Source Code
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These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2),
the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance
Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The
reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45/2, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 45 (itself previously accurately
reconstructed). Comanche 45 source code was then modified by incorporating changes
known from contemporary documentation to have been made between revisions 45 and 45/2.
The now-reconstructed Comanche 45/2 source code was
verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced
in those annotations:
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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018165,000002: ## Copyright: Public domain.
018166,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018167,000004: ## Purpose: A section of Manche45 revision 2.
018168,000005: ## It is part of the reconstructed source code for the
018169,000006: ## final, flown release of the flight software for the Command
018170,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
018171,000008: ## The code has been recreated from a copy of Comanche 055. It
018172,000009: ## has been adapted such that the resulting bugger words
018173,000010: ## exactly match those specified for Manche 45/2 in NASA drawing
018174,000011: ## 2021153D, which gives relatively high confidence that the
018175,000012: ## reconstruction is correct.
018176,000013: ## Assembler: yaYUL
018177,000014: ## Contact: Ron Burkey <info@sandroid.org>.
018178,000015: ## Website: www.ibiblio.org/apollo/index.html
018179,000016: ## Mod history: 2020-12-24 MAS Created from Comanche 45.
018180,000017: ## 2021-05-30 ABS Single instance of $$/P03 -> $$/PO3 to match Comanche 55.
018181,000018:
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Page 423
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018183,000020: # NAME- IMU PERFORMANCE TESTS 2
018184,000021:
018185,000022: # DATE- MARCH 20, 1967
018186,000023:
018187,000024: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018188,000025:
018189,000026: # MODNO.- ZERO
018190,000027:
018191,000028: # FUNCTIONAL DESCRIPTION
018192,000029:
018193,000030: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018194,000031: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018195,000032: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018196,000033:
018197,000034: 33,2004 BANK 33
018198,000035: 33,2000 SETLOC IMUCAL
018199,000036: 33,2000 BANK
018200,000037:
018201,000038: 33,2004 E5,1423 EBANK= POSITON
018202,000039: 33,2004 35021 IMUTEST CA ZERO
018203,000040: 33,2005 55452 TS DRIFTT
018204,000041: 33,2006 55643 TS GEOCOMP1
018205,000042: 33,2007 32443 CAF TESTTIME
018206,000043: 33,2010 55412 TS LENGTHOT
018207,000044: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG
018208,000045: 33,2012 35041 CAF 1SECX
018209,000046: 33,2013 55644 TS 1SECXT1
018210,000047:
018211,000048: 33,2014 32441 CA OC14400
018212,000049: 33,2015 55074 TS 1/PIPADT
018213,000050: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
018214,000051: 33,2017 77624 CALL
018215,000052: 33,2020 10613 LATAZCHK
018216,000053: 33,2021 57546 COS DCOMP
018217,000054: 33,2022 77752 SL1
018218,000055: 33,2023 16447 STODL WANGI
018219,000056: 33,2024 02403 LATITUDE
018220,000057: 33,2025 72556 SIN SL1
018221,000058: 33,2026 02445 STORE WANGO
018222,000059: 33,2027 77776 EXIT
018223,000060: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018224,000061: 33,2031 16577 CADR IMUZERO
018225,000062: 33,2032 02316 TC IMUSTLLG
018226,000063: 33,2033 35021 IMUBACK CA ZERO
018227,000064: 33,2034 55421 TS NDXCTR
018228,000065: 33,2035 55450 TS TORQNDX
018229,000066: 33,2036 55451 TS TORQNDX +1
018230,000067: 33,2037 34375 NBPOSPL CA DEC17
018231,000068: 33,2040 55655 TS ZERONDX1
018232,000069: 33,2041 32445 CA XNBADR
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Page 424
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018234,000071: 33,2042 02356 TC ZEROING
018235,000072: 33,2043 35002 CA HALF
018236,000073: 33,2044 55713 TS XNB
018237,000074: 33,2045 06006 TC INTPRET
018238,000075: 33,2046 73545 DLOAD SIN
018239,000076: 33,2047 02401 AZIMUTH
018240,000077: 33,2050 02724 STORE YNB +2
018241,000078: 33,2051 16734 STODL ZNB +4
018242,000079: 33,2052 02401 AZIMUTH
018243,000080: 33,2053 77746 COS
018244,000081: 33,2054 02726 STORE YNB +4
018245,000082: 33,2055 77676 DCOMP
018246,000083: 33,2056 02732 STORE ZNB +2
018247,000084: 33,2057 77776 EXIT
018248,000085: 33,2060 05364 TC CHECKMM
018249,000086: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018250,000087: 33,2062 12064 TCF +2 # NO
018251,000088: 33,2063 13443 TCF SETNBPOS +1 # YES
018252,000089: 33,2064 06006 TC INTPRET
018253,000090: 33,2065 77624 CALL
018254,000091: 33,2066 47311 CALCGA
018255,000092: 33,2067 77776 EXIT
018256,000093: 33,2070 04662 TC BANKCALL
018257,000094: 33,2071 16663 CADR IMUCOARS
018258,000095: 33,2072 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018259,000096: 33,2073 70077 MASK FLAGWRD3
018260,000097: 33,2074 00006 EXTEND
018261,000098: 33,2075 12077 BZF +2
018262,000099: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018263,000100: 33,2077 05560 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018264,000101: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018265,000102: 33,2101 02316 TC IMUSTLLG
018266,000103: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018267,000104: 33,2103 02131 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018268,000105: 33,2104 04662 TC BANKCALL
018269,000106: 33,2105 17073 CADR IMUFINE
018270,000107: 33,2106 02316 TC IMUSTLLG
018271,000108: 33,2107 00006 EXTEND
018272,000109: 33,2110 31657 DCA PERFDLAY
018273,000110: 33,2111 05342 TC LONGCALL
018274,000111: 33,2112 E5,1423 EBANK= POSITON
018275,000112: 33,2112 02116 66065 2CADR GOESTIMS
018276,000113:
018277,000114: 33,2114 32121 CA ESTICADR
018278,000115: 33,2115 05175 TC JOBSLEEP
018279,000116: 33,2116 32121 GOESTIMS CA ESTICADR
018280,000117: 33,2117 05201 TC JOBWAKE
018281,000118: 33,2120 05324 TC TASKOVER
018282,000119: 33,2121 66453 ESTICADR CADR ESTIMS
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Page 425
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018284,000121: 33,2122 35021 TORQUE CA ZERO
018285,000122: 33,2123 55050 TS DSPTEM2
018286,000123: 33,2124 31514 CA DRIFTI
018287,000124: 33,2125 55051 TS DSPTEM2 +1
018288,000125: 33,2126 51423 INDEX POSITON
018289,000126: 33,2127 55430 TS SOUTHDR -1
018290,000127: 33,2130 02427 TC SHOW
018291,000128:
018292,000129: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST
018293,000130: 33,2132 02133 TC +1
018294,000131: 33,2133 02417 TC EARTHR*
018295,000132: 33,2134 34374 CA DEC57
018296,000133: 33,2135 55412 TS LENGTHOT
018297,000134: 33,2136 35017 CA ONE
018298,000135: 33,2137 55547 TS RESULTCT
018299,000136: 33,2140 35021 CA ZERO
018300,000137: 33,2141 51422 INDEX PIPINDEX
018301,000138: 33,2142 54037 TS PIPAX
018302,000139: 33,2143 55502 TS DATAPL
018303,000140: 33,2144 55506 TS DATAPL +4
018304,000141: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE
018305,000142: 33,2146 00004 INHINT
018306,000143: 33,2147 35016 CAF TWO
018307,000144: 33,2150 05235 TC TWIDDLE
018308,000145: 33,2151 E5,1671 EBANK= XSM
018309,000146: 33,2151 02153 ADRES PIPATASK
018310,000147: 33,2152 05217 TC ENDOFJOB
018311,000148: 33,2153 00006 PIPATASK EXTEND
018312,000149: 33,2154 27412 DIM LENGTHOT
018313,000150: 33,2155 31412 CA LENGTHOT
018314,000151: 33,2156 00006 EXTEND
018315,000152: 33,2157 62163 BZMF STARTPIP
018316,000153: 33,2160 35006 CAF BIT10
018317,000154: 33,2161 05235 TC TWIDDLE
018318,000155: 33,2162 E5,1671 EBANK= XSM
018319,000156: 33,2162 02153 ADRES PIPATASK
018320,000157: 33,2163 35002 STARTPIP CAF PRIO20
018321,000158: 33,2164 05147 TC FINDVAC
018322,000159: 33,2165 E5,1671 EBANK= XSM
018323,000160: 33,2165 02170 66065 2CADR PIPJOBB
018324,000161:
018325,000162: 33,2167 05324 TC TASKOVER
018326,000163:
018327,000164: 33,2170 51421 PIPJOBB INDEX NDXCTR
018328,000165: 33,2171 02172 TC +1
018329,000166: 33,2172 02417 TC EARTHR*
018330,000167: 33,2173 31412 CA LENGTHOT
018331,000168: 33,2174 00006 EXTEND
018332,000169: 33,2175 62177 BZMF +2
018333,000170: 33,2176 05217 TC ENDOFJOB
018334,000171: 33,2177 35022 CA FIVE
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018336,000173: 33,2200 55547 TS RESULTCT
018337,000174: 33,2201 02321 TC CHECKG
018338,000175: 33,2202 00006 EXTEND
018339,000176: 33,2203 41503 DCS DATAPL
018340,000177: 33,2204 21507 DAS DATAPL +4
018341,000178:
018342,000179: 33,2205 06006 TC INTPRET
018343,000180: 33,2206 45345 DLOAD DSU
018344,000181: 33,2207 02511 DATAPL +6
018345,000182: 33,2210 02505 DATAPL +2
018346,000183: 33,2211 45044 BPL CALL
018347,000184: 33,2212 66214 AINGOTN
018348,000185: 33,2213 66276 OVERFFIX
018349,000186: 33,2214 56325 AINGOTN PDDL DDV
018350,000187: 33,2215 02507 DATAPL +4
018351,000188: 33,2216 57212 SL4 DMPR
018352,000189: 33,2217 27110 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
018353,000190: 33,2220 77634 RTB
018354,000191: 33,2221 45544 SGNAGREE
018355,000192: 33,2222 01051 STORE DSPTEM2
018356,000193: 33,2223 77776 EXIT
018357,000194: 33,2224 11421 CCS NDXCTR
018358,000195: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
018359,000196: 33,2226 02427 TC SHOW
018360,000197: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
018361,000198: 33,2230 55412 TS LENGTHOT
018362,000199: 33,2231 51423 INDEX POSITON
018363,000200: 33,2232 41427 CS SOUTHDR -2
018364,000201: 33,2233 55452 TS DRIFTT
018365,000202: 33,2234 31675 CA XSM +4 # 0 IF POSN 4
018366,000203: 33,2235 00006 EXTEND
018367,000204: 33,2236 12244 BZF PON2
018368,000205: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM
018369,000206: 33,2240 27651 ADS ERCOMP1 +2
018370,000207: 33,2241 35013 CA BIT5
018371,000208: 33,2242 27647 ADS ERCOMP1
018372,000209: 33,2243 12250 TCF PONG
018373,000210: 33,2244 45013 PON2 CS BIT5
018374,000211: 33,2245 27651 ADS ERCOMP1 +2
018375,000212: 33,2246 35013 CA BIT5
018376,000213: 33,2247 27653 ADS ERCOMP1 +4
018377,000214: 33,2250 02417 PONG TC EARTHR*
018378,000215: 33,2251 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018379,000216: 33,2252 55404 TS ERVECTOR
018380,000217: 33,2253 55405 TS ERVECTOR +1
018381,000218: 33,2254 34777 GUESS1 CAF POSMAX
018382,000219: 33,2255 55450 TS TORQNDX
018383,000220: 33,2256 55451 TS TORQNDX +1
018384,000221: 33,2257 30032 CA CDUX
018385,000222: 33,2260 55413 TS LOSVEC
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018387,000224: 33,2261 02453 TC ESTIMS
018388,000225: 33,2262 31512 VALMIS CA DRIFTO
018389,000226: 33,2263 55051 TS DSPTEM2 +1
018390,000227: 33,2264 35021 CA ZERO
018391,000228: 33,2265 55050 TS DSPTEM2
018392,000229: 33,2266 02427 TC SHOW
018393,000230:
018394,000231: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
018395,000232: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0
018396,000233: 33,2271 45021 CS ZERO
018397,000234: 33,2272 05357 TC NEWMODEX +3
018398,000235: 33,2273 04662 TC BANKCALL
018399,000236: 33,2274 16063 CADR MKRELEAS
018400,000237: 33,2275 05534 TC ENDEXT
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Page 428
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018402,000239:
018403,000240: 33,2276 43215 OVERFFIX DAD DAD
018404,000241: 33,2277 15343 DPPOSMAX
018405,000242: 33,2300 27116 ONEDPP
018406,000243: 33,2301 77616 RVQ
018407,000244:
018408,000245: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
018409,000246: 33,2303 23425 QXCH QPLACE
018410,000247: 33,2304 35021 CA ZERO
018411,000248: 33,2305 55155 TS THETAD
018412,000249: 33,2306 55156 TS THETAD +1
018413,000250: 33,2307 55157 TS THETAD +2
018414,000251: 33,2310 04662 TC BANKCALL
018415,000252: 33,2311 16663 CADR IMUCOARS
018416,000253: 33,2312 04662 TC BANKCALL
018417,000254: 33,2313 17577 CADR IMUSTALL
018418,000255: 33,2314 03102 TC SOMERR2
018419,000256: 33,2315 01425 TC QPLACE
018420,000257:
018421,000258: 33,2316 00006 IMUSTLLG EXTEND
018422,000259: 33,2317 23425 QXCH QPLACE
018423,000260: 33,2320 02312 TC COAALIGN +10
018424,000261:
018425,000262: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
018426,000263: 33,2322 23425 QXCH QPLACE
018427,000264: 33,2323 02331 TC +6
018428,000265: 33,2324 00003 CHECKG1 RELINT
018429,000266: 33,2325 30067 CA NEWJOB
018430,000267: 33,2326 00006 EXTEND
018431,000268: 33,2327 62335 BZMF +6
018432,000269: 33,2330 05164 TC CHANG1
018433,000270: 33,2331 00004 INHINT
018434,000271: 33,2332 51422 INDEX PIPINDEX
018435,000272: 33,2333 40037 CS PIPAX
018436,000273: 33,2334 55655 TS ZERONDX
018437,000274: 33,2335 00004 INHINT
018438,000275: 33,2336 51422 INDEX PIPINDEX
018439,000276: 33,2337 30037 CA PIPAX
018440,000277: 33,2340 61655 AD ZERONDX
018441,000278: 33,2341 00006 EXTEND
018442,000279: 33,2342 12324 BZF CHECKG1
018443,000280: 33,2343 51422 INDEX PIPINDEX
018444,000281: 33,2344 30037 CA PIPAX
018445,000282: 33,2345 51547 INDEX RESULTCT
018446,000283: 33,2346 55502 TS DATAPL
018447,000284: 33,2347 04553 TC FINETIME
018448,000285: 33,2350 51547 INDEX RESULTCT
018449,000286: 33,2351 55503 TS DATAPL +1
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018451,000288: 33,2352 51547 INDEX RESULTCT
018452,000289: 33,2353 23504 LXCH DATAPL +2
018453,000290: 33,2354 00003 RELINT
018454,000291: 33,2355 01425 ENDCHKG TC QPLACE
018455,000292:
018456,000293: 33,2356 54001 ZEROING TS L
018457,000294: 33,2357 12361 TCF +2
018458,000295: 33,2360 55655 ZEROING1 TS ZERONDX1
018459,000296: 33,2361 35021 CAF ZERO
018460,000297: 33,2362 50001 INDEX L
018461,000298: 33,2363 54000 TS 0
018462,000299: 33,2364 24001 INCR L
018463,000300: 33,2365 11655 CCS ZERONDX1
018464,000301: 33,2366 12360 TCF ZEROING1
018465,000302: 33,2367 00002 TC Q
018466,000303:
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Page 430
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018468,000305: 32,2000 SETLOC IMUCAL3
018469,000306: 32,2000 BANK
018470,000307: 32,2000 65345 ERTHRVSE DLOAD PDDL
018471,000308: 32,2001 27111 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
018472,000309: 32,2002 02403 LATITUDE
018473,000310: 32,2003 57546 COS DCOMP
018474,000311: 32,2004 73525 PDDL SIN
018475,000312: 32,2005 02403 LATITUDE
018476,000313: 32,2006 74266 VDEF VXSC
018477,000314: 32,2007 26450 OMEG/MS
018478,000315: 32,2010 02405 STORE ERVECTOR
018479,000316: 32,2011 77634 RTB
018480,000317: 32,2012 45510 LOADTIME
018481,000318: 32,2013 26443 STOVL TMARK
018482,000319: 32,2014 27111 SCHZEROS
018483,000320: 32,2015 02650 STORE ERCOMP1
018484,000321: 32,2016 77616 RVQ
018485,000322: 33,2000 SETLOC IMUCAL
018486,000323: 33,2000 BANK
018487,000324: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
018488,000325: 33,2371 00051 S2
018489,000326: 33,2372 45510 LOADTIME
018490,000327: 33,2373 02441 STORE TEMPTIME
018491,000328: 33,2374 51025 DSU BPL
018492,000329: 33,2375 02443 TMARK
018493,000330: 33,2376 66401 ERTHR
018494,000331: 33,2377 77624 CALL
018495,000332: 33,2400 66276 OVERFFIX
018496,000333: 33,2401 74261 ERTHR SL VXSC
018497,000334: 33,2402 20212 9D
018498,000335: 33,2403 02405 ERVECTOR
018499,000336: 33,2404 53321 MXV VAD
018500,000337: 33,2405 02672 XSM
018501,000338: 33,2406 02650 ERCOMP1
018502,000339: 33,2407 16650 STODL ERCOMP1
018503,000340: 33,2410 02441 TEMPTIME
018504,000341: 33,2411 02443 STORE TMARK
018505,000342: 33,2412 47170 AXT,1 RTB
018506,000343: 33,2413 02647 ECADR ERCOMP1
018507,000344: 33,2414 45653 PULSEIMU
018508,000345: 33,2415 77650 GOTO
018509,000346: 33,2416 00051 S2
018510,000347:
018511,000348: 33,2417 00006 EARTHR* EXTEND
018512,000349: 33,2420 23426 QXCH QPLACES
018513,000350: 33,2421 06006 TC INTPRET
018514,000351: 33,2422 77624 CALL
018515,000352: 33,2423 66370 EARTHR
018516,000353: 33,2424 77776 PROUT EXIT
018517,000354: 33,2425 02316 TC IMUSTLLG
018518,000355: 33,2426 01426 TC QPLACES
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018520,000357:
018521,000358: 33,2427 00006 SHOW EXTEND
018522,000359: 33,2430 23425 QXCH QPLACE
018523,000360: 33,2431 31423 SHOW1 CA POSITON
018524,000361: 33,2432 55052 TS DSPTEM2 +2
018525,000362: 33,2433 32442 CA VB06N98
018526,000363: 33,2434 04662 TC BANKCALL
018527,000364: 33,2435 20720 CADR GOFLASH
018528,000365: 33,2436 02267 TC ENDTEST1 # V34
018529,000366: 33,2437 01425 TC QPLACE # V33
018530,000367: 33,2440 12431 TCF SHOW1
018531,000368:
018532,000369: 33,2441 14400 OC14400 OCT 14400
018533,000370: 33,2442 33,2447 3990DEC = OMEG/MS
018534,000371: 33,2442 01542 VB06N98 VN 0698
018535,000372: 33,2443 01602 TESTTIME OCT 01602
018536,000373: 33,2444 4375 DEC17 = ND1
018537,000374: 33,2444 02757 OGCPL ECADR OGC
018538,000375: 33,2445 5041 1SECX = 1SEC
018539,000376: 33,2445 4374 DEC57 = VD1
018540,000377: 33,2445 01713 XNBADR GENADR XNB
018541,000378: 33,2446 01671 XSMADR GENADR XSM
018542,000379: 33,2447 07623 26552 OMEG/MS 2DEC .24339048
018543,000380:
018544,000381: 33,2451 04662 P11OUT TC BANKCALL
018545,000382: 33,2452 70133 CADR MATRXJOB # RETURN TO P11
018546,000383:
018547,000384: 33,2453 COUNT 02/COMST
018548,000385:
018549,000386: 4553 BLOCK 2
018550,000387: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
018551,000388: 4554 00006 EXTEND
018552,000389: 4555 00004 READ LOSCALAR
018553,000390: 4556 54001 TS L
018554,000391: 4557 00006 EXTEND
018555,000392: 4560 06004 RXOR LOSCALAR
018556,000393: 4561 00006 EXTEND
018557,000394: 4562 14566 BZF +4
018558,000395: 4563 00006 EXTEND
018559,000396: 4564 00004 READ LOSCALAR
018560,000397: 4565 54001 TS L
018561,000398: 4566 44777 +4 CS POSMAX
018562,000399: 4567 60001 AD L
018563,000400: 4570 00006 EXTEND
018564,000401: 4571 14554 BZF FINETIME +1
018565,000402: 4572 00006 EXTEND
018566,000403: 4573 00003 READ HISCALAR
018567,000404: 4574 00002 TC Q
018568,000405:
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018570,000407: # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018571,000408: # DATE- NOVEMBER 2 1966
018572,000409: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018573,000410: # MOD NO 3
018574,000411:
018575,000412: # FUNCTIONAL DESCRIPTION
018576,000413:
018577,000414: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018578,000415: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018579,000416: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
018580,000417: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018581,000418: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018582,000419: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018583,000420: # FOR THE DATA TO FLASH.
018584,000421:
018585,000422: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018586,000423: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018587,000424: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018588,000425: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
018589,000426: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
018590,000427: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018591,000428: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018592,000429: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018593,000430: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018594,000431: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018595,000432: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018596,000433:
018597,000434: # COMPASS ERASABLE LOAD REQUIRED
018598,000435:
018599,000436: # 1- LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
018600,000437: # 2- LATITUDE-DP-OF LAUNCH PAD
018601,000438: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
018602,000439: # 4- IMU COMPENSATION PARAMETERS
018603,000440: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
018604,000441:
018605,000442: # TO PERFORM AS PART OF COMPASS
018606,000443:
018607,000444: # 1- OPTICAL VERIFICATION- V 65 E
018608,000445: # 2- AZIMUTH CHANGE- V 78 E
018609,000446:
018610,000447: # SUBROUTINES CALLED
018611,000448:
018612,000449: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018613,000450: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018614,000451:
018615,000452: # NORMAL EXIT
018616,000453:
018617,000454: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018618,000455: # GYROCOMPASS-MANY, SEE THE LISTING
018619,000456:
018620,000457: # ALARMS
018621,000458:
018622,000459: # 1600 OVERFLOW IN DRIFT TEST
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Page 433
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018624,000461: # 1601 BAD IMU TORQUE ABORT
018625,000462: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
018626,000463:
018627,000464: # OUTPUT
018628,000465:
018629,000466: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018630,000467: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018631,000468: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
018632,000469: # 02 GYROCOMPASSING
018633,000470: # 03 DOING OPTICAL VERIFICATION (CSM)
018634,000471:
018635,000472: # DEBRIS
018636,000473:
018637,000474: # ALL CENTRALS, ALL OF EBANK XSM
018638,000475:
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018640,000477: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018641,000478: # ON THE NEXT FEW PAGES.
018642,000479:
018643,000480: 4575 COUNT 33/P02
018644,000481:
018645,000482: 4575 E5,1671 EBANK= XSM
018646,000483: 33,2453 BANK 33
018647,000484: 33,2000 SETLOC IMUCAL
018648,000485: 33,2000 BANK
018649,000486:
018650,000487: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
018651,000488: 33,2454 00075 OCT 00075
018652,000489: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
018653,000490: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
018654,000491: 33,2457 30025 CA TIME1
018655,000492: 33,2460 55645 TS GTSWTLT1
018656,000493: 33,2461 35021 CAF ZERO # ZERO THE PIPAS
018657,000494: 33,2462 54037 TS PIPAX
018658,000495: 33,2463 54040 TS PIPAY
018659,000496: 33,2464 54041 TS PIPAZ
018660,000497: 33,2465 00003 RELINT
018661,000498: 33,2466 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
018662,000499: 33,2467 55655 TS ZERONDX1
018663,000500: 33,2470 33130 CA ALXXXZ
018664,000501: 33,2471 02356 TC ZEROING
018665,000502: 33,2472 06006 TC INTPRET
018666,000503: 33,2473 77735 SLOAD
018667,000504: 33,2474 27111 SCHZEROS
018668,000505: 33,2475 25477 STOVL GCOMPSW -1
018669,000506: 33,2476 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
018670,000507: 33,2477 26455 STOVL ALX1S
018671,000508: 33,2500 27111 SCHZEROS
018672,000509: 33,2501 01472 STORE GCOMP
018673,000510: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
018674,000511: 33,2503 77776 EXIT
018675,000512:
018676,000513: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
018677,000514: 33,2505 02507 TC +2
018678,000515: 33,2506 02523 TC SLEEPIE +1
018679,000516: 33,2507 06006 TC INTPRET
018680,000517: 33,2510 77624 CALL
018681,000518: 33,2511 64000 ERTHRVSE
018682,000519: 33,2512 77776 EXIT
018683,000520: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
018684,000521: 33,2514 55646 TS ERECTIME
018685,000522:
018686,000523: 33,2515 05354 TC NEWMODEX
018687,000524: 33,2516 00002 MM 02 B-14
018688,000525: 33,2517 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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018690,000527: 33,2520 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
018691,000528: 33,2521 03403 TC ANNNNNN # END OF FIRST TIME THROUGH
018692,000529:
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018694,000531: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018695,000532:
018696,000533: # SET UP WAITLIST SECTION
018697,000534: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
018698,000535: 33,2523 05412 TC PHASCHNG # CHANGE PHASE
018699,000536: 33,2524 00135 OCT 00135
018700,000537: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
018701,000538: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO
018702,000539: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
018703,000540: 33,2530 02532 TC SETGWLST
018704,000541: 33,2531 05217 TC ENDOFJOB
018705,000542:
018706,000543: 33,2532 00006 SETGWLST EXTEND
018707,000544: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018708,000545: 33,2534 00004 INHINT
018709,000546: 33,2535 40025 CS TIME1
018710,000547: 33,2536 61645 AD GTSWTLT1
018711,000548: 33,2537 00006 EXTEND
018712,000549: 33,2540 62542 BZMF +2
018713,000550: 33,2541 65001 AD NEGMAX # 10 MS ERROR OK
018714,000551: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018715,000552: 33,2543 00006 EXTEND
018716,000553: 33,2544 62550 BZMF RIGHTGTS
018717,000554: 33,2545 05235 WTGTSMPL TC TWIDDLE
018718,000555: 33,2546 E5,1540 EBANK= ALTIM
018719,000556: 33,2546 02574 ADRES ALLOOP
018720,000557: 33,2547 00154 TC MPAC
018721,000558: 33,2550 35015 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
018722,000559: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION
018723,000560:
018724,000561: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018725,000562:
018726,000563: 33,2552 4113 25DECML EQUALS OCT31
018727,000564: 33,2552 34113 STOREDTA CAF 25DECML
018728,000565: 33,2553 54154 TS MPAC
018729,000566: 33,2554 50154 INDEX MPAC
018730,000567: 33,2555 31460 CAE THETAX1
018731,000568: 33,2556 50154 INDEX MPAC
018732,000569: 33,2557 55577 TS RESTARPT
018733,000570: 33,2560 10154 CCS MPAC
018734,000571: 33,2561 12553 TCF STOREDTA +1
018735,000572: 33,2562 00002 TC Q
018736,000573:
018737,000574: 33,2563 34113 LOADSTDT CAF 25DECML
018738,000575: 33,2564 54154 TS MPAC
018739,000576: 33,2565 50154 INDEX MPAC
018740,000577: 33,2566 31577 CA RESTARPT
018741,000578: 33,2567 50154 INDEX MPAC
018742,000579:
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Page 437
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018744,000581: 33,2570 55460 TS THETAX1
018745,000582: 33,2571 10154 CCS MPAC
018746,000583: 33,2572 12564 TCF LOADSTDT +1
018747,000584: 33,2573 00002 TC Q
018748,000585:
018749,000586: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018750,000587:
018751,000588: 33,2574 30025 ALLOOP CA TIME1
018752,000589: 33,2575 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
018753,000590: 33,2576 31540 ALLOOP3 CA ALTIM
018754,000591: 33,2577 55631 TS GEOSAVE1
018755,000592: 33,2600 05412 TC PHASCHNG
018756,000593: 33,2601 00115 OCT 00115
018757,000594: 33,2602 31631 ALLOOP1 CAE GEOSAVE1
018758,000595: 33,2603 55540 TS ALTIM
018759,000596: 33,2604 10000 CCS A
018760,000597: 33,2605 30000 CA A # SHOULD NEVER HIT THIS LOCATION
018761,000598: 33,2606 55541 TS ALTIMS
018762,000599: 33,2607 40000 CS A
018763,000600: 33,2610 55540 TS ALTIM
018764,000601: 33,2611 35021 CAF ZERO
018765,000602: 33,2612 56037 XCH PIPAX
018766,000603: 33,2613 55162 TS DELVX
018767,000604: 33,2614 35021 CAF ZERO
018768,000605: 33,2615 56040 XCH PIPAY
018769,000606: 33,2616 55164 TS DELVY
018770,000607: 33,2617 35021 CAF ZERO
018771,000608: 33,2620 56041 XCH PIPAZ
018772,000609: 33,2621 55166 TS DELVZ
018773,000610: 33,2622 34374 CAF 19DECML # 23 OCT
018774,000611: 33,2623 04114 TC NEWPHASE
018775,000612: 33,2624 00005 OCT 00005
018776,000613: 33,2625 37657 SPECSTS CAF PRIO22
018777,000614: 33,2626 05147 TC FINDVAC
018778,000615: 33,2627 E5,1631 EBANK= GEOSAVE1
018779,000616: 33,2627 02632 66065 2CADR ALFLT # START THE JOB
018780,000617:
018781,000618: 33,2631 05324 TC TASKOVER
018782,000619:
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Page 438
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018784,000621: # THIS IS PART OF THE JOB DONE EVERY ITERATION
018785,000622:
018786,000623: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
018787,000624: 33,2633 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
018788,000625: 33,2634 00215 OCT 00215
018789,000626: 33,2635 12637 TCF +2
018790,000627: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
018791,000628:
018792,000629: 33,2637 11643 CCS GEOCOMP1
018793,000630: 33,2640 02642 TC +2
018794,000631: 33,2641 02645 TC NORMLOP
018795,000632: 33,2642 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER
018796,000633: 33,2643 04662 TC BANKCALL # COMPENSATION IF IN COMPASS
018797,000634: 33,2644 15262 CADR 1/PIPA
018798,000635: 33,2645 06006 NORMLOP TC INTPRET
018799,000636: 33,2646 77745 DLOAD
018800,000637: 33,2647 27120 INTVAL
018801,000638: 33,2650 24051 STOVL S1
018802,000639: 33,2651 01163 DELVX
018803,000640: 33,2652 76505 VXM VSL1
018804,000641: 33,2653 02672 XSM
018805,000642: 33,2654 57545 DLOAD DCOMP
018806,000643: 33,2655 00160 MPAC +3
018807,000644: 33,2656 16533 STODL DPIPAY
018808,000645: 33,2657 00162 MPAC +5
018809,000646: 33,2660 02537 STORE DPIPAZ
018810,000647:
018811,000648: 33,2661 76001 SETPD AXT,1
018812,000649: 33,2662 00001 0
018813,000650: 33,2663 00010 8D
018814,000651: 33,2664 57535 SLOAD DCOMP
018815,000652: 33,2665 02644 GEOCOMP1
018816,000653: 33,2666 77640 BMN
018817,000654: 33,2667 67210 ALWAYSG # DO A QUICK COMPASS
018818,000655:
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Page 439
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018820,000657: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018821,000658:
018822,000659: 33,2670 COUNT 33/COMST
018823,000660:
018824,000661: 33,2670 50135 ALCGKK SLOAD BMN
018825,000662: 33,2671 02542 ALTIMS
018826,000663: 33,2672 66705 ALFLT3 # NO NEW GAINS NEEDED
018827,000664: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
018828,000665: 33,2674 00014 12D
018829,000666: 33,2675 02454 ALX1S
018830,000667: 33,2676 62143 ALKCG2 DLOAD* INCR,1
018831,000668: 33,2677 02243 ALFDK +144D,1
018832,000669: 33,2700 77775 DEC -2 B-14
018833,000670: 33,2701 12555 STORE ALDK +10D,2
018834,000671: 33,2702 66104 TIX,2 SXA,1
018835,000672: 33,2703 66676 ALKCG2
018836,000673: 33,2704 02454 ALX1S
018837,000674:
018838,000675: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
018839,000676: 33,2706 00010 8D # AND GAIN UPDATES
018840,000677: 33,2707 41343 DELMLP DLOAD* DMP
018841,000678: 33,2710 02543 DPIPAY +8D,1
018842,000679: 33,2711 27705 PIPASC
018843,000680: 33,2712 43661 SLR BDSU*
018844,000681: 33,2713 21212 9D
018845,000682: 33,2714 02511 INTY +8D,1
018846,000683: 33,2715 06511 STORE INTY +8D,1
018847,000684: 33,2716 40725 PDDL DMP*
018848,000685: 33,2717 27707 VELSC
018849,000686: 33,2720 02531 VLAUN +8D,1
018850,000687: 33,2721 77732 SL2R
018851,000688: 33,2722 45425 DSU STADR
018852,000689: 33,2723 71206 STORE DELM +8D,1
018853,000690: 33,2724 06573 STORE DELM +10D,1
018854,000691: 33,2725 77100 TIX,1 AXT,2
018855,000692: 33,2726 66707 DELMLP
018856,000693: 33,2727 00004 4
018857,000694: 33,2730 56743 ALILP DLOAD* DMPR*
018858,000695: 33,2731 75314 ALK +4,2
018859,000696: 33,2732 75230 ALDK +4,2
018860,000697: 33,2733 12463 STORE ALK +4,2
018861,000698: 33,2734 77104 TIX,2 AXT,2
018862,000699: 33,2735 66730 ALILP
018863,000700: 33,2736 00010 8D
018864,000701: 33,2737 66140 ALKLP LXC,1 SXA,1
018865,000702: 33,2740 02455 CMPX1
018866,000703: 33,2741 02455 CMPX1
018867,000704: 33,2742 56743 DLOAD* DMPR*
018868,000705: 33,2743 02460 ALK +1,1
018869,000706: 33,2744 75206 DELM +8D,2
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Page 440
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018871,000708: 33,2745 77613 DAD*
018872,000709: 33,2746 75266 INTY +8D,2
018873,000710: 33,2747 12511 STORE INTY +8D,2
018874,000711: 33,2750 42743 DLOAD* DAD*
018875,000712: 33,2751 75304 ALK +12D,2
018876,000713: 33,2752 75220 ALDK +12D,2
018877,000714: 33,2753 12473 STORE ALK +12D,2
018878,000715: 33,2754 42673 DMPR* DAD*
018879,000716: 33,2755 75206 DELM +8D,2
018880,000717: 33,2756 75256 INTY +16D,2
018881,000718: 33,2757 12521 STORE INTY +16D,2
018882,000719: 33,2760 40743 DLOAD* DMP*
018883,000720: 33,2761 27712 ALSK +1,1
018884,000721: 33,2762 75206 DELM +8D,2
018885,000722: 33,2763 42772 SL1R DAD*
018886,000723: 33,2764 75246 VLAUN +8D,2
018887,000724: 33,2765 12531 STORE VLAUN +8D,2
018888,000725: 33,2766 76104 TIX,2 AXT,1
018889,000726: 33,2767 66737 ALKLP
018890,000727: 33,2770 00010 8D
018891,000728:
018892,000729: 33,2771 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
018893,000730: 33,2772 02533 ACCWD +8D,1
018894,000731: 33,2773 02531 VLAUN +8D,1
018895,000732: 33,2774 55523 PDDL* VDEF
018896,000733: 33,2775 02541 POSNV +8D,1
018897,000734: 33,2776 76521 MXV VSL1
018898,000735: 33,2777 02001 TRANSM1
018899,000736: 33,3000 77745 DLOAD
018900,000737: 33,3001 00155 MPAC
018901,000738: 33,3002 06541 STORE POSNV +8D,1
018902,000739: 33,3003 77745 DLOAD
018903,000740: 33,3004 00160 MPAC +3
018904,000741: 33,3005 06531 STORE VLAUN +8D,1
018905,000742: 33,3006 77745 DLOAD
018906,000743: 33,3007 00162 MPAC +5
018907,000744: 33,3010 06533 STORE ACCWD +8D,1
018908,000745: 33,3011 77700 TIX,1
018909,000746: 33,3012 66771 LOOSE
018910,000747:
018911,000748: 33,3013 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
018912,000749: 33,3014 00006 6
018913,000750: 33,3015 00002 2
018914,000751: 33,3016 57343 BOOP DLOAD* DMPR
018915,000752: 33,3017 02513 ANGX +2,1
018916,000753: 33,3020 27715 GEORGEJ
018917,000754: 33,3021 77722 SR2R
018918,000755: 33,3022 73406 PUSH SIN
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018920,000757: 33,3023 56072 SL3R XAD,1
018921,000758: 33,3024 00046 X1
018922,000759: 33,3025 10021 STORE 16D,2
018923,000760: 33,3026 77745 DLOAD
018924,000761: 33,3027 77746 COS
018925,000762: 33,3030 10027 STORE 22D,2 # COSINES
018926,000763: 33,3031 77704 TIX,2
018927,000764: 33,3032 67016 BOOP
018928,000765:
018929,000766: 33,3033 77776 PERFERAS EXIT
018930,000767: 33,3034 35060 CA EBANK7
018931,000768: 33,3035 E7,1400 EBANK= LAT(SPL)
018932,000769: 33,3035 54003 TS EBANK
018933,000770: 33,3036 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
018934,000771:
018935,000772: # CAUTION
018936,000773:
018937,000774: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018938,000775: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018939,000776:
018940,000777: 33,3037 E5,1412 EBANK= LENGTHOT
018941,000778: 33,3037 11412 ONCEMORE CCS LENGTHOT
018942,000779: 33,3040 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
018943,000780: 33,3041 11450 CCS TORQNDX
018944,000781: 33,3042 13044 TCF +2
018945,000782: 33,3043 03046 TC SETUPER1
018946,000783: 33,3044 30032 CA CDUX
018947,000784: 33,3045 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
018948,000785: 33,3046 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
018949,000786: 33,3047 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
018950,000787: 33,3050 02503 ANGZ
018951,000788: 33,3051 02507 ANGY
018952,000789: 33,3052 55525 PDDL VDEF
018953,000790: 33,3053 02511 ANGX
018954,000791: 33,3054 74276 VCOMP VXSC
018955,000792: 33,3055 27715 GEORGEJ
018956,000793: 33,3056 74521 MXV VSR1
018957,000794: 33,3057 02672 XSM
018958,000795: 33,3060 02760 STORE OGC
018959,000796: 33,3061 77776 EXIT
018960,000797:
018961,000798: 33,3062 05412 TORQINCH TC PHASCHNG
018962,000799: 33,3063 00005 OCT 00005
018963,000800: 33,3064 32444 CA OGCPL
018964,000801: 33,3065 04662 TC BANKCALL
018965,000802: 33,3066 17206 CADR IMUPULSE
018966,000803: 33,3067 02316 TC IMUSTLLG
018967,000804: 33,3070 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
018968,000805: 33,3071 02262 TC VALMIS # VERT DRIFT TEST OVER
018969,000806: 33,3072 06006 TC INTPRET
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Page 442
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018971,000808: 33,3073 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
018972,000809: 33,3074 64000 ERTHRVSE
018973,000810: 33,3075 77776 EXIT
018974,000811: 33,3076 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018975,000812:
018976,000813: 33,3077 05650 SOMEERRR TC ALARM
018977,000814: 33,3100 01600 OCT 1600
018978,000815: 33,3101 03104 TC +3
018979,000816: 33,3102 05650 SOMERR2 TC ALARM
018980,000817: 33,3103 01601 OCT 1601
018981,000818: 33,3104 05412 TC PHASCHNG
018982,000819: 33,3105 00005 OCT 00005
018983,000820: 33,3106 02267 TC ENDTEST1
018984,000821:
018985,000822: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
018986,000823:
018987,000824: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
018988,000825: 33,3110 00000 00000 SCHZEROS 2DEC .00000000
018989,000826: 33,3112 00000 00000 2DEC .00000000
018990,000827: 33,3114 00000 OCT 00000
018991,000828: 33,3115 00000 ONEDPP OCT 00000
018992,000829: 33,3116 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT
018993,000830:
018994,000831: 33,3117 00004 INTVAL OCT 4
018995,000832: 33,3120 00002 OCT 2
018996,000833: 33,3121 00220 DEC 144 B-14
018997,000834: 33,3122 77776 DEC -1 B-14
018998,000835: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
018999,000836: 33,3125 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019000,000837:
019001,000838: 33,3127 00115 77DECML DEC 77 B-14
019002,000839: 33,3130 01453 ALXXXZ GENADR ALX1S -1
019003,000840:
019004,000841: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019005,000842:
019006,000843: 33,3131 COUNT 33/P01
019007,000844:
019008,000845: # INITIALIZATION SECTION
019009,000846:
019010,000847: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019011,000848: 33,3132 75004 MASK NOP01BIT
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Page 443
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019013,000850: 33,3133 00006 EXTEND
019014,000851: 33,3134 13137 BZF GTSCPSSA
019015,000852: 33,3135 05721 TC POODOO
019016,000853: 33,3136 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
019017,000854:
019018,000855: 33,3137 35017 GTSCPSSA CAF ONE
019019,000856: 33,3140 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019020,000857: 33,3141 33435 CA 1/PIPAGT
019021,000858: 33,3142 55074 TS 1/PIPADT
019022,000859: 33,3143 35010 NXXTENN CA BIT8
019023,000860: 33,3144 55412 TS LENGTHOT
019024,000861: 33,3145 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019025,000862: 33,3146 55644 TS 1SECXT1
019026,000863: 33,3147 35017 CAF ONE
019027,000864: 33,3150 55632 TS PREMTRX1
019028,000865: 33,3151 55657 TS PERFDLAY +1
019029,000866: 33,3152 35021 CAF ZERO
019030,000867: 33,3153 55656 TS PERFDLAY
019031,000868: 33,3154 00006 EXTEND
019032,000869: 33,3155 31634 DCA LUNCHAZ1
019033,000870: 33,3156 53636 DXCH NEWAZ1
019034,000871: 33,3157 00006 EXTEND
019035,000872: 33,3160 31634 DCA LUNCHAZ1
019036,000873: 33,3161 53640 DXCH OLDAZMTH
019037,000874: 33,3162 34375 SETUPGC CA DEC17
019038,000875: 33,3163 55655 TS ZERONDX1
019039,000876: 33,3164 32446 CA XSMADR
019040,000877: 33,3165 02356 TC ZEROING
019041,000878: 33,3166 03170 TC POSN17C
019042,000879: 33,3167 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019043,000880:
019044,000881:
019045,000882: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
019046,000883: 33,3171 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019047,000884: 33,3172 45002 CS HALF # ALL THIS TO INITIALIZE MATRIX
019048,000885: 33,3173 55705 TS ZSM
019049,000886: 33,3174 06006 TC INTPRET
019050,000887: 33,3175 41545 DLOAD PUSH
019051,000888: 33,3176 02636 NEWAZ1
019052,000889: 33,3177 77756 SIN
019053,000890: 33,3200 02676 STORE XSM +4
019054,000891: 33,3201 16702 STODL YSM +2
019055,000892: 33,3202 77746 COS
019056,000893: 33,3203 02704 STORE YSM +4
019057,000894: 33,3204 77676 DCOMP
019058,000895: 33,3205 02674 STORE XSM +2
019059,000896: 33,3206 77776 EXIT
019060,000897: 33,3207 01425 TC QPLACE
019061,000898:
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|
Page 444
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019063,000900: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019064,000901:
019065,000902: 33,3210 COUNT 33/P02
019066,000903:
019067,000904: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019068,000905: 33,3211 02543 DPIPAY +8D,1
019069,000906: 33,3212 02505 FILDELV1 +8D,1
019070,000907: 33,3213 42675 DMPR DAD*
019071,000908: 33,3214 27717 GEOCONS1
019072,000909: 33,3215 02505 FILDELV1 +8D,1
019073,000910: 33,3216 06505 STORE FILDELV1 +8D,1
019074,000911: 33,3217 77613 DAD*
019075,000912: 33,3220 02507 INTVEC1 +8D,1
019076,000913: 33,3221 06507 STORE INTVEC1 +8D,1
019077,000914: 33,3222 42675 DMPR DAD*
019078,000915: 33,3223 27721 GEOCONS2
019079,000916: 33,3224 02505 FILDELV1 +8D,1
019080,000917: 33,3225 41475 DMPR PUSH
019081,000918: 33,3226 15333 GEOCONS5
019082,000919: 33,3227 67300 TIX,1 SLOAD
019083,000920: 33,3230 67210 ALWAYSG
019084,000921: 33,3231 02647 ERECTIM1
019085,000922: 33,3232 71254 BZE DLOAD
019086,000923: 33,3233 67244 COMPGS
019087,000924: 33,3234 02471 THETAN1 +2
019088,000925: 33,3235 45425 DSU STADR
019089,000926: 33,3236 61306 STODL THETAN1 +2 # ERECTION ONLY.
019090,000927: 33,3237 77621 BDSU
019091,000928: 33,3240 02473 THETAN1 +4
019092,000929: 33,3241 02473 STORE THETAN1 +4
019093,000930: 33,3242 77650 GOTO
019094,000931: 33,3243 67266 ADDINDRF
019095,000932: 33,3244 43345 COMPGS DLOAD DAD # COMPASS
019096,000933: 33,3245 02467 THETAN1
019097,000934: 33,3246 02475 FILDELV1
019098,000935: 33,3247 16467 STODL THETAN1
019099,000936: 33,3250 02475 FILDELV1
019100,000937: 33,3251 44275 DMPR BDSU
019101,000938: 33,3252 27723 GEOCONS3
019102,000939: 33,3253 02473 THETAN1 +4
019103,000940: 33,3254 16473 STODL THETAN1 +4
019104,000941: 33,3255 02501 FILDELV1 +4
019105,000942: 33,3256 44275 DMPR BDSU
019106,000943: 33,3257 27723 GEOCONS3
019107,000944: 33,3260 02471 THETAN1 +2
019108,000945: 33,3261 57325 PDDL DMPR
019109,000946: 33,3262 02503 INTVEC1 +4
019110,000947: 33,3263 27725 GEOCONS4
019111,000948: 33,3264 45421 BDSU STADR
019112,000949: 33,3265 75306 STORE THETAN1 +2
|
|
Page 445
|
019114,000951: 33,3266 77776 ADDINDRF EXIT
019115,000952:
019116,000953:
019117,000954: 33,3267 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019118,000955: 33,3270 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019119,000956: 33,3271 03406 TC CHKCOMED
019120,000957: 33,3272 11304 CCS LGYRO # YES BUT ARE GYROS BUSY
019121,000958: 33,3273 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019122,000959:
019123,000960: 33,3274 06006 LASTGTS TC INTPRET
019124,000961: 33,3275 77775 VLOAD
019125,000962: 33,3276 02650 ERCOMP1
019126,000963: 33,3277 16461 STODL THETAX1
019127,000964: 33,3300 02443 TMARK
019128,000965: 33,3301 02457 STORE ALK
019129,000966: 33,3302 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019130,000967:
019131,000968: 33,3303 05412 RESTAIER TC PHASCHNG
019132,000969: 33,3304 00275 OCT 00275
019133,000970: 33,3305 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019134,000971: 33,3306 64375 VLOAD MXV
019135,000972: 33,3307 02467 THETAN1
019136,000973: 33,3310 02672 XSM
019137,000974: 33,3311 53372 VSL1 VAD
019138,000975: 33,3312 02461 THETAX1
019139,000976: 33,3313 16650 STODL ERCOMP1
019140,000977: 33,3314 02457 ALK
019141,000978: 33,3315 02443 STORE TMARK
019142,000979: 33,3316 77776 EXIT
019143,000980: 33,3317 02417 TC EARTHR* # TORQUE IT ALL IN
019144,000981: 33,3320 31646 CAE ERECTIM1
019145,000982: 33,3321 55631 TS GEOSAVE1
019146,000983: 33,3322 05412 TC PHASCHNG
019147,000984: 33,3323 00155 OCT 00155
019148,000985: 33,3324 06006 RESTEST1 TC INTPRET
019149,000986: 33,3325 77775 VLOAD
019150,000987: 33,3326 27111 SCHZEROS
019151,000988: 33,3327 02467 STORE THETAN1
019152,000989: 33,3330 77776 EXIT
019153,000990: 33,3331 11632 CCS PREMTRXC
019154,000991: 33,3332 03401 TC NOCHORLD
019155,000992: 33,3333 05412 TC PHASCHNG
019156,000993: 33,3334 00255 OCT 00255
019157,000994: 33,3335 06006 RESTEST3 TC INTPRET
019158,000995: 33,3336 77745 DLOAD
019159,000996: 33,3337 02634 LAUNCHAZ
019160,000997: 33,3340 53025 DSU BZE
019161,000998: 33,3341 02640 OLDAZMTH
019162,000999: 33,3342 67376 NOAZCHGE
019163,001000: 33,3343 00001 STORE 0D
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|
Page 446
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019165,001002: 33,3344 43335 SLOAD DAD
019166,001003: 33,3345 27117 ONEDPP +1
019167,001004: 33,3346 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019168,001005: 33,3347 16633 STODL PREMTRXC
019169,001006: 33,3350 02634 LAUNCHAZ
019170,001007: 33,3351 16636 STODL NEWAZMTH
019171,001008: 33,3352 00001 0D
019172,001009: 33,3353 02654 ADERCOMP STORE ERCOMP +4
019173,001010: 33,3354 77776 EXIT
019174,001011: 33,3355 03170 TC POSN17C
019175,001012: 33,3356 05412 TC PHASCHNG
019176,001013: 33,3357 00335 OCT 00335
019177,001014: 33,3360 00006 RESCHNG EXTEND
019178,001015: 33,3361 31636 DCA NEWAZMTH
019179,001016: 33,3362 53640 DXCH OLDAZMTH
019180,001017: 33,3363 35011 CA BIT7 # SPEND 320 SEC ERECTING
019181,001018: 33,3364 55412 TS LENGTHOT
019182,001019: 33,3365 05412 TC PHASCHNG
019183,001020: 33,3366 00075 OCT 00075
019184,001021: 33,3367 33434 SPITGYRO CA ERCOMPPL
019185,001022: 33,3370 04662 TC BANKCALL
019186,001023: 33,3371 17206 CADR IMUPULSE
019187,001024: 33,3372 04662 TC BANKCALL
019188,001025: 33,3373 17577 CADR IMUSTALL
019189,001026: 33,3374 03102 TC SOMERR2
019190,001027: 33,3375 02453 TC ESTIMS # RE-INITIALIZE
019191,001028:
019192,001029:
019193,001030: 33,3376 77776 NOAZCHGE EXIT
019194,001031: 33,3377 35017 CA ONE
019195,001032: 33,3400 55632 TS PREMTRXC
019196,001033: 33,3401 11631 NOCHORLD CCS GEOSAVE1
019197,001034: 33,3402 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019198,001035:
019199,001036: 33,3403 34334 ANNNNNN CAF NINE
019200,001037: 33,3404 55412 TS LENGTHOT
019201,001038: 33,3405 02523 TC SLEEPIE +1
019202,001039:
019203,001040:
019204,001041: 33,3406 00004 CHKCOMED INHINT
019205,001042: 33,3407 41011 CS MODREG # CHECK FOR MM 07 FIRST
019206,001043: 33,3410 65023 AD SEVEN
019207,001044: 33,3411 00006 EXTEND
019208,001045: 33,3412 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019209,001046: 33,3413 45021 CS ZERO
019210,001047: 33,3414 00006 EXTEND
019211,001048: 33,3415 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019212,001049: 33,3416 75013 MASK BIT5 # LIFTOFF BIT
019213,001050: 33,3417 10000 CCS A
019214,001051: 33,3420 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED
019215,001052:
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Page 447
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019217,001054: 33,3421 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019218,001055: 33,3422 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019219,001056: 33,3423 10000 CCS A
019220,001057: 33,3424 13427 TCF PRELTERM # BACKUP RECEIVED
019221,001058:
019222,001059: 33,3425 00003 RELINT
019223,001060: 33,3426 00002 GOBKCALB TC Q
019224,001061:
019225,001062: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019226,001063: 33,3430 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019227,001064: 33,3431 00004 INHINT
019228,001065: 33,3432 04701 TC POSTJUMP
019229,001066: 33,3433 70002 CADR P11
019230,001067:
019231,001068:
019232,001069: 33,3434 02647 ERCOMPPL ECADR ERCOMP
019233,001070:
019234,001071: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF
019235,001072: 33,3435 06200 1/PIPAGT OCT 06200
019236,001073: 33,3436 4375 17DECML = ND1 # OCT 21
019237,001074: 33,3436 4374 19DECML = VD1 # OCT 23
019238,001075: 33,3436 5036 1/2SECX = .5SEC
019239,001076:
019240,001077:
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|
Page 448
|
019242,001079: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB
019243,001080:
|
|
Page 449
|
019245,001082: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019246,001083:
019247,001084: 33,3436 COUNT 33/P03
019248,001085:
019249,001086: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019250,001087: 33,3437 00154 OCT 00154
019251,001088: 33,3440 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019252,001089: 33,3441 00003 MM 03 B-14
019253,001090: 33,3442 02037 SETNBPOS TC NBPOSPL
019254,001091: 33,3443 04662 TC BANKCALL
019255,001092: 33,3444 16063 CADR MKRELEAS
019256,001093: 33,3445 35017 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019257,001094: 33,3446 22007 ZL # T 1,THEN TARGET 2
019258,001095: 33,3447 23427 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019259,001096: 33,3450 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019260,001097: 33,3451 00006 EXTEND
019261,001098: 33,3452 51427 INDEX RUN
019262,001099: 33,3453 31433 DCA TAZEL1
019263,001100: 33,3454 53046 DXCH DSPTEM1
019264,001101: 33,3455 33500 CAF V05N30E
019265,001102: 33,3456 04662 TC BANKCALL
019266,001103: 33,3457 20673 CADR GODSPRET
019267,001104: 33,3460 33466 CAF VN0641
019268,001105: 33,3461 04662 TC BANKCALL
019269,001106: 33,3462 20720 CADR GOFLASH
019270,001107: 33,3463 03620 TC GCOMP5
019271,001108: 33,3464 03467 TC +3
019272,001109: 33,3465 03455 TC -8D
019273,001110: 33,3466 01451 VN0641 VN 0641
019274,001111: 33,3467 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019275,001112: 33,3470 51427 INDEX RUN
019276,001113: 33,3471 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019277,001114: 33,3472 11427 CCS RUN
019278,001115: 33,3473 13477 TCF +4
019279,001116: 33,3474 35016 CAF TWO
019280,001117: 33,3475 54001 TS L
019281,001118: 33,3476 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019282,001119:
019283,001120: 33,3477 03541 TC CONTIN33
019284,001121:
019285,001122: 33,3500 01236 V05N30E VN 0530
019286,001123:
019287,001124: 33,3501 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019288,001125: 33,3502 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019289,001126: 33,3503 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019290,001127: 33,3504 00014 12D
019291,001128: 33,3505 40331 SSP SETPD
019292,001129: 33,3506 00052 S2
019293,001130: 33,3507 00006 6
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Page 450
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019295,001132: 33,3510 00001 0
019296,001133: 33,3511 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019297,001134: 33,3512 02436 TAZEL1 +3,1
019298,001135: 33,3513 00001 STORE 0 # PD00 ELEVATION PD00
019299,001136: 33,3514 77756 SIN
019300,001137: 33,3515 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019301,001138: 33,3516 77745 DLOAD
019302,001139: 33,3517 00001 0
019303,001140: 33,3520 41546 COS PUSH # PD00 COS(EL) PD00
019304,001141: 33,3521 47133 SLOAD* RTB
019305,001142: 33,3522 02435 TAZEL1 +2,1
019306,001143: 33,3523 45513 CDULOGIC
019307,001144: 33,3524 00003 STORE 2 # PD02 AZIMUTH PD02
019308,001145: 33,3525 41356 SIN DMP
019309,001146: 33,3526 00001 0
019310,001147: 33,3527 77752 SL1
019311,001148: 33,3530 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019312,001149: 33,3531 71545 DLOAD COS
019313,001150: 33,3532 00003 2
019314,001151: 33,3533 72405 DMP SL1
019315,001152: 33,3534 76076 DCOMP AXT,1
019316,001153: 33,3535 00000 0
019317,001154: 33,3536 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019318,001155: 33,3537 43504 TIX,2 RVQ
019319,001156: 33,3540 67511 TAR1
019320,001157:
019321,001158:
019322,001159: 33,3541 BANK 33
019323,001160: 33,2000 SETLOC IMUCAL
019324,001161: 33,2000 BANK
019325,001162: 33,3541 COUNT* $$/PO3
019326,001163:
019327,001164: 33,3541 35017 CONTIN33 CA ONE
019328,001165: 33,3542 54735 TS STARCODE
019329,001166: 33,3543 35021 CA ZERO
019330,001167: 33,3544 03635 TC TARGDRVE
019331,001168: 33,3545 06006 TC INTPRET
019332,001169: 33,3546 77624 CALL
019333,001170: 33,3547 67502 TAR/EREF
019334,001171: 33,3550 64375 NEXTBNKS VLOAD MXV
019335,001172: 33,3551 00007 6D
019336,001173: 33,3552 02672 XSM
019337,001174: 33,3553 77772 VSL1
019338,001175: 33,3554 26736 STOVL STARAD
019339,001176: 33,3555 00015 12D
019340,001177: 33,3556 76521 MXV VSL1
019341,001178: 33,3557 02672 XSM
019342,001179: 33,3560 36744 STCALL STARAD +6
019343,001180: 33,3561 67726 LITTLSUB
019344,001181: 33,3562 02414 STORE LOSVEC
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Page 451
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019346,001183: 33,3563 77776 EXIT
019347,001184: 33,3564 04662 TC BANKCALL
019348,001185: 33,3565 16063 CADR MKRELEAS
019349,001186:
019350,001187:
019351,001188: 33,3566 35016 NEXBNKSS CAF TWO
019352,001189: 33,3567 54735 TS STARCODE
019353,001190: 33,3570 36211 CAF SIX
019354,001191: 33,3571 03635 TC TARGDRVE
019355,001192: 33,3572 06006 TC INTPRET
019356,001193: 33,3573 77624 CALL
019357,001194: 33,3574 67726 LITTLSUB
019358,001195: 33,3575 24015 STOVL 12D
019359,001196: 33,3576 02414 LOSVEC
019360,001197: 33,3577 34007 STCALL 06D
019361,001198: 33,3600 47401 AXISGEN
019362,001199: 33,3601 77624 CALL
019363,001200: 33,3602 47205 CALCGTA
019364,001201: 33,3603 77776 EXIT
019365,001202: 33,3604 33631 GCOMP4 CAF V06N93S
019366,001203: 33,3605 04662 TC BANKCALL
019367,001204: 33,3606 20720 CADR GOFLASH
019368,001205: 33,3607 03620 TC GCOMP5
019369,001206: 33,3610 13612 TCF +2
019370,001207: 33,3611 13604 TCF GCOMP4
019371,001208: 33,3612 06006 TC INTPRET
019372,001209: 33,3613 53375 VLOAD VAD
019373,001210: 33,3614 02760 OGC
019374,001211: 33,3615 02650 ERCOMP1
019375,001212: 33,3616 02650 STORE ERCOMP1
019376,001213: 33,3617 77776 EXIT
019377,001214: 33,3620 04662 GCOMP5 TC BANKCALL
019378,001215: 33,3621 16063 CADR MKRELEAS
019379,001216: 33,3622 05560 TC DOWNFLAG
019380,001217: 33,3623 00032 ADRES TRM03FLG
019381,001218:
019382,001219: 33,3624 05354 TC NEWMODEX
019383,001220: 33,3625 00002 MM 02 B-14
019384,001221: 33,3626 05412 TC PHASCHNG
019385,001222: 33,3627 00004 OCT 00004
019386,001223: 33,3630 05217 TC ENDOFJOB
019387,001224: 33,3631 01535 V06N93S VN 0693
019388,001225: 33,3632 05650 GTSOPTCS TC ALARM
019389,001226: 33,3633 01602 GTSOPTSS OCT 01602
019390,001227: 33,3634 03620 TC GCOMP5
019391,001228:
019392,001229:
019393,001230: 34,2002 BANK 34
019394,001231: 04,2000 SETLOC IMUCAL1
019395,001232: 04,2000 BANK
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Page 452
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019397,001234:
019398,001235: 04,2613 COUNT 34/COMST
019399,001236:
019400,001237: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
019401,001238: 04,2614 02403 LATITUDE
019402,001239: 04,2615 15047 STODL DSPTEM1 +1
019403,001240: 04,2616 02401 AZIMUTH
019404,001241: 04,2617 77434 RTB EXIT
019405,001242: 04,2620 45546 1STO2S
019406,001243: 04,2621 56154 XCH MPAC
019407,001244: 04,2622 55045 TS DSPTEM1
019408,001245: 04,2623 04662 TC BANKCALL
019409,001246: 04,2624 20703 CADR CLEANDSP
019410,001247: 04,2625 32644 CAF VNG0641
019411,001248: 04,2626 04662 TC BANKCALL
019412,001249: 04,2627 20720 CADR GOFLASH
019413,001250: 04,2630 02632 TC +2 # NOT ALLOWED
019414,001251: 04,2631 02633 TC +2
019415,001252: 04,2632 02625 TC -5
019416,001253: 04,2633 06006 TC INTPRET
019417,001254: 04,2634 47135 SLOAD RTB
019418,001255: 04,2635 01046 DSPTEM1
019419,001256: 04,2636 45513 CDULOGIC
019420,001257: 04,2637 02401 STORE AZIMUTH
019421,001258: 04,2640 60535 SLOAD SR2
019422,001259: 04,2641 01047 DSPTEM1 +1
019423,001260: 04,2642 02403 STORE LATITUDE
019424,001261: 04,2643 77616 RVQ
019425,001262: 04,2644 01451 VNG0641 VN 0641
019426,001263: 33,3635 BANK 33
019427,001264: 33,2000 SETLOC IMUCAL
019428,001265: 33,2000 BANK
019429,001266:
019430,001267:
019431,001268: 33,3635 COUNT* $$/P03
019432,001269: 33,3635 00006 TARGDRVE EXTEND
019433,001270: 33,3636 23424 QXCH QPLAC
019434,001271: 33,3637 55431 TS TARG1/2
019435,001272: 33,3640 06006 TC INTPRET
019436,001273: 33,3641 77624 CALL
019437,001274: 33,3642 67502 TAR/EREF
019438,001275: 33,3643 76740 LXC,1 VLOAD*
019439,001276: 33,3644 02431 TARG1/2
019440,001277: 33,3645 00007 6D,1
019441,001278: 33,3646 36766 STCALL STAR
019442,001279: 33,3647 46053 SXTANG
019443,001280: 33,3650 77776 EXIT
019444,001281: 33,3651 31773 CA SAC
019445,001282: 33,3652 55161 TS DESOPTS
019446,001283:
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|
Page 453
|
019448,001285: 33,3653 31775 CA PAC
019449,001286: 33,3654 55160 TS DESOPTT
019450,001287: 33,3655 35021 RETARG CAF ZERO
019451,001288: 33,3656 55303 TS OPTIND
019452,001289: 33,3657 35017 CAF ONE
019453,001290: 33,3660 04662 TC BANKCALL
019454,001291: 33,3661 16002 CADR SXTMARK
019455,001292: 33,3662 04662 TC BANKCALL
019456,001293: 33,3663 17573 CADR OPTSTALL
019457,001294: 33,3664 03632 TC GTSOPTCS
019458,001295: 33,3665 30075 CAE FLAGWRD1
019459,001296: 33,3666 75014 MASK TRM03BIT
019460,001297: 33,3667 10000 CCS A
019461,001298: 33,3670 03620 TC GCOMP5
019462,001299:
019463,001300: 33,3671 51330 INDEX MARKSTAT
019464,001301: 33,3672 30052 CA QPRET
019465,001302: 33,3673 00006 EXTEND
019466,001303: 33,3674 13676 BZF RETARG1
019467,001304: 33,3675 01424 TC QPLAC
019468,001305:
019469,001306:
019470,001307: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
019471,001308: 33,3677 57330 XCH MARKSTAT
019472,001309: 33,3700 10000 CCS A
019473,001310: 33,3701 50000 INDEX A
019474,001311: 33,3702 54000 TS A
019475,001312: 33,3703 13655 TCF RETARG # GO DO SXTMARK AGAIN
019476,001313: 33,3704 BANK 33
019477,001314: 33,2000 SETLOC IMUCAL
019478,001315: 33,2000 BANK
019479,001316: 33,3704 COUNT* $$/P03
019480,001317: 33,3704 30341 22444 PIPASC 2DEC .76376833
019481,001318:
019482,001319: 33,3706 57223 66451 VELSC 2DEC -.52223476
019483,001320:
019484,001321: 33,3710 05427 12577 ALSK 2DEC .17329931
019485,001322:
019486,001323: 33,3712 77567 44202 2DEC -.00835370
019487,001324:
019488,001325: 33,3714 24276 14066 GEORGEJ 2DEC .63661977
019489,001326:
019490,001327: 33,3716 03146 14632 GEOCONS1 2DEC .1
019491,001328:
019492,001329: 33,3720 00121 35341 GEOCONS2 2DEC .005
019493,001330:
019494,001331: 33,3722 01767 31666 GEOCONS3 2DEC .062
019495,001332:
019496,001333: 33,3724 00004 35223 GEOCONS4 2DEC .0003
019497,001334:
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|
Page 454
|
019499,001336:
019500,001337: 33,3726 COUNT 33/P02
019501,001338: 33,3726 77620 LITTLSUB STQ
019502,001339: 33,3727 02424 QPLAC
019503,001340: 33,3730 76740 LXC,1 VLOAD*
019504,001341: 33,3731 01330 MARKSTAT
019505,001342: 33,3732 00003 2,1
019506,001343: 33,3733 34767 STCALL CDUSPOT
019507,001344: 33,3734 46000 SXTNB
019508,001345: 33,3735 77624 CALL
019509,001346: 33,3736 47637 TRG*NBSM
019510,001347: 33,3737 77650 GOTO
019511,001348: 33,3740 02424 QPLAC
019512,001349:
019513,001350:
019514,001351: 33,3741 77776 EXIT
019515,001352: 33,3742 06006 AZMTHCG1 TC INTPRET
019516,001353: 33,3743 47145 DLOAD RTB
019517,001354: 33,3744 02636 NEWAZMTH
019518,001355: 33,3745 45546 1STO2S
019519,001356: 33,3746 77776 EXIT
019520,001357: 33,3747 56154 XCH MPAC
019521,001358: 33,3750 55045 TS DSPTEM1
019522,001359: 33,3751 04662 TC BANKCALL
019523,001360: 33,3752 20703 CADR CLEANDSP
019524,001361: 33,3753 33775 CAF VN0629
019525,001362: 33,3754 04662 TC BANKCALL
019526,001363: 33,3755 20720 CADR GOFLASH
019527,001364: 33,3756 13760 TCF +2
019528,001365: 33,3757 13761 TCF +2
019529,001366: 33,3760 13753 TCF -5
019530,001367: 33,3761 06006 TC INTPRET
019531,001368: 33,3762 47135 SLOAD RTB
019532,001369: 33,3763 01046 DSPTEM1
019533,001370: 33,3764 45513 CDULOGIC
019534,001371: 33,3765 02634 STORE LAUNCHAZ
019535,001372: 33,3766 77776 EXIT
019536,001373: 33,3767 35021 CA ZERO
019537,001374: 33,3770 55632 TS PREMTRXC
019538,001375: 33,3771 05412 TC PHASCHNG
019539,001376: 33,3772 00004 OCT 00004
019540,001377: 33,3773 04701 TC POSTJUMP
019541,001378: 33,3774 21272 CADR PINBRNCH
019542,001379:
019543,001380: 33,3775 01435 VN0629 VN 0629
019544,001381:
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Page 455
Only assembler-generated messages appear on this page.
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019547,001384:
019548,001385:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc