,2645 06006 NORMLOP TC INTPRET
018807,000637: 33,2646 77745 DLOAD
018808,000638: 33,2647 27120 INTVAL
018809,000639: 33,2650 24051 STOVL S1
018810,000640: 33,2651 01163 DELVX
018811,000641: 33,2652 76505 VXM VSL1
018812,000642: 33,2653 02672 XSM
018813,000643: 33,2654 57545 DLOAD DCOMP
018814,000644: 33,2655 00160 MPAC +3
018815,000645: 33,2656 16533 STODL DPIPAY
018816,000646: 33,2657 00162 MPAC +5
018817,000647: 33,2660 02537 STORE DPIPAZ
018818,000648:
018819,000649: 33,2661 76001 SETPD AXT,1
018820,000650: 33,2662 00001 0
018821,000651: 33,2663 00010 8D
018822,000652: 33,2664 57535 SLOAD DCOMP
018823,000653: 33,2665 02644 GEOCOMP1
018824,000654: 33,2666 77640 BMN
018825,000655: 33,2667 67210 ALWAYSG # DO A QUICK COMPASS
018826,000656:
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Page 439
|
018828,000658: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018829,000659:
018830,000660: 33,2670 COUNT 33/COMST
018831,000661:
018832,000662: 33,2670 50135 ALCGKK SLOAD BMN
018833,000663: 33,2671 02542 ALTIMS
018834,000664: 33,2672 66705 ALFLT3 # NO NEW GAINS NEEDED
018835,000665: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
018836,000666: 33,2674 00014 12D
018837,000667: 33,2675 02454 ALX1S
018838,000668: 33,2676 62143 ALKCG2 DLOAD* INCR,1
018839,000669: 33,2677 02243 ALFDK +144D,1
018840,000670: 33,2700 77775 DEC -2 B-14
018841,000671: 33,2701 12555 STORE ALDK +10D,2
018842,000672: 33,2702 66104 TIX,2 SXA,1
018843,000673: 33,2703 66676 ALKCG2
018844,000674: 33,2704 02454 ALX1S
018845,000675:
018846,000676: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
018847,000677: 33,2706 00010 8D # AND GAIN UPDATES
018848,000678: 33,2707 41343 DELMLP DLOAD* DMP
018849,000679: 33,2710 02543 DPIPAY +8D,1
018850,000680: 33,2711 27705 PIPASC
018851,000681: 33,2712 43661 SLR BDSU*
018852,000682: 33,2713 21212 9D
018853,000683: 33,2714 02511 INTY +8D,1
018854,000684: 33,2715 06511 STORE INTY +8D,1
018855,000685: 33,2716 40725 PDDL DMP*
018856,000686: 33,2717 27707 VELSC
018857,000687: 33,2720 02531 VLAUN +8D,1
018858,000688: 33,2721 77732 SL2R
018859,000689: 33,2722 45425 DSU STADR
018860,000690: 33,2723 71206 STORE DELM +8D,1
018861,000691: 33,2724 06573 STORE DELM +10D,1
018862,000692: 33,2725 77100 TIX,1 AXT,2
018863,000693: 33,2726 66707 DELMLP
018864,000694: 33,2727 00004 4
018865,000695: 33,2730 56743 ALILP DLOAD* DMPR*
018866,000696: 33,2731 75314 ALK +4,2
018867,000697: 33,2732 75230 ALDK +4,2
018868,000698: 33,2733 12463 STORE ALK +4,2
018869,000699: 33,2734 77104 TIX,2 AXT,2
018870,000700: 33,2735 66730 ALILP
018871,000701: 33,2736 00010 8D
018872,000702: 33,2737 66140 ALKLP LXC,1 SXA,1
018873,000703: 33,2740 02455 CMPX1
018874,000704: 33,2741 02455 CMPX1
018875,000705: 33,2742 56743 DLOAD* DMPR*
018876,000706: 33,2743 02460 ALK +1,1
018877,000707: 33,2744 75206 DELM +8D,2
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Page 440
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018879,000709: 33,2745 77613 DAD*
018880,000710: 33,2746 75266 INTY +8D,2
018881,000711: 33,2747 12511 STORE INTY +8D,2
018882,000712: 33,2750 42743 DLOAD* DAD*
018883,000713: 33,2751 75304 ALK +12D,2
018884,000714: 33,2752 75220 ALDK +12D,2
018885,000715: 33,2753 12473 STORE ALK +12D,2
018886,000716: 33,2754 42673 DMPR* DAD*
018887,000717: 33,2755 75206 DELM +8D,2
018888,000718: 33,2756 75256 INTY +16D,2
018889,000719: 33,2757 12521 STORE INTY +16D,2
018890,000720: 33,2760 40743 DLOAD* DMP*
018891,000721: 33,2761 27712 ALSK +1,1
018892,000722: 33,2762 75206 DELM +8D,2
018893,000723: 33,2763 42772 SL1R DAD*
018894,000724: 33,2764 75246 VLAUN +8D,2
018895,000725: 33,2765 12531 STORE VLAUN +8D,2
018896,000726: 33,2766 76104 TIX,2 AXT,1
018897,000727: 33,2767 66737 ALKLP
018898,000728: 33,2770 00010 8D
018899,000729:
018900,000730: 33,2771 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
018901,000731: 33,2772 02533 ACCWD +8D,1
018902,000732: 33,2773 02531 VLAUN +8D,1
018903,000733: 33,2774 55523 PDDL* VDEF
018904,000734: 33,2775 02541 POSNV +8D,1
018905,000735: 33,2776 76521 MXV VSL1
018906,000736: 33,2777 02001 TRANSM1
018907,000737: 33,3000 77745 DLOAD
018908,000738: 33,3001 00155 MPAC
018909,000739: 33,3002 06541 STORE POSNV +8D,1
018910,000740: 33,3003 77745 DLOAD
018911,000741: 33,3004 00160 MPAC +3
018912,000742: 33,3005 06531 STORE VLAUN +8D,1
018913,000743: 33,3006 77745 DLOAD
018914,000744: 33,3007 00162 MPAC +5
018915,000745: 33,3010 06533 STORE ACCWD +8D,1
018916,000746: 33,3011 77700 TIX,1
018917,000747: 33,3012 66771 LOOSE
018918,000748:
018919,000749: 33,3013 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
018920,000750: 33,3014 00006 6
018921,000751: 33,3015 00002 2
018922,000752: 33,3016 57343 BOOP DLOAD* DMPR
018923,000753: 33,3017 02513 ANGX +2,1
018924,000754: 33,3020 27715 GEORGEJ
018925,000755: 33,3021 77722 SR2R
018926,000756: 33,3022 73406 PUSH SIN
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Page 441
|
018928,000758: 33,3023 56072 SL3R XAD,1
018929,000759: 33,3024 00046 X1
018930,000760: 33,3025 10021 STORE 16D,2
018931,000761: 33,3026 77745 DLOAD
018932,000762: 33,3027 77746 COS
018933,000763: 33,3030 10027 STORE 22D,2 # COSINES
018934,000764: 33,3031 77704 TIX,2
018935,000765: 33,3032 67016 BOOP
018936,000766:
018937,000767: 33,3033 77776 PERFERAS EXIT
018938,000768: 33,3034 35060 CA EBANK7
018939,000769: 33,3035 E7,1400 EBANK= LAT(SPL)
018940,000770: 33,3035 54003 TS EBANK
018941,000771: 33,3036 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
018942,000772:
018943,000773: # CAUTION
018944,000774:
018945,000775: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018946,000776: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018947,000777:
018948,000778: 33,3037 E5,1412 EBANK= LENGTHOT
018949,000779: 33,3037 11412 ONCEMORE CCS LENGTHOT
018950,000780: 33,3040 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
018951,000781: 33,3041 11450 CCS TORQNDX
018952,000782: 33,3042 13044 TCF +2
018953,000783: 33,3043 03046 TC SETUPER1
018954,000784: 33,3044 30032 CA CDUX
018955,000785: 33,3045 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
018956,000786: 33,3046 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
018957,000787: 33,3047 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
018958,000788: 33,3050 02503 ANGZ
018959,000789: 33,3051 02507 ANGY
018960,000790: 33,3052 55525 PDDL VDEF
018961,000791: 33,3053 02511 ANGX
018962,000792: 33,3054 74276 VCOMP VXSC
018963,000793: 33,3055 27715 GEORGEJ
018964,000794: 33,3056 74521 MXV VSR1
018965,000795: 33,3057 02672 XSM
018966,000796: 33,3060 02760 STORE OGC
018967,000797: 33,3061 77776 EXIT
018968,000798:
018969,000799: 33,3062 05412 TORQINCH TC PHASCHNG
018970,000800: 33,3063 00005 OCT 00005
018971,000801: 33,3064 32444 CA OGCPL
018972,000802: 33,3065 04662 TC BANKCALL
018973,000803: 33,3066 17206 CADR IMUPULSE
018974,000804: 33,3067 02316 TC IMUSTLLG
018975,000805: 33,3070 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
018976,000806: 33,3071 02262 TC VALMIS # VERT DRIFT TEST OVER
018977,000807: 33,3072 06006 TC INTPRET
|
|
Page 442
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018979,000809: 33,3073 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
018980,000810: 33,3074 64000 ERTHRVSE
018981,000811: 33,3075 77776 EXIT
018982,000812: 33,3076 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018983,000813:
018984,000814: 33,3077 05650 SOMEERRR TC ALARM
018985,000815: 33,3100 01600 OCT 1600
018986,000816: 33,3101 03104 TC +3
018987,000817: 33,3102 05650 SOMERR2 TC ALARM
018988,000818: 33,3103 01601 OCT 1601
018989,000819: 33,3104 05412 TC PHASCHNG
018990,000820: 33,3105 00005 OCT 00005
018991,000821: 33,3106 02267 TC ENDTEST1
018992,000822:
018993,000823: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
018994,000824:
018995,000825: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
018996,000826: 33,3110 00000 00000 SCHZEROS 2DEC .00000000
018997,000827: 33,3112 00000 00000 2DEC .00000000
018998,000828: 33,3114 00000 OCT 00000
018999,000829: 33,3115 00000 ONEDPP OCT 00000
019000,000830: 33,3116 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT
019001,000831:
019002,000832: 33,3117 00004 INTVAL OCT 4
019003,000833: 33,3120 00002 OCT 2
019004,000834: 33,3121 00220 DEC 144 B-14
019005,000835: 33,3122 77776 DEC -1 B-14
019006,000836: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019007,000837: 33,3125 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019008,000838:
019009,000839: 33,3127 00115 77DECML DEC 77 B-14
019010,000840: 33,3130 01453 ALXXXZ GENADR ALX1S -1
019011,000841:
019012,000842: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019013,000843:
019014,000844: 33,3131 COUNT 33/P01
019015,000845:
019016,000846: # INITIALIZATION SECTION
019017,000847:
019018,000848: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019019,000849: 33,3132 75004 MASK NOP01BIT
|
|
Page 443
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019021,000851: 33,3133 00006 EXTEND
019022,000852: 33,3134 13137 BZF GTSCPSSA
019023,000853: 33,3135 05721 TC POODOO
019024,000854: 33,3136 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
019025,000855:
019026,000856: 33,3137 35017 GTSCPSSA CAF ONE
019027,000857: 33,3140 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019028,000858: 33,3141 33435 CA 1/PIPAGT
019029,000859: 33,3142 55074 TS 1/PIPADT
019030,000860: 33,3143 35010 NXXTENN CA BIT8
019031,000861: 33,3144 55412 TS LENGTHOT
019032,000862: 33,3145 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019033,000863: 33,3146 55644 TS 1SECXT1
019034,000864: 33,3147 35017 CAF ONE
019035,000865: 33,3150 55632 TS PREMTRX1
019036,000866: 33,3151 55657 TS PERFDLAY +1
019037,000867: 33,3152 35021 CAF ZERO
019038,000868: 33,3153 55656 TS PERFDLAY
019039,000869: 33,3154 00006 EXTEND
019040,000870: 33,3155 31634 DCA LUNCHAZ1
019041,000871: 33,3156 53636 DXCH NEWAZ1
019042,000872: 33,3157 00006 EXTEND
019043,000873: 33,3160 31634 DCA LUNCHAZ1
019044,000874: 33,3161 53640 DXCH OLDAZMTH
019045,000875: 33,3162 34375 SETUPGC CA DEC17
019046,000876: 33,3163 55655 TS ZERONDX1
019047,000877: 33,3164 32446 CA XSMADR
019048,000878: 33,3165 02356 TC ZEROING
019049,000879: 33,3166 03170 TC POSN17C
019050,000880: 33,3167 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019051,000881:
019052,000882:
019053,000883: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
019054,000884: 33,3171 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019055,000885: 33,3172 45002 CS HALF # ALL THIS TO INITIALIZE MATRIX
019056,000886: 33,3173 55705 TS ZSM
019057,000887: 33,3174 06006 TC INTPRET
019058,000888: 33,3175 41545 DLOAD PUSH
019059,000889: 33,3176 02636 NEWAZ1
019060,000890: 33,3177 77756 SIN
019061,000891: 33,3200 02676 STORE XSM +4
019062,000892: 33,3201 16702 STODL YSM +2
019063,000893: 33,3202 77746 COS
019064,000894: 33,3203 02704 STORE YSM +4
019065,000895: 33,3204 77676 DCOMP
019066,000896: 33,3205 02674 STORE XSM +2
019067,000897: 33,3206 77776 EXIT
019068,000898: 33,3207 01425 TC QPLACE
019069,000899:
|
|
Page 444
|
019071,000901: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019072,000902:
019073,000903: 33,3210 COUNT 33/P02
019074,000904:
019075,000905: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019076,000906: 33,3211 02543 DPIPAY +8D,1
019077,000907: 33,3212 02505 FILDELV1 +8D,1
019078,000908: 33,3213 42675 DMPR DAD*
019079,000909: 33,3214 27717 GEOCONS1
019080,000910: 33,3215 02505 FILDELV1 +8D,1
019081,000911: 33,3216 06505 STORE FILDELV1 +8D,1
019082,000912: 33,3217 77613 DAD*
019083,000913: 33,3220 02507 INTVEC1 +8D,1
019084,000914: 33,3221 06507 STORE INTVEC1 +8D,1
019085,000915: 33,3222 42675 DMPR DAD*
019086,000916: 33,3223 27721 GEOCONS2
019087,000917: 33,3224 02505 FILDELV1 +8D,1
019088,000918: 33,3225 41475 DMPR PUSH
019089,000919: 33,3226 15333 GEOCONS5
019090,000920: 33,3227 67300 TIX,1 SLOAD
019091,000921: 33,3230 67210 ALWAYSG
019092,000922: 33,3231 02647 ERECTIM1
019093,000923: 33,3232 71254 BZE DLOAD
019094,000924: 33,3233 67244 COMPGS
019095,000925: 33,3234 02471 THETAN1 +2
019096,000926: 33,3235 45425 DSU STADR
019097,000927: 33,3236 61306 STODL THETAN1 +2 # ERECTION ONLY.
019098,000928: 33,3237 77621 BDSU
019099,000929: 33,3240 02473 THETAN1 +4
019100,000930: 33,3241 02473 STORE THETAN1 +4
019101,000931: 33,3242 77650 GOTO
019102,000932: 33,3243 67266 ADDINDRF
019103,000933: 33,3244 43345 COMPGS DLOAD DAD # COMPASS
019104,000934: 33,3245 02467 THETAN1
019105,000935: 33,3246 02475 FILDELV1
019106,000936: 33,3247 16467 STODL THETAN1
019107,000937: 33,3250 02475 FILDELV1
019108,000938: 33,3251 44275 DMPR BDSU
019109,000939: 33,3252 27723 GEOCONS3
019110,000940: 33,3253 02473 THETAN1 +4
019111,000941: 33,3254 16473 STODL THETAN1 +4
019112,000942: 33,3255 02501 FILDELV1 +4
019113,000943: 33,3256 44275 DMPR BDSU
019114,000944: 33,3257 27723 GEOCONS3
019115,000945: 33,3260 02471 THETAN1 +2
019116,000946: 33,3261 57325 PDDL DMPR
019117,000947: 33,3262 02503 INTVEC1 +4
019118,000948: 33,3263 27725 GEOCONS4
019119,000949: 33,3264 45421 BDSU STADR
019120,000950: 33,3265 75306 STORE THETAN1 +2
|
|
Page 445
|
019122,000952: 33,3266 77776 ADDINDRF EXIT
019123,000953:
019124,000954:
019125,000955: 33,3267 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019126,000956: 33,3270 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019127,000957: 33,3271 03406 TC CHKCOMED
019128,000958: 33,3272 11304 CCS LGYRO # YES BUT ARE GYROS BUSY
019129,000959: 33,3273 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019130,000960:
019131,000961: 33,3274 06006 LASTGTS TC INTPRET
019132,000962: 33,3275 77775 VLOAD
019133,000963: 33,3276 02650 ERCOMP1
019134,000964: 33,3277 16461 STODL THETAX1
019135,000965: 33,3300 02443 TMARK
019136,000966: 33,3301 02457 STORE ALK
019137,000967: 33,3302 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019138,000968:
019139,000969: 33,3303 05412 RESTAIER TC PHASCHNG
019140,000970: 33,3304 00275 OCT 00275
019141,000971: 33,3305 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019142,000972: 33,3306 64375 VLOAD MXV
019143,000973: 33,3307 02467 THETAN1
019144,000974: 33,3310 02672 XSM
019145,000975: 33,3311 53372 VSL1 VAD
019146,000976: 33,3312 02461 THETAX1
019147,000977: 33,3313 16650 STODL ERCOMP1
019148,000978: 33,3314 02457 ALK
019149,000979: 33,3315 02443 STORE TMARK
019150,000980: 33,3316 77776 EXIT
019151,000981: 33,3317 02417 TC EARTHR* # TORQUE IT ALL IN
019152,000982: 33,3320 31646 CAE ERECTIM1
019153,000983: 33,3321 55631 TS GEOSAVE1
019154,000984: 33,3322 05412 TC PHASCHNG
019155,000985: 33,3323 00155 OCT 00155
019156,000986: 33,3324 06006 RESTEST1 TC INTPRET
019157,000987: 33,3325 77775 VLOAD
019158,000988: 33,3326 27111 SCHZEROS
019159,000989: 33,3327 02467 STORE THETAN1
019160,000990: 33,3330 77776 EXIT
019161,000991: 33,3331 11632 CCS PREMTRXC
019162,000992: 33,3332 03401 TC NOCHORLD
019163,000993: 33,3333 05412 TC PHASCHNG
019164,000994: 33,3334 00255 OCT 00255
019165,000995: 33,3335 06006 RESTEST3 TC INTPRET
019166,000996: 33,3336 77745 DLOAD
019167,000997: 33,3337 02634 LAUNCHAZ
019168,000998: 33,3340 53025 DSU BZE
019169,000999: 33,3341 02640 OLDAZMTH
019170,001000: 33,3342 67376 NOAZCHGE
019171,001001: 33,3343 00001 STORE 0D
|
|
Page 446
|
019173,001003: 33,3344 43335 SLOAD DAD
019174,001004: 33,3345 27117 ONEDPP +1
019175,001005: 33,3346 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019176,001006: 33,3347 16633 STODL PREMTRXC
019177,001007: 33,3350 02634 LAUNCHAZ
019178,001008: 33,3351 16636 STODL NEWAZMTH
019179,001009: 33,3352 00001 0D
019180,001010: 33,3353 02654 ADERCOMP STORE ERCOMP +4
019181,001011: 33,3354 77776 EXIT
019182,001012: 33,3355 03170 TC POSN17C
019183,001013: 33,3356 05412 TC PHASCHNG
019184,001014: 33,3357 00335 OCT 00335
019185,001015: 33,3360 00006 RESCHNG EXTEND
019186,001016: 33,3361 31636 DCA NEWAZMTH
019187,001017: 33,3362 53640 DXCH OLDAZMTH
019188,001018: 33,3363 35011 CA BIT7 # SPEND 320 SEC ERECTING
019189,001019: 33,3364 55412 TS LENGTHOT
019190,001020: 33,3365 05412 TC PHASCHNG
019191,001021: 33,3366 00075 OCT 00075
019192,001022: 33,3367 33434 SPITGYRO CA ERCOMPPL
019193,001023: 33,3370 04662 TC BANKCALL
019194,001024: 33,3371 17206 CADR IMUPULSE
019195,001025: 33,3372 04662 TC BANKCALL
019196,001026: 33,3373 17577 CADR IMUSTALL
019197,001027: 33,3374 03102 TC SOMERR2
019198,001028: 33,3375 02453 TC ESTIMS # RE-INITIALIZE
019199,001029:
019200,001030:
019201,001031: 33,3376 77776 NOAZCHGE EXIT
019202,001032: 33,3377 35017 CA ONE
019203,001033: 33,3400 55632 TS PREMTRXC
019204,001034: 33,3401 11631 NOCHORLD CCS GEOSAVE1
019205,001035: 33,3402 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019206,001036:
019207,001037: 33,3403 34334 ANNNNNN CAF NINE
019208,001038: 33,3404 55412 TS LENGTHOT
019209,001039: 33,3405 02523 TC SLEEPIE +1
019210,001040:
019211,001041:
019212,001042: 33,3406 00004 CHKCOMED INHINT
019213,001043: 33,3407 41011 CS MODREG # CHECK FOR MM 07 FIRST
019214,001044: 33,3410 65023 AD SEVEN
019215,001045: 33,3411 00006 EXTEND
019216,001046: 33,3412 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019217,001047: 33,3413 45021 CS ZERO
019218,001048: 33,3414 00006 EXTEND
019219,001049: 33,3415 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019220,001050: 33,3416 75013 MASK BIT5 # LIFTOFF BIT
019221,001051: 33,3417 10000 CCS A
019222,001052: 33,3420 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED
019223,001053:
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Page 447
|
019225,001055: 33,3421 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019226,001056: 33,3422 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019227,001057: 33,3423 10000 CCS A
019228,001058: 33,3424 13427 TCF PRELTERM # BACKUP RECEIVED
019229,001059:
019230,001060: 33,3425 00003 RELINT
019231,001061: 33,3426 00002 GOBKCALB TC Q
019232,001062:
019233,001063: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019234,001064: 33,3430 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019235,001065: 33,3431 00004 INHINT
019236,001066: 33,3432 04701 TC POSTJUMP
019237,001067: 33,3433 70002 CADR P11
019238,001068:
019239,001069:
019240,001070: 33,3434 02647 ERCOMPPL ECADR ERCOMP
019241,001071:
019242,001072: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF
019243,001073: 33,3435 06200 1/PIPAGT OCT 06200
019244,001074: 33,3436 4375 17DECML = ND1 # OCT 21
019245,001075: 33,3436 4374 19DECML = VD1 # OCT 23
019246,001076: 33,3436 5036 1/2SECX = .5SEC
019247,001077:
019248,001078:
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|
Page 448
|
019250,001080: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB
019251,001081:
|
|
Page 449
|
019253,001083: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019254,001084:
019255,001085: 33,3436 COUNT 33/P03
019256,001086:
019257,001087: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019258,001088: 33,3437 00154 OCT 00154
019259,001089: 33,3440 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019260,001090: 33,3441 00003 MM 03 B-14
019261,001091: 33,3442 02037 SETNBPOS TC NBPOSPL
019262,001092: 33,3443 04662 TC BANKCALL
019263,001093: 33,3444 16063 CADR MKRELEAS
019264,001094: 33,3445 35017 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019265,001095: 33,3446 22007 ZL # T 1,THEN TARGET 2
019266,001096: 33,3447 23427 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019267,001097: 33,3450 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019268,001098: 33,3451 00006 EXTEND
019269,001099: 33,3452 51427 INDEX RUN
019270,001100: 33,3453 31433 DCA TAZEL1
019271,001101: 33,3454 53046 DXCH DSPTEM1
019272,001102: 33,3455 33500 CAF V05N30E
019273,001103: 33,3456 04662 TC BANKCALL
019274,001104: 33,3457 20673 CADR GODSPRET
019275,001105: 33,3460 33466 CAF VN0641
019276,001106: 33,3461 04662 TC BANKCALL
019277,001107: 33,3462 20720 CADR GOFLASH
019278,001108: 33,3463 03620 TC GCOMP5
019279,001109: 33,3464 03467 TC +3
019280,001110: 33,3465 03455 TC -8D
019281,001111: 33,3466 01451 VN0641 VN 0641
019282,001112: 33,3467 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019283,001113: 33,3470 51427 INDEX RUN
019284,001114: 33,3471 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019285,001115: 33,3472 11427 CCS RUN
019286,001116: 33,3473 13477 TCF +4
019287,001117: 33,3474 35016 CAF TWO
019288,001118: 33,3475 54001 TS L
019289,001119: 33,3476 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019290,001120:
019291,001121: 33,3477 03541 TC CONTIN33
019292,001122:
019293,001123: 33,3500 01236 V05N30E VN 0530
019294,001124:
019295,001125: 33,3501 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019296,001126: 33,3502 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019297,001127: 33,3503 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019298,001128: 33,3504 00014 12D
019299,001129: 33,3505 40331 SSP SETPD
019300,001130: 33,3506 00052 S2
019301,001131: 33,3507 00006 6
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Page 450
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019303,001133: 33,3510 00001 0
019304,001134: 33,3511 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019305,001135: 33,3512 02436 TAZEL1 +3,1
019306,001136: 33,3513 00001 STORE 0 # PD00 ELEVATION PD00
019307,001137: 33,3514 77756 SIN
019308,001138: 33,3515 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019309,001139: 33,3516 77745 DLOAD
019310,001140: 33,3517 00001 0
019311,001141: 33,3520 41546 COS PUSH # PD00 COS(EL) PD00
019312,001142: 33,3521 47133 SLOAD* RTB
019313,001143: 33,3522 02435 TAZEL1 +2,1
019314,001144: 33,3523 45513 CDULOGIC
019315,001145: 33,3524 00003 STORE 2 # PD02 AZIMUTH PD02
019316,001146: 33,3525 41356 SIN DMP
019317,001147: 33,3526 00001 0
019318,001148: 33,3527 77752 SL1
019319,001149: 33,3530 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019320,001150: 33,3531 71545 DLOAD COS
019321,001151: 33,3532 00003 2
019322,001152: 33,3533 72405 DMP SL1
019323,001153: 33,3534 76076 DCOMP AXT,1
019324,001154: 33,3535 00000 0
019325,001155: 33,3536 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019326,001156: 33,3537 43504 TIX,2 RVQ
019327,001157: 33,3540 67511 TAR1
019328,001158:
019329,001159:
019330,001160: 33,3541 BANK 33
019331,001161: 33,2000 SETLOC IMUCAL
019332,001162: 33,2000 BANK
019333,001163: 33,3541 COUNT* $$/PO3
019334,001164:
019335,001165: 33,3541 35017 CONTIN33 CA ONE
019336,001166: 33,3542 54735 TS STARCODE
019337,001167: 33,3543 35021 CA ZERO
019338,001168: 33,3544 03635 TC TARGDRVE
019339,001169: 33,3545 06006 TC INTPRET
019340,001170: 33,3546 77624 CALL
019341,001171: 33,3547 67502 TAR/EREF
019342,001172: 33,3550 64375 NEXTBNKS VLOAD MXV
019343,001173: 33,3551 00007 6D
019344,001174: 33,3552 02672 XSM
019345,001175: 33,3553 77772 VSL1
019346,001176: 33,3554 26736 STOVL STARAD
019347,001177: 33,3555 00015 12D
019348,001178: 33,3556 76521 MXV VSL1
019349,001179: 33,3557 02672 XSM
019350,001180: 33,3560 36744 STCALL STARAD +6
019351,001181: 33,3561 67726 LITTLSUB
019352,001182: 33,3562 02414 STORE LOSVEC
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Page 451
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019354,001184: 33,3563 77776 EXIT
019355,001185: 33,3564 04662 TC BANKCALL
019356,001186: 33,3565 16063 CADR MKRELEAS
019357,001187:
019358,001188:
019359,001189: 33,3566 35016 NEXBNKSS CAF TWO
019360,001190: 33,3567 54735 TS STARCODE
019361,001191: 33,3570 36211 CAF SIX
019362,001192: 33,3571 03635 TC TARGDRVE
019363,001193: 33,3572 06006 TC INTPRET
019364,001194: 33,3573 77624 CALL
019365,001195: 33,3574 67726 LITTLSUB
019366,001196: 33,3575 24015 STOVL 12D
019367,001197: 33,3576 02414 LOSVEC
019368,001198: 33,3577 34007 STCALL 06D
019369,001199: 33,3600 47401 AXISGEN
019370,001200: 33,3601 77624 CALL
019371,001201: 33,3602 47205 CALCGTA
019372,001202: 33,3603 77776 EXIT
019373,001203: 33,3604 33631 GCOMP4 CAF V06N93S
019374,001204: 33,3605 04662 TC BANKCALL
019375,001205: 33,3606 20720 CADR GOFLASH
019376,001206: 33,3607 03620 TC GCOMP5
019377,001207: 33,3610 13612 TCF +2
019378,001208: 33,3611 13604 TCF GCOMP4
019379,001209: 33,3612 06006 TC INTPRET
019380,001210: 33,3613 53375 VLOAD VAD
019381,001211: 33,3614 02760 OGC
019382,001212: 33,3615 02650 ERCOMP1
019383,001213: 33,3616 02650 STORE ERCOMP1
019384,001214: 33,3617 77776 EXIT
019385,001215: 33,3620 04662 GCOMP5 TC BANKCALL
019386,001216: 33,3621 16063 CADR MKRELEAS
019387,001217: 33,3622 05560 TC DOWNFLAG
019388,001218: 33,3623 00032 ADRES TRM03FLG
019389,001219:
019390,001220: 33,3624 05354 TC NEWMODEX
019391,001221: 33,3625 00002 MM 02 B-14
019392,001222: 33,3626 05412 TC PHASCHNG
019393,001223: 33,3627 00004 OCT 00004
019394,001224: 33,3630 05217 TC ENDOFJOB
019395,001225: 33,3631 01535 V06N93S VN 0693
019396,001226: 33,3632 05650 GTSOPTCS TC ALARM
019397,001227: 33,3633 01602 GTSOPTSS OCT 01602
019398,001228: 33,3634 03620 TC GCOMP5
019399,001229:
019400,001230:
019401,001231: 34,2002 BANK 34
019402,001232: 04,2000 SETLOC IMUCAL1
019403,001233: 04,2000 BANK
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Page 452
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019405,001235:
019406,001236: 04,2613 COUNT 34/COMST
019407,001237:
019408,001238: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
019409,001239: 04,2614 02403 LATITUDE
019410,001240: 04,2615 15047 STODL DSPTEM1 +1
019411,001241: 04,2616 02401 AZIMUTH
019412,001242: 04,2617 77434 RTB EXIT
019413,001243: 04,2620 45546 1STO2S
019414,001244: 04,2621 56154 XCH MPAC
019415,001245: 04,2622 55045 TS DSPTEM1
019416,001246: 04,2623 04662 TC BANKCALL
019417,001247: 04,2624 20703 CADR CLEANDSP
019418,001248: 04,2625 32644 CAF VNG0641
019419,001249: 04,2626 04662 TC BANKCALL
019420,001250: 04,2627 20720 CADR GOFLASH
019421,001251: 04,2630 02632 TC +2 # NOT ALLOWED
019422,001252: 04,2631 02633 TC +2
019423,001253: 04,2632 02625 TC -5
019424,001254: 04,2633 06006 TC INTPRET
019425,001255: 04,2634 47135 SLOAD RTB
019426,001256: 04,2635 01046 DSPTEM1
019427,001257: 04,2636 45513 CDULOGIC
019428,001258: 04,2637 02401 STORE AZIMUTH
019429,001259: 04,2640 60535 SLOAD SR2
019430,001260: 04,2641 01047 DSPTEM1 +1
019431,001261: 04,2642 02403 STORE LATITUDE
019432,001262: 04,2643 77616 RVQ
019433,001263: 04,2644 01451 VNG0641 VN 0641
019434,001264: 33,3635 BANK 33
019435,001265: 33,2000 SETLOC IMUCAL
019436,001266: 33,2000 BANK
019437,001267:
019438,001268:
019439,001269: 33,3635 COUNT* $$/P03
019440,001270: 33,3635 00006 TARGDRVE EXTEND
019441,001271: 33,3636 23424 QXCH QPLAC
019442,001272: 33,3637 55431 TS TARG1/2
019443,001273: 33,3640 06006 TC INTPRET
019444,001274: 33,3641 77624 CALL
019445,001275: 33,3642 67502 TAR/EREF
019446,001276: 33,3643 76740 LXC,1 VLOAD*
019447,001277: 33,3644 02431 TARG1/2
019448,001278: 33,3645 00007 6D,1
019449,001279: 33,3646 36766 STCALL STAR
019450,001280: 33,3647 46053 SXTANG
019451,001281: 33,3650 77776 EXIT
019452,001282: 33,3651 31773 CA SAC
019453,001283: 33,3652 55161 TS DESOPTS
019454,001284:
|
|
Page 453
|
019456,001286: 33,3653 31775 CA PAC
019457,001287: 33,3654 55160 TS DESOPTT
019458,001288: 33,3655 35021 RETARG CAF ZERO
019459,001289: 33,3656 55303 TS OPTIND
019460,001290: 33,3657 35017 CAF ONE
019461,001291: 33,3660 04662 TC BANKCALL
019462,001292: 33,3661 16002 CADR SXTMARK
019463,001293: 33,3662 04662 TC BANKCALL
019464,001294: 33,3663 17573 CADR OPTSTALL
019465,001295: 33,3664 03632 TC GTSOPTCS
019466,001296: 33,3665 30075 CAE FLAGWRD1
019467,001297: 33,3666 75014 MASK TRM03BIT
019468,001298: 33,3667 10000 CCS A
019469,001299: 33,3670 03620 TC GCOMP5
019470,001300:
019471,001301: 33,3671 51330 INDEX MARKSTAT
019472,001302: 33,3672 30052 CA QPRET
019473,001303: 33,3673 00006 EXTEND
019474,001304: 33,3674 13676 BZF RETARG1
019475,001305: 33,3675 01424 TC QPLAC
019476,001306:
019477,001307:
019478,001308: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
019479,001309: 33,3677 57330 XCH MARKSTAT
019480,001310: 33,3700 10000 CCS A
019481,001311: 33,3701 50000 INDEX A
019482,001312: 33,3702 54000 TS A
019483,001313: 33,3703 13655 TCF RETARG # GO DO SXTMARK AGAIN
019484,001314: 33,3704 BANK 33
019485,001315: 33,2000 SETLOC IMUCAL
019486,001316: 33,2000 BANK
019487,001317: 33,3704 COUNT* $$/P03
019488,001318: 33,3704 30341 22444 PIPASC 2DEC .76376833
019489,001319:
019490,001320: 33,3706 57223 66451 VELSC 2DEC -.52223476
019491,001321:
019492,001322: 33,3710 05427 12577 ALSK 2DEC .17329931
019493,001323:
019494,001324: 33,3712 77567 44202 2DEC -.00835370
019495,001325:
019496,001326: 33,3714 24276 14066 GEORGEJ 2DEC .63661977
019497,001327:
019498,001328: 33,3716 03146 14632 GEOCONS1 2DEC .1
019499,001329:
019500,001330: 33,3720 00121 35341 GEOCONS2 2DEC .005
019501,001331:
019502,001332: 33,3722 01767 31666 GEOCONS3 2DEC .062
019503,001333:
019504,001334: 33,3724 00004 35223 GEOCONS4 2DEC .0003
019505,001335:
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|
Page 454
|
019507,001337:
019508,001338: 33,3726 COUNT 33/P02
019509,001339: 33,3726 77620 LITTLSUB STQ
019510,001340: 33,3727 02424 QPLAC
019511,001341: 33,3730 76740 LXC,1 VLOAD*
019512,001342: 33,3731 01330 MARKSTAT
019513,001343: 33,3732 00003 2,1
019514,001344: 33,3733 34767 STCALL CDUSPOT
019515,001345: 33,3734 46000 SXTNB
019516,001346: 33,3735 77624 CALL
019517,001347: 33,3736 47637 TRG*NBSM
019518,001348: 33,3737 77650 GOTO
019519,001349: 33,3740 02424 QPLAC
019520,001350:
019521,001351:
019522,001352: 33,3741 77776 EXIT
019523,001353: 33,3742 06006 AZMTHCG1 TC INTPRET
019524,001354: 33,3743 47145 DLOAD RTB
019525,001355: 33,3744 02636 NEWAZMTH
019526,001356: 33,3745 45546 1STO2S
019527,001357: 33,3746 77776 EXIT
019528,001358: 33,3747 56154 XCH MPAC
019529,001359: 33,3750 55045 TS DSPTEM1
019530,001360: 33,3751 04662 TC BANKCALL
019531,001361: 33,3752 20703 CADR CLEANDSP
019532,001362: 33,3753 33775 CAF VN0629
019533,001363: 33,3754 04662 TC BANKCALL
019534,001364: 33,3755 20720 CADR GOFLASH
019535,001365: 33,3756 13760 TCF +2
019536,001366: 33,3757 13761 TCF +2
019537,001367: 33,3760 13753 TCF -5
019538,001368: 33,3761 06006 TC INTPRET
019539,001369: 33,3762 47135 SLOAD RTB
019540,001370: 33,3763 01046 DSPTEM1
019541,001371: 33,3764 45513 CDULOGIC
019542,001372: 33,3765 02634 STORE LAUNCHAZ
019543,001373: 33,3766 77776 EXIT
019544,001374: 33,3767 35021 CA ZERO
019545,001375: 33,3770 55632 TS PREMTRXC
019546,001376: 33,3771 05412 TC PHASCHNG
019547,001377: 33,3772 00004 OCT 00004
019548,001378: 33,3773 04701 TC POSTJUMP
019549,001379: 33,3774 21272 CADR PINBRNCH
019550,001380:
019551,001381: 33,3775 01435 VN0629 VN 0629
019552,001382:
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Page 455
Only assembler-generated messages appear on this page.
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019555,001385:
019556,001386:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc