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.

018588,000002:                                                                                                  ## Copyright:   Public domain.
018589,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018590,000004:                                                                                                  ## Purpose:     Part of the source code for Comanche, build 055. It
018591,000005:                                                                                                  ##              is part of the source code for the Command Module's
018592,000006:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC), Apollo 11.
018593,000007:                                                                                                  ## Assembler:   yaYUL
018594,000008:                                                                                                  ## Reference:   pp. 423-455
018595,000009:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>
018596,000010:                                                                                                  ## Website:     http://www.ibiblio.org/apollo.
018597,000011:                                                                                                  ## Mod history: 2009-05-10 OH   Batch 1 Assignment Comanche Transcription
018598,000012:                                                                                                  ##              2009-05-20 RSB  Corrections: P00D00H -> POODOOH, definition
018599,000013:                                                                                                  ##                              of 25DECML fixed.
018600,000014:                                                                                                  ##              2009-05-23 RSB  At SPECSTS, corrected to PRIO22.
018601,000015:                                                                                                  ##              2010-08-28 JL   Fixed indentation.
018602,000016:                                                                                                  ##              2011-05-08 JL   Flagged SBANK= workaround for future removal.
018603,000017:                                                                                                  ##              2011-05-17 JL   Removed all SBANK= workarounds.
018604,000018:                                                                                                  ##              2016-12-10 RSB  Proofed comments with octopus/ProoferComments
018605,000019:                                                                                                  ##                              and fixed the errors found.
018606,000020:                                                                                                  ##              2017-01-14 RSB  Fixed comment-text errors located while 
018607,000021:                                                                                                  ##                              diff'ing with Colossus 249.
018608,000022: 
018609,000023:                                                                                                  ## The contents of the "Comanche055" files, in general, are transcribed 
018610,000024:                                                                                                  ## from scanned documents. 
018611,000025:                                                                                                  ##
018612,000026:                                                                                                  ##       Assemble revision 055 of AGC program Comanche by NASA
018613,000027:                                                                                                  ##       2021113-051.  April 1, 1969.  
018614,000028:                                                                                                  ##
018615,000029:                                                                                                  ##       This AGC program shall also be referred to as Colossus 2A
018616,000030:                                                                                                  ##
018617,000031:                                                                                                  ##       Prepared by
018618,000032:                                                                                                  ##                       Massachusetts Institute of Technology
018619,000033:                                                                                                  ##                       75 Cambridge Parkway
018620,000034:                                                                                                  ##                       Cambridge, Massachusetts
018621,000035:                                                                                                  ##
018622,000036:                                                                                                  ##       under NASA contract NAS 9-4065.
018623,000037:                                                                                                  ##
018624,000038:                                                                                                  ## Refer directly to the online document mentioned above for further
018625,000039:                                                                                                  ## information.  Please report any errors to info@sandroid.org.
018626,000040: 

Page 423

018628,000042:                                                                                                  #  NAME-         IMU PERFORMANCE TESTS 2
018629,000043: 
018630,000044:                                                                                                  #  DATE-         MARCH 20, 1967
018631,000045: 
018632,000046:                                                                                                  #  BY-           SYSTEM TEST GROUP 864-6900 EXT. 1274
018633,000047: 
018634,000048:                                                                                                  #  MODNO.-       ZERO
018635,000049: 
018636,000050:                                                                                                  #  FUNCTIONAL DESCRIPTION
018637,000051: 
018638,000052:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018639,000053:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018640,000054:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018641,000055: 
018642,000056: 33,2004                                           BANK     33                                    
018643,000057: 33,2000                                           SETLOC   IMUCAL                                
018644,000058: 33,2000                                           BANK                                           
018645,000059: 
018646,000060: 33,2004  E5,1423                                  EBANK=   POSITON                               
018647,000061: 33,2004           35021        IMUTEST            CA       ZERO                                  
018648,000062: 33,2005           55452                           TS       DRIFTT                                
018649,000063: 33,2006           55643                           TS       GEOCOMP1                              
018650,000064: 33,2007           32443                           CAF      TESTTIME                              
018651,000065: 33,2010           55412                           TS       LENGTHOT                              
018652,000066: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018653,000067: 33,2012           35041                           CAF      1SECX                                 
018654,000068: 33,2013           55644                           TS       1SECXT1                               
018655,000069: 
018656,000070: 33,2014           32441                           CA       OC14400                               
018657,000071: 33,2015           55074                           TS       1/PIPADT                              
018658,000072: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018659,000073: 33,2017           77624                           CALL                                           
018660,000074: 33,2020           10613                                    LATAZCHK                              
018661,000075: 33,2021           57546                           COS      DCOMP                                 
018662,000076: 33,2022           77752                           SL1                                            
018663,000077: 33,2023           16447                           STODL    WANGI                                 
018664,000078: 33,2024           02403                                    LATITUDE                              
018665,000079: 33,2025           72556                           SIN      SL1                                   
018666,000080: 33,2026           02445                           STORE    WANGO                                 
018667,000081: 33,2027           77776                           EXIT                                           
018668,000082: 33,2030           04662        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018669,000083: 33,2031           16577                           CADR     IMUZERO                               
018670,000084: 33,2032           02316                           TC       IMUSTLLG                              
018671,000085: 33,2033           35021        IMUBACK            CA       ZERO                                  
018672,000086: 33,2034           55421                           TS       NDXCTR                                
018673,000087: 33,2035           55450                           TS       TORQNDX                               
018674,000088: 33,2036           55451                           TS       TORQNDX    +1                         
018675,000089: 33,2037           34375        NBPOSPL            CA       DEC17                                 
018676,000090: 33,2040           55655                           TS       ZERONDX1                              
018677,000091: 33,2041           32445                           CA       XNBADR                                

Page 424

018679,000093: 33,2042           02356                           TC       ZEROING                               
018680,000094: 33,2043           35002                           CA       HALF                                  
018681,000095: 33,2044           55713                           TS       XNB                                   
018682,000096: 33,2045           06006                           TC       INTPRET                               
018683,000097: 33,2046           73545                           DLOAD    SIN                                   
018684,000098: 33,2047           02401                                    AZIMUTH                               
018685,000099: 33,2050           02724                           STORE    YNB        +2                         
018686,000100: 33,2051           16734                           STODL    ZNB        +4                         
018687,000101: 33,2052           02401                                    AZIMUTH                               
018688,000102: 33,2053           77746                           COS                                            
018689,000103: 33,2054           02726                           STORE    YNB        +4                         
018690,000104: 33,2055           77676                           DCOMP                                          
018691,000105: 33,2056           02732                           STORE    ZNB        +2                         
018692,000106: 33,2057           77776                           EXIT                                           
018693,000107: 33,2060           05364                           TC       CHECKMM                               
018694,000108: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
018695,000109: 33,2062           12064                           TCF      +2                                    #  NO
018696,000110: 33,2063           13443                           TCF      SETNBPOS   +1                         #  YES
018697,000111: 33,2064           06006                           TC       INTPRET                               
018698,000112: 33,2065           77624                           CALL                                           
018699,000113: 33,2066           47311                                    CALCGA                                
018700,000114: 33,2067           77776                           EXIT                                           
018701,000115: 33,2070           04662                           TC       BANKCALL                              
018702,000116: 33,2071           16663                           CADR     IMUCOARS                              
018703,000117: 33,2072           35002                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
018704,000118: 33,2073           70077                           MASK     FLAGWRD3                              
018705,000119: 33,2074           00006                           EXTEND                                         
018706,000120: 33,2075           12077                           BZF      +2                                    
018707,000121: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
018708,000122: 33,2077           05560                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018709,000123: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018710,000124: 33,2101           02316                           TC       IMUSTLLG                              
018711,000125: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018712,000126: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018713,000127: 33,2104           04662                           TC       BANKCALL                              
018714,000128: 33,2105           17073                           CADR     IMUFINE                               
018715,000129: 33,2106           02316                           TC       IMUSTLLG                              
018716,000130: 33,2107           00006                           EXTEND                                         
018717,000131: 33,2110           31657                           DCA      PERFDLAY                              
018718,000132: 33,2111           05342                           TC       LONGCALL                              
018719,000133: 33,2112  E5,1423                                  EBANK=   POSITON                               
018720,000134: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018721,000135: 
018722,000136: 33,2114           32121                           CA       ESTICADR                              
018723,000137: 33,2115           05175                           TC       JOBSLEEP                              
018724,000138: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018725,000139: 33,2117           05201                           TC       JOBWAKE                               
018726,000140: 33,2120           05324                           TC       TASKOVER                              
018727,000141: 33,2121           66453        ESTICADR           CADR     ESTIMS                                

Page 425

018729,000143: 33,2122           35021        TORQUE             CA       ZERO                                  
018730,000144: 33,2123           55050                           TS       DSPTEM2                               
018731,000145: 33,2124           31514                           CA       DRIFTI                                
018732,000146: 33,2125           55051                           TS       DSPTEM2    +1                         
018733,000147: 33,2126           51423                           INDEX    POSITON                               
018734,000148: 33,2127           55430                           TS       SOUTHDR    -1                         
018735,000149: 33,2130           02427                           TC       SHOW                                  
018736,000150: 
018737,000151: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018738,000152: 33,2132           02133                           TC       +1                                    
018739,000153: 33,2133           02417                           TC       EARTHR*                               
018740,000154: 33,2134           34374                           CA       DEC57                                 
018741,000155: 33,2135           55412                           TS       LENGTHOT                              
018742,000156: 33,2136           35017                           CA       ONE                                   
018743,000157: 33,2137           55547                           TS       RESULTCT                              
018744,000158: 33,2140           35021                           CA       ZERO                                  
018745,000159: 33,2141           51422                           INDEX    PIPINDEX                              
018746,000160: 33,2142           54037                           TS       PIPAX                                 
018747,000161: 33,2143           55502                           TS       DATAPL                                
018748,000162: 33,2144           55506                           TS       DATAPL     +4                         
018749,000163: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018750,000164: 33,2146           00004                           INHINT                                         
018751,000165: 33,2147           35016                           CAF      TWO                                   
018752,000166: 33,2150           05235                           TC       TWIDDLE                               
018753,000167: 33,2151  E5,1671                                  EBANK=   XSM                                   
018754,000168: 33,2151           02153                           ADRES    PIPATASK                              
018755,000169: 33,2152           05217                           TC       ENDOFJOB                              
018756,000170: 33,2153           00006        PIPATASK           EXTEND                                         
018757,000171: 33,2154           27412                           DIM      LENGTHOT                              
018758,000172: 33,2155           31412                           CA       LENGTHOT                              
018759,000173: 33,2156           00006                           EXTEND                                         
018760,000174: 33,2157           62163                           BZMF     STARTPIP                              
018761,000175: 33,2160           35006                           CAF      BIT10                                 
018762,000176: 33,2161           05235                           TC       TWIDDLE                               
018763,000177: 33,2162  E5,1671                                  EBANK=   XSM                                   
018764,000178: 33,2162           02153                           ADRES    PIPATASK                              
018765,000179: 33,2163           35002        STARTPIP           CAF      PRIO20                                
018766,000180: 33,2164           05147                           TC       FINDVAC                               
018767,000181: 33,2165  E5,1671                                  EBANK=   XSM                                   
018768,000182: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018769,000183: 
018770,000184: 33,2167           05324                           TC       TASKOVER                              
018771,000185: 
018772,000186: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018773,000187: 33,2171           02172                           TC       +1                                    
018774,000188: 33,2172           02417                           TC       EARTHR*                               
018775,000189: 33,2173           31412                           CA       LENGTHOT                              
018776,000190: 33,2174           00006                           EXTEND                                         
018777,000191: 33,2175           62177                           BZMF     +2                                    
018778,000192: 33,2176           05217                           TC       ENDOFJOB                              
018779,000193: 33,2177           35022                           CA       FIVE                                  

Page 426

018781,000195: 33,2200           55547                           TS       RESULTCT                              
018782,000196: 33,2201           02321                           TC       CHECKG                                
018783,000197: 33,2202           00006                           EXTEND                                         
018784,000198: 33,2203           41503                           DCS      DATAPL                                
018785,000199: 33,2204           21507                           DAS      DATAPL     +4                         
018786,000200: 
018787,000201: 33,2205           06006                           TC       INTPRET                               
018788,000202: 33,2206           45345                           DLOAD    DSU                                   
018789,000203: 33,2207           02511                                    DATAPL     +6                         
018790,000204: 33,2210           02505                                    DATAPL     +2                         
018791,000205: 33,2211           45044                           BPL      CALL                                  
018792,000206: 33,2212           66214                                    AINGOTN                               
018793,000207: 33,2213           66276                                    OVERFFIX                              
018794,000208: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018795,000209: 33,2215           02507                                    DATAPL     +4                         
018796,000210: 33,2216           57212                           SL4      DMPR                                  
018797,000211: 33,2217           27110                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018798,000212: 33,2220           77634                           RTB                                            
018799,000213: 33,2221           45544                                    SGNAGREE                              
018800,000214: 33,2222           01051                           STORE    DSPTEM2                               
018801,000215: 33,2223           77776                           EXIT                                           
018802,000216: 33,2224           11421                           CCS      NDXCTR                                
018803,000217: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018804,000218: 33,2226           02427                           TC       SHOW                                  
018805,000219: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018806,000220: 33,2230           55412                           TS       LENGTHOT                              
018807,000221: 33,2231           51423                           INDEX    POSITON                               
018808,000222: 33,2232           41427                           CS       SOUTHDR    -2                         
018809,000223: 33,2233           55452                           TS       DRIFTT                                
018810,000224: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018811,000225: 33,2235           00006                           EXTEND                                         
018812,000226: 33,2236           12244                           BZF      PON2                                  
018813,000227: 33,2237           45013        PON4               CS       BIT5                                  #  OFFSET PLATFORM
018814,000228: 33,2240           27651                           ADS      ERCOMP1    +2                         
018815,000229: 33,2241           35013                           CA       BIT5                                  
018816,000230: 33,2242           27647                           ADS      ERCOMP1                               
018817,000231: 33,2243           12250                           TCF      PONG                                  
018818,000232: 33,2244           45013        PON2               CS       BIT5                                  
018819,000233: 33,2245           27651                           ADS      ERCOMP1    +2                         
018820,000234: 33,2246           35013                           CA       BIT5                                  
018821,000235: 33,2247           27653                           ADS      ERCOMP1    +4                         
018822,000236: 33,2250           02417        PONG               TC       EARTHR*                               
018823,000237: 33,2251           35021                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018824,000238: 33,2252           55404                           TS       ERVECTOR                              
018825,000239: 33,2253           55405                           TS       ERVECTOR   +1                         
018826,000240: 33,2254           34777        GUESS1             CAF      POSMAX                                
018827,000241: 33,2255           55450                           TS       TORQNDX                               
018828,000242: 33,2256           55451                           TS       TORQNDX    +1                         
018829,000243: 33,2257           30032                           CA       CDUX                                  
018830,000244: 33,2260           55413                           TS       LOSVEC                                

Page 427

018832,000246: 33,2261           02453                           TC       ESTIMS                                
018833,000247: 33,2262           31512        VALMIS             CA       DRIFTO                                
018834,000248: 33,2263           55051                           TS       DSPTEM2    +1                         
018835,000249: 33,2264           35021                           CA       ZERO                                  
018836,000250: 33,2265           55050                           TS       DSPTEM2                               
018837,000251: 33,2266           02427                           TC       SHOW                                  
018838,000252: 
018839,000253: 33,2267           05560        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018840,000254: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018841,000255: 33,2271           45021                           CS       ZERO                                  
018842,000256: 33,2272           05357                           TC       NEWMODEX   +3                         
018843,000257: 33,2273           04662                           TC       BANKCALL                              
018844,000258: 33,2274           16063                           CADR     MKRELEAS                              
018845,000259: 33,2275           05534                           TC       ENDEXT                                

Page 428

018847,000261: 
018848,000262: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018849,000263: 33,2277           15343                                    DPPOSMAX                              
018850,000264: 33,2300           27116                                    ONEDPP                                
018851,000265: 33,2301           77616                           RVQ                                            
018852,000266: 
018853,000267: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
018854,000268: 33,2303           23425                           QXCH     QPLACE                                
018855,000269: 33,2304           35021                           CA       ZERO                                  
018856,000270: 33,2305           55155                           TS       THETAD                                
018857,000271: 33,2306           55156                           TS       THETAD     +1                         
018858,000272: 33,2307           55157                           TS       THETAD     +2                         
018859,000273: 33,2310           04662                           TC       BANKCALL                              
018860,000274: 33,2311           16663                           CADR     IMUCOARS                              
018861,000275: 33,2312           04662                           TC       BANKCALL                              
018862,000276: 33,2313           17577                           CADR     IMUSTALL                              
018863,000277: 33,2314           03102                           TC       SOMERR2                               
018864,000278: 33,2315           01425                           TC       QPLACE                                
018865,000279: 
018866,000280: 33,2316           00006        IMUSTLLG           EXTEND                                         
018867,000281: 33,2317           23425                           QXCH     QPLACE                                
018868,000282: 33,2320           02312                           TC       COAALIGN   +10                        
018869,000283: 
018870,000284: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018871,000285: 33,2322           23425                           QXCH     QPLACE                                
018872,000286: 33,2323           02331                           TC       +6                                    
018873,000287: 33,2324           00003        CHECKG1            RELINT                                         
018874,000288: 33,2325           30067                           CA       NEWJOB                                
018875,000289: 33,2326           00006                           EXTEND                                         
018876,000290: 33,2327           62335                           BZMF     +6                                    
018877,000291: 33,2330           05164                           TC       CHANG1                                
018878,000292: 33,2331           00004                           INHINT                                         
018879,000293: 33,2332           51422                           INDEX    PIPINDEX                              
018880,000294: 33,2333           40037                           CS       PIPAX                                 
018881,000295: 33,2334           55655                           TS       ZERONDX                               
018882,000296: 33,2335           00004                           INHINT                                         
018883,000297: 33,2336           51422                           INDEX    PIPINDEX                              
018884,000298: 33,2337           30037                           CA       PIPAX                                 
018885,000299: 33,2340           61655                           AD       ZERONDX                               
018886,000300: 33,2341           00006                           EXTEND                                         
018887,000301: 33,2342           12324                           BZF      CHECKG1                               
018888,000302: 33,2343           51422                           INDEX    PIPINDEX                              
018889,000303: 33,2344           30037                           CA       PIPAX                                 
018890,000304: 33,2345           51547                           INDEX    RESULTCT                              
018891,000305: 33,2346           55502                           TS       DATAPL                                
018892,000306: 33,2347           04553                           TC       FINETIME                              
018893,000307: 33,2350           51547                           INDEX    RESULTCT                              
018894,000308: 33,2351           55503                           TS       DATAPL     +1                         

Page 429

018896,000310: 33,2352           51547                           INDEX    RESULTCT                              
018897,000311: 33,2353           23504                           LXCH     DATAPL     +2                         
018898,000312: 33,2354           00003                           RELINT                                         
018899,000313: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018900,000314: 
018901,000315: 33,2356           54001        ZEROING            TS       L                                     
018902,000316: 33,2357           12361                           TCF      +2                                    
018903,000317: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018904,000318: 33,2361           35021                           CAF      ZERO                                  
018905,000319: 33,2362           50001                           INDEX    L                                     
018906,000320: 33,2363           54000                           TS       0                                     
018907,000321: 33,2364           24001                           INCR     L                                     
018908,000322: 33,2365           11655                           CCS      ZERONDX1                              
018909,000323: 33,2366           12360                           TCF      ZEROING1                              
018910,000324: 33,2367           00002                           TC       Q                                     
018911,000325: 

Page 430

018913,000327: 32,2000                                           SETLOC   IMUCAL3                               
018914,000328: 32,2000                                           BANK                                           
018915,000329: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018916,000330: 32,2001           27111                                    SCHZEROS                              #  PD24 = (SIN          -COS     0)(OMEG/MS)
018917,000331: 32,2002           02403                                    LATITUDE                              
018918,000332: 32,2003           57546                           COS      DCOMP                                 
018919,000333: 32,2004           73525                           PDDL     SIN                                   
018920,000334: 32,2005           02403                                    LATITUDE                              
018921,000335: 32,2006           74266                           VDEF     VXSC                                  
018922,000336: 32,2007           26450                                    OMEG/MS                               
018923,000337: 32,2010           02405                           STORE    ERVECTOR                              
018924,000338: 32,2011           77634                           RTB                                            
018925,000339: 32,2012           45510                                    LOADTIME                              
018926,000340: 32,2013           26443                           STOVL    TMARK                                 
018927,000341: 32,2014           27111                                    SCHZEROS                              
018928,000342: 32,2015           02650                           STORE    ERCOMP1                               
018929,000343: 32,2016           77616                           RVQ                                            
018930,000344: 33,2000                                           SETLOC   IMUCAL                                
018931,000345: 33,2000                                           BANK                                           
018932,000346: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018933,000347: 33,2371           00051                                    S2                                    
018934,000348: 33,2372           45510                                    LOADTIME                              
018935,000349: 33,2373           02441                           STORE    TEMPTIME                              
018936,000350: 33,2374           51025                           DSU      BPL                                   
018937,000351: 33,2375           02443                                    TMARK                                 
018938,000352: 33,2376           66401                                    ERTHR                                 
018939,000353: 33,2377           77624                           CALL                                           
018940,000354: 33,2400           66276                                    OVERFFIX                              
018941,000355: 33,2401           74261        ERTHR              SL       VXSC                                  
018942,000356: 33,2402           20212                                    9D                                    
018943,000357: 33,2403           02405                                    ERVECTOR                              
018944,000358: 33,2404           53321                           MXV      VAD                                   
018945,000359: 33,2405           02672                                    XSM                                   
018946,000360: 33,2406           02650                                    ERCOMP1                               
018947,000361: 33,2407           16650                           STODL    ERCOMP1                               
018948,000362: 33,2410           02441                                    TEMPTIME                              
018949,000363: 33,2411           02443                           STORE    TMARK                                 
018950,000364: 33,2412           47170                           AXT,1    RTB                                   
018951,000365: 33,2413           02647                           ECADR    ERCOMP1                               
018952,000366: 33,2414           45653                                    PULSEIMU                              
018953,000367: 33,2415           77650                           GOTO                                           
018954,000368: 33,2416           00051                                    S2                                    
018955,000369: 
018956,000370: 33,2417           00006        EARTHR*            EXTEND                                         
018957,000371: 33,2420           23426                           QXCH     QPLACES                               
018958,000372: 33,2421           06006                           TC       INTPRET                               
018959,000373: 33,2422           77624                           CALL                                           
018960,000374: 33,2423           66370                                    EARTHR                                
018961,000375: 33,2424           77776        PROUT              EXIT                                           
018962,000376: 33,2425           02316                           TC       IMUSTLLG                              
018963,000377: 33,2426           01426                           TC       QPLACES                               

Page 431

018965,000379: 
018966,000380: 33,2427           00006        SHOW               EXTEND                                         
018967,000381: 33,2430           23425                           QXCH     QPLACE                                
018968,000382: 33,2431           31423        SHOW1              CA       POSITON                               
018969,000383: 33,2432           55052                           TS       DSPTEM2    +2                         
018970,000384: 33,2433           32442                           CA       VB06N98                               
018971,000385: 33,2434           04662                           TC       BANKCALL                              
018972,000386: 33,2435           20720                           CADR     GOFLASH                               
018973,000387: 33,2436           02267                           TC       ENDTEST1                              #  V34
018974,000388: 33,2437           01425                           TC       QPLACE                                #  V33
018975,000389: 33,2440           12431                           TCF      SHOW1                                 
018976,000390: 
018977,000391: 33,2441           14400        OC14400            OCT      14400                                 
018978,000392: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018979,000393: 33,2442           01542        VB06N98            VN       0698                                  
018980,000394: 33,2443           01602        TESTTIME           OCT      01602                                 
018981,000395: 33,2444     4375               DEC17              =        ND1                                   
018982,000396: 33,2444           02757        OGCPL              ECADR    OGC                                   
018983,000397: 33,2445     5041               1SECX              =        1SEC                                  
018984,000398: 33,2445     4374               DEC57              =        VD1                                   
018985,000399: 33,2445           01713        XNBADR             GENADR   XNB                                   
018986,000400: 33,2446           01671        XSMADR             GENADR   XSM                                   
018987,000401: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018988,000402: 
018989,000403: 33,2451           04662        P11OUT             TC       BANKCALL                              
018990,000404: 33,2452           70117                           CADR     MATRXJOB                              #  RETURN TO P11
018991,000405: 
018992,000406: 33,2453                                           COUNT    02/COMST                              
018993,000407: 
018994,000408:    4553                                           BLOCK    2                                     
018995,000409:    4553           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018996,000410:    4554           00006                           EXTEND                                         
018997,000411:    4555           00004                           READ     LOSCALAR                              
018998,000412:    4556           54001                           TS       L                                     
018999,000413:    4557           00006                           EXTEND                                         
019000,000414:    4560           06004                           RXOR     LOSCALAR                              
019001,000415:    4561           00006                           EXTEND                                         
019002,000416:    4562           14566                           BZF      +4                                    
019003,000417:    4563           00006                           EXTEND                                         
019004,000418:    4564           00004                           READ     LOSCALAR                              
019005,000419:    4565           54001                           TS       L                                     
019006,000420:    4566           44777                 +4        CS       POSMAX                                
019007,000421:    4567           60001                           AD       L                                     
019008,000422:    4570           00006                           EXTEND                                         
019009,000423:    4571           14554                           BZF      FINETIME   +1                         
019010,000424:    4572           00006                           EXTEND                                         
019011,000425:    4573           00003                           READ     HISCALAR                              
019012,000426:    4574           00002                           TC       Q                                     
019013,000427: 

Page 432

019015,000429:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019016,000430:                                                                                                  #  DATE-  NOVEMBER 2 1966
019017,000431:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
019018,000432:                                                                                                  #  MOD NO 3
019019,000433: 
019020,000434:                                                                                                  #  FUNCTIONAL DESCRIPTION
019021,000435: 
019022,000436:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019023,000437:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
019024,000438:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
019025,000439:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019026,000440:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
019027,000441:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
019028,000442:                                                                                                  #  FOR THE DATA TO FLASH.
019029,000443: 
019030,000444:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019031,000445:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019032,000446:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019033,000447:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
019034,000448:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
019035,000449:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
019036,000450:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
019037,000451:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019038,000452:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019039,000453:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019040,000454:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019041,000455: 
019042,000456:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
019043,000457: 
019044,000458:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
019045,000459:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
019046,000460:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
019047,000461:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
019048,000462:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
019049,000463: 
019050,000464:                                                                                                  #  TO PERFORM AS PART OF COMPASS
019051,000465: 
019052,000466:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
019053,000467:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
019054,000468: 
019055,000469:                                                                                                  #  SUBROUTINES CALLED
019056,000470: 
019057,000471:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019058,000472:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
019059,000473: 
019060,000474:                                                                                                  #  NORMAL EXIT
019061,000475: 
019062,000476:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019063,000477:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
019064,000478: 
019065,000479:                                                                                                  #  ALARMS
019066,000480: 
019067,000481:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST

Page 433

019069,000483:                                                                                                  #  1601  BAD IMU TORQUE ABORT
019070,000484:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
019071,000485: 
019072,000486:                                                                                                  #  OUTPUT
019073,000487: 
019074,000488:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019075,000489:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019076,000490:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
019077,000491:                                                                                                  #        02      GYROCOMPASSING
019078,000492:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
019079,000493: 
019080,000494:                                                                                                  #  DEBRIS
019081,000495: 
019082,000496:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
019083,000497: 

Page 434

019085,000499:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019086,000500:                                                                                                  #  ON THE NEXT FEW PAGES.
019087,000501: 
019088,000502:    4575                                           COUNT    33/P02                                
019089,000503: 
019090,000504:    4575  E5,1671                                  EBANK=   XSM                                   
019091,000505: 33,2453                                           BANK     33                                    
019092,000506: 33,2000                                           SETLOC   IMUCAL                                
019093,000507: 33,2000                                           BANK                                           
019094,000508: 
019095,000509: 33,2453           05372        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
019096,000510: 33,2454           00075                           OCT      00075                                 
019097,000511: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
019098,000512: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
019099,000513: 33,2457           30025                           CA       TIME1                                 
019100,000514: 33,2460           55645                           TS       GTSWTLT1                              
019101,000515: 33,2461           35021                           CAF      ZERO                                  #  ZERO THE PIPAS
019102,000516: 33,2462           54037                           TS       PIPAX                                 
019103,000517: 33,2463           54040                           TS       PIPAY                                 
019104,000518: 33,2464           54041                           TS       PIPAZ                                 
019105,000519: 33,2465           00003                           RELINT                                         
019106,000520: 33,2466           33127                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
019107,000521: 33,2467           55655                           TS       ZERONDX1                              
019108,000522: 33,2470           33130                           CA       ALXXXZ                                
019109,000523: 33,2471           02356                           TC       ZEROING                               
019110,000524: 33,2472           06006                           TC       INTPRET                               
019111,000525: 33,2473           77735                           SLOAD                                          
019112,000526: 33,2474           27111                                    SCHZEROS                              
019113,000527: 33,2475           25477                           STOVL    GCOMPSW    -1                         
019114,000528: 33,2476           27122                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
019115,000529: 33,2477           26455                           STOVL    ALX1S                                 
019116,000530: 33,2500           27111                                    SCHZEROS                              
019117,000531: 33,2501           01472                           STORE    GCOMP                                 
019118,000532: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
019119,000533: 33,2503           77776                           EXIT                                           
019120,000534: 
019121,000535: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
019122,000536: 33,2505           02507                           TC       +2                                    
019123,000537: 33,2506           02523                           TC       SLEEPIE    +1                         
019124,000538: 33,2507           06006                           TC       INTPRET                               
019125,000539: 33,2510           77624                           CALL                                           
019126,000540: 33,2511           64000                                    ERTHRVSE                              
019127,000541: 33,2512           77776                           EXIT                                           
019128,000542: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
019129,000543: 33,2514           55646                           TS       ERECTIME                              
019130,000544: 
019131,000545: 33,2515           05354                           TC       NEWMODEX                              
019132,000546: 33,2516           00002                           MM       02         B-14                       
019133,000547: 33,2517           04662                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM

Page 435

019135,000549: 33,2520           17156                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
019136,000550: 33,2521           03403                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
019137,000551: 

Page 436

019139,000553:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019140,000554: 
019141,000555:                                                                                                  #  SET UP WAITLIST SECTION
019142,000556: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
019143,000557: 33,2523           05412                           TC       PHASCHNG                              #  CHANGE PHASE
019144,000558: 33,2524           00135                           OCT      00135                                 
019145,000559: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
019146,000560: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
019147,000561: 33,2527           03406        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
019148,000562: 33,2530           02532                           TC       SETGWLST                              
019149,000563: 33,2531           05217                           TC       ENDOFJOB                              
019150,000564: 
019151,000565: 33,2532           00006        SETGWLST           EXTEND                                         
019152,000566: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019153,000567: 33,2534           00004                           INHINT                                         
019154,000568: 33,2535           40025                           CS       TIME1                                 
019155,000569: 33,2536           61645                           AD       GTSWTLT1                              
019156,000570: 33,2537           00006                           EXTEND                                         
019157,000571: 33,2540           62542                           BZMF     +2                                    
019158,000572: 33,2541           65001                           AD       NEGMAX                                #  10 MS ERROR OK
019159,000573: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019160,000574: 33,2543           00006                           EXTEND                                         
019161,000575: 33,2544           62550                           BZMF     RIGHTGTS                              
019162,000576: 33,2545           05235        WTGTSMPL           TC       TWIDDLE                               
019163,000577: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
019164,000578: 33,2546           02574                           ADRES    ALLOOP                                
019165,000579: 33,2547           00154                           TC       MPAC                                  
019166,000580: 33,2550           35015        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
019167,000581: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
019168,000582: 
019169,000583:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019170,000584: 
019171,000585: 33,2552     4113               25DECML            EQUALS   OCT31                                 
019172,000586: 33,2552           34113        STOREDTA           CAF      25DECML                               
019173,000587: 33,2553           54154                           TS       MPAC                                  
019174,000588: 33,2554           50154                           INDEX    MPAC                                  
019175,000589: 33,2555           31460                           CAE      THETAX1                               
019176,000590: 33,2556           50154                           INDEX    MPAC                                  
019177,000591: 33,2557           55577                           TS       RESTARPT                              
019178,000592: 33,2560           10154                           CCS      MPAC                                  
019179,000593: 33,2561           12553                           TCF      STOREDTA   +1                         
019180,000594: 33,2562           00002                           TC       Q                                     
019181,000595: 
019182,000596: 33,2563           34113        LOADSTDT           CAF      25DECML                               
019183,000597: 33,2564           54154                           TS       MPAC                                  
019184,000598: 33,2565           50154                           INDEX    MPAC                                  
019185,000599: 33,2566           31577                           CA       RESTARPT                              
019186,000600: 33,2567           50154                           INDEX    MPAC                                  
019187,000601: 

Page 437

019189,000603: 33,2570           55460                           TS       THETAX1                               
019190,000604: 33,2571           10154                           CCS      MPAC                                  
019191,000605: 33,2572           12564                           TCF      LOADSTDT   +1                         
019192,000606: 33,2573           00002                           TC       Q                                     
019193,000607: 
019194,000608:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019195,000609: 
019196,000610: 33,2574           30025        ALLOOP             CA       TIME1                                 
019197,000611: 33,2575           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
019198,000612: 33,2576           31540        ALLOOP3            CA       ALTIM                                 
019199,000613: 33,2577           55631                           TS       GEOSAVE1                              
019200,000614: 33,2600           05412                           TC       PHASCHNG                              
019201,000615: 33,2601           00115                           OCT      00115                                 
019202,000616: 33,2602           31631        ALLOOP1            CAE      GEOSAVE1                              
019203,000617: 33,2603           55540                           TS       ALTIM                                 
019204,000618: 33,2604           10000                           CCS      A                                     
019205,000619: 33,2605           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
019206,000620: 33,2606           55541                           TS       ALTIMS                                
019207,000621: 33,2607           40000                           CS       A                                     
019208,000622: 33,2610           55540                           TS       ALTIM                                 
019209,000623: 33,2611           35021                           CAF      ZERO                                  
019210,000624: 33,2612           56037                           XCH      PIPAX                                 
019211,000625: 33,2613           55162                           TS       DELVX                                 
019212,000626: 33,2614           35021                           CAF      ZERO                                  
019213,000627: 33,2615           56040                           XCH      PIPAY                                 
019214,000628: 33,2616           55164                           TS       DELVY                                 
019215,000629: 33,2617           35021                           CAF      ZERO                                  
019216,000630: 33,2620           56041                           XCH      PIPAZ                                 
019217,000631: 33,2621           55166                           TS       DELVZ                                 
019218,000632: 33,2622           34374                           CAF      19DECML                               #  23 OCT
019219,000633: 33,2623           04114                           TC       NEWPHASE                              
019220,000634: 33,2624           00005                           OCT      00005                                 
019221,000635: 33,2625           37657        SPECSTS            CAF      PRIO22                                
019222,000636: 33,2626           05147                           TC       FINDVAC                               
019223,000637: 33,2627  E5,1631                                  EBANK=   GEOSAVE1                              
019224,000638: 33,2627           02632 66065                     2CADR    ALFLT                                 #  START THE JOB
019225,000639: 
019226,000640: 33,2631           05324                           TC       TASKOVER                              
019227,000641: 

Page 438

019229,000643:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
019230,000644: 
019231,000645: 33,2632           02552        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
019232,000646: 33,2633           05412                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
019233,000647: 33,2634           00215                           OCT      00215                                 
019234,000648: 33,2635           12637                           TCF      +2                                    
019235,000649: 33,2636           02563        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
019236,000650: 
019237,000651: 33,2637           11643                           CCS      GEOCOMP1                              
019238,000652: 33,2640           02642                           TC       +2                                    
019239,000653: 33,2641           02645                           TC       NORMLOP                               
019240,000654: 33,2642           03406                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
019241,000655: 33,2643           04662                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
019242,000656: 33,2644           15262                           CADR     1/PIPA                                
019243,000657: 33,2645           06006        NORMLOP            TC       INTPRET                               
019244,000658: 33,2646           77745                           DLOAD                                          
019245,000659: 33,2647           27120                                    INTVAL                                
019246,000660: 33,2650           24051                           STOVL    S1                                    
019247,000661: 33,2651           01163                                    DELVX                                 
019248,000662: 33,2652           76505                           VXM      VSL1                                  
019249,000663: 33,2653           02672                                    XSM                                   
019250,000664: 33,2654           57545                           DLOAD    DCOMP                                 
019251,000665: 33,2655           00160                                    MPAC       +3                         
019252,000666: 33,2656           16533                           STODL    DPIPAY                                
019253,000667: 33,2657           00162                                    MPAC       +5                         
019254,000668: 33,2660           02537                           STORE    DPIPAZ                                
019255,000669: 
019256,000670: 33,2661           76001                           SETPD    AXT,1                                 
019257,000671: 33,2662           00001                                    0                                     
019258,000672: 33,2663           00010                                    8D                                    
019259,000673: 33,2664           57535                           SLOAD    DCOMP                                 
019260,000674: 33,2665           02644                                    GEOCOMP1                              
019261,000675: 33,2666           77640                           BMN                                            
019262,000676: 33,2667           67210                                    ALWAYSG                               #  DO A QUICK COMPASS
019263,000677: 

Page 439

019265,000679:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019266,000680: 
019267,000681: 33,2670                                           COUNT    33/COMST                              
019268,000682: 
019269,000683: 33,2670           50135        ALCGKK             SLOAD    BMN                                   
019270,000684: 33,2671           02542                                    ALTIMS                                
019271,000685: 33,2672           66705                                    ALFLT3                                #  NO NEW GAINS NEEDED
019272,000686: 33,2673           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
019273,000687: 33,2674           00014                                    12D                                   
019274,000688: 33,2675           02454                                    ALX1S                                 
019275,000689: 33,2676           62143        ALKCG2             DLOAD*   INCR,1                                
019276,000690: 33,2677           02243                                    ALFDK      +144D,1                    
019277,000691: 33,2700           77775                           DEC      -2         B-14                       
019278,000692: 33,2701           12555                           STORE    ALDK       +10D,2                     
019279,000693: 33,2702           66104                           TIX,2    SXA,1                                 
019280,000694: 33,2703           66676                                    ALKCG2                                
019281,000695: 33,2704           02454                                    ALX1S                                 
019282,000696: 
019283,000697: 33,2705           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
019284,000698: 33,2706           00010                                    8D                                    #  AND GAIN UPDATES
019285,000699: 33,2707           41343        DELMLP             DLOAD*   DMP                                   
019286,000700: 33,2710           02543                                    DPIPAY     +8D,1                      
019287,000701: 33,2711           27705                                    PIPASC                                
019288,000702: 33,2712           43661                           SLR      BDSU*                                 
019289,000703: 33,2713           21212                                    9D                                    
019290,000704: 33,2714           02511                                    INTY       +8D,1                      
019291,000705: 33,2715           06511                           STORE    INTY       +8D,1                      
019292,000706: 33,2716           40725                           PDDL     DMP*                                  
019293,000707: 33,2717           27707                                    VELSC                                 
019294,000708: 33,2720           02531                                    VLAUN      +8D,1                      
019295,000709: 33,2721           77732                           SL2R                                           
019296,000710: 33,2722           45425                           DSU      STADR                                 
019297,000711: 33,2723           71206                           STORE    DELM       +8D,1                      
019298,000712: 33,2724           06573                           STORE    DELM       +10D,1                     
019299,000713: 33,2725           77100                           TIX,1    AXT,2                                 
019300,000714: 33,2726           66707                                    DELMLP                                
019301,000715: 33,2727           00004                                    4                                     
019302,000716: 33,2730           56743        ALILP              DLOAD*   DMPR*                                 
019303,000717: 33,2731           75314                                    ALK        +4,2                       
019304,000718: 33,2732           75230                                    ALDK       +4,2                       
019305,000719: 33,2733           12463                           STORE    ALK        +4,2                       
019306,000720: 33,2734           77104                           TIX,2    AXT,2                                 
019307,000721: 33,2735           66730                                    ALILP                                 
019308,000722: 33,2736           00010                                    8D                                    
019309,000723: 33,2737           66140        ALKLP              LXC,1    SXA,1                                 
019310,000724: 33,2740           02455                                    CMPX1                                 
019311,000725: 33,2741           02455                                    CMPX1                                 
019312,000726: 33,2742           56743                           DLOAD*   DMPR*                                 
019313,000727: 33,2743           02460                                    ALK        +1,1                       
019314,000728: 33,2744           75206                                    DELM       +8D,2                      

Page 440

019316,000730: 33,2745           77613                           DAD*                                           
019317,000731: 33,2746           75266                                    INTY       +8D,2                      
019318,000732: 33,2747           12511                           STORE    INTY       +8D,2                      
019319,000733: 33,2750           42743                           DLOAD*   DAD*                                  
019320,000734: 33,2751           75304                                    ALK        +12D,2                     
019321,000735: 33,2752           75220                                    ALDK       +12D,2                     
019322,000736: 33,2753           12473                           STORE    ALK        +12D,2                     
019323,000737: 33,2754           42673                           DMPR*    DAD*                                  
019324,000738: 33,2755           75206                                    DELM       +8D,2                      
019325,000739: 33,2756           75256                                    INTY       +16D,2                     
019326,000740: 33,2757           12521                           STORE    INTY       +16D,2                     
019327,000741: 33,2760           40743                           DLOAD*   DMP*                                  
019328,000742: 33,2761           27712                                    ALSK       +1,1                       
019329,000743: 33,2762           75206                                    DELM       +8D,2                      
019330,000744: 33,2763           42772                           SL1R     DAD*                                  
019331,000745: 33,2764           75246                                    VLAUN      +8D,2                      
019332,000746: 33,2765           12531                           STORE    VLAUN      +8D,2                      
019333,000747: 33,2766           76104                           TIX,2    AXT,1                                 
019334,000748: 33,2767           66737                                    ALKLP                                 
019335,000749: 33,2770           00010                                    8D                                    
019336,000750: 
019337,000751: 33,2771           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
019338,000752: 33,2772           02533                                    ACCWD      +8D,1                      
019339,000753: 33,2773           02531                                    VLAUN      +8D,1                      
019340,000754: 33,2774           55523                           PDDL*    VDEF                                  
019341,000755: 33,2775           02541                                    POSNV      +8D,1                      
019342,000756: 33,2776           76521                           MXV      VSL1                                  
019343,000757: 33,2777           02001                                    TRANSM1                               
019344,000758: 33,3000           77745                           DLOAD                                          
019345,000759: 33,3001           00155                                    MPAC                                  
019346,000760: 33,3002           06541                           STORE    POSNV      +8D,1                      
019347,000761: 33,3003           77745                           DLOAD                                          
019348,000762: 33,3004           00160                                    MPAC       +3                         
019349,000763: 33,3005           06531                           STORE    VLAUN      +8D,1                      
019350,000764: 33,3006           77745                           DLOAD                                          
019351,000765: 33,3007           00162                                    MPAC       +5                         
019352,000766: 33,3010           06533                           STORE    ACCWD      +8D,1                      
019353,000767: 33,3011           77700                           TIX,1                                          
019354,000768: 33,3012           66771                                    LOOSE                                 
019355,000769: 
019356,000770: 33,3013           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
019357,000771: 33,3014           00006                                    6                                     
019358,000772: 33,3015           00002                                    2                                     
019359,000773: 33,3016           57343        BOOP               DLOAD*   DMPR                                  
019360,000774: 33,3017           02513                                    ANGX       +2,1                       
019361,000775: 33,3020           27715                                    GEORGEJ                               
019362,000776: 33,3021           77722                           SR2R                                           
019363,000777: 33,3022           73406                           PUSH     SIN                                   

Page 441

019365,000779: 33,3023           56072                           SL3R     XAD,1                                 
019366,000780: 33,3024           00046                                    X1                                    
019367,000781: 33,3025           10021                           STORE    16D,2                                 
019368,000782: 33,3026           77745                           DLOAD                                          
019369,000783: 33,3027           77746                           COS                                            
019370,000784: 33,3030           10027                           STORE    22D,2                                 #  COSINES
019371,000785: 33,3031           77704                           TIX,2                                          
019372,000786: 33,3032           67016                                    BOOP                                  
019373,000787: 
019374,000788: 33,3033           77776        PERFERAS           EXIT                                           
019375,000789: 33,3034           35060                           CA       EBANK7                                
019376,000790: 33,3035  E7,1400                                  EBANK=   LAT(SPL)                              
019377,000791: 33,3035           54003                           TS       EBANK                                 
019378,000792: 33,3036           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
019379,000793: 
019380,000794:                                                                                                  #  CAUTION
019381,000795: 
019382,000796:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019383,000797:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019384,000798: 
019385,000799: 33,3037  E5,1412                                  EBANK=   LENGTHOT                              
019386,000800: 33,3037           11412        ONCEMORE           CCS      LENGTHOT                              
019387,000801: 33,3040           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
019388,000802: 33,3041           11450                           CCS      TORQNDX                               
019389,000803: 33,3042           13044                           TCF      +2                                    
019390,000804: 33,3043           03046                           TC       SETUPER1                              
019391,000805: 33,3044           30032                           CA       CDUX                                  
019392,000806: 33,3045           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
019393,000807: 33,3046           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
019394,000808: 33,3047           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
019395,000809: 33,3050           02503                                    ANGZ                                  
019396,000810: 33,3051           02507                                    ANGY                                  
019397,000811: 33,3052           55525                           PDDL     VDEF                                  
019398,000812: 33,3053           02511                                    ANGX                                  
019399,000813: 33,3054           74276                           VCOMP    VXSC                                  
019400,000814: 33,3055           27715                                    GEORGEJ                               
019401,000815: 33,3056           74521                           MXV      VSR1                                  
019402,000816: 33,3057           02672                                    XSM                                   
019403,000817: 33,3060           02760                           STORE    OGC                                   
019404,000818: 33,3061           77776                           EXIT                                           
019405,000819: 
019406,000820: 33,3062           05412        TORQINCH           TC       PHASCHNG                              
019407,000821: 33,3063           00005                           OCT      00005                                 
019408,000822: 33,3064           32444                           CA       OGCPL                                 
019409,000823: 33,3065           04662                           TC       BANKCALL                              
019410,000824: 33,3066           17206                           CADR     IMUPULSE                              
019411,000825: 33,3067           02316                           TC       IMUSTLLG                              
019412,000826: 33,3070           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
019413,000827: 33,3071           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019414,000828: 33,3072           06006                           TC       INTPRET                               

Page 442

019416,000830: 33,3073           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019417,000831: 33,3074           64000                                    ERTHRVSE                              
019418,000832: 33,3075           77776                           EXIT                                           
019419,000833: 33,3076           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019420,000834: 
019421,000835: 33,3077           05650        SOMEERRR           TC       ALARM                                 
019422,000836: 33,3100           01600                           OCT      1600                                  
019423,000837: 33,3101           03104                           TC       +3                                    
019424,000838: 33,3102           05650        SOMERR2            TC       ALARM                                 
019425,000839: 33,3103           01601                           OCT      1601                                  
019426,000840: 33,3104           05412                           TC       PHASCHNG                              
019427,000841: 33,3105           00005                           OCT      00005                                 
019428,000842: 33,3106           02267                           TC       ENDTEST1                              
019429,000843: 
019430,000844:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. 
019431,000845: 
019432,000846: 33,3107           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
019433,000847: 33,3110           00000 00000  SCHZEROS           2DEC     .00000000                             
019434,000848: 33,3112           00000 00000                     2DEC     .00000000                             
019435,000849: 33,3114           00000                           OCT      00000                                 
019436,000850: 33,3115           00000        ONEDPP             OCT      00000                                 
019437,000851: 33,3116           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
019438,000852: 
019439,000853: 33,3117           00004        INTVAL             OCT      4                                     
019440,000854: 33,3120           00002                           OCT      2                                     
019441,000855: 33,3121           00220                           DEC      144        B-14                       
019442,000856: 33,3122           77776                           DEC      -1         B-14                       
019443,000857: 33,3123           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019444,000858: 33,3125           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019445,000859: 
019446,000860: 33,3127           00115        77DECML            DEC      77         B-14                       
019447,000861: 33,3130           01453        ALXXXZ             GENADR   ALX1S      -1                         
019448,000862: 
019449,000863:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019450,000864: 
019451,000865: 33,3131                                           COUNT    33/P01                                
019452,000866: 
019453,000867:                                                                                                  #  INITIALIZATION SECTION
019454,000868: 
019455,000869: 33,3131           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
019456,000870: 33,3132           75004                           MASK     NOP01BIT                              

Page 443

019458,000872: 33,3133           00006                           EXTEND                                         
019459,000873: 33,3134           13137                           BZF      GTSCPSSA                              
019460,000874: 33,3135           05721                           TC       POODOO                                
019461,000875: 33,3136           01521                           OCT      1521                                  #  NODO ALARM FOR P01 - P11 ALREADY DONE
019462,000876: 
019463,000877: 33,3137           35017        GTSCPSSA           CAF      ONE                                   
019464,000878: 33,3140           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
019465,000879: 33,3141           33435                           CA       1/PIPAGT                              
019466,000880: 33,3142           55074                           TS       1/PIPADT                              
019467,000881: 33,3143           35010        NXXTENN            CA       BIT8                                  
019468,000882: 33,3144           55412                           TS       LENGTHOT                              
019469,000883: 33,3145           35036                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019470,000884: 33,3146           55644                           TS       1SECXT1                               
019471,000885: 33,3147           35017                           CAF      ONE                                   
019472,000886: 33,3150           55632                           TS       PREMTRX1                              
019473,000887: 33,3151           55657                           TS       PERFDLAY   +1                         
019474,000888: 33,3152           35021                           CAF      ZERO                                  
019475,000889: 33,3153           55656                           TS       PERFDLAY                              
019476,000890: 33,3154           00006                           EXTEND                                         
019477,000891: 33,3155           31634                           DCA      LUNCHAZ1                              
019478,000892: 33,3156           53636                           DXCH     NEWAZ1                                
019479,000893: 33,3157           00006                           EXTEND                                         
019480,000894: 33,3160           31634                           DCA      LUNCHAZ1                              
019481,000895: 33,3161           53640                           DXCH     OLDAZMTH                              
019482,000896: 33,3162           34375        SETUPGC            CA       DEC17                                 
019483,000897: 33,3163           55655                           TS       ZERONDX1                              
019484,000898: 33,3164           32446                           CA       XSMADR                                
019485,000899: 33,3165           02356                           TC       ZEROING                               
019486,000900: 33,3166           03170                           TC       POSN17C                               
019487,000901: 33,3167           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019488,000902: 
019489,000903: 
019490,000904: 33,3170           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
019491,000905: 33,3171           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019492,000906: 33,3172           45002                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019493,000907: 33,3173           55705                           TS       ZSM                                   
019494,000908: 33,3174           06006                           TC       INTPRET                               
019495,000909: 33,3175           41545                           DLOAD    PUSH                                  
019496,000910: 33,3176           02636                                    NEWAZ1                                
019497,000911: 33,3177           77756                           SIN                                            
019498,000912: 33,3200           02676                           STORE    XSM        +4                         
019499,000913: 33,3201           16702                           STODL    YSM        +2                         
019500,000914: 33,3202           77746                           COS                                            
019501,000915: 33,3203           02704                           STORE    YSM        +4                         
019502,000916: 33,3204           77676                           DCOMP                                          
019503,000917: 33,3205           02674                           STORE    XSM        +2                         
019504,000918: 33,3206           77776                           EXIT                                           
019505,000919: 33,3207           01425                           TC       QPLACE                                
019506,000920: 

Page 444

019508,000922:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
019509,000923: 
019510,000924: 33,3210                                           COUNT    33/P02                                
019511,000925: 
019512,000926: 33,3210           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019513,000927: 33,3211           02543                                    DPIPAY     +8D,1                      
019514,000928: 33,3212           02505                                    FILDELV1   +8D,1                      
019515,000929: 33,3213           42675                           DMPR     DAD*                                  
019516,000930: 33,3214           27717                                    GEOCONS1                              
019517,000931: 33,3215           02505                                    FILDELV1   +8D,1                      
019518,000932: 33,3216           06505                           STORE    FILDELV1   +8D,1                      
019519,000933: 33,3217           77613                           DAD*                                           
019520,000934: 33,3220           02507                                    INTVEC1    +8D,1                      
019521,000935: 33,3221           06507                           STORE    INTVEC1    +8D,1                      
019522,000936: 33,3222           42675                           DMPR     DAD*                                  
019523,000937: 33,3223           27721                                    GEOCONS2                              
019524,000938: 33,3224           02505                                    FILDELV1   +8D,1                      
019525,000939: 33,3225           41475                           DMPR     PUSH                                  
019526,000940: 33,3226           15333                                    GEOCONS5                              
019527,000941: 33,3227           67300                           TIX,1    SLOAD                                 
019528,000942: 33,3230           67210                                    ALWAYSG                               
019529,000943: 33,3231           02647                                    ERECTIM1                              
019530,000944: 33,3232           71254                           BZE      DLOAD                                 
019531,000945: 33,3233           67244                                    COMPGS                                
019532,000946: 33,3234           02471                                    THETAN1    +2                         
019533,000947: 33,3235           45425                           DSU      STADR                                 
019534,000948: 33,3236           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019535,000949: 33,3237           77621                           BDSU                                           
019536,000950: 33,3240           02473                                    THETAN1    +4                         
019537,000951: 33,3241           02473                           STORE    THETAN1    +4                         
019538,000952: 33,3242           77650                           GOTO                                           
019539,000953: 33,3243           67266                                    ADDINDRF                              
019540,000954: 33,3244           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019541,000955: 33,3245           02467                                    THETAN1                               
019542,000956: 33,3246           02475                                    FILDELV1                              
019543,000957: 33,3247           16467                           STODL    THETAN1                               
019544,000958: 33,3250           02475                                    FILDELV1                              
019545,000959: 33,3251           44275                           DMPR     BDSU                                  
019546,000960: 33,3252           27723                                    GEOCONS3                              
019547,000961: 33,3253           02473                                    THETAN1    +4                         
019548,000962: 33,3254           16473                           STODL    THETAN1    +4                         
019549,000963: 33,3255           02501                                    FILDELV1   +4                         
019550,000964: 33,3256           44275                           DMPR     BDSU                                  
019551,000965: 33,3257           27723                                    GEOCONS3                              
019552,000966: 33,3260           02471                                    THETAN1    +2                         
019553,000967: 33,3261           57325                           PDDL     DMPR                                  
019554,000968: 33,3262           02503                                    INTVEC1    +4                         
019555,000969: 33,3263           27725                                    GEOCONS4                              
019556,000970: 33,3264           45421                           BDSU     STADR                                 
019557,000971: 33,3265           75306                           STORE    THETAN1    +2                         

Page 445

019559,000973: 33,3266           77776        ADDINDRF           EXIT                                           
019560,000974: 
019561,000975: 
019562,000976: 33,3267           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019563,000977: 33,3270           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019564,000978: 33,3271           03406                           TC       CHKCOMED                              
019565,000979: 33,3272           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
019566,000980: 33,3273           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019567,000981: 
019568,000982: 33,3274           06006        LASTGTS            TC       INTPRET                               
019569,000983: 33,3275           77775                           VLOAD                                          
019570,000984: 33,3276           02650                                    ERCOMP1                               
019571,000985: 33,3277           16461                           STODL    THETAX1                               
019572,000986: 33,3300           02443                                    TMARK                                 
019573,000987: 33,3301           02457                           STORE    ALK                                   
019574,000988: 33,3302           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019575,000989: 
019576,000990: 33,3303           05412        RESTAIER           TC       PHASCHNG                              
019577,000991: 33,3304           00275                           OCT      00275                                 
019578,000992: 33,3305           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019579,000993: 33,3306           64375                           VLOAD    MXV                                   
019580,000994: 33,3307           02467                                    THETAN1                               
019581,000995: 33,3310           02672                                    XSM                                   
019582,000996: 33,3311           53372                           VSL1     VAD                                   
019583,000997: 33,3312           02461                                    THETAX1                               
019584,000998: 33,3313           16650                           STODL    ERCOMP1                               
019585,000999: 33,3314           02457                                    ALK                                   
019586,001000: 33,3315           02443                           STORE    TMARK                                 
019587,001001: 33,3316           77776                           EXIT                                           
019588,001002: 33,3317           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
019589,001003: 33,3320           31646                           CAE      ERECTIM1                              
019590,001004: 33,3321           55631                           TS       GEOSAVE1                              
019591,001005: 33,3322           05412                           TC       PHASCHNG                              
019592,001006: 33,3323           00155                           OCT      00155                                 
019593,001007: 33,3324           06006        RESTEST1           TC       INTPRET                               
019594,001008: 33,3325           77775                           VLOAD                                          
019595,001009: 33,3326           27111                                    SCHZEROS                              
019596,001010: 33,3327           02467                           STORE    THETAN1                               
019597,001011: 33,3330           77776                           EXIT                                           
019598,001012: 33,3331           11632                           CCS      PREMTRXC                              
019599,001013: 33,3332           03401                           TC       NOCHORLD                              
019600,001014: 33,3333           05412                           TC       PHASCHNG                              
019601,001015: 33,3334           00255                           OCT      00255                                 
019602,001016: 33,3335           06006        RESTEST3           TC       INTPRET                               
019603,001017: 33,3336           77745                           DLOAD                                          
019604,001018: 33,3337           02634                                    LAUNCHAZ                              
019605,001019: 33,3340           53025                           DSU      BZE                                   
019606,001020: 33,3341           02640                                    OLDAZMTH                              
019607,001021: 33,3342           67376                                    NOAZCHGE                              
019608,001022: 33,3343           00001                           STORE    0D                                    

Page 446

019610,001024: 33,3344           43335                           SLOAD    DAD                                   
019611,001025: 33,3345           27117                                    ONEDPP     +1                         
019612,001026: 33,3346           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019613,001027: 33,3347           16633                           STODL    PREMTRXC                              
019614,001028: 33,3350           02634                                    LAUNCHAZ                              
019615,001029: 33,3351           16636                           STODL    NEWAZMTH                              
019616,001030: 33,3352           00001                                    0D                                    
019617,001031: 33,3353           02654        ADERCOMP           STORE    ERCOMP     +4                         
019618,001032: 33,3354           77776                           EXIT                                           
019619,001033: 33,3355           03170                           TC       POSN17C                               
019620,001034: 33,3356           05412                           TC       PHASCHNG                              
019621,001035: 33,3357           00335                           OCT      00335                                 
019622,001036: 33,3360           00006        RESCHNG            EXTEND                                         
019623,001037: 33,3361           31636                           DCA      NEWAZMTH                              
019624,001038: 33,3362           53640                           DXCH     OLDAZMTH                              
019625,001039: 33,3363           35011                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
019626,001040: 33,3364           55412                           TS       LENGTHOT                              
019627,001041: 33,3365           05412                           TC       PHASCHNG                              
019628,001042: 33,3366           00075                           OCT      00075                                 
019629,001043: 33,3367           33434        SPITGYRO           CA       ERCOMPPL                              
019630,001044: 33,3370           04662                           TC       BANKCALL                              
019631,001045: 33,3371           17206                           CADR     IMUPULSE                              
019632,001046: 33,3372           04662                           TC       BANKCALL                              
019633,001047: 33,3373           17577                           CADR     IMUSTALL                              
019634,001048: 33,3374           03102                           TC       SOMERR2                               
019635,001049: 33,3375           02453                           TC       ESTIMS                                #  RE-INITIALIZE
019636,001050: 
019637,001051: 
019638,001052: 33,3376           77776        NOAZCHGE           EXIT                                           
019639,001053: 33,3377           35017                           CA       ONE                                   
019640,001054: 33,3400           55632                           TS       PREMTRXC                              
019641,001055: 33,3401           11631        NOCHORLD           CCS      GEOSAVE1                              
019642,001056: 33,3402           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019643,001057: 
019644,001058: 33,3403           34334        ANNNNNN            CAF      NINE                                  
019645,001059: 33,3404           55412                           TS       LENGTHOT                              
019646,001060: 33,3405           02523                           TC       SLEEPIE    +1                         
019647,001061: 
019648,001062: 
019649,001063: 33,3406           00004        CHKCOMED           INHINT                                         
019650,001064: 33,3407           41011                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
019651,001065: 33,3410           65023                           AD       SEVEN                                 
019652,001066: 33,3411           00006                           EXTEND                                         
019653,001067: 33,3412           13426                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
019654,001068: 33,3413           45021                           CS       ZERO                                  
019655,001069: 33,3414           00006                           EXTEND                                         
019656,001070: 33,3415           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019657,001071: 33,3416           75013                           MASK     BIT5                                  #  LIFTOFF BIT
019658,001072: 33,3417           10000                           CCS      A                                     
019659,001073: 33,3420           13427                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019660,001074: 

Page 447

019662,001076: 33,3421           35013                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
019663,001077: 33,3422           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019664,001078: 33,3423           10000                           CCS      A                                     
019665,001079: 33,3424           13427                           TCF      PRELTERM                              #  BACKUP RECEIVED
019666,001080: 
019667,001081: 33,3425           00003                           RELINT                                         
019668,001082: 33,3426           00002        GOBKCALB           TC       Q                                     
019669,001083: 
019670,001084: 33,3427           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
019671,001085: 33,3430           05210                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019672,001086: 33,3431           00004                           INHINT                                         
019673,001087: 33,3432           04701                           TC       POSTJUMP                              
019674,001088: 33,3433           70002                           CADR     P11                                   
019675,001089: 
019676,001090: 
019677,001091: 33,3434           02647        ERCOMPPL           ECADR    ERCOMP                                
019678,001092: 
019679,001093: 33,3435  26,3332               GEOCONS5           EQUALS   HIDPHALF                              
019680,001094: 33,3435           06200        1/PIPAGT           OCT      06200                                 
019681,001095: 33,3436     4375               17DECML            =        ND1                                   #  OCT 21
019682,001096: 33,3436     4374               19DECML            =        VD1                                   #  OCT 23
019683,001097: 33,3436     5036               1/2SECX            =        .5SEC                                 
019684,001098: 
019685,001099: 

Page 448

019687,001101: 33,3436     5217               GEOSTRT4           EQUALS   ENDOFJOB                              
019688,001102: 

Page 449

019690,001104:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019691,001105: 
019692,001106: 33,3436                                           COUNT    33/P03                                
019693,001107: 
019694,001108: 33,3436           05412        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019695,001109: 33,3437           00154                           OCT      00154                                 
019696,001110: 33,3440           05354                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
019697,001111: 33,3441           00003                           MM       03         B-14                       
019698,001112: 33,3442           02037        SETNBPOS           TC       NBPOSPL                               
019699,001113: 33,3443           04662                           TC       BANKCALL                              
019700,001114: 33,3444           16063                           CADR     MKRELEAS                              
019701,001115: 33,3445           35017        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019702,001116: 33,3446           22007                           ZL                                             #  T 1,THEN TARGET 2
019703,001117: 33,3447           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019704,001118: 33,3450           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019705,001119: 33,3451           00006                           EXTEND                                         
019706,001120: 33,3452           51427                           INDEX    RUN                                   
019707,001121: 33,3453           31433                           DCA      TAZEL1                                
019708,001122: 33,3454           53046                           DXCH     DSPTEM1                               
019709,001123: 33,3455           33500                           CAF      V05N30E                               
019710,001124: 33,3456           04662                           TC       BANKCALL                              
019711,001125: 33,3457           20673                           CADR     GODSPRET                              
019712,001126: 33,3460           33466                           CAF      VN0641                                
019713,001127: 33,3461           04662                           TC       BANKCALL                              
019714,001128: 33,3462           20720                           CADR     GOFLASH                               
019715,001129: 33,3463           03620                           TC       GCOMP5                                
019716,001130: 33,3464           03467                           TC       +3                                    
019717,001131: 33,3465           03455                           TC       -8D                                   
019718,001132: 33,3466           01451        VN0641             VN       0641                                  
019719,001133: 33,3467           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
019720,001134: 33,3470           51427                           INDEX    RUN                                   
019721,001135: 33,3471           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019722,001136: 33,3472           11427                           CCS      RUN                                   
019723,001137: 33,3473           13477                           TCF      +4                                    
019724,001138: 33,3474           35016                           CAF      TWO                                   
019725,001139: 33,3475           54001                           TS       L                                     
019726,001140: 33,3476           13447                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
019727,001141: 
019728,001142: 33,3477           03541                           TC       CONTIN33                              
019729,001143: 
019730,001144: 33,3500           01236        V05N30E            VN       0530                                  
019731,001145: 
019732,001146: 33,3501           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019733,001147: 33,3502           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019734,001148: 33,3503           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019735,001149: 33,3504           00014                                    12D                                   
019736,001150: 33,3505           40331                           SSP      SETPD                                 
019737,001151: 33,3506           00052                                    S2                                    
019738,001152: 33,3507           00006                                    6                                     

Page 450

019740,001154: 33,3510           00001                                    0                                     
019741,001155: 33,3511           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019742,001156: 33,3512           02436                                    TAZEL1     +3,1                       
019743,001157: 33,3513           00001                           STORE    0                                     #  PD00 ELEVATION PD00
019744,001158: 33,3514           77756                           SIN                                            
019745,001159: 33,3515           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019746,001160: 33,3516           77745                           DLOAD                                          
019747,001161: 33,3517           00001                                    0                                     
019748,001162: 33,3520           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
019749,001163: 33,3521           47133                           SLOAD*   RTB                                   
019750,001164: 33,3522           02435                                    TAZEL1     +2,1                       
019751,001165: 33,3523           45513                                    CDULOGIC                              
019752,001166: 33,3524           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
019753,001167: 33,3525           41356                           SIN      DMP                                   
019754,001168: 33,3526           00001                                    0                                     
019755,001169: 33,3527           77752                           SL1                                            
019756,001170: 33,3530           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019757,001171: 33,3531           71545                           DLOAD    COS                                   
019758,001172: 33,3532           00003                                    2                                     
019759,001173: 33,3533           72405                           DMP      SL1                                   
019760,001174: 33,3534           76076                           DCOMP    AXT,1                                 
019761,001175: 33,3535           00000                                    0                                     
019762,001176: 33,3536           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019763,001177: 33,3537           43504                           TIX,2    RVQ                                   
019764,001178: 33,3540           67511                                    TAR1                                  
019765,001179: 
019766,001180: 
019767,001181: 33,3541                                           BANK     33                                    
019768,001182: 33,2000                                           SETLOC   IMUCAL                                
019769,001183: 33,2000                                           BANK                                           
019770,001184: 33,3541                                           COUNT*   $$/P03                                
019771,001185: 
019772,001186: 33,3541           35017        CONTIN33           CA       ONE                                   
019773,001187: 33,3542           54735                           TS       STARCODE                              
019774,001188: 33,3543           35021                           CA       ZERO                                  
019775,001189: 33,3544           03635                           TC       TARGDRVE                              
019776,001190: 33,3545           06006                           TC       INTPRET                               
019777,001191: 33,3546           77624                           CALL                                           
019778,001192: 33,3547           67502                                    TAR/EREF                              
019779,001193: 33,3550           64375        NEXTBNKS           VLOAD    MXV                                   
019780,001194: 33,3551           00007                                    6D                                    
019781,001195: 33,3552           02672                                    XSM                                   
019782,001196: 33,3553           77772                           VSL1                                           
019783,001197: 33,3554           26736                           STOVL    STARAD                                
019784,001198: 33,3555           00015                                    12D                                   
019785,001199: 33,3556           76521                           MXV      VSL1                                  
019786,001200: 33,3557           02672                                    XSM                                   
019787,001201: 33,3560           36744                           STCALL   STARAD     +6                         
019788,001202: 33,3561           67726                                    LITTLSUB                              
019789,001203: 33,3562           02414                           STORE    LOSVEC                                

Page 451

019791,001205: 33,3563           77776                           EXIT                                           
019792,001206: 33,3564           04662                           TC       BANKCALL                              
019793,001207: 33,3565           16063                           CADR     MKRELEAS                              
019794,001208: 
019795,001209: 
019796,001210: 33,3566           35016        NEXBNKSS           CAF      TWO                                   
019797,001211: 33,3567           54735                           TS       STARCODE                              
019798,001212: 33,3570           36211                           CAF      SIX                                   
019799,001213: 33,3571           03635                           TC       TARGDRVE                              
019800,001214: 33,3572           06006                           TC       INTPRET                               
019801,001215: 33,3573           77624                           CALL                                           
019802,001216: 33,3574           67726                                    LITTLSUB                              
019803,001217: 33,3575           24015                           STOVL    12D                                   
019804,001218: 33,3576           02414                                    LOSVEC                                
019805,001219: 33,3577           34007                           STCALL   06D                                   
019806,001220: 33,3600           47401                                    AXISGEN                               
019807,001221: 33,3601           77624                           CALL                                           
019808,001222: 33,3602           47205                                    CALCGTA                               
019809,001223: 33,3603           77776                           EXIT                                           
019810,001224: 33,3604           33631        GCOMP4             CAF      V06N93S                               
019811,001225: 33,3605           04662                           TC       BANKCALL                              
019812,001226: 33,3606           20720                           CADR     GOFLASH                               
019813,001227: 33,3607           03620                           TC       GCOMP5                                
019814,001228: 33,3610           13612                           TCF      +2                                    
019815,001229: 33,3611           13604                           TCF      GCOMP4                                
019816,001230: 33,3612           06006                           TC       INTPRET                               
019817,001231: 33,3613           53375                           VLOAD    VAD                                   
019818,001232: 33,3614           02760                                    OGC                                   
019819,001233: 33,3615           02650                                    ERCOMP1                               
019820,001234: 33,3616           02650                           STORE    ERCOMP1                               
019821,001235: 33,3617           77776                           EXIT                                           
019822,001236: 33,3620           04662        GCOMP5             TC       BANKCALL                              
019823,001237: 33,3621           16063                           CADR     MKRELEAS                              
019824,001238: 33,3622           05560                           TC       DOWNFLAG                              
019825,001239: 33,3623           00032                           ADRES    TRM03FLG                              
019826,001240: 
019827,001241: 33,3624           05354                           TC       NEWMODEX                              
019828,001242: 33,3625           00002                           MM       02         B-14                       
019829,001243: 33,3626           05412                           TC       PHASCHNG                              
019830,001244: 33,3627           00004                           OCT      00004                                 
019831,001245: 33,3630           05217                           TC       ENDOFJOB                              
019832,001246: 33,3631           01535        V06N93S            VN       0693                                  
019833,001247: 33,3632           05650        GTSOPTCS           TC       ALARM                                 
019834,001248: 33,3633           01602        GTSOPTSS           OCT      01602                                 
019835,001249: 33,3634           03620                           TC       GCOMP5                                
019836,001250: 
019837,001251: 
019838,001252: 34,2002                                           BANK     34                                    
019839,001253: 04,2000                                           SETLOC   IMUCAL1                               
019840,001254: 04,2000                                           BANK                                           

Page 452

019842,001256: 
019843,001257: 04,2613                                           COUNT    34/COMST                              
019844,001258: 
019845,001259: 04,2613           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019846,001260: 04,2614           02403                                    LATITUDE                              
019847,001261: 04,2615           15047                           STODL    DSPTEM1    +1                         
019848,001262: 04,2616           02401                                    AZIMUTH                               
019849,001263: 04,2617           77434                           RTB      EXIT                                  
019850,001264: 04,2620           45546                                    1STO2S                                
019851,001265: 04,2621           56154                           XCH      MPAC                                  
019852,001266: 04,2622           55045                           TS       DSPTEM1                               
019853,001267: 04,2623           04662                           TC       BANKCALL                              
019854,001268: 04,2624           20703                           CADR     CLEANDSP                              
019855,001269: 04,2625           32644                           CAF      VNG0641                               
019856,001270: 04,2626           04662                           TC       BANKCALL                              
019857,001271: 04,2627           20720                           CADR     GOFLASH                               
019858,001272: 04,2630           02632                           TC       +2                                    #  NOT ALLOWED
019859,001273: 04,2631           02633                           TC       +2                                    
019860,001274: 04,2632           02625                           TC       -5                                    
019861,001275: 04,2633           06006                           TC       INTPRET                               
019862,001276: 04,2634           47135                           SLOAD    RTB                                   
019863,001277: 04,2635           01046                                    DSPTEM1                               
019864,001278: 04,2636           45513                                    CDULOGIC                              
019865,001279: 04,2637           02401                           STORE    AZIMUTH                               
019866,001280: 04,2640           60535                           SLOAD    SR2                                   
019867,001281: 04,2641           01047                                    DSPTEM1    +1                         
019868,001282: 04,2642           02403                           STORE    LATITUDE                              
019869,001283: 04,2643           77616                           RVQ                                            
019870,001284: 04,2644           01451        VNG0641            VN       0641                                  
019871,001285: 33,3635                                           BANK     33                                    
019872,001286: 33,2000                                           SETLOC   IMUCAL                                
019873,001287: 33,2000                                           BANK                                           
019874,001288: 
019875,001289: 
019876,001290: 33,3635                                           COUNT*   $$/P03                                
019877,001291: 33,3635           00006        TARGDRVE           EXTEND                                         
019878,001292: 33,3636           23424                           QXCH     QPLAC                                 
019879,001293: 33,3637           55431                           TS       TARG1/2                               
019880,001294: 33,3640           06006                           TC       INTPRET                               
019881,001295: 33,3641           77624                           CALL                                           
019882,001296: 33,3642           67502                                    TAR/EREF                              
019883,001297: 33,3643           76740                           LXC,1    VLOAD*                                
019884,001298: 33,3644           02431                                    TARG1/2                               
019885,001299: 33,3645           00007                                    6D,1                                  
019886,001300: 33,3646           36766                           STCALL   STAR                                  
019887,001301: 33,3647           46053                                    SXTANG                                
019888,001302: 33,3650           77776                           EXIT                                           
019889,001303: 33,3651           31773                           CA       SAC                                   
019890,001304: 33,3652           55161                           TS       DESOPTS                               
019891,001305: 

Page 453

019893,001307: 33,3653           31775                           CA       PAC                                   
019894,001308: 33,3654           55160                           TS       DESOPTT                               
019895,001309: 33,3655           35021        RETARG             CAF      ZERO                                  
019896,001310: 33,3656           55303                           TS       OPTIND                                
019897,001311: 33,3657           35017                           CAF      ONE                                   
019898,001312: 33,3660           04662                           TC       BANKCALL                              
019899,001313: 33,3661           16002                           CADR     SXTMARK                               
019900,001314: 33,3662           04662                           TC       BANKCALL                              
019901,001315: 33,3663           17573                           CADR     OPTSTALL                              
019902,001316: 33,3664           03632                           TC       GTSOPTCS                              
019903,001317: 33,3665           30075                           CAE      FLAGWRD1                              
019904,001318: 33,3666           75014                           MASK     TRM03BIT                              
019905,001319: 33,3667           10000                           CCS      A                                     
019906,001320: 33,3670           03620                           TC       GCOMP5                                
019907,001321: 
019908,001322: 33,3671           51330                           INDEX    MARKSTAT                              
019909,001323: 33,3672           30052                           CA       QPRET                                 
019910,001324: 33,3673           00006                           EXTEND                                         
019911,001325: 33,3674           13676                           BZF      RETARG1                               
019912,001326: 33,3675           01424                           TC       QPLAC                                 
019913,001327: 
019914,001328: 
019915,001329: 33,3676           35021        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019916,001330: 33,3677           57330                           XCH      MARKSTAT                              
019917,001331: 33,3700           10000                           CCS      A                                     
019918,001332: 33,3701           50000                           INDEX    A                                     
019919,001333: 33,3702           54000                           TS       A                                     
019920,001334: 33,3703           13655                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019921,001335: 33,3704                                           BANK     33                                    
019922,001336: 33,2000                                           SETLOC   IMUCAL                                
019923,001337: 33,2000                                           BANK                                           
019924,001338: 33,3704                                           COUNT*   $$/P03                                
019925,001339: 33,3704           30341 22444  PIPASC             2DEC     .76376833                             
019926,001340: 
019927,001341: 33,3706           57223 66451  VELSC              2DEC     -.52223476                            
019928,001342: 
019929,001343: 33,3710           05427 12577  ALSK               2DEC     .17329931                             
019930,001344: 
019931,001345: 33,3712           77567 44202                     2DEC     -.00835370                            
019932,001346: 
019933,001347: 33,3714           24276 14066  GEORGEJ            2DEC     .63661977                             
019934,001348: 
019935,001349: 33,3716           03146 14632  GEOCONS1           2DEC     .1                                    
019936,001350: 
019937,001351: 33,3720           00121 35341  GEOCONS2           2DEC     .005                                  
019938,001352: 
019939,001353: 33,3722           01767 31666  GEOCONS3           2DEC     .062                                  
019940,001354: 
019941,001355: 33,3724           00004 35223  GEOCONS4           2DEC     .0003                                 
019942,001356: 

Page 454

019944,001358: 
019945,001359: 33,3726                                           COUNT    33/P02                                
019946,001360: 33,3726           77620        LITTLSUB           STQ                                            
019947,001361: 33,3727           02424                                    QPLAC                                 
019948,001362: 33,3730           76740                           LXC,1    VLOAD*                                
019949,001363: 33,3731           01330                                    MARKSTAT                              
019950,001364: 33,3732           00003                                    2,1                                   
019951,001365: 33,3733           34767                           STCALL   CDUSPOT                               
019952,001366: 33,3734           46000                                    SXTNB                                 
019953,001367: 33,3735           77624                           CALL                                           
019954,001368: 33,3736           47637                                    TRG*NBSM                              
019955,001369: 33,3737           77650                           GOTO                                           
019956,001370: 33,3740           02424                                    QPLAC                                 
019957,001371: 
019958,001372: 
019959,001373: 33,3741           77776                           EXIT                                           
019960,001374: 33,3742           06006        AZMTHCG1           TC       INTPRET                               
019961,001375: 33,3743           47145                           DLOAD    RTB                                   
019962,001376: 33,3744           02636                                    NEWAZMTH                              
019963,001377: 33,3745           45546                                    1STO2S                                
019964,001378: 33,3746           77776                           EXIT                                           
019965,001379: 33,3747           56154                           XCH      MPAC                                  
019966,001380: 33,3750           55045                           TS       DSPTEM1                               
019967,001381: 33,3751           04662                           TC       BANKCALL                              
019968,001382: 33,3752           20703                           CADR     CLEANDSP                              
019969,001383: 33,3753           33775                           CAF      VN0629                                
019970,001384: 33,3754           04662                           TC       BANKCALL                              
019971,001385: 33,3755           20720                           CADR     GOFLASH                               
019972,001386: 33,3756           13760                           TCF      +2                                    
019973,001387: 33,3757           13761                           TCF      +2                                    
019974,001388: 33,3760           13753                           TCF      -5                                    
019975,001389: 33,3761           06006                           TC       INTPRET                               
019976,001390: 33,3762           47135                           SLOAD    RTB                                   
019977,001391: 33,3763           01046                                    DSPTEM1                               
019978,001392: 33,3764           45513                                    CDULOGIC                              
019979,001393: 33,3765           02634                           STORE    LAUNCHAZ                              
019980,001394: 33,3766           77776                           EXIT                                           
019981,001395: 33,3767           35021                           CA       ZERO                                  
019982,001396: 33,3770           55632                           TS       PREMTRXC                              
019983,001397: 33,3771           05412                           TC       PHASCHNG                              
019984,001398: 33,3772           00004                           OCT      00004                                 
019985,001399: 33,3773           04701                           TC       POSTJUMP                              
019986,001400: 33,3774           21272                           CADR     PINBRNCH                              
019987,001401: 
019988,001402: 33,3775           01435        VN0629             VN       0629                                  
019989,001403: 

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

019992,001406: 
019993,001407: 

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