Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

018598,000002:                                                                                                  ## Copyright:   Public domain.
018599,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018600,000004:                                                                                                  ## Purpose:     Part of the source code for Comanche, build 055. It
018601,000005:                                                                                                  ##              is part of the source code for the Command Module's
018602,000006:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC), Apollo 11.
018603,000007:                                                                                                  ## Assembler:   yaYUL
018604,000008:                                                                                                  ## Reference:   pp. 423-455
018605,000009:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>
018606,000010:                                                                                                  ## Website:     http://www.ibiblio.org/apollo.
018607,000011:                                                                                                  ## Mod history: 2009-05-10 OH   Batch 1 Assignment Comanche Transcription
018608,000012:                                                                                                  ##              2009-05-20 RSB  Corrections: P00D00H -> POODOOH, definition
018609,000013:                                                                                                  ##                              of 25DECML fixed.
018610,000014:                                                                                                  ##              2009-05-23 RSB  At SPECSTS, corrected to PRIO22.
018611,000015:                                                                                                  ##              2010-08-28 JL   Fixed indentation.
018612,000016:                                                                                                  ##              2011-05-08 JL   Flagged SBANK= workaround for future removal.
018613,000017:                                                                                                  ##              2011-05-17 JL   Removed all SBANK= workarounds.
018614,000018:                                                                                                  ##              2016-12-10 RSB  Proofed comments with octopus/ProoferComments
018615,000019:                                                                                                  ##                              and fixed the errors found.
018616,000020:                                                                                                  ##              2017-01-14 RSB  Fixed comment-text errors located while 
018617,000021:                                                                                                  ##                              diff'ing with Colossus 249.
018618,000022:                                                                                                  ##              2021-05-30 ABS  Single instance of $$/P03 -> $$/PO3 to match scans.
018619,000023: 
018620,000024:                                                                                                  ## The contents of the "Comanche055" files, in general, are transcribed 
018621,000025:                                                                                                  ## from scanned documents. 
018622,000026:                                                                                                  ##
018623,000027:                                                                                                  ##       Assemble revision 055 of AGC program Comanche by NASA
018624,000028:                                                                                                  ##       2021113-051.  April 1, 1969.  
018625,000029:                                                                                                  ##
018626,000030:                                                                                                  ##       This AGC program shall also be referred to as Colossus 2A
018627,000031:                                                                                                  ##
018628,000032:                                                                                                  ##       Prepared by
018629,000033:                                                                                                  ##                       Massachusetts Institute of Technology
018630,000034:                                                                                                  ##                       75 Cambridge Parkway
018631,000035:                                                                                                  ##                       Cambridge, Massachusetts
018632,000036:                                                                                                  ##
018633,000037:                                                                                                  ##       under NASA contract NAS 9-4065.
018634,000038:                                                                                                  ##
018635,000039:                                                                                                  ## Refer directly to the online document mentioned above for further
018636,000040:                                                                                                  ## information.  Please report any errors to info@sandroid.org.
018637,000041: 

Page 423

018639,000043:                                                                                                  #  NAME-         IMU PERFORMANCE TESTS 2
018640,000044: 
018641,000045:                                                                                                  #  DATE-         MARCH 20, 1967
018642,000046: 
018643,000047:                                                                                                  #  BY-           SYSTEM TEST GROUP 864-6900 EXT. 1274
018644,000048: 
018645,000049:                                                                                                  #  MODNO.-       ZERO
018646,000050: 
018647,000051:                                                                                                  #  FUNCTIONAL DESCRIPTION
018648,000052: 
018649,000053:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018650,000054:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018651,000055:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018652,000056: 
018653,000057: 33,2004                                           BANK     33                                    
018654,000058: 33,2000                                           SETLOC   IMUCAL                                
018655,000059: 33,2000                                           BANK                                           
018656,000060: 
018657,000061: 33,2004  E5,1423                                  EBANK=   POSITON                               
018658,000062: 33,2004           35021        IMUTEST            CA       ZERO                                  
018659,000063: 33,2005           55452                           TS       DRIFTT                                
018660,000064: 33,2006           55643                           TS       GEOCOMP1                              
018661,000065: 33,2007           32443                           CAF      TESTTIME                              
018662,000066: 33,2010           55412                           TS       LENGTHOT                              
018663,000067: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018664,000068: 33,2012           35041                           CAF      1SECX                                 
018665,000069: 33,2013           55644                           TS       1SECXT1                               
018666,000070: 
018667,000071: 33,2014           32441                           CA       OC14400                               
018668,000072: 33,2015           55074                           TS       1/PIPADT                              
018669,000073: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018670,000074: 33,2017           77624                           CALL                                           
018671,000075: 33,2020           10613                                    LATAZCHK                              
018672,000076: 33,2021           57546                           COS      DCOMP                                 
018673,000077: 33,2022           77752                           SL1                                            
018674,000078: 33,2023           16447                           STODL    WANGI                                 
018675,000079: 33,2024           02403                                    LATITUDE                              
018676,000080: 33,2025           72556                           SIN      SL1                                   
018677,000081: 33,2026           02445                           STORE    WANGO                                 
018678,000082: 33,2027           77776                           EXIT                                           
018679,000083: 33,2030           04662        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018680,000084: 33,2031           16577                           CADR     IMUZERO                               
018681,000085: 33,2032           02316                           TC       IMUSTLLG                              
018682,000086: 33,2033           35021        IMUBACK            CA       ZERO                                  
018683,000087: 33,2034           55421                           TS       NDXCTR                                
018684,000088: 33,2035           55450                           TS       TORQNDX                               
018685,000089: 33,2036           55451                           TS       TORQNDX    +1                         
018686,000090: 33,2037           34375        NBPOSPL            CA       DEC17                                 
018687,000091: 33,2040           55655                           TS       ZERONDX1                              
018688,000092: 33,2041           32445                           CA       XNBADR                                

Page 424

018690,000094: 33,2042           02356                           TC       ZEROING                               
018691,000095: 33,2043           35002                           CA       HALF                                  
018692,000096: 33,2044           55713                           TS       XNB                                   
018693,000097: 33,2045           06006                           TC       INTPRET                               
018694,000098: 33,2046           73545                           DLOAD    SIN                                   
018695,000099: 33,2047           02401                                    AZIMUTH                               
018696,000100: 33,2050           02724                           STORE    YNB        +2                         
018697,000101: 33,2051           16734                           STODL    ZNB        +4                         
018698,000102: 33,2052           02401                                    AZIMUTH                               
018699,000103: 33,2053           77746                           COS                                            
018700,000104: 33,2054           02726                           STORE    YNB        +4                         
018701,000105: 33,2055           77676                           DCOMP                                          
018702,000106: 33,2056           02732                           STORE    ZNB        +2                         
018703,000107: 33,2057           77776                           EXIT                                           
018704,000108: 33,2060           05364                           TC       CHECKMM                               
018705,000109: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
018706,000110: 33,2062           12064                           TCF      +2                                    #  NO
018707,000111: 33,2063           13443                           TCF      SETNBPOS   +1                         #  YES
018708,000112: 33,2064           06006                           TC       INTPRET                               
018709,000113: 33,2065           77624                           CALL                                           
018710,000114: 33,2066           47311                                    CALCGA                                
018711,000115: 33,2067           77776                           EXIT                                           
018712,000116: 33,2070           04662                           TC       BANKCALL                              
018713,000117: 33,2071           16663                           CADR     IMUCOARS                              
018714,000118: 33,2072           35002                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
018715,000119: 33,2073           70077                           MASK     FLAGWRD3                              
018716,000120: 33,2074           00006                           EXTEND                                         
018717,000121: 33,2075           12077                           BZF      +2                                    
018718,000122: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
018719,000123: 33,2077           05560                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018720,000124: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018721,000125: 33,2101           02316                           TC       IMUSTLLG                              
018722,000126: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018723,000127: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018724,000128: 33,2104           04662                           TC       BANKCALL                              
018725,000129: 33,2105           17073                           CADR     IMUFINE                               
018726,000130: 33,2106           02316                           TC       IMUSTLLG                              
018727,000131: 33,2107           00006                           EXTEND                                         
018728,000132: 33,2110           31657                           DCA      PERFDLAY                              
018729,000133: 33,2111           05342                           TC       LONGCALL                              
018730,000134: 33,2112  E5,1423                                  EBANK=   POSITON                               
018731,000135: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018732,000136: 
018733,000137: 33,2114           32121                           CA       ESTICADR                              
018734,000138: 33,2115           05175                           TC       JOBSLEEP                              
018735,000139: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018736,000140: 33,2117           05201                           TC       JOBWAKE                               
018737,000141: 33,2120           05324                           TC       TASKOVER                              
018738,000142: 33,2121           66453        ESTICADR           CADR     ESTIMS                                

Page 425

018740,000144: 33,2122           35021        TORQUE             CA       ZERO                                  
018741,000145: 33,2123           55050                           TS       DSPTEM2                               
018742,000146: 33,2124           31514                           CA       DRIFTI                                
018743,000147: 33,2125           55051                           TS       DSPTEM2    +1                         
018744,000148: 33,2126           51423                           INDEX    POSITON                               
018745,000149: 33,2127           55430                           TS       SOUTHDR    -1                         
018746,000150: 33,2130           02427                           TC       SHOW                                  
018747,000151: 
018748,000152: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018749,000153: 33,2132           02133                           TC       +1                                    
018750,000154: 33,2133           02417                           TC       EARTHR*                               
018751,000155: 33,2134           34374                           CA       DEC57                                 
018752,000156: 33,2135           55412                           TS       LENGTHOT                              
018753,000157: 33,2136           35017                           CA       ONE                                   
018754,000158: 33,2137           55547                           TS       RESULTCT                              
018755,000159: 33,2140           35021                           CA       ZERO                                  
018756,000160: 33,2141           51422                           INDEX    PIPINDEX                              
018757,000161: 33,2142           54037                           TS       PIPAX                                 
018758,000162: 33,2143           55502                           TS       DATAPL                                
018759,000163: 33,2144           55506                           TS       DATAPL     +4                         
018760,000164: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018761,000165: 33,2146           00004                           INHINT                                         
018762,000166: 33,2147           35016                           CAF      TWO                                   
018763,000167: 33,2150           05235                           TC       TWIDDLE                               
018764,000168: 33,2151  E5,1671                                  EBANK=   XSM                                   
018765,000169: 33,2151           02153                           ADRES    PIPATASK                              
018766,000170: 33,2152           05217                           TC       ENDOFJOB                              
018767,000171: 33,2153           00006        PIPATASK           EXTEND                                         
018768,000172: 33,2154           27412                           DIM      LENGTHOT                              
018769,000173: 33,2155           31412                           CA       LENGTHOT                              
018770,000174: 33,2156           00006                           EXTEND                                         
018771,000175: 33,2157           62163                           BZMF     STARTPIP                              
018772,000176: 33,2160           35006                           CAF      BIT10                                 
018773,000177: 33,2161           05235                           TC       TWIDDLE                               
018774,000178: 33,2162  E5,1671                                  EBANK=   XSM                                   
018775,000179: 33,2162           02153                           ADRES    PIPATASK                              
018776,000180: 33,2163           35002        STARTPIP           CAF      PRIO20                                
018777,000181: 33,2164           05147                           TC       FINDVAC                               
018778,000182: 33,2165  E5,1671                                  EBANK=   XSM                                   
018779,000183: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018780,000184: 
018781,000185: 33,2167           05324                           TC       TASKOVER                              
018782,000186: 
018783,000187: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018784,000188: 33,2171           02172                           TC       +1                                    
018785,000189: 33,2172           02417                           TC       EARTHR*                               
018786,000190: 33,2173           31412                           CA       LENGTHOT                              
018787,000191: 33,2174           00006                           EXTEND                                         
018788,000192: 33,2175           62177                           BZMF     +2                                    
018789,000193: 33,2176           05217                           TC       ENDOFJOB                              
018790,000194: 33,2177           35022                           CA       FIVE                                  

Page 426

018792,000196: 33,2200           55547                           TS       RESULTCT                              
018793,000197: 33,2201           02321                           TC       CHECKG                                
018794,000198: 33,2202           00006                           EXTEND                                         
018795,000199: 33,2203           41503                           DCS      DATAPL                                
018796,000200: 33,2204           21507                           DAS      DATAPL     +4                         
018797,000201: 
018798,000202: 33,2205           06006                           TC       INTPRET                               
018799,000203: 33,2206           45345                           DLOAD    DSU                                   
018800,000204: 33,2207           02511                                    DATAPL     +6                         
018801,000205: 33,2210           02505                                    DATAPL     +2                         
018802,000206: 33,2211           45044                           BPL      CALL                                  
018803,000207: 33,2212           66214                                    AINGOTN                               
018804,000208: 33,2213           66276                                    OVERFFIX                              
018805,000209: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018806,000210: 33,2215           02507                                    DATAPL     +4                         
018807,000211: 33,2216           57212                           SL4      DMPR                                  
018808,000212: 33,2217           27110                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018809,000213: 33,2220           77634                           RTB                                            
018810,000214: 33,2221           45544                                    SGNAGREE                              
018811,000215: 33,2222           01051                           STORE    DSPTEM2                               
018812,000216: 33,2223           77776                           EXIT                                           
018813,000217: 33,2224           11421                           CCS      NDXCTR                                
018814,000218: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018815,000219: 33,2226           02427                           TC       SHOW                                  
018816,000220: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018817,000221: 33,2230           55412                           TS       LENGTHOT                              
018818,000222: 33,2231           51423                           INDEX    POSITON                               
018819,000223: 33,2232           41427                           CS       SOUTHDR    -2                         
018820,000224: 33,2233           55452                           TS       DRIFTT                                
018821,000225: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018822,000226: 33,2235           00006                           EXTEND                                         
018823,000227: 33,2236           12244                           BZF      PON2                                  
018824,000228: 33,2237           45013        PON4               CS       BIT5                                  #  OFFSET PLATFORM
018825,000229: 33,2240           27651                           ADS      ERCOMP1    +2                         
018826,000230: 33,2241           35013                           CA       BIT5                                  
018827,000231: 33,2242           27647                           ADS      ERCOMP1                               
018828,000232: 33,2243           12250                           TCF      PONG                                  
018829,000233: 33,2244           45013        PON2               CS       BIT5                                  
018830,000234: 33,2245           27651                           ADS      ERCOMP1    +2                         
018831,000235: 33,2246           35013                           CA       BIT5                                  
018832,000236: 33,2247           27653                           ADS      ERCOMP1    +4                         
018833,000237: 33,2250           02417        PONG               TC       EARTHR*                               
018834,000238: 33,2251           35021                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018835,000239: 33,2252           55404                           TS       ERVECTOR                              
018836,000240: 33,2253           55405                           TS       ERVECTOR   +1                         
018837,000241: 33,2254           34777        GUESS1             CAF      POSMAX                                
018838,000242: 33,2255           55450                           TS       TORQNDX                               
018839,000243: 33,2256           55451                           TS       TORQNDX    +1                         
018840,000244: 33,2257           30032                           CA       CDUX                                  
018841,000245: 33,2260           55413                           TS       LOSVEC                                

Page 427

018843,000247: 33,2261           02453                           TC       ESTIMS                                
018844,000248: 33,2262           31512        VALMIS             CA       DRIFTO                                
018845,000249: 33,2263           55051                           TS       DSPTEM2    +1                         
018846,000250: 33,2264           35021                           CA       ZERO                                  
018847,000251: 33,2265           55050                           TS       DSPTEM2                               
018848,000252: 33,2266           02427                           TC       SHOW                                  
018849,000253: 
018850,000254: 33,2267           05560        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018851,000255: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018852,000256: 33,2271           45021                           CS       ZERO                                  
018853,000257: 33,2272           05357                           TC       NEWMODEX   +3                         
018854,000258: 33,2273           04662                           TC       BANKCALL                              
018855,000259: 33,2274           16063                           CADR     MKRELEAS                              
018856,000260: 33,2275           05534                           TC       ENDEXT                                

Page 428

018858,000262: 
018859,000263: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018860,000264: 33,2277           15343                                    DPPOSMAX                              
018861,000265: 33,2300           27116                                    ONEDPP                                
018862,000266: 33,2301           77616                           RVQ                                            
018863,000267: 
018864,000268: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
018865,000269: 33,2303           23425                           QXCH     QPLACE                                
018866,000270: 33,2304           35021                           CA       ZERO                                  
018867,000271: 33,2305           55155                           TS       THETAD                                
018868,000272: 33,2306           55156                           TS       THETAD     +1                         
018869,000273: 33,2307           55157                           TS       THETAD     +2                         
018870,000274: 33,2310           04662                           TC       BANKCALL                              
018871,000275: 33,2311           16663                           CADR     IMUCOARS                              
018872,000276: 33,2312           04662                           TC       BANKCALL                              
018873,000277: 33,2313           17577                           CADR     IMUSTALL                              
018874,000278: 33,2314           03102                           TC       SOMERR2                               
018875,000279: 33,2315           01425                           TC       QPLACE                                
018876,000280: 
018877,000281: 33,2316           00006        IMUSTLLG           EXTEND                                         
018878,000282: 33,2317           23425                           QXCH     QPLACE                                
018879,000283: 33,2320           02312                           TC       COAALIGN   +10                        
018880,000284: 
018881,000285: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018882,000286: 33,2322           23425                           QXCH     QPLACE                                
018883,000287: 33,2323           02331                           TC       +6                                    
018884,000288: 33,2324           00003        CHECKG1            RELINT                                         
018885,000289: 33,2325           30067                           CA       NEWJOB                                
018886,000290: 33,2326           00006                           EXTEND                                         
018887,000291: 33,2327           62335                           BZMF     +6                                    
018888,000292: 33,2330           05164                           TC       CHANG1                                
018889,000293: 33,2331           00004                           INHINT                                         
018890,000294: 33,2332           51422                           INDEX    PIPINDEX                              
018891,000295: 33,2333           40037                           CS       PIPAX                                 
018892,000296: 33,2334           55655                           TS       ZERONDX                               
018893,000297: 33,2335           00004                           INHINT                                         
018894,000298: 33,2336           51422                           INDEX    PIPINDEX                              
018895,000299: 33,2337           30037                           CA       PIPAX                                 
018896,000300: 33,2340           61655                           AD       ZERONDX                               
018897,000301: 33,2341           00006                           EXTEND                                         
018898,000302: 33,2342           12324                           BZF      CHECKG1                               
018899,000303: 33,2343           51422                           INDEX    PIPINDEX                              
018900,000304: 33,2344           30037                           CA       PIPAX                                 
018901,000305: 33,2345           51547                           INDEX    RESULTCT                              
018902,000306: 33,2346           55502                           TS       DATAPL                                
018903,000307: 33,2347           04553                           TC       FINETIME                              
018904,000308: 33,2350           51547                           INDEX    RESULTCT                              
018905,000309: 33,2351           55503                           TS       DATAPL     +1                         

Page 429

018907,000311: 33,2352           51547                           INDEX    RESULTCT                              
018908,000312: 33,2353           23504                           LXCH     DATAPL     +2                         
018909,000313: 33,2354           00003                           RELINT                                         
018910,000314: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018911,000315: 
018912,000316: 33,2356           54001        ZEROING            TS       L                                     
018913,000317: 33,2357           12361                           TCF      +2                                    
018914,000318: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018915,000319: 33,2361           35021                           CAF      ZERO                                  
018916,000320: 33,2362           50001                           INDEX    L                                     
018917,000321: 33,2363           54000                           TS       0                                     
018918,000322: 33,2364           24001                           INCR     L                                     
018919,000323: 33,2365           11655                           CCS      ZERONDX1                              
018920,000324: 33,2366           12360                           TCF      ZEROING1                              
018921,000325: 33,2367           00002                           TC       Q                                     
018922,000326: 

Page 430

018924,000328: 32,2000                                           SETLOC   IMUCAL3                               
018925,000329: 32,2000                                           BANK                                           
018926,000330: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018927,000331: 32,2001           27111                                    SCHZEROS                              #  PD24 = (SIN          -COS     0)(OMEG/MS)
018928,000332: 32,2002           02403                                    LATITUDE                              
018929,000333: 32,2003           57546                           COS      DCOMP                                 
018930,000334: 32,2004           73525                           PDDL     SIN                                   
018931,000335: 32,2005           02403                                    LATITUDE                              
018932,000336: 32,2006           74266                           VDEF     VXSC                                  
018933,000337: 32,2007           26450                                    OMEG/MS                               
018934,000338: 32,2010           02405                           STORE    ERVECTOR                              
018935,000339: 32,2011           77634                           RTB                                            
018936,000340: 32,2012           45510                                    LOADTIME                              
018937,000341: 32,2013           26443                           STOVL    TMARK                                 
018938,000342: 32,2014           27111                                    SCHZEROS                              
018939,000343: 32,2015           02650                           STORE    ERCOMP1                               
018940,000344: 32,2016           77616                           RVQ                                            
018941,000345: 33,2000                                           SETLOC   IMUCAL                                
018942,000346: 33,2000                                           BANK                                           
018943,000347: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018944,000348: 33,2371           00051                                    S2                                    
018945,000349: 33,2372           45510                                    LOADTIME                              
018946,000350: 33,2373           02441                           STORE    TEMPTIME                              
018947,000351: 33,2374           51025                           DSU      BPL                                   
018948,000352: 33,2375           02443                                    TMARK                                 
018949,000353: 33,2376           66401                                    ERTHR                                 
018950,000354: 33,2377           77624                           CALL                                           
018951,000355: 33,2400           66276                                    OVERFFIX                              
018952,000356: 33,2401           74261        ERTHR              SL       VXSC                                  
018953,000357: 33,2402           20212                                    9D                                    
018954,000358: 33,2403           02405                                    ERVECTOR                              
018955,000359: 33,2404           53321                           MXV      VAD                                   
018956,000360: 33,2405           02672                                    XSM                                   
018957,000361: 33,2406           02650                                    ERCOMP1                               
018958,000362: 33,2407           16650                           STODL    ERCOMP1                               
018959,000363: 33,2410           02441                                    TEMPTIME                              
018960,000364: 33,2411           02443                           STORE    TMARK                                 
018961,000365: 33,2412           47170                           AXT,1    RTB                                   
018962,000366: 33,2413           02647                           ECADR    ERCOMP1                               
018963,000367: 33,2414           45653                                    PULSEIMU                              
018964,000368: 33,2415           77650                           GOTO                                           
018965,000369: 33,2416           00051                                    S2                                    
018966,000370: 
018967,000371: 33,2417           00006        EARTHR*            EXTEND                                         
018968,000372: 33,2420           23426                           QXCH     QPLACES                               
018969,000373: 33,2421           06006                           TC       INTPRET                               
018970,000374: 33,2422           77624                           CALL                                           
018971,000375: 33,2423           66370                                    EARTHR                                
018972,000376: 33,2424           77776        PROUT              EXIT                                           
018973,000377: 33,2425           02316                           TC       IMUSTLLG                              
018974,000378: 33,2426           01426                           TC       QPLACES                               

Page 431

018976,000380: 
018977,000381: 33,2427           00006        SHOW               EXTEND                                         
018978,000382: 33,2430           23425                           QXCH     QPLACE                                
018979,000383: 33,2431           31423        SHOW1              CA       POSITON                               
018980,000384: 33,2432           55052                           TS       DSPTEM2    +2                         
018981,000385: 33,2433           32442                           CA       VB06N98                               
018982,000386: 33,2434           04662                           TC       BANKCALL                              
018983,000387: 33,2435           20720                           CADR     GOFLASH                               
018984,000388: 33,2436           02267                           TC       ENDTEST1                              #  V34
018985,000389: 33,2437           01425                           TC       QPLACE                                #  V33
018986,000390: 33,2440           12431                           TCF      SHOW1                                 
018987,000391: 
018988,000392: 33,2441           14400        OC14400            OCT      14400                                 
018989,000393: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018990,000394: 33,2442           01542        VB06N98            VN       0698                                  
018991,000395: 33,2443           01602        TESTTIME           OCT      01602                                 
018992,000396: 33,2444     4375               DEC17              =        ND1                                   
018993,000397: 33,2444           02757        OGCPL              ECADR    OGC                                   
018994,000398: 33,2445     5041               1SECX              =        1SEC                                  
018995,000399: 33,2445     4374               DEC57              =        VD1                                   
018996,000400: 33,2445           01713        XNBADR             GENADR   XNB                                   
018997,000401: 33,2446           01671        XSMADR             GENADR   XSM                                   
018998,000402: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018999,000403: 
019000,000404: 33,2451           04662        P11OUT             TC       BANKCALL                              
019001,000405: 33,2452           70117                           CADR     MATRXJOB                              #  RETURN TO P11
019002,000406: 
019003,000407: 33,2453                                           COUNT    02/COMST                              
019004,000408: 
019005,000409:    4553                                           BLOCK    2                                     
019006,000410:    4553           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
019007,000411:    4554           00006                           EXTEND                                         
019008,000412:    4555           00004                           READ     LOSCALAR                              
019009,000413:    4556           54001                           TS       L                                     
019010,000414:    4557           00006                           EXTEND                                         
019011,000415:    4560           06004                           RXOR     LOSCALAR                              
019012,000416:    4561           00006                           EXTEND                                         
019013,000417:    4562           14566                           BZF      +4                                    
019014,000418:    4563           00006                           EXTEND                                         
019015,000419:    4564           00004                           READ     LOSCALAR                              
019016,000420:    4565           54001                           TS       L                                     
019017,000421:    4566           44777                 +4        CS       POSMAX                                
019018,000422:    4567           60001                           AD       L                                     
019019,000423:    4570           00006                           EXTEND                                         
019020,000424:    4571           14554                           BZF      FINETIME   +1                         
019021,000425:    4572           00006                           EXTEND                                         
019022,000426:    4573           00003                           READ     HISCALAR                              
019023,000427:    4574           00002                           TC       Q                                     
019024,000428: 

Page 432

019026,000430:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019027,000431:                                                                                                  #  DATE-  NOVEMBER 2 1966
019028,000432:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
019029,000433:                                                                                                  #  MOD NO 3
019030,000434: 
019031,000435:                                                                                                  #  FUNCTIONAL DESCRIPTION
019032,000436: 
019033,000437:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019034,000438:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
019035,000439:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
019036,000440:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019037,000441:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
019038,000442:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
019039,000443:                                                                                                  #  FOR THE DATA TO FLASH.
019040,000444: 
019041,000445:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019042,000446:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019043,000447:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019044,000448:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
019045,000449:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
019046,000450:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
019047,000451:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
019048,000452:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019049,000453:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019050,000454:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019051,000455:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019052,000456: 
019053,000457:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
019054,000458: 
019055,000459:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
019056,000460:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
019057,000461:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
019058,000462:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
019059,000463:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
019060,000464: 
019061,000465:                                                                                                  #  TO PERFORM AS PART OF COMPASS
019062,000466: 
019063,000467:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
019064,000468:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
019065,000469: 
019066,000470:                                                                                                  #  SUBROUTINES CALLED
019067,000471: 
019068,000472:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019069,000473:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
019070,000474: 
019071,000475:                                                                                                  #  NORMAL EXIT
019072,000476: 
019073,000477:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019074,000478:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
019075,000479: 
019076,000480:                                                                                                  #  ALARMS
019077,000481: 
019078,000482:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST

Page 433

019080,000484:                                                                                                  #  1601  BAD IMU TORQUE ABORT
019081,000485:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
019082,000486: 
019083,000487:                                                                                                  #  OUTPUT
019084,000488: 
019085,000489:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019086,000490:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019087,000491:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
019088,000492:                                                                                                  #        02      GYROCOMPASSING
019089,000493:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
019090,000494: 
019091,000495:                                                                                                  #  DEBRIS
019092,000496: 
019093,000497:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
019094,000498: 

Page 434

019096,000500:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019097,000501:                                                                                                  #  ON THE NEXT FEW PAGES.
019098,000502: 
019099,000503:    4575                                           COUNT    33/P02                                
019100,000504: 
019101,000505:    4575  E5,1671                                  EBANK=   XSM                                   
019102,000506: 33,2453                                           BANK     33                                    
019103,000507: 33,2000                                           SETLOC   IMUCAL                                
019104,000508: 33,2000                                           BANK                                           
019105,000509: 
019106,000510: 33,2453           05372        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
019107,000511: 33,2454           00075                           OCT      00075                                 
019108,000512: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
019109,000513: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
019110,000514: 33,2457           30025                           CA       TIME1                                 
019111,000515: 33,2460           55645                           TS       GTSWTLT1                              
019112,000516: 33,2461           35021                           CAF      ZERO                                  #  ZERO THE PIPAS
019113,000517: 33,2462           54037                           TS       PIPAX                                 
019114,000518: 33,2463           54040                           TS       PIPAY                                 
019115,000519: 33,2464           54041                           TS       PIPAZ                                 
019116,000520: 33,2465           00003                           RELINT                                         
019117,000521: 33,2466           33127                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
019118,000522: 33,2467           55655                           TS       ZERONDX1                              
019119,000523: 33,2470           33130                           CA       ALXXXZ                                
019120,000524: 33,2471           02356                           TC       ZEROING                               
019121,000525: 33,2472           06006                           TC       INTPRET                               
019122,000526: 33,2473           77735                           SLOAD                                          
019123,000527: 33,2474           27111                                    SCHZEROS                              
019124,000528: 33,2475           25477                           STOVL    GCOMPSW    -1                         
019125,000529: 33,2476           27122                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
019126,000530: 33,2477           26455                           STOVL    ALX1S                                 
019127,000531: 33,2500           27111                                    SCHZEROS                              
019128,000532: 33,2501           01472                           STORE    GCOMP                                 
019129,000533: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
019130,000534: 33,2503           77776                           EXIT                                           
019131,000535: 
019132,000536: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
019133,000537: 33,2505           02507                           TC       +2                                    
019134,000538: 33,2506           02523                           TC       SLEEPIE    +1                         
019135,000539: 33,2507           06006                           TC       INTPRET                               
019136,000540: 33,2510           77624                           CALL                                           
019137,000541: 33,2511           64000                                    ERTHRVSE                              
019138,000542: 33,2512           77776                           EXIT                                           
019139,000543: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
019140,000544: 33,2514           55646                           TS       ERECTIME                              
019141,000545: 
019142,000546: 33,2515           05354                           TC       NEWMODEX                              
019143,000547: 33,2516           00002                           MM       02         B-14                       
019144,000548: 33,2517           04662                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM

Page 435

019146,000550: 33,2520           17156                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
019147,000551: 33,2521           03403                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
019148,000552: 

Page 436

019150,000554:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019151,000555: 
019152,000556:                                                                                                  #  SET UP WAITLIST SECTION
019153,000557: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
019154,000558: 33,2523           05412                           TC       PHASCHNG                              #  CHANGE PHASE
019155,000559: 33,2524           00135                           OCT      00135                                 
019156,000560: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
019157,000561: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
019158,000562: 33,2527           03406        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
019159,000563: 33,2530           02532                           TC       SETGWLST                              
019160,000564: 33,2531           05217                           TC       ENDOFJOB                              
019161,000565: 
019162,000566: 33,2532           00006        SETGWLST           EXTEND                                         
019163,000567: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019164,000568: 33,2534           00004                           INHINT                                         
019165,000569: 33,2535           40025                           CS       TIME1                                 
019166,000570: 33,2536           61645                           AD       GTSWTLT1                              
019167,000571: 33,2537           00006                           EXTEND                                         
019168,000572: 33,2540           62542                           BZMF     +2                                    
019169,000573: 33,2541           65001                           AD       NEGMAX                                #  10 MS ERROR OK
019170,000574: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019171,000575: 33,2543           00006                           EXTEND                                         
019172,000576: 33,2544           62550                           BZMF     RIGHTGTS                              
019173,000577: 33,2545           05235        WTGTSMPL           TC       TWIDDLE                               
019174,000578: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
019175,000579: 33,2546           02574                           ADRES    ALLOOP                                
019176,000580: 33,2547           00154                           TC       MPAC                                  
019177,000581: 33,2550           35015        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
019178,000582: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
019179,000583: 
019180,000584:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019181,000585: 
019182,000586: 33,2552     4113               25DECML            EQUALS   OCT31                                 
019183,000587: 33,2552           34113        STOREDTA           CAF      25DECML                               
019184,000588: 33,2553           54154                           TS       MPAC                                  
019185,000589: 33,2554           50154                           INDEX    MPAC                                  
019186,000590: 33,2555           31460                           CAE      THETAX1                               
019187,000591: 33,2556           50154                           INDEX    MPAC                                  
019188,000592: 33,2557           55577                           TS       RESTARPT                              
019189,000593: 33,2560           10154                           CCS      MPAC                                  
019190,000594: 33,2561           12553                           TCF      STOREDTA   +1                         
019191,000595: 33,2562           00002                           TC       Q                                     
019192,000596: 
019193,000597: 33,2563           34113        LOADSTDT           CAF      25DECML                               
019194,000598: 33,2564           54154                           TS       MPAC                                  
019195,000599: 33,2565           50154                           INDEX    MPAC                                  
019196,000600: 33,2566           31577                           CA       RESTARPT                              
019197,000601: 33,2567           50154                           INDEX    MPAC                                  
019198,000602: 

Page 437

019200,000604: 33,2570           55460                           TS       THETAX1                               
019201,000605: 33,2571           10154                           CCS      MPAC                                  
019202,000606: 33,2572           12564                           TCF      LOADSTDT   +1                         
019203,000607: 33,2573           00002                           TC       Q                                     
019204,000608: 
019205,000609:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019206,000610: 
019207,000611: 33,2574           30025        ALLOOP             CA       TIME1                                 
019208,000612: 33,2575           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
019209,000613: 33,2576           31540        ALLOOP3            CA       ALTIM                                 
019210,000614: 33,2577           55631                           TS       GEOSAVE1                              
019211,000615: 33,2600           05412                           TC       PHASCHNG                              
019212,000616: 33,2601           00115                           OCT      00115                                 
019213,000617: 33,2602           31631        ALLOOP1            CAE      GEOSAVE1                              
019214,000618: 33,2603           55540                           TS       ALTIM                                 
019215,000619: 33,2604           10000                           CCS      A                                     
019216,000620: 33,2605           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
019217,000621: 33,2606           55541                           TS       ALTIMS                                
019218,000622: 33,2607           40000                           CS       A                                     
019219,000623: 33,2610           55540                           TS       ALTIM                                 
019220,000624: 33,2611           35021                           CAF      ZERO                                  
019221,000625: 33,2612           56037                           XCH      PIPAX                                 
019222,000626: 33,2613           55162                           TS       DELVX                                 
019223,000627: 33,2614           35021                           CAF      ZERO                                  
019224,000628: 33,2615           56040                           XCH      PIPAY                                 
019225,000629: 33,2616           55164                           TS       DELVY                                 
019226,000630: 33,2617           35021                           CAF      ZERO                                  
019227,000631: 33,2620           56041                           XCH      PIPAZ                                 
019228,000632: 33,2621           55166                           TS       DELVZ                                 
019229,000633: 33,2622           34374                           CAF      19DECML                               #  23 OCT
019230,000634: 33,2623           04114                           TC       NEWPHASE                              
019231,000635: 33,2624           00005                           OCT      00005                                 
019232,000636: 33,2625           37657        SPECSTS            CAF      PRIO22                                
019233,000637: 33,2626           05147                           TC       FINDVAC                               
019234,000638: 33,2627  E5,1631                                  EBANK=   GEOSAVE1                              
019235,000639: 33,2627           02632 66065                     2CADR    ALFLT                                 #  START THE JOB
019236,000640: 
019237,000641: 33,2631           05324                           TC       TASKOVER                              
019238,000642: 

Page 438

019240,000644:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
019241,000645: 
019242,000646: 33,2632           02552        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
019243,000647: 33,2633           05412                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
019244,000648: 33,2634           00215                           OCT      00215                                 
019245,000649: 33,2635           12637                           TCF      +2                                    
019246,000650: 33,2636           02563        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
019247,000651: 
019248,000652: 33,2637           11643                           CCS      GEOCOMP1                              
019249,000653: 33,2640           02642                           TC       +2                                    
019250,000654: 33,2641           02645                           TC       NORMLOP                               
019251,000655: 33,2642           03406                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
019252,000656: 33,2643           04662                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
019253,000657: 33,2644           15262                           CADR     1/PIPA                                
019254,000658: 33,2645           06006        NORMLOP            TC       INTPRET                               
019255,000659: 33,2646           77745                           DLOAD                                          
019256,000660: 33,2647           27120                                    INTVAL                                
019257,000661: 33,2650           24051                           STOVL    S1                                    
019258,000662: 33,2651           01163                                    DELVX                                 
019259,000663: 33,2652           76505                           VXM      VSL1                                  
019260,000664: 33,2653           02672                                    XSM                                   
019261,000665: 33,2654           57545                           DLOAD    DCOMP                                 
019262,000666: 33,2655           00160                                    MPAC       +3                         
019263,000667: 33,2656           16533                           STODL    DPIPAY                                
019264,000668: 33,2657           00162                                    MPAC       +5                         
019265,000669: 33,2660           02537                           STORE    DPIPAZ                                
019266,000670: 
019267,000671: 33,2661           76001                           SETPD    AXT,1                                 
019268,000672: 33,2662           00001                                    0                                     
019269,000673: 33,2663           00010                                    8D                                    
019270,000674: 33,2664           57535                           SLOAD    DCOMP                                 
019271,000675: 33,2665           02644                                    GEOCOMP1                              
019272,000676: 33,2666           77640                           BMN                                            
019273,000677: 33,2667           67210                                    ALWAYSG                               #  DO A QUICK COMPASS
019274,000678: 

Page 439

019276,000680:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019277,000681: 
019278,000682: 33,2670                                           COUNT    33/COMST                              
019279,000683: 
019280,000684: 33,2670           50135        ALCGKK             SLOAD    BMN                                   
019281,000685: 33,2671           02542                                    ALTIMS                                
019282,000686: 33,2672           66705                                    ALFLT3                                #  NO NEW GAINS NEEDED
019283,000687: 33,2673           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
019284,000688: 33,2674           00014                                    12D                                   
019285,000689: 33,2675           02454                                    ALX1S                                 
019286,000690: 33,2676           62143        ALKCG2             DLOAD*   INCR,1                                
019287,000691: 33,2677           02243                                    ALFDK      +144D,1                    
019288,000692: 33,2700           77775                           DEC      -2         B-14                       
019289,000693: 33,2701           12555                           STORE    ALDK       +10D,2                     
019290,000694: 33,2702           66104                           TIX,2    SXA,1                                 
019291,000695: 33,2703           66676                                    ALKCG2                                
019292,000696: 33,2704           02454                                    ALX1S                                 
019293,000697: 
019294,000698: 33,2705           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
019295,000699: 33,2706           00010                                    8D                                    #  AND GAIN UPDATES
019296,000700: 33,2707           41343        DELMLP             DLOAD*   DMP                                   
019297,000701: 33,2710           02543                                    DPIPAY     +8D,1                      
019298,000702: 33,2711           27705                                    PIPASC                                
019299,000703: 33,2712           43661                           SLR      BDSU*                                 
019300,000704: 33,2713           21212                                    9D                                    
019301,000705: 33,2714           02511                                    INTY       +8D,1                      
019302,000706: 33,2715           06511                           STORE    INTY       +8D,1                      
019303,000707: 33,2716           40725                           PDDL     DMP*                                  
019304,000708: 33,2717           27707                                    VELSC                                 
019305,000709: 33,2720           02531                                    VLAUN      +8D,1                      
019306,000710: 33,2721           77732                           SL2R                                           
019307,000711: 33,2722           45425                           DSU      STADR                                 
019308,000712: 33,2723           71206                           STORE    DELM       +8D,1                      
019309,000713: 33,2724           06573                           STORE    DELM       +10D,1                     
019310,000714: 33,2725           77100                           TIX,1    AXT,2                                 
019311,000715: 33,2726           66707                                    DELMLP                                
019312,000716: 33,2727           00004                                    4                                     
019313,000717: 33,2730           56743        ALILP              DLOAD*   DMPR*                                 
019314,000718: 33,2731           75314                                    ALK        +4,2                       
019315,000719: 33,2732           75230                                    ALDK       +4,2                       
019316,000720: 33,2733           12463                           STORE    ALK        +4,2                       
019317,000721: 33,2734           77104                           TIX,2    AXT,2                                 
019318,000722: 33,2735           66730                                    ALILP                                 
019319,000723: 33,2736           00010                                    8D                                    
019320,000724: 33,2737           66140        ALKLP              LXC,1    SXA,1                                 
019321,000725: 33,2740           02455                                    CMPX1                                 
019322,000726: 33,2741           02455                                    CMPX1                                 
019323,000727: 33,2742           56743                           DLOAD*   DMPR*                                 
019324,000728: 33,2743           02460                                    ALK        +1,1                       
019325,000729: 33,2744           75206                                    DELM       +8D,2                      

Page 440

019327,000731: 33,2745           77613                           DAD*                                           
019328,000732: 33,2746           75266                                    INTY       +8D,2                      
019329,000733: 33,2747           12511                           STORE    INTY       +8D,2                      
019330,000734: 33,2750           42743                           DLOAD*   DAD*                                  
019331,000735: 33,2751           75304                                    ALK        +12D,2                     
019332,000736: 33,2752           75220                                    ALDK       +12D,2                     
019333,000737: 33,2753           12473                           STORE    ALK        +12D,2                     
019334,000738: 33,2754           42673                           DMPR*    DAD*                                  
019335,000739: 33,2755           75206                                    DELM       +8D,2                      
019336,000740: 33,2756           75256                                    INTY       +16D,2                     
019337,000741: 33,2757           12521                           STORE    INTY       +16D,2                     
019338,000742: 33,2760           40743                           DLOAD*   DMP*                                  
019339,000743: 33,2761           27712                                    ALSK       +1,1                       
019340,000744: 33,2762           75206                                    DELM       +8D,2                      
019341,000745: 33,2763           42772                           SL1R     DAD*                                  
019342,000746: 33,2764           75246                                    VLAUN      +8D,2                      
019343,000747: 33,2765           12531                           STORE    VLAUN      +8D,2                      
019344,000748: 33,2766           76104                           TIX,2    AXT,1                                 
019345,000749: 33,2767           66737                                    ALKLP                                 
019346,000750: 33,2770           00010                                    8D                                    
019347,000751: 
019348,000752: 33,2771           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
019349,000753: 33,2772           02533                                    ACCWD      +8D,1                      
019350,000754: 33,2773           02531                                    VLAUN      +8D,1                      
019351,000755: 33,2774           55523                           PDDL*    VDEF                                  
019352,000756: 33,2775           02541                                    POSNV      +8D,1                      
019353,000757: 33,2776           76521                           MXV      VSL1                                  
019354,000758: 33,2777           02001                                    TRANSM1                               
019355,000759: 33,3000           77745                           DLOAD                                          
019356,000760: 33,3001           00155                                    MPAC                                  
019357,000761: 33,3002           06541                           STORE    POSNV      +8D,1                      
019358,000762: 33,3003           77745                           DLOAD                                          
019359,000763: 33,3004           00160                                    MPAC       +3                         
019360,000764: 33,3005           06531                           STORE    VLAUN      +8D,1                      
019361,000765: 33,3006           77745                           DLOAD                                          
019362,000766: 33,3007           00162                                    MPAC       +5                         
019363,000767: 33,3010           06533                           STORE    ACCWD      +8D,1                      
019364,000768: 33,3011           77700                           TIX,1                                          
019365,000769: 33,3012           66771                                    LOOSE                                 
019366,000770: 
019367,000771: 33,3013           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
019368,000772: 33,3014           00006                                    6                                     
019369,000773: 33,3015           00002                                    2                                     
019370,000774: 33,3016           57343        BOOP               DLOAD*   DMPR                                  
019371,000775: 33,3017           02513                                    ANGX       +2,1                       
019372,000776: 33,3020           27715                                    GEORGEJ                               
019373,000777: 33,3021           77722                           SR2R                                           
019374,000778: 33,3022           73406                           PUSH     SIN                                   

Page 441

019376,000780: 33,3023           56072                           SL3R     XAD,1                                 
019377,000781: 33,3024           00046                                    X1                                    
019378,000782: 33,3025           10021                           STORE    16D,2                                 
019379,000783: 33,3026           77745                           DLOAD                                          
019380,000784: 33,3027           77746                           COS                                            
019381,000785: 33,3030           10027                           STORE    22D,2                                 #  COSINES
019382,000786: 33,3031           77704                           TIX,2                                          
019383,000787: 33,3032           67016                                    BOOP                                  
019384,000788: 
019385,000789: 33,3033           77776        PERFERAS           EXIT                                           
019386,000790: 33,3034           35060                           CA       EBANK7                                
019387,000791: 33,3035  E7,1400                                  EBANK=   LAT(SPL)                              
019388,000792: 33,3035           54003                           TS       EBANK                                 
019389,000793: 33,3036           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
019390,000794: 
019391,000795:                                                                                                  #  CAUTION
019392,000796: 
019393,000797:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019394,000798:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019395,000799: 
019396,000800: 33,3037  E5,1412                                  EBANK=   LENGTHOT                              
019397,000801: 33,3037           11412        ONCEMORE           CCS      LENGTHOT                              
019398,000802: 33,3040           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
019399,000803: 33,3041           11450                           CCS      TORQNDX                               
019400,000804: 33,3042           13044                           TCF      +2                                    
019401,000805: 33,3043           03046                           TC       SETUPER1                              
019402,000806: 33,3044           30032                           CA       CDUX                                  
019403,000807: 33,3045           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
019404,000808: 33,3046           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
019405,000809: 33,3047           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
019406,000810: 33,3050           02503                                    ANGZ                                  
019407,000811: 33,3051           02507                                    ANGY                                  
019408,000812: 33,3052           55525                           PDDL     VDEF                                  
019409,000813: 33,3053           02511                                    ANGX                                  
019410,000814: 33,3054           74276                           VCOMP    VXSC                                  
019411,000815: 33,3055           27715                                    GEORGEJ                               
019412,000816: 33,3056           74521                           MXV      VSR1                                  
019413,000817: 33,3057           02672                                    XSM                                   
019414,000818: 33,3060           02760                           STORE    OGC                                   
019415,000819: 33,3061           77776                           EXIT                                           
019416,000820: 
019417,000821: 33,3062           05412        TORQINCH           TC       PHASCHNG                              
019418,000822: 33,3063           00005                           OCT      00005                                 
019419,000823: 33,3064           32444                           CA       OGCPL                                 
019420,000824: 33,3065           04662                           TC       BANKCALL                              
019421,000825: 33,3066           17206                           CADR     IMUPULSE                              
019422,000826: 33,3067           02316                           TC       IMUSTLLG                              
019423,000827: 33,3070           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
019424,000828: 33,3071           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019425,000829: 33,3072           06006                           TC       INTPRET                               

Page 442

019427,000831: 33,3073           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019428,000832: 33,3074           64000                                    ERTHRVSE                              
019429,000833: 33,3075           77776                           EXIT                                           
019430,000834: 33,3076           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019431,000835: 
019432,000836: 33,3077           05650        SOMEERRR           TC       ALARM                                 
019433,000837: 33,3100           01600                           OCT      1600                                  
019434,000838: 33,3101           03104                           TC       +3                                    
019435,000839: 33,3102           05650        SOMERR2            TC       ALARM                                 
019436,000840: 33,3103           01601                           OCT      1601                                  
019437,000841: 33,3104           05412                           TC       PHASCHNG                              
019438,000842: 33,3105           00005                           OCT      00005                                 
019439,000843: 33,3106           02267                           TC       ENDTEST1                              
019440,000844: 
019441,000845:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. 
019442,000846: 
019443,000847: 33,3107           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
019444,000848: 33,3110           00000 00000  SCHZEROS           2DEC     .00000000                             
019445,000849: 33,3112           00000 00000                     2DEC     .00000000                             
019446,000850: 33,3114           00000                           OCT      00000                                 
019447,000851: 33,3115           00000        ONEDPP             OCT      00000                                 
019448,000852: 33,3116           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
019449,000853: 
019450,000854: 33,3117           00004        INTVAL             OCT      4                                     
019451,000855: 33,3120           00002                           OCT      2                                     
019452,000856: 33,3121           00220                           DEC      144        B-14                       
019453,000857: 33,3122           77776                           DEC      -1         B-14                       
019454,000858: 33,3123           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019455,000859: 33,3125           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019456,000860: 
019457,000861: 33,3127           00115        77DECML            DEC      77         B-14                       
019458,000862: 33,3130           01453        ALXXXZ             GENADR   ALX1S      -1                         
019459,000863: 
019460,000864:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019461,000865: 
019462,000866: 33,3131                                           COUNT    33/P01                                
019463,000867: 
019464,000868:                                                                                                  #  INITIALIZATION SECTION
019465,000869: 
019466,000870: 33,3131           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
019467,000871: 33,3132           75004                           MASK     NOP01BIT                              

Page 443

019469,000873: 33,3133           00006                           EXTEND                                         
019470,000874: 33,3134           13137                           BZF      GTSCPSSA                              
019471,000875: 33,3135           05721                           TC       POODOO                                
019472,000876: 33,3136           01521                           OCT      1521                                  #  NODO ALARM FOR P01 - P11 ALREADY DONE
019473,000877: 
019474,000878: 33,3137           35017        GTSCPSSA           CAF      ONE                                   
019475,000879: 33,3140           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
019476,000880: 33,3141           33435                           CA       1/PIPAGT                              
019477,000881: 33,3142           55074                           TS       1/PIPADT                              
019478,000882: 33,3143           35010        NXXTENN            CA       BIT8                                  
019479,000883: 33,3144           55412                           TS       LENGTHOT                              
019480,000884: 33,3145           35036                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019481,000885: 33,3146           55644                           TS       1SECXT1                               
019482,000886: 33,3147           35017                           CAF      ONE                                   
019483,000887: 33,3150           55632                           TS       PREMTRX1                              
019484,000888: 33,3151           55657                           TS       PERFDLAY   +1                         
019485,000889: 33,3152           35021                           CAF      ZERO                                  
019486,000890: 33,3153           55656                           TS       PERFDLAY                              
019487,000891: 33,3154           00006                           EXTEND                                         
019488,000892: 33,3155           31634                           DCA      LUNCHAZ1                              
019489,000893: 33,3156           53636                           DXCH     NEWAZ1                                
019490,000894: 33,3157           00006                           EXTEND                                         
019491,000895: 33,3160           31634                           DCA      LUNCHAZ1                              
019492,000896: 33,3161           53640                           DXCH     OLDAZMTH                              
019493,000897: 33,3162           34375        SETUPGC            CA       DEC17                                 
019494,000898: 33,3163           55655                           TS       ZERONDX1                              
019495,000899: 33,3164           32446                           CA       XSMADR                                
019496,000900: 33,3165           02356                           TC       ZEROING                               
019497,000901: 33,3166           03170                           TC       POSN17C                               
019498,000902: 33,3167           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019499,000903: 
019500,000904: 
019501,000905: 33,3170           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
019502,000906: 33,3171           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019503,000907: 33,3172           45002                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019504,000908: 33,3173           55705                           TS       ZSM                                   
019505,000909: 33,3174           06006                           TC       INTPRET                               
019506,000910: 33,3175           41545                           DLOAD    PUSH                                  
019507,000911: 33,3176           02636                                    NEWAZ1                                
019508,000912: 33,3177           77756                           SIN                                            
019509,000913: 33,3200           02676                           STORE    XSM        +4                         
019510,000914: 33,3201           16702                           STODL    YSM        +2                         
019511,000915: 33,3202           77746                           COS                                            
019512,000916: 33,3203           02704                           STORE    YSM        +4                         
019513,000917: 33,3204           77676                           DCOMP                                          
019514,000918: 33,3205           02674                           STORE    XSM        +2                         
019515,000919: 33,3206           77776                           EXIT                                           
019516,000920: 33,3207           01425                           TC       QPLACE                                
019517,000921: 

Page 444

019519,000923:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
019520,000924: 
019521,000925: 33,3210                                           COUNT    33/P02                                
019522,000926: 
019523,000927: 33,3210           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019524,000928: 33,3211           02543                                    DPIPAY     +8D,1                      
019525,000929: 33,3212           02505                                    FILDELV1   +8D,1                      
019526,000930: 33,3213           42675                           DMPR     DAD*                                  
019527,000931: 33,3214           27717                                    GEOCONS1                              
019528,000932: 33,3215           02505                                    FILDELV1   +8D,1                      
019529,000933: 33,3216           06505                           STORE    FILDELV1   +8D,1                      
019530,000934: 33,3217           77613                           DAD*                                           
019531,000935: 33,3220           02507                                    INTVEC1    +8D,1                      
019532,000936: 33,3221           06507                           STORE    INTVEC1    +8D,1                      
019533,000937: 33,3222           42675                           DMPR     DAD*                                  
019534,000938: 33,3223           27721                                    GEOCONS2                              
019535,000939: 33,3224           02505                                    FILDELV1   +8D,1                      
019536,000940: 33,3225           41475                           DMPR     PUSH                                  
019537,000941: 33,3226           15333                                    GEOCONS5                              
019538,000942: 33,3227           67300                           TIX,1    SLOAD                                 
019539,000943: 33,3230           67210                                    ALWAYSG                               
019540,000944: 33,3231           02647                                    ERECTIM1                              
019541,000945: 33,3232           71254                           BZE      DLOAD                                 
019542,000946: 33,3233           67244                                    COMPGS                                
019543,000947: 33,3234           02471                                    THETAN1    +2                         
019544,000948: 33,3235           45425                           DSU      STADR                                 
019545,000949: 33,3236           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019546,000950: 33,3237           77621                           BDSU                                           
019547,000951: 33,3240           02473                                    THETAN1    +4                         
019548,000952: 33,3241           02473                           STORE    THETAN1    +4                         
019549,000953: 33,3242           77650                           GOTO                                           
019550,000954: 33,3243           67266                                    ADDINDRF                              
019551,000955: 33,3244           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019552,000956: 33,3245           02467                                    THETAN1                               
019553,000957: 33,3246           02475                                    FILDELV1                              
019554,000958: 33,3247           16467                           STODL    THETAN1                               
019555,000959: 33,3250           02475                                    FILDELV1                              
019556,000960: 33,3251           44275                           DMPR     BDSU                                  
019557,000961: 33,3252           27723                                    GEOCONS3                              
019558,000962: 33,3253           02473                                    THETAN1    +4                         
019559,000963: 33,3254           16473                           STODL    THETAN1    +4                         
019560,000964: 33,3255           02501                                    FILDELV1   +4                         
019561,000965: 33,3256           44275                           DMPR     BDSU                                  
019562,000966: 33,3257           27723                                    GEOCONS3                              
019563,000967: 33,3260           02471                                    THETAN1    +2                         
019564,000968: 33,3261           57325                           PDDL     DMPR                                  
019565,000969: 33,3262           02503                                    INTVEC1    +4                         
019566,000970: 33,3263           27725                                    GEOCONS4                              
019567,000971: 33,3264           45421                           BDSU     STADR                                 
019568,000972: 33,3265           75306                           STORE    THETAN1    +2                         

Page 445

019570,000974: 33,3266           77776        ADDINDRF           EXIT                                           
019571,000975: 
019572,000976: 
019573,000977: 33,3267           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019574,000978: 33,3270           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019575,000979: 33,3271           03406                           TC       CHKCOMED                              
019576,000980: 33,3272           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
019577,000981: 33,3273           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019578,000982: 
019579,000983: 33,3274           06006        LASTGTS            TC       INTPRET                               
019580,000984: 33,3275           77775                           VLOAD                                          
019581,000985: 33,3276           02650                                    ERCOMP1                               
019582,000986: 33,3277           16461                           STODL    THETAX1                               
019583,000987: 33,3300           02443                                    TMARK                                 
019584,000988: 33,3301           02457                           STORE    ALK                                   
019585,000989: 33,3302           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019586,000990: 
019587,000991: 33,3303           05412        RESTAIER           TC       PHASCHNG                              
019588,000992: 33,3304           00275                           OCT      00275                                 
019589,000993: 33,3305           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019590,000994: 33,3306           64375                           VLOAD    MXV                                   
019591,000995: 33,3307           02467                                    THETAN1                               
019592,000996: 33,3310           02672                                    XSM                                   
019593,000997: 33,3311           53372                           VSL1     VAD                                   
019594,000998: 33,3312           02461                                    THETAX1                               
019595,000999: 33,3313           16650                           STODL    ERCOMP1                               
019596,001000: 33,3314           02457                                    ALK                                   
019597,001001: 33,3315           02443                           STORE    TMARK                                 
019598,001002: 33,3316           77776                           EXIT                                           
019599,001003: 33,3317           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
019600,001004: 33,3320           31646                           CAE      ERECTIM1                              
019601,001005: 33,3321           55631                           TS       GEOSAVE1                              
019602,001006: 33,3322           05412                           TC       PHASCHNG                              
019603,001007: 33,3323           00155                           OCT      00155                                 
019604,001008: 33,3324           06006        RESTEST1           TC       INTPRET                               
019605,001009: 33,3325           77775                           VLOAD                                          
019606,001010: 33,3326           27111                                    SCHZEROS                              
019607,001011: 33,3327           02467                           STORE    THETAN1                               
019608,001012: 33,3330           77776                           EXIT                                           
019609,001013: 33,3331           11632                           CCS      PREMTRXC                              
019610,001014: 33,3332           03401                           TC       NOCHORLD                              
019611,001015: 33,3333           05412                           TC       PHASCHNG                              
019612,001016: 33,3334           00255                           OCT      00255                                 
019613,001017: 33,3335           06006        RESTEST3           TC       INTPRET                               
019614,001018: 33,3336           77745                           DLOAD                                          
019615,001019: 33,3337           02634                                    LAUNCHAZ                              
019616,001020: 33,3340           53025                           DSU      BZE                                   
019617,001021: 33,3341           02640                                    OLDAZMTH                              
019618,001022: 33,3342           67376                                    NOAZCHGE                              
019619,001023: 33,3343           00001                           STORE    0D                                    

Page 446

019621,001025: 33,3344           43335                           SLOAD    DAD                                   
019622,001026: 33,3345           27117                                    ONEDPP     +1                         
019623,001027: 33,3346           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019624,001028: 33,3347           16633                           STODL    PREMTRXC                              
019625,001029: 33,3350           02634                                    LAUNCHAZ                              
019626,001030: 33,3351           16636                           STODL    NEWAZMTH                              
019627,001031: 33,3352           00001                                    0D                                    
019628,001032: 33,3353           02654        ADERCOMP           STORE    ERCOMP     +4                         
019629,001033: 33,3354           77776                           EXIT                                           
019630,001034: 33,3355           03170                           TC       POSN17C                               
019631,001035: 33,3356           05412                           TC       PHASCHNG                              
019632,001036: 33,3357           00335                           OCT      00335                                 
019633,001037: 33,3360           00006        RESCHNG            EXTEND                                         
019634,001038: 33,3361           31636                           DCA      NEWAZMTH                              
019635,001039: 33,3362           53640                           DXCH     OLDAZMTH                              
019636,001040: 33,3363           35011                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
019637,001041: 33,3364           55412                           TS       LENGTHOT                              
019638,001042: 33,3365           05412                           TC       PHASCHNG                              
019639,001043: 33,3366           00075                           OCT      00075                                 
019640,001044: 33,3367           33434        SPITGYRO           CA       ERCOMPPL                              
019641,001045: 33,3370           04662                           TC       BANKCALL                              
019642,001046: 33,3371           17206                           CADR     IMUPULSE                              
019643,001047: 33,3372           04662                           TC       BANKCALL                              
019644,001048: 33,3373           17577                           CADR     IMUSTALL                              
019645,001049: 33,3374           03102                           TC       SOMERR2                               
019646,001050: 33,3375           02453                           TC       ESTIMS                                #  RE-INITIALIZE
019647,001051: 
019648,001052: 
019649,001053: 33,3376           77776        NOAZCHGE           EXIT                                           
019650,001054: 33,3377           35017                           CA       ONE                                   
019651,001055: 33,3400           55632                           TS       PREMTRXC                              
019652,001056: 33,3401           11631        NOCHORLD           CCS      GEOSAVE1                              
019653,001057: 33,3402           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019654,001058: 
019655,001059: 33,3403           34334        ANNNNNN            CAF      NINE                                  
019656,001060: 33,3404           55412                           TS       LENGTHOT                              
019657,001061: 33,3405           02523                           TC       SLEEPIE    +1                         
019658,001062: 
019659,001063: 
019660,001064: 33,3406           00004        CHKCOMED           INHINT                                         
019661,001065: 33,3407           41011                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
019662,001066: 33,3410           65023                           AD       SEVEN                                 
019663,001067: 33,3411           00006                           EXTEND                                         
019664,001068: 33,3412           13426                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
019665,001069: 33,3413           45021                           CS       ZERO                                  
019666,001070: 33,3414           00006                           EXTEND                                         
019667,001071: 33,3415           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019668,001072: 33,3416           75013                           MASK     BIT5                                  #  LIFTOFF BIT
019669,001073: 33,3417           10000                           CCS      A                                     
019670,001074: 33,3420           13427                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019671,001075: 

Page 447

019673,001077: 33,3421           35013                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
019674,001078: 33,3422           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019675,001079: 33,3423           10000                           CCS      A                                     
019676,001080: 33,3424           13427                           TCF      PRELTERM                              #  BACKUP RECEIVED
019677,001081: 
019678,001082: 33,3425           00003                           RELINT                                         
019679,001083: 33,3426           00002        GOBKCALB           TC       Q                                     
019680,001084: 
019681,001085: 33,3427           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
019682,001086: 33,3430           05210                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019683,001087: 33,3431           00004                           INHINT                                         
019684,001088: 33,3432           04701                           TC       POSTJUMP                              
019685,001089: 33,3433           70002                           CADR     P11                                   
019686,001090: 
019687,001091: 
019688,001092: 33,3434           02647        ERCOMPPL           ECADR    ERCOMP                                
019689,001093: 
019690,001094: 33,3435  26,3332               GEOCONS5           EQUALS   HIDPHALF                              
019691,001095: 33,3435           06200        1/PIPAGT           OCT      06200                                 
019692,001096: 33,3436     4375               17DECML            =        ND1                                   #  OCT 21
019693,001097: 33,3436     4374               19DECML            =        VD1                                   #  OCT 23
019694,001098: 33,3436     5036               1/2SECX            =        .5SEC                                 
019695,001099: 
019696,001100: 

Page 448

019698,001102: 33,3436     5217               GEOSTRT4           EQUALS   ENDOFJOB                              
019699,001103: 

Page 449

019701,001105:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019702,001106: 
019703,001107: 33,3436                                           COUNT    33/P03                                
019704,001108: 
019705,001109: 33,3436           05412        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019706,001110: 33,3437           00154                           OCT      00154                                 
019707,001111: 33,3440           05354                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
019708,001112: 33,3441           00003                           MM       03         B-14                       
019709,001113: 33,3442           02037        SETNBPOS           TC       NBPOSPL                               
019710,001114: 33,3443           04662                           TC       BANKCALL                              
019711,001115: 33,3444           16063                           CADR     MKRELEAS                              
019712,001116: 33,3445           35017        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019713,001117: 33,3446           22007                           ZL                                             #  T 1,THEN TARGET 2
019714,001118: 33,3447           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019715,001119: 33,3450           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019716,001120: 33,3451           00006                           EXTEND                                         
019717,001121: 33,3452           51427                           INDEX    RUN                                   
019718,001122: 33,3453           31433                           DCA      TAZEL1                                
019719,001123: 33,3454           53046                           DXCH     DSPTEM1                               
019720,001124: 33,3455           33500                           CAF      V05N30E                               
019721,001125: 33,3456           04662                           TC       BANKCALL                              
019722,001126: 33,3457           20673                           CADR     GODSPRET                              
019723,001127: 33,3460           33466                           CAF      VN0641                                
019724,001128: 33,3461           04662                           TC       BANKCALL                              
019725,001129: 33,3462           20720                           CADR     GOFLASH                               
019726,001130: 33,3463           03620                           TC       GCOMP5                                
019727,001131: 33,3464           03467                           TC       +3                                    
019728,001132: 33,3465           03455                           TC       -8D                                   
019729,001133: 33,3466           01451        VN0641             VN       0641                                  
019730,001134: 33,3467           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
019731,001135: 33,3470           51427                           INDEX    RUN                                   
019732,001136: 33,3471           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019733,001137: 33,3472           11427                           CCS      RUN                                   
019734,001138: 33,3473           13477                           TCF      +4                                    
019735,001139: 33,3474           35016                           CAF      TWO                                   
019736,001140: 33,3475           54001                           TS       L                                     
019737,001141: 33,3476           13447                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
019738,001142: 
019739,001143: 33,3477           03541                           TC       CONTIN33                              
019740,001144: 
019741,001145: 33,3500           01236        V05N30E            VN       0530                                  
019742,001146: 
019743,001147: 33,3501           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019744,001148: 33,3502           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019745,001149: 33,3503           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019746,001150: 33,3504           00014                                    12D                                   
019747,001151: 33,3505           40331                           SSP      SETPD                                 
019748,001152: 33,3506           00052                                    S2                                    
019749,001153: 33,3507           00006                                    6                                     

Page 450

019751,001155: 33,3510           00001                                    0                                     
019752,001156: 33,3511           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019753,001157: 33,3512           02436                                    TAZEL1     +3,1                       
019754,001158: 33,3513           00001                           STORE    0                                     #  PD00 ELEVATION PD00
019755,001159: 33,3514           77756                           SIN                                            
019756,001160: 33,3515           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019757,001161: 33,3516           77745                           DLOAD                                          
019758,001162: 33,3517           00001                                    0                                     
019759,001163: 33,3520           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
019760,001164: 33,3521           47133                           SLOAD*   RTB                                   
019761,001165: 33,3522           02435                                    TAZEL1     +2,1                       
019762,001166: 33,3523           45513                                    CDULOGIC                              
019763,001167: 33,3524           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
019764,001168: 33,3525           41356                           SIN      DMP                                   
019765,001169: 33,3526           00001                                    0                                     
019766,001170: 33,3527           77752                           SL1                                            
019767,001171: 33,3530           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019768,001172: 33,3531           71545                           DLOAD    COS                                   
019769,001173: 33,3532           00003                                    2                                     
019770,001174: 33,3533           72405                           DMP      SL1                                   
019771,001175: 33,3534           76076                           DCOMP    AXT,1                                 
019772,001176: 33,3535           00000                                    0                                     
019773,001177: 33,3536           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019774,001178: 33,3537           43504                           TIX,2    RVQ                                   
019775,001179: 33,3540           67511                                    TAR1                                  
019776,001180: 
019777,001181: 
019778,001182: 33,3541                                           BANK     33                                    
019779,001183: 33,2000                                           SETLOC   IMUCAL                                
019780,001184: 33,2000                                           BANK                                           
019781,001185: 33,3541                                           COUNT*   $$/PO3                                
019782,001186: 
019783,001187: 33,3541           35017        CONTIN33           CA       ONE                                   
019784,001188: 33,3542           54735                           TS       STARCODE                              
019785,001189: 33,3543           35021                           CA       ZERO                                  
019786,001190: 33,3544           03635                           TC       TARGDRVE                              
019787,001191: 33,3545           06006                           TC       INTPRET                               
019788,001192: 33,3546           77624                           CALL                                           
019789,001193: 33,3547           67502                                    TAR/EREF                              
019790,001194: 33,3550           64375        NEXTBNKS           VLOAD    MXV                                   
019791,001195: 33,3551           00007                                    6D                                    
019792,001196: 33,3552           02672                                    XSM                                   
019793,001197: 33,3553           77772                           VSL1                                           
019794,001198: 33,3554           26736                           STOVL    STARAD                                
019795,001199: 33,3555           00015                                    12D                                   
019796,001200: 33,3556           76521                           MXV      VSL1                                  
019797,001201: 33,3557           02672                                    XSM                                   
019798,001202: 33,3560           36744                           STCALL   STARAD     +6                         
019799,001203: 33,3561           67726                                    LITTLSUB                              
019800,001204: 33,3562           02414                           STORE    LOSVEC                                

Page 451

019802,001206: 33,3563           77776                           EXIT                                           
019803,001207: 33,3564           04662                           TC       BANKCALL                              
019804,001208: 33,3565           16063                           CADR     MKRELEAS                              
019805,001209: 
019806,001210: 
019807,001211: 33,3566           35016        NEXBNKSS           CAF      TWO                                   
019808,001212: 33,3567           54735                           TS       STARCODE                              
019809,001213: 33,3570           36211                           CAF      SIX                                   
019810,001214: 33,3571           03635                           TC       TARGDRVE                              
019811,001215: 33,3572           06006                           TC       INTPRET                               
019812,001216: 33,3573           77624                           CALL                                           
019813,001217: 33,3574           67726                                    LITTLSUB                              
019814,001218: 33,3575           24015                           STOVL    12D                                   
019815,001219: 33,3576           02414                                    LOSVEC                                
019816,001220: 33,3577           34007                           STCALL   06D                                   
019817,001221: 33,3600           47401                                    AXISGEN                               
019818,001222: 33,3601           77624                           CALL                                           
019819,001223: 33,3602           47205                                    CALCGTA                               
019820,001224: 33,3603           77776                           EXIT                                           
019821,001225: 33,3604           33631        GCOMP4             CAF      V06N93S                               
019822,001226: 33,3605           04662                           TC       BANKCALL                              
019823,001227: 33,3606           20720                           CADR     GOFLASH                               
019824,001228: 33,3607           03620                           TC       GCOMP5                                
019825,001229: 33,3610           13612                           TCF      +2                                    
019826,001230: 33,3611           13604                           TCF      GCOMP4                                
019827,001231: 33,3612           06006                           TC       INTPRET                               
019828,001232: 33,3613           53375                           VLOAD    VAD                                   
019829,001233: 33,3614           02760                                    OGC                                   
019830,001234: 33,3615           02650                                    ERCOMP1                               
019831,001235: 33,3616           02650                           STORE    ERCOMP1                               
019832,001236: 33,3617           77776                           EXIT                                           
019833,001237: 33,3620           04662        GCOMP5             TC       BANKCALL                              
019834,001238: 33,3621           16063                           CADR     MKRELEAS                              
019835,001239: 33,3622           05560                           TC       DOWNFLAG                              
019836,001240: 33,3623           00032                           ADRES    TRM03FLG                              
019837,001241: 
019838,001242: 33,3624           05354                           TC       NEWMODEX                              
019839,001243: 33,3625           00002                           MM       02         B-14                       
019840,001244: 33,3626           05412                           TC       PHASCHNG                              
019841,001245: 33,3627           00004                           OCT      00004                                 
019842,001246: 33,3630           05217                           TC       ENDOFJOB                              
019843,001247: 33,3631           01535        V06N93S            VN       0693                                  
019844,001248: 33,3632           05650        GTSOPTCS           TC       ALARM                                 
019845,001249: 33,3633           01602        GTSOPTSS           OCT      01602                                 
019846,001250: 33,3634           03620                           TC       GCOMP5                                
019847,001251: 
019848,001252: 
019849,001253: 34,2002                                           BANK     34                                    
019850,001254: 04,2000                                           SETLOC   IMUCAL1                               
019851,001255: 04,2000                                           BANK                                           

Page 452

019853,001257: 
019854,001258: 04,2613                                           COUNT    34/COMST                              
019855,001259: 
019856,001260: 04,2613           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019857,001261: 04,2614           02403                                    LATITUDE                              
019858,001262: 04,2615           15047                           STODL    DSPTEM1    +1                         
019859,001263: 04,2616           02401                                    AZIMUTH                               
019860,001264: 04,2617           77434                           RTB      EXIT                                  
019861,001265: 04,2620           45546                                    1STO2S                                
019862,001266: 04,2621           56154                           XCH      MPAC                                  
019863,001267: 04,2622           55045                           TS       DSPTEM1                               
019864,001268: 04,2623           04662                           TC       BANKCALL                              
019865,001269: 04,2624           20703                           CADR     CLEANDSP                              
019866,001270: 04,2625           32644                           CAF      VNG0641                               
019867,001271: 04,2626           04662                           TC       BANKCALL                              
019868,001272: 04,2627           20720                           CADR     GOFLASH                               
019869,001273: 04,2630           02632                           TC       +2                                    #  NOT ALLOWED
019870,001274: 04,2631           02633                           TC       +2                                    
019871,001275: 04,2632           02625                           TC       -5                                    
019872,001276: 04,2633           06006                           TC       INTPRET                               
019873,001277: 04,2634           47135                           SLOAD    RTB                                   
019874,001278: 04,2635           01046                                    DSPTEM1                               
019875,001279: 04,2636           45513                                    CDULOGIC                              
019876,001280: 04,2637           02401                           STORE    AZIMUTH                               
019877,001281: 04,2640           60535                           SLOAD    SR2                                   
019878,001282: 04,2641           01047                                    DSPTEM1    +1                         
019879,001283: 04,2642           02403                           STORE    LATITUDE                              
019880,001284: 04,2643           77616                           RVQ                                            
019881,001285: 04,2644           01451        VNG0641            VN       0641                                  
019882,001286: 33,3635                                           BANK     33                                    
019883,001287: 33,2000                                           SETLOC   IMUCAL                                
019884,001288: 33,2000                                           BANK                                           
019885,001289: 
019886,001290: 
019887,001291: 33,3635                                           COUNT*   $$/P03                                
019888,001292: 33,3635           00006        TARGDRVE           EXTEND                                         
019889,001293: 33,3636           23424                           QXCH     QPLAC                                 
019890,001294: 33,3637           55431                           TS       TARG1/2                               
019891,001295: 33,3640           06006                           TC       INTPRET                               
019892,001296: 33,3641           77624                           CALL                                           
019893,001297: 33,3642           67502                                    TAR/EREF                              
019894,001298: 33,3643           76740                           LXC,1    VLOAD*                                
019895,001299: 33,3644           02431                                    TARG1/2                               
019896,001300: 33,3645           00007                                    6D,1                                  
019897,001301: 33,3646           36766                           STCALL   STAR                                  
019898,001302: 33,3647           46053                                    SXTANG                                
019899,001303: 33,3650           77776                           EXIT                                           
019900,001304: 33,3651           31773                           CA       SAC                                   
019901,001305: 33,3652           55161                           TS       DESOPTS                               
019902,001306: 

Page 453

019904,001308: 33,3653           31775                           CA       PAC                                   
019905,001309: 33,3654           55160                           TS       DESOPTT                               
019906,001310: 33,3655           35021        RETARG             CAF      ZERO                                  
019907,001311: 33,3656           55303                           TS       OPTIND                                
019908,001312: 33,3657           35017                           CAF      ONE                                   
019909,001313: 33,3660           04662                           TC       BANKCALL                              
019910,001314: 33,3661           16002                           CADR     SXTMARK                               
019911,001315: 33,3662           04662                           TC       BANKCALL                              
019912,001316: 33,3663           17573                           CADR     OPTSTALL                              
019913,001317: 33,3664           03632                           TC       GTSOPTCS                              
019914,001318: 33,3665           30075                           CAE      FLAGWRD1                              
019915,001319: 33,3666           75014                           MASK     TRM03BIT                              
019916,001320: 33,3667           10000                           CCS      A                                     
019917,001321: 33,3670           03620                           TC       GCOMP5                                
019918,001322: 
019919,001323: 33,3671           51330                           INDEX    MARKSTAT                              
019920,001324: 33,3672           30052                           CA       QPRET                                 
019921,001325: 33,3673           00006                           EXTEND                                         
019922,001326: 33,3674           13676                           BZF      RETARG1                               
019923,001327: 33,3675           01424                           TC       QPLAC                                 
019924,001328: 
019925,001329: 
019926,001330: 33,3676           35021        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019927,001331: 33,3677           57330                           XCH      MARKSTAT                              
019928,001332: 33,3700           10000                           CCS      A                                     
019929,001333: 33,3701           50000                           INDEX    A                                     
019930,001334: 33,3702           54000                           TS       A                                     
019931,001335: 33,3703           13655                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019932,001336: 33,3704                                           BANK     33                                    
019933,001337: 33,2000                                           SETLOC   IMUCAL                                
019934,001338: 33,2000                                           BANK                                           
019935,001339: 33,3704                                           COUNT*   $$/P03                                
019936,001340: 33,3704           30341 22444  PIPASC             2DEC     .76376833                             
019937,001341: 
019938,001342: 33,3706           57223 66451  VELSC              2DEC     -.52223476                            
019939,001343: 
019940,001344: 33,3710           05427 12577  ALSK               2DEC     .17329931                             
019941,001345: 
019942,001346: 33,3712           77567 44202                     2DEC     -.00835370                            
019943,001347: 
019944,001348: 33,3714           24276 14066  GEORGEJ            2DEC     .63661977                             
019945,001349: 
019946,001350: 33,3716           03146 14632  GEOCONS1           2DEC     .1                                    
019947,001351: 
019948,001352: 33,3720           00121 35341  GEOCONS2           2DEC     .005                                  
019949,001353: 
019950,001354: 33,3722           01767 31666  GEOCONS3           2DEC     .062                                  
019951,001355: 
019952,001356: 33,3724           00004 35223  GEOCONS4           2DEC     .0003                                 
019953,001357: 

Page 454

019955,001359: 
019956,001360: 33,3726                                           COUNT    33/P02                                
019957,001361: 33,3726           77620        LITTLSUB           STQ                                            
019958,001362: 33,3727           02424                                    QPLAC                                 
019959,001363: 33,3730           76740                           LXC,1    VLOAD*                                
019960,001364: 33,3731           01330                                    MARKSTAT                              
019961,001365: 33,3732           00003                                    2,1                                   
019962,001366: 33,3733           34767                           STCALL   CDUSPOT                               
019963,001367: 33,3734           46000                                    SXTNB                                 
019964,001368: 33,3735           77624                           CALL                                           
019965,001369: 33,3736           47637                                    TRG*NBSM                              
019966,001370: 33,3737           77650                           GOTO                                           
019967,001371: 33,3740           02424                                    QPLAC                                 
019968,001372: 
019969,001373: 
019970,001374: 33,3741           77776                           EXIT                                           
019971,001375: 33,3742           06006        AZMTHCG1           TC       INTPRET                               
019972,001376: 33,3743           47145                           DLOAD    RTB                                   
019973,001377: 33,3744           02636                                    NEWAZMTH                              
019974,001378: 33,3745           45546                                    1STO2S                                
019975,001379: 33,3746           77776                           EXIT                                           
019976,001380: 33,3747           56154                           XCH      MPAC                                  
019977,001381: 33,3750           55045                           TS       DSPTEM1                               
019978,001382: 33,3751           04662                           TC       BANKCALL                              
019979,001383: 33,3752           20703                           CADR     CLEANDSP                              
019980,001384: 33,3753           33775                           CAF      VN0629                                
019981,001385: 33,3754           04662                           TC       BANKCALL                              
019982,001386: 33,3755           20720                           CADR     GOFLASH                               
019983,001387: 33,3756           13760                           TCF      +2                                    
019984,001388: 33,3757           13761                           TCF      +2                                    
019985,001389: 33,3760           13753                           TCF      -5                                    
019986,001390: 33,3761           06006                           TC       INTPRET                               
019987,001391: 33,3762           47135                           SLOAD    RTB                                   
019988,001392: 33,3763           01046                                    DSPTEM1                               
019989,001393: 33,3764           45513                                    CDULOGIC                              
019990,001394: 33,3765           02634                           STORE    LAUNCHAZ                              
019991,001395: 33,3766           77776                           EXIT                                           
019992,001396: 33,3767           35021                           CA       ZERO                                  
019993,001397: 33,3770           55632                           TS       PREMTRXC                              
019994,001398: 33,3771           05412                           TC       PHASCHNG                              
019995,001399: 33,3772           00004                           OCT      00004                                 
019996,001400: 33,3773           04701                           TC       POSTJUMP                              
019997,001401: 33,3774           21272                           CADR     PINBRNCH                              
019998,001402: 
019999,001403: 33,3775           01435        VN0629             VN       0629                                  
020000,001404: 

Page 455 Only assembler-generated messages appear on this page.

020003,001407: 
020004,001408: 

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