Assembly listing generated by yaYUL

Source Code

These source-code files are part of a reconstructed copy of Skylark 048, the Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.

They have been created via disassembly of binary dumps of the original core rope memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551, 2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules was provided by the New Mexico Museum of Space History, who we are much indebted to.

The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document contains pseudocode of essentially all of Skylark, using original program labels which have been copied for this source reconstruction.

Since only binary dumps (rather than listings) of Skylark are available as source material, all comments and labels are approximate. They have been taken from the Programmed Guidance Equations or other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

018141,000002: 018142,000003: 018143,000004: 018144,000005: 018145,000006: 018146,000007: 018147,000008: 018148,000009: 018149,000010: 018150,000011: 018151,000012: 018152,000013: 018153,000014: 018154,000015: 018155,000016: 018156,000017: 018157,000018: 018158,000019: 018159,000020: 018160,000021: 018161,000022: 018162,000023: 018163,000024: 018164,000025: 018165,000026: 018166,000027: 018167,000028: 018168,000029: 018169,000030: 018170,000031: 33,2000 018171,000032: 33,2000 018172,000033: 018173,000034: 33,2002 E5,1423 018174,000035: 33,2002 < 018314,000175: 33,2177 018315,000176: 33,2200 018316,000177: 33,2201 018317,000178: 33,2202 018318,000179: 33,2203 018319,000180: 33,2204 018320,000181: 33,2205 018321,000182: 33,2206 018322,000183: 33,2207 018323,000184: 33,2210 018324,000185: 33,2211 018325,000186: 33,2212 018326,000187: 33,2213 < 018333,000194: 33,2222 018334,000195: 33,2223 < 018338,000199: 33,2227 018339,000200: 33,2230 018340,000201: 33,2231 018341,000202: 33,2232 018342,000203: 33,2233 018343,000204: 33,2234 018344,000205: 33,2235 018345,000206: 018346,000207: < < < < < 018597,000458: 33,2426 018598,000459: 33,2427 < 018638,000499: 33,2467 018639,000500: 33,2470 < 018668,000529: 33,2524 018669,000530: 33,2525 018670,000531: 33,2526 018671,000532: 33,2527 018672,000533: 33,2530 018673,000534: 33,2531 < 018675,000536: 33,2533 018676,000537: 33,2534 018677,000538: 33,2535 018678,000539: 33,2536 018679,000540: 33,2537 018680,000541: 33,2540 018681,000542: 33,2541 018682,000543: 33,2542 018683,000544: 33,2543 018684,000545: 33,2544 018685,000546: 33,2545 018686,000547: 33,2546 018687,000548: 33,2547 018688,000549: 33,2550 018689,000550: 33,2551 018690,000551: 33,2552 018691,000552: 33,2553 018692,000553: 33,2554 018693,000554: 33,2555 018694,000555: 33,2556 018695,000556: 33,2557 018696,000557: 33,2560 018697,000558: 33,2561 018698,000559: 33,2562 018699,000560: 33,2563 018700,000561: < 018702,000563: 33,2565 018703,000564: 33,2566 018704,000565: 33,2567 018705,000566: 33,2570 018706,000567: 33,2571 018707,000568: 33,2572 018708,000569: 33,2573 018709,000570: 33,2574 018710,000571: 33,2575 018711,000572: 33,2576 018712,000573: 33,2577 018713,000574: 33,2600 018714,000575: 33,2601 018715,000576: 33,2602 018716,000577: 33,2603 018717,000578: 33,2604 018718,000579: 33,2605 018719,000580: 018720,000581: 33,2606 018721,000582: 33,2607 018722,000583: 33,2610 < ## Copyright: Public domain. ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc ## Purpose: A section of Skylark revision 048. ## It is part of the source code for the Apollo Guidance Computer (AGC) ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of ## this software are available; instead, this file was created via ## disassembly of dumps of the core rope modules actually flown on ## Skylab-2. Access to these modules was provided by the New Mexico ## Museum of Space History. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2023-09-04 MAS Created from Artemis 072. # NAME- IMU PERFORMANCE TESTS 2 # DATE- MARCH 20,1967 # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274 # MODNO.- ZERO # FUNCTIONAL DESCRIPTION # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 SETLOC IMUCAL BANK EBANK= POSITON COUNT* $$/COMST 454">018175,000036: 33,2002 04647 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE 16560 CADR IMUZERO 02126 TC IMUSTLLG B">018178,000039: 33,2005 35003 IMUBACK CA ZERO 55421 TS NDXCTR 55450 TS TORQNDX 55451 TS TORQNDX +1 C">018182,000043: 33,2011 34352 NBPOSPL CA DEC17 55655 TS ZERONDX1 32240 CA XNBADR 02134 TC ZEROING 34764 CA HALF 55702 TS XNB 06006 TC INTPRET 73545 DLOAD SIN 02401 AZIMUTH 02713 STORE YNB +2 16723 STODL ZNB +4 02401 AZIMUTH 77746 COS 02715 STORE YNB +4 77676 DCOMP 02721 STORE ZNB +2 77776 EXIT 05367 TC CHECKMM 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION 12036 TCF +2 # NO 13236 TCF SETNBPOS +1 # YES 06006 TC INTPRET 77624 CALL 47303 CALCGA 77776 EXIT 04647 TC BANKCALL 16655 CADR IMUCOARS 34764 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK 70077 MASK FLAGWRD3 00006 EXTEND 12051 BZF +2 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 07722 TC DOWNFLAG # RESET GIMBAL LOCK FLAG 00056 ADRES GLOKFAIL # BIT 14 FLAG 3 02126 TC IMUSTLLG 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 02103 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE 04647 TC BANKCALL 17064 CADR IMUFINE 02126 TC IMUSTLLG 00006 EXTEND 31657 DCA PERFDLAY 05345 TC LONGCALL EBANK= POSITON 02070 66065 2CADR GOESTIMS 32073 CA ESTICADR 05176 TC JOBSLEEP D53">018230,000091: 33,2070 32073 GOESTIMS CA ESTICADR 05202 TC JOBWAKE 05327 TC TASKOVER 452">018233,000094: 33,2073 66246 ESTICADR CADR ESTIMS >018235,000096: 33,2074 35003 TORQUE CA ZERO 55243 TS DSPTEM2 31514 CA DRIFTI 55244 TS DSPTEM2 +1 51423 INDEX POSITON 55430 TS SOUTHDR -1 02224 TC SHOW B">018243,000104: 33,2103 34767 PIPACHK CA EBANK4 54003 TS EBANK EBANK= ERASPIP 01400 TC ERASPIP EBANK= DRIFTO >018248,000109: 33,2106 31512 VALMIS CA DRIFTO 55244 TS DSPTEM2 +1 35003 CA ZERO 55243 TS DSPTEM2 02224 TC SHOW 431">018254,000115: 33,2113 07722 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE 00007 ADRES IMUSE # BIT 8 FLAG 0 45003 CS ZERO 05362 TC NEWMODEA 04647 TC BANKCALL 16057 CADR MKRELEAS 05537 TC ENDEXT 958">018261,000122: 33,2122 43215 OVERFFIX DAD DAD 15212 DPPOSMAX 26707 ONEDPP 77616 RVQ C47">018266,000127: 33,2126 00006 IMUSTLLG EXTEND 23425 QXCH QPLACE 04647 TC BANKCALL 17575 CADR IMUSTALL 02674 TC SOMERR2 01425 TC QPLACE 7">018272,000133: 33,2134 54001 ZEROING TS L 12137 TCF +2 731">018274,000135: 33,2136 55655 ZEROING1 TS ZERONDX1 35003 CAF ZERO 50001 INDEX L 54000 TS 0 24001 INCR L 11655 CCS ZERONDX1 12136 TCF ZEROING1 00002 TC Q SETLOC IMUCAL3 BANK COUNT* $$/COMST 345">018286,000147: 33,2146 65345 ERTHRVSE DLOAD PDDL 26702 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) 02403 LATITUDE 57546 COS DCOMP 73525 PDDL SIN 02403 LATITUDE 74266 VDEF VXSC 26243 OMEG/MS 02405 STORE ERVECTOR 77634 RTB 45563 LOADTIME 26443 STOVL TMARK 26702 SCHZEROS 02650 STORE ERCOMP1 77616 RVQ SETLOC IMUCAL BANK COUNT* $$/COMST >018304,000165: 33,2165 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE 00051 S2 45563 LOADTIME 02441 +3 STORE TEMPTIME 51025 DSU BPL 02443 TMARK 66176 ERTHR 77624 CALL 66122 OVERFFIX /a>018313,000174: 33,2176 74261 ERTHR SL VXSC 20212 9D 02405 ERVECTOR 53321 MXV VAD 02661 XSM 02650 ERCOMP1 16650 STODL ERCOMP1 02441 TEMPTIME 02443 STORE TMARK 47170 AXT,1 RTB 02647 ECADR ERCOMP1 45703 PULSEIMU 77650 GOTO 00051 S2 A">018327,000188: 33,2214 00006 EARTHR* EXTEND 23426 QXCH QPLACES 06006 TC INTPRET 77624 CALL 66165 EARTHR /a>018332,000193: 33,2221 77776 PROUT EXIT 02126 TC IMUSTLLG 01426 TC QPLACES >018335,000196: 33,2224 00006 SHOW EXTEND 23425 QXCH QPLACE /a>018337,000198: 33,2226 31423 SHOW1 CA POSITON 55245 TS DSPTEM2 +2 32236 CA VB06N98 04647 TC BANKCALL 20623 CADR GOFLASH 02113 TC ENDTEST1 # V34 01425 TC QPLACE # V33 12226 TCF SHOW1 3">018347,000208: 33,2236 33,2242 3990DEC = OMEG/MS 8">018348,000209: 33,2236 01542 VB06N98 VN 0698 /a>018349,000210: 33,2237 4352 DEC17 = ND1 /a>018350,000211: 33,2237 02757 OGCPL ECADR OGC /a>018351,000212: 33,2240 5030 1SECX = 1SEC /a>018352,000213: 33,2240 4351 DEC57 = VD1 >018353,000214: 33,2240 01702 XNBADR GENADR XNB >018354,000215: 33,2241 01660 XSMADR GENADR XSM 3">018355,000216: 33,2242 07623 26552 OMEG/MS 2DEC .24339048 >018358,000219: 33,2244 04647 P11OUT TC BANKCALL 70115 CADR MATRXJOB # RETURN TO P11 SETLOC FFTAG1 BANK COUNT* $$/COMST D45">018365,000226: 4527 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 00006 +1 EXTEND 00004 READ LOSCALAR 54001 TS L 00006 EXTEND 06004 RXOR LOSCALAR 00006 EXTEND 14542 BZF +4 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 44761 +4 CS POSMAX 60001 AD L 00006 EXTEND 14530 BZF FINETIME +1 00006 EXTEND 00003 READ HISCALAR 00002 TC Q # PROGRAM NAME- OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION # DATE- NOVEMBER 2 1966 # BY- GEORGE SCHMIDT IL 7-146 EXT. 126 # MOD NO 3 # FUNCTIONAL DESCRIPTION # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT # FOR THE DATA TO FLASH. # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1 # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX. # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL. # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY). # COMPASS ERASABLE LOAD REQUIRED # 1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) # 2- LATITUDE -DP-OF LAUNCH PAD # 3- AZIMUTH-DP-OF ZNB OF VEHICLE # 4- IMU COMPENSATION PARAMETERS # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** # TO PERFORM AS PART OF COMPASS # 1-OPTICAL VERIFICATION- V 65 E # 2-AZIMUTH CHANGE- V 78 E # SUBROUTINES CALLED # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. # NORMAL EXIT # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL # GYROCOMPASS-MANY,SEE THE LISTING # ALARMS # 1600 OVERFLOW IN DRIFT TEST # 1601 BAD IMU TORQUE ABORT # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY # OUTPUT # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE # 02 GYROCOMPASSING # 03 DOING OPTICAL VERIFICATION (CSM) # DEBRIS # ALL CENTRALS,ALL OF EBANK XSM # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR # ON THE NEXT FEW PAGES. EBANK= XSM SETLOC IMUCAL BANK COUNT* $$/P02 >018462,000323: 33,2246 05375 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 00075 OCT 00075 00004 OCT 00004 # TURN OFF GROUP 4 IF ON 1">018465,000326: 33,2251 01,2261 5P7SPT1 = 5.7SPOT 1">018466,000327: 33,2251 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART 30025 CA TIME1 55645 TS GTSWTLT1 35003 CAF ZERO # ZERO THE PIPAS 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 00003 RELINT 32720 CA 77DECML # ZERO ALL NECESSARY LOCATIONS 55655 TS ZERONDX1 32721 CA ALXXXZ 02134 TC ZEROING 06006 TC INTPRET 77735 SLOAD 26702 SCHZEROS 25477 STOVL GCOMPSW -1 26713 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS 26455 STOVL ALX1S 26702 SCHZEROS 01472 STORE GCOMP 01305 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED 77776 EXIT 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS. 02302 TC +2 02316 TC SLEEPIE +1 06006 TC INTPRET 77624 CALL 66146 ERTHRVSE 77776 EXIT 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING 55646 TS ERECTIME 05357 TC NEWMODEX 00002 MM 02 B-14 04647 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM 17145 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF 03176 TC ANNNNNN # END OF FIRST TIME THROUGH # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # SET UP WAITLIST SECTION 5">018508,000369: 33,2315 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT 05415 +1 TC PHASCHNG # CHANGE PHASE 00135 OCT 00135 431">018511,000372: 33,2320 01,2267 5P13SPT1 = 5.13SPOT 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT 02214 TC EARTHR* # TRUE TORQUE SOUTH GYRO E54">018514,000375: 33,2322 03201 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER 02325 TC SETGWLST 05220 TC ENDOFJOB 354">018518,000379: 33,2325 00006 SETGWLST EXTEND 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE 00004 INHINT 40025 CS TIME1 61645 AD GTSWTLT1 00006 EXTEND 62335 BZMF +2 64763 AD NEGMAX # 10 MS ERROR OK 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS 00006 EXTEND 62343 BZMF RIGHTGTS 04C">018529,000390: 33,2340 05236 WTGTSMPL TC TWIDDLE 02367 ADRES ALLOOP 00154 TC MPAC 453">018532,000393: 33,2343 34777 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME 02340 TC WTGTSMPL # END OF WAITLIST SECTION # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING C">018537,000398: 33,2345 4125 25DECML EQUALS OCT31 441">018538,000399: 33,2345 34125 STOREDTA CAF 25DECML 54154 +1 TS MPAC 50154 INDEX MPAC 31460 CAE THETAX1 50154 INDEX MPAC 55577 TS RESTARPT 10154 CCS MPAC 12346 TCF STOREDTA +1 00002 TC Q 454">018548,000409: 33,2356 34125 LOADSTDT CAF 25DECML 54154 +1 TS MPAC 50154 INDEX MPAC 31577 CA RESTARPT 50154 INDEX MPAC 55460 TS THETAX1 10154 CCS MPAC 12357 TCF LOADSTDT +1 00002 TC Q # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE >018560,000421: 33,2367 30025 ALLOOP CA TIME1 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST. 3">018562,000423: 33,2371 31540 ALLOOP3 CA ALTIM 55631 TS GEOSAVE1 05415 TC PHASCHNG 00115 OCT 00115 431">018566,000427: 33,2375 01,2264 5P11SPT1 = 5.11SPOT 1">018567,000428: 33,2375 31631 ALLOOP1 CAE GEOSAVE1 55540 TS ALTIM 10000 CCS A 30000 CA A # SHOULD NEVER HIT THIS LOCATION 55541 TS ALTIMS 40000 CS A 55540 TS ALTIM 35003 CAF ZERO 56037 XCH PIPAX 55304 TS DELVX 35003 CAF ZERO 56040 XCH PIPAY 55306 TS DELVY 35003 CAF ZERO 56041 XCH PIPAZ 55310 TS DELVZ 34351 CAF 19DECML # 23 OCT 04126 TC NEWPHASE 00005 OCT 00005 431">018586,000447: 33,2420 01,2303 5P23SPT1 = 5.23SPOT 3">018587,000448: 33,2420 37644 SPECSTS CAF PRIO22 05150 TC FINDVAC EBANK= GEOSAVE1 02425 66065 2CADR ALFLT # START THE JOB 05327 TC TASKOVER # THIS IS PART OF THE JOB DONE EVERY ITERATION /a>018596,000457: 33,2425 02345 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB 05415 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION 00215 OCT 00215 431">018599,000460: 33,2430 01,2300 5P21SPT1 = 5.21SPOT 12432 TCF +2 >018601,000462: 33,2431 02356 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART 11643 CCS GEOCOMP1 02435 TC +2 02440 TC NORMLOP 03201 TC CHKCOMED # SEE IF PRELAUNCH OVER 04647 TC BANKCALL # COMPENSATION IF IN COMPASS 15273 CADR 1/PIPA 0">018610,000471: 33,2440 06006 NORMLOP TC INTPRET 77745 DLOAD 26711 INTVAL 24051 STOVL S1 01305 DELVX 76505 VXM VSL1 02661 XSM 57545 DLOAD DCOMP 00160 MPAC +3 16533 STODL DPIPAY 00162 MPAC +5 02537 STORE DPIPAZ 76001 SETPD AXT,1 00001 0 00010 8D 57535 SLOAD DCOMP 02644 GEOCOMP1 77640 BMN 67003 ALWAYSG # DO A QUICK COMPASS # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES COUNT* $$/COMST >018634,000495: 33,2463 50135 ALCGKK SLOAD BMN 02542 ALTIMS 66500 ALFLT3 # NO NEW GAINS NEEDED /a>018637,000498: 33,2466 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 00014 12D 02454 ALX1S >018640,000501: 33,2471 62143 ALKCG2 DLOAD* INCR,1 02243 ALFDK +144D,1 77775 DEC -2 B-14 12555 STORE ALDK +10D,2 66104 TIX,2 SXA,1 66471 ALKCG2 02454 ALX1S >018648,000509: 33,2500 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES 00010 8D # AND GAIN UPDATES >018650,000511: 33,2502 41343 DELMLP DLOAD* DMP 02543 DPIPAY +8D,1 27446 PIPASC 43661 SLR BDSU* 21212 9D 02511 INTY +8D,1 06511 STORE INTY +8D,1 40725 PDDL DMP* 27450 VELSC 02531 VLAUN +8D,1 77732 SL2R 45425 DSU STADR 71206 STORE DELM +8D,1 06573 STORE DELM +10D,1 77100 TIX,1 AXT,2 66502 DELMLP 00004 4 /a>018667,000528: 33,2523 56743 ALILP DLOAD* DMPR* 75314 ALK +4,2 75230 ALDK +4,2 12463 STORE ALK +4,2 77104 TIX,2 AXT,2 66523 ALILP 00010 8D /a>018674,000535: 33,2532 66140 ALKLP LXC,1 SXA,1 02455 CMPX1 02455 CMPX1 56743 DLOAD* DMPR* 02460 ALK +1,1 75206 DELM +8D,2 77613 DAD* 75266 INTY +8D,2 12511 STORE INTY +8D,2 42743 DLOAD* DAD* 75304 ALK +12D,2 75220 ALDK +12D,2 12473 STORE ALK +12D,2 42673 DMPR* DAD* 75206 DELM +8D,2 75256 INTY +16D,2 12521 STORE INTY +16D,2 40743 DLOAD* DMP* 27453 ALSK +1,1 75206 DELM +8D,2 42772 SL1R DAD* 75246 VLAUN +8D,2 12531 STORE VLAUN +8D,2 76104 TIX,2 AXT,1 66532 ALKLP 00010 8D /a>018701,000562: 33,2564 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES 02533 ACCWD +8D,1 02531 VLAUN +8D,1 55523 PDDL* VDEF 02541 POSNV +8D,1 76521 MXV VSL1 02001 TRANSM1 77745 DLOAD 00155 MPAC 06541 STORE POSNV +8D,1 77745 DLOAD 00160 MPAC +3 06531 STORE VLAUN +8D,1 77745 DLOAD 00162 MPAC +5 06533 STORE ACCWD +8D,1 77700 TIX,1 66564 LOOSE 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES 00006 6 00002 2 >018723,000584: 33,2611 57343 BOOP DLOAD* DMPR 02513 ANGX +2,1 27456 GEORGEJ 77722 SR2R 73406 PUSH SIN 56072 SL3R XAD,1 00046 X1 10021 STORE 16D,2 77745 DLOAD 77746 COS 10027 STORE 22D,2 # COSINES 77704 TIX,2 66611 BOOP 153">018736,000597: 33,2626 77776 PERFERAS EXIT 04606 TC E7SETTER EBANK= LAT(SPL) 01400 TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN # CAUTION # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST EBANK= LENGTHOT 245">018747,000608: 33,2631 11412 ONCEMORE CCS LENGTHOT 02315 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST 11450 CCS TORQNDX 12636 TCF +2 02640 TC SETUPER1 30032 CA CDUX 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD 231">018755,000616: 33,2640 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY 02503 ANGZ 02507 ANGY 55525 PDDL VDEF 02511 ANGX 74276 VCOMP VXSC 27456 GEORGEJ 74521 MXV VSR1 02661 XSM 02760 STORE OGC 77776 EXIT 348">018768,000629: 33,2654 05415 TORQINCH TC PHASCHNG 00005 OCT 00005 32237 CA OGCPL 04647 TC BANKCALL 17175 CADR IMUPULSE 02126 TC IMUSTLLG 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST 02106 TC VALMIS # VERT DRIFT TEST OVER 06006 TC INTPRET 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS 66146 ERTHRVSE 77776 EXIT 02074 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY 252">018783,000644: 33,2671 05644 SOMEERRR TC ALARM 01600 OCT 1600 02676 TC +3 2">018786,000647: 33,2674 05644 SOMERR2 TC ALARM 01601 OCT 1601 05415 TC PHASCHNG 00005 OCT 00005 02113 TC ENDTEST1 # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. F53">018796,000657: 33,2701 00000 00000 SCHZEROS 2DEC .00000000 00000 00000 2DEC .00000000 00000 OCT 00000 >018799,000660: 33,2706 00000 ONEDPP OCT 00000 00001 +1 OCT 00001 # ABOVE ORDER IS IMPORTANT >018802,000663: 33,2710 00004 INTVAL OCT 4 00002 OCT 2 00220 DEC 144 B-14 77776 DEC -1 B-14 >018806,000667: 33,2714 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES C">018810,000671: 33,2720 00115 77DECML DEC 77 B-14 >018811,000672: 33,2721 01453 ALXXXZ GENADR ALX1S -1 # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION COUNT* $$/P01 # INITIALIZATION SECTION 3">018819,000680: 33,2722 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37 74766 MASK NOP01BIT 00006 EXTEND 12730 BZF GTSCPSSA 05701 TC POODOO 21521 OCT 21521 # NO DO ALARM FOR P01 - P11 ALREADY DONE 341">018825,000686: 33,2730 34764 GTSCPSSA CAF PRIO20 # INITIAL PRIORITY ONLY 13 05211 TC PRIOCHNG # CHANGE TO 20 35001 CAF ONE 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS. 33230 CA 1/PIPAGT 55267 TS 1/PIPADT E">018832,000693: 33,2736 34772 NXXTBNN CA BIT8 55412 TS LENGTHOT 35023 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP 55644 TS 1SECXT1 35001 CAF ONE 55632 TS PREMTRX1 55657 TS PERFDLAY +1 35003 CAF ZERO 55656 TS PERFDLAY 00006 EXTEND 31634 DCA LUNCHAZ1 53636 DXCH NEWAZ1 00006 EXTEND 31634 DCA LUNCHAZ1 53640 DXCH OLDAZMTH 3">018847,000708: 33,2755 34352 SETUPGC CA DEC17 55655 TS ZERONDX1 32241 CA XSMADR 02134 TC ZEROING 02763 TC POSN17C 02002 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION 3">018855,000716: 33,2763 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE 44764 CS HALF # ALL THIS TO INITIALIZE MATRIX 55674 TS ZSM 06006 TC INTPRET 41545 DLOAD PUSH 02636 NEWAZ1 77756 SIN 02665 STORE XSM +4 16671 STODL YSM +2 77746 COS 02673 STORE YSM +4 77676 DCOMP 02663 STORE XSM +2 77776 EXIT 01425 TC QPLACE # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP COUNT* $$/P02 7">018875,000736: 33,3003 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT 02543 DPIPAY +8D,1 02505 FILDELV1 +8D,1 42675 DMPR DAD* 27460 GEOCONS1 02505 FILDELV1 +8D,1 06505 STORE FILDELV1 +8D,1 77613 DAD* 02507 INTVEC1 +8D,1 06507 STORE INTVEC1 +8D,1 42675 DMPR DAD* 27462 GEOCONS2 02505 FILDELV1 +8D,1 41475 DMPR PUSH 15202 GEOCONS5 67300 TIX,1 SLOAD 67003 ALWAYSG 02647 ERECTIM1 71254 BZE DLOAD 67037 COMPGS 02471 THETAN1 +2 45425 DSU STADR 61306 STODL THETAN1 +2 # ERECTION ONLY. 77621 BDSU 02473 THETAN1 +4 02473 STORE THETAN1 +4 77650 GOTO 67061 ADDINDRF >018903,000764: 33,3037 43345 COMPGS DLOAD DAD # COMPASS 02467 THETAN1 02475 FILDELV1 16467 STODL THETAN1 02475 FILDELV1 44275 DMPR BDSU 27464 GEOCONS3 02473 THETAN1 +4 16473 STODL THETAN1 +4 02501 FILDELV1 +4 44275 DMPR BDSU 27464 GEOCONS3 02471 THETAN1 +2 57325 PDDL DMPR 02503 INTVEC1 +4 27466 GEOCONS4 45421 BDSU STADR 75306 STORE THETAN1 +2 246">018921,000782: 33,3061 77776 ADDINDRF EXIT 14C">018924,000785: 33,3062 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM 02315 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC 03201 TC CHKCOMED 11314 CCS LGYRO # YES BUT ARE GYROS BUSY 12316 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW 3">018930,000791: 33,3067 06006 LASTGTS TC INTPRET 77775 VLOAD 02650 ERCOMP1 16461 STODL THETAX1 02443 TMARK 02457 STORE ALK 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS 552">018938,000799: 33,3076 05415 RESTAIER TC PHASCHNG 00275 OCT 00275 431">018940,000801: 33,3100 01,2311 5P27SPT1 = 5.27SPOT 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE 64375 VLOAD MXV 02467 THETAN1 02661 XSM 53372 VSL1 VAD 02461 THETAX1 16650 STODL ERCOMP1 02457 ALK 02443 STORE TMARK 77776 EXIT 02214 TC EARTHR* # TORQUE IT ALL IN 31646 CAE ERECTIM1 55631 TS GEOSAVE1 05415 TC PHASCHNG 00155 OCT 00155 431">018956,000817: 33,3117 01,2272 5P15SPT1 = 5.15SPOT 431">018957,000818: 33,3117 06006 RESTEST1 TC INTPRET 77775 VLOAD 26702 SCHZEROS 02467 STORE THETAN1 77776 EXIT 11632 CCS PREMTRXC 03174 TC NOCHORLD 05415 TC PHASCHNG 00255 OCT 00255 431">018966,000827: 33,3130 01,2306 5P25SPT1 = 5.25SPOT 433">018967,000828: 33,3130 06006 RESTEST3 TC INTPRET 77745 DLOAD 02634 LAUNCHAZ 53025 DSU BZE 02640 OLDAZMTH 67171 NOAZCHGE 00001 STORE 0D 43335 SLOAD DAD 26710 ONEDPP +1 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ 16633 STODL PREMTRXC 02634 LAUNCHAZ 16636 STODL NEWAZMTH 00001 0D D50">018981,000842: 33,3146 02654 ADERCOMP STORE ERCOMP +4 77776 EXIT 02763 TC POSN17C 05415 TC PHASCHNG 00335 OCT 00335 431">018986,000847: 33,3153 01,2317 5P33SPT1 = 5.33SPOT 7">018987,000848: 33,3153 00006 RESCHNG EXTEND 31636 DCA NEWAZMTH 53640 DXCH OLDAZMTH 34773 CA BIT7 # SPEND 320 SEC ERECTING 55412 TS LENGTHOT 05415 TC PHASCHNG 00075 OCT 00075 2">018994,000855: 33,3162 01,2261 5P7SPT2 = 5.7SPOT 24F">018995,000856: 33,3162 33227 SPITGYRO CA ERCOMPPL 04647 TC BANKCALL 17175 CADR IMUPULSE 04647 TC BANKCALL 17575 CADR IMUSTALL 02674 TC SOMERR2 02246 TC ESTIMS # RE-INITIALIZE 745">019004,000865: 33,3171 77776 NOAZCHGE EXIT 35001 CA ONE 55632 TS PREMTRXC C44">019007,000868: 33,3174 11631 NOCHORLD CCS GEOSAVE1 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION. E">019010,000871: 33,3176 34322 ANNNNNN CAF NINE 55412 TS LENGTHOT 02316 TC SLEEPIE +1 544">019015,000876: 33,3201 00004 CHKCOMED INHINT 41204 CS MODREG # CHECK FOR MM 07 FIRST 65005 AD SEVEN 00006 EXTEND 13221 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST 45003 CS ZERO 00006 EXTEND 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30 74775 MASK BIT5 # LIFTOFF BIT 10000 CCS A 13222 TCF PRELTERM # LIFTOFF HAS OCCURRED 34775 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5 10000 CCS A 13222 TCF PRELTERM # BACKUP RECEIVED 00003 RELINT C42">019033,000894: 33,3221 00002 GOBKCALB TC Q 24D">019035,000896: 33,3222 37644 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11 05211 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER 00004 INHINT 04666 TC POSTJUMP 70000 CADR P11 04C">019042,000903: 33,3227 02647 ERCOMPPL ECADR ERCOMP 335">019044,000905: 33,3230 26,3201 GEOCONS5 EQUALS HIDPHALF 754">019045,000906: 33,3230 06200 1/PIPAGT OCT 06200 C">019046,000907: 33,3231 4352 17DECML = ND1 # OCT 21 C">019047,000908: 33,3231 4351 19DECML = VD1 # OCT 23 8">019048,000909: 33,3231 5023 1/2SECX = .5SEC # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS COUNT* $$/P03 552">019053,000914: 33,3231 05415 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE 00154 OCT 00154 431">019055,000916: 33,3233 01,2151 4P15SPT1 = 4.15SPOT 05357 TC NEWMODEX # ENTERED BY VERB 65 ENTER 00003 MM 03 B-14 F53">019058,000919: 33,3235 02011 SETNBPOS TC NBPOSPL 04647 +1 TC BANKCALL 16057 CADR MKRELEAS 1">019061,000922: 33,3240 35001 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE 22007 ZL # T 1,THEN TARGET 2 23427 +2 LXCH RUN 55242 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL 00006 EXTEND 51427 INDEX RUN 31433 DCA TAZEL1 53241 DXCH DSPTEM1 138">019069,000930: 33,3250 33271 OPTDATA8 CAF V05N30E 04647 TC BANKCALL 20565 CADR GODSPRET 35045 CAF V06N41 04647 TC BANKCALL 20623 CADR GOFLASH 03407 TC GCOMP5 03261 TC +2 13250 TCF OPTDATA8 53241 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH 51427 INDEX RUN 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH 11427 CCS RUN 13332 TCF CONTIN33 35000 CAF TWO 54001 TS L 13242 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 5">019088,000949: 33,3271 01236 V05N30E VN 0530 06006 TC INTPRET # UNDYNAMIC ASSEMBLER 546">019091,000952: 33,3273 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL 00014 12D 40331 SSP SETPD 00052 S2 00006 6 00001 0 >019098,000959: 33,3302 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6 02436 TAZEL1 +3,1 00001 STORE 0 # PD00 ELEVATION PD00 77756 SIN 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12 77745 DLOAD 00001 0 41546 COS PUSH # PD00 COS(EL) PD00 47133 SLOAD* RTB 02435 TAZEL1 +2,1 45566 CDULOGIC 00003 STORE 2 # PD02 AZIMUTH PD02 41356 SIN DMP 00001 0 77752 SL1 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16 71545 DLOAD COS 00003 2 72405 DMP SL1 76076 DCOMP AXT,1 00000 0 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14 43504 TIX,2 RVQ 67302 TAR1 SETLOC IMUCAL BANK COUNT* $$/P03 333">019127,000988: 33,3332 35001 CONTIN33 CA ONE 55130 TS STARCODE 35003 CA ZERO 03414 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67273 TAR/EREF B53">019134,000995: 33,3341 64375 NEXTBNKS VLOAD MXV 00007 6D 02661 XSM 77772 VSL1 26725 STOVL STARAD 00015 12D 76521 MXV VSL1 02661 XSM 36733 STCALL STARAD +6 67467 LITTLSUB 02414 STORE LOSVEC 77776 EXIT 353">019146,001007: 33,3355 35000 NEXBNKSS CAF TWO 55130 TS STARCODE 36211 CAF SIX 03414 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67467 LITTLSUB 24015 STOVL 12D 02414 LOSVEC 34007 STCALL 06D 47373 AXISGEN 77624 CALL 47177 CALCGTA 77776 EXIT >019160,001021: 33,3373 35052 GCOMP4 CAF V06N93 04647 TC BANKCALL 20623 CADR GOFLASH 03407 TC GCOMP5 13401 TCF +2 13373 TCF GCOMP4 06006 TC INTPRET 53375 VLOAD VAD 02760 OGC 02650 ERCOMP1 02650 STORE ERCOMP1 77776 EXIT >019172,001033: 33,3407 05357 GCOMP5 TC NEWMODEX 00002 MM 02 B-14 05415 TC PHASCHNG 00004 OCT 00004 05220 TC ENDOFJOB SETLOC IMUCAL BANK COUNT* $$/P03 645">019182,001043: 33,3414 00006 TARGDRVE EXTEND 23424 QXCH QPLAC 55431 TS TARG1/2 06006 TC INTPRET 77624 CALL 67273 TAR/EREF 76740 LXC,1 VLOAD* 02431 TARG1/2 00007 6D,1 36766 STCALL STAR 46053 SXTANG 77776 EXIT 31773 CA SAC 55303 TS DESOPTS 31775 CA PAC 55302 TS DESOPTT >019198,001059: 33,3434 35003 RETARG CAF ZERO 55313 TS OPTIND 04647 TC BANKCALL 16000 CADR SXTMARK 10301 CCS MARKINDX 03434 TC RETARG # NO MARK TAKEN - DO AGAIN 04647 TC BANKCALL 16057 CADR MKRELEAS 01424 TC QPLAC SETLOC IMUCAL BANK COUNT* $$/P03 >019214,001075: 33,3445 30341 22444 PIPASC 2DEC .76376833 /a>019215,001076: 33,3447 57223 66451 VELSC 2DEC -.52223476 >019216,001077: 33,3451 05427 12577 ALSK 2DEC .17329931 77567 44202 2DEC -.00835370 A">019218,001079: 33,3455 24276 14066 GEORGEJ 2DEC .63661977 331">019219,001080: 33,3457 03146 14632 GEOCONS1 2DEC .1 332">019220,001081: 33,3461 00121 35341 GEOCONS2 2DEC .005 333">019221,001082: 33,3463 01767 31666 GEOCONS3 2DEC .062 334">019222,001083: 33,3465 00004 35223 GEOCONS4 2DEC .0003 COUNT* $$/P02 542">019225,001086: 33,3467 74020 LITTLSUB STQ AXC,1 00300 QMAJ 03702 MRKBUF1 77650 GOTO 36107 SXTSM2 SETLOC EXTVERBS BANK COUNT* $$/EXTVB 731">019236,001097: 43,3175 06006 AZMTHCG1 TC INTPRET 47145 DLOAD RTB 02636 NEWAZMTH 45621 1STO2S 77776 EXIT 56154 XCH MPAC 55240 TS DSPTEM1 04647 TC BANKCALL 20575 CADR CLEANDSP 33230 CAF VN0629 04647 TC BANKCALL 20623 CADR GOFLASH 13222 TCF +11 13214 TCF +2 13206 TCF -5 06006 TC INTPRET 47135 SLOAD RTB 01241 DSPTEM1 45566 CDULOGIC 02634 STORE LAUNCHAZ 77776 EXIT 35003 +11 CAF ZERO 55632 TS PREMTRXC 05415 TC PHASCHNG 00004 OCT 00004 04666 TC POSTJUMP 21155 CADR PINBRNCH >019264,001125: 43,3230 01435 VN0629 VN 0629 IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc