Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Peter McDermott. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
	DEC 13, 1966

	THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37 
        OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.

015431,000002:                                                                                                  ## Copyright:   Public domain.
015432,000003:                                                                                                  ## Filename:    IMU_PERFORMANCE_TESTS_1.agc
015433,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
015434,000005:                                                                                                  ##              It is part of an early development version of the software
015435,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
015436,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
015437,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
015438,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
015439,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
015440,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
015441,000012:                                                                                                  ##              that the code format has been changed to conform to the
015442,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
015443,000014:                                                                                                  ##              original YUL assembler.
015444,000015:                                                                                                  ## Reference:   pp. 361-390
015445,000016:                                                                                                  ## Assembler:   yaYUL
015446,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
015447,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
015448,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
015449,000020:                                                                                                  ##              2017-06-08 RSB  Transcribed.
015450,000021:                                                                                                  ##              2017-06-22 RSB  Proofed comment text with
015451,000022:                                                                                                  ##                              octopus/ProoferComments.
015452,000023: 

Page 361

015454,000025: 14,2000                                           BANK     14                                    
015455,000026: 14,2000  E5,1400                                  EBANK=   XSM                                   
015456,000027: 
015457,000028: 
015458,000029: 
015459,000030: 14,2000           37755        AOTNBIMU           CAF      ONE                                   #  AOT-NB-IMU FINE ALIGNMENT TEST
015460,000031: 14,2001           55512                           TS       EROPTN                                #  ... TEST CAPABILITY ...
015461,000032: 
015462,000033: 14,2002           05224                           TC       BANKCALL                              
015463,000034: 14,2003           26000                           CADR     IMUZERO                               #  IMU ZERO ENCODER MODE
015464,000035: 14,2004           06103                           TC       INTPRET                               
015465,000036: 14,2005           77624                           CALL                                           
015466,000037: 14,2006           30532                                    LATAZCHK                              #  TO LOAD AZIMUTH (SM) AND LATITUDE
015467,000038: 14,2007           77624                           CALL                                           
015468,000039: 14,2010           30325                                    MAKEXSMD                              #  TO SET UP A STABLE MEMBER DESIRED MATRIX
015469,000040: 14,2011           45014                           SET      CALL                                  
015470,000041: 14,2012           00065                                    COAROFIN                              #  FOR COARSE OR FINE ALIGN MARKS
015471,000042: 14,2013           30407                                    ERTHRVSE                              #  TO CALCULATE EARTH RATE VECTOR
015472,000043: 14,2014           77776                           EXIT                                           
015473,000044: 
015474,000045: 14,2015           33657        POSLOAD            CAF      V24N30E                               #  R1  0000X ENTER    POSITION 1,2, OR 3
015475,000046: 14,2016           04646                           TC       NVSBWAIT                              #  R2  00000 ENTER    00001 FOR LAB OPTION
015476,000047: 14,2017           04464                           TC       ENDIDLE                               
015477,000048: 14,2020           12747                           TCF      ENDTEST                               
015478,000049: 14,2021           12015                           TCF      -4                                    
015479,000050: 14,2022           56337                           XCH      DSPTEM1                               #  DO NOT USE POSITION 3 WITH NAV BASE AT
015480,000051: 14,2023           55544                           TS       POSITON                               #     ZERO DEGREE TILT ANGLE. (GIMBAL LOCK)
015481,000052: 
015482,000053: 14,2024           10340                           CCS      DSPTEM1    +1                         
015483,000054: 14,2025           12762                           TCF      LEMLAB                                #  SPECIAL LAB TEST TO BYPASS MARKS
015484,000055: 
015485,000056: 14,2026           02600                           TC       POSNJUMP                              #  SET UP STABLE MEMBER DESIRED COORDINATES
015486,000057: 
015487,000058: 14,2027           02503                           TC       OPTDATA                               #  TARGETS 1,2 AZIMUTH AND ELEVATION
015488,000059: 
015489,000060: 14,2030           02135                           TC       FINDNAVB                              #  COARSE ALIGN MARKS
015490,000061: 
015491,000062: 14,2031           05224                           TC       BANKCALL                              
015492,000063: 14,2032           26762                           CADR     IMUSTALL                              #  INSURE IMUZERO COMPLETION
015493,000064: 14,2033           12747                           TCF      ENDTEST                               
015494,000065: 
015495,000066: 14,2034           02247                           TC       PUTPOSX                               #  TO COARSE ALIGN STABLE MEMBER
015496,000067: 
015497,000068: 14,2035           02741                           TC       GMLCKCHK                              #  CHECK FOR GIMBAL LOCK BEFORE FINE ALIGN
015498,000069: 14,2036           02731                           TC       OGCZERO                               #  FOR EARTH RATE COMPENSATION
015499,000070: 
015500,000071: 14,2037           05224                           TC       BANKCALL                              
015501,000072: 14,2040           26251                           CADR     IMUFINE                               #  FINE ALIGN MODE
015502,000073: 14,2041           05224                           TC       BANKCALL                              
015503,000074: 14,2042           26762                           CADR     IMUSTALL                              

Page 362

015505,000076: 14,2043           12747                           TCF      ENDTEST                               
015506,000077: 
015507,000078: 14,2044           02135                           TC       FINDNAVB                              #  FINE ALIGN MARKS
015508,000079: 
015509,000080: 14,2045           04713                           TC       FREEDSP                               #  FREE DISPLAY SYSTEM
015510,000081: 
015511,000082: 14,2046           02263                           TC       SMDCALC                               #  TO FINE ALIGN STABLE MEMBER
015512,000083: 
015513,000084: 14,2047           05224        ERFINAL            TC       BANKCALL                              #  LAST EARTH RATE SHOT
015514,000085: 14,2050           30424                           CADR     EARTHR                                
015515,000086: 14,2051           11512                           CCS      EROPTN                                #  IF DESIRED TO COMPENSATE CONTINUALLY
015516,000087: 14,2052           12065                           TCF      MONSTART                              #      CHANGE BY V21 N02 E XXXXX E 00000 E
015517,000088: 14,2053           12047                           TCF      ERFINAL                               
015518,000089: 14,2054           12747                           TCF      ENDTEST                               
015519,000090: 
015520,000091: 14,2055           55512                           TS       EROPTN                                
015521,000092: 14,2056           00004                           INHINT                                         
015522,000093: 14,2057           35662                           CAF      PRIO21                                #  PRIORITY 1 HIGHER THAN SXTNBIMU
015523,000094: 14,2060           05534                           TC       FINDVAC                               
015524,000095: 14,2061  E5,1400                                  EBANK=   XSM                                   
015525,000096: 14,2061           03064 30005                     2CADR    RDR37511                              
015526,000097: 
015527,000098: 14,2063           00003                           RELINT                                         
015528,000099: 14,2064           02047                           TC       ERFINAL                               
015529,000100: 
015530,000101: 14,2065           05015        MONSTART           TC       FINETIME                              #  TIME AT INITIAL MISALIGNMENT
015531,000102: 14,2066           52145                           DXCH     MPAC                                  
015532,000103: 14,2067           00003                           RELINT                                         
015533,000104: 14,2070           37761                           CAF      ZERO                                  #  ZERO PIPA COUNTERS
015534,000105: 14,2071           54037                           TS       PIPAX                                 
015535,000106: 14,2072           54040                           TS       PIPAY                                 
015536,000107: 14,2073           54041                           TS       PIPAZ                                 
015537,000108: 14,2074           55551                           TS       STOREPL                               
015538,000109: 14,2075           55537                           TS       NDXCTR                                
015539,000110: 14,2076           02456                           TC       STORRSLT                              #  STORE T(INITIAL) AND PIPAI = 0
015540,000111: 
015541,000112: 14,2077           00004                           INHINT                                         
015542,000113: 14,2100           33670                           CAF      60SEC                                 #  INSURE PIPAI VARIES IN ONE DIRECTION
015543,000114: 
015544,000115: 14,2101           05701                           TC       WAITLIST                              
015545,000116: 14,2102  E5,1400                                  EBANK=   XSM                                   
015546,000117: 14,2102           02106 30005                     2CADR    PIP1                                  
015547,000118: 
015548,000119: 14,2104           32134                           CAF      PIP2ADR                               
015549,000120: 14,2105           05563                           TC       JOBSLEEP                              
015550,000121: 
015551,000122: 14,2106           32134        PIP1               CAF      PIP2ADR                               
015552,000123: 14,2107           05567                           TC       JOBWAKE                               
015553,000124: 14,2110           05745                           TC       TASKOVER                              
015554,000125: 
015555,000126: 14,2111           31542        PIP2               CAE      PIPNDX                                
015556,000127: 14,2112           55541                           TS       PIPINDEX                              #  POS1 PIPAY     POS2 PIPAX     POS3 PIPAX

Page 363

015558,000129: 14,2113           05224                           TC       BANKCALL                              
015559,000130: 14,2114           50773                           CADR     CHECKG                                #  SYNC ON PIPA PULSE
015560,000131: 
015561,000132: 14,2115           00003                           RELINT                                         
015562,000133: 14,2116           02456                           TC       STORRSLT                              #  STORE TIME AND PIPAI
015563,000134: 
015564,000135: 14,2117           31543                           CAE      PIPNDX     +1                         
015565,000136: 14,2120           55541                           TS       PIPINDEX                              #  POS1 PIPAZ     POS2 PIPAY     POS3 PIPAZ
015566,000137: 14,2121           05224                           TC       BANKCALL                              
015567,000138: 14,2122           50773                           CADR     CHECKG                                #  SYNC ON PIPA PULSE
015568,000139: 
015569,000140: 14,2123           00003                           RELINT                                         
015570,000141: 14,2124           02456                           TC       STORRSLT                              #  STORE TIME AND PIPAI
015571,000142: 
015572,000143: 14,2125           00004                           INHINT                                         
015573,000144: 14,2126           33667                           CAF      30SEC                                 #  MONITOR PIPAS AT 30 SECOND INTERVALS
015574,000145: 14,2127           05701                           TC       WAITLIST                              
015575,000146: 14,2130  E5,1400                                  EBANK=   XSM                                   
015576,000147: 14,2130           02106 30005                     2CADR    PIP1                                  
015577,000148: 
015578,000149: 14,2132           32134                           CAF      PIP2ADR                               
015579,000150: 14,2133           05563                           TC       JOBSLEEP                              
015580,000151: 14,2134           30111        PIP2ADR            CADR     PIP2                                  
015581,000152: 

Page 364

015583,000154: 14,2135           00006        FINDNAVB           EXTEND                                         #  MARKS * CALC NB OR SM WRT EARTH REF
015584,000155: 14,2136           23546                           QXCH     QPLACE                                
015585,000156: 
015586,000157: 14,2137           05224                           TC       BANKCALL                              
015587,000158: 14,2140           27060                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
015588,000159: 14,2141           37755                           CAF      ONE                                   
015589,000160: 14,2142           54337                           TS       DSPTEM1                               
015590,000161: 14,2143           33653                           CAF      V01N30E                               #  DISPLAY 00001 IN R1
015591,000162: 14,2144           04646                           TC       NVSBWAIT                              
015592,000163: 14,2145           37761                           CAF      ZERO                                  #  TO INDICATE GROUND MARKS
015593,000164: 14,2146           05224                           TC       BANKCALL                              
015594,000165: 14,2147           27017                           CADR     AOTMARK                               #  MARK ON TARGET 1
015595,000166: 
015596,000167: 14,2150           05224                           TC       BANKCALL                              
015597,000168: 14,2151           26760                           CADR     OPTSTALL                              #  INSURE SUCCESSFUL MARK
015598,000169: 14,2152           12747                           TCF      ENDTEST                               
015599,000170: 14,2153           00006                           EXTEND                                         
015600,000171: 14,2154           50373                           INDEX    MARKSTAT                              
015601,000172: 14,2155           30001                           DCA      0                                     
015602,000173: 14,2156           53565                           DXCH     TMARK                                 #  TIME(PRES) FOR EARTH RATE COMPENSATION
015603,000174: 
015604,000175: 14,2157           02242                           TC       GIMANGS1                              
015605,000176: 
015606,000177: 14,2160           06103                           TC       INTPRET                               
015607,000178: 14,2161           45140                           LXC,1    CALL                                  
015608,000179: 14,2162           00373                                    MARKSTAT                              #  BASE ADDRESS VAC AREA FOR AOTNB
015609,000180: 
015610,000181: 14,2163           33161                                    AOTNB                                 #  OPTICS TO NAV BASE COORDINATE FRAME
015611,000182: 14,2164           45014                           BON      CALL                                  
015612,000183: 14,2165           00305                                    COAROFIN                              #  COARSE MARKS = 0    FINE MARKS = 1
015613,000184: 14,2166           30170                                    +2                                    
015614,000185: 14,2167           32622                                    NBSM                                  #  NAV BASE DIRECT TO STABLE MEMBER
015615,000186: 14,2170           02445                           STORE    STARAD                                #  TARGET 1 WRT NAV BASE OR STABLE MEMBER
015616,000187: 14,2171           02601                           STORE    LOS1                                  #  ...FOR K...
015617,000188: 14,2172           77776                           EXIT                                           
015618,000189: 
015619,000190: 14,2173           05224                           TC       BANKCALL                              
015620,000191: 14,2174           27060                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
015621,000192: 14,2175           37754                           CAF      TWO                                   
015622,000193: 14,2176           54337                           TS       DSPTEM1                               
015623,000194: 14,2177           33653                           CAF      V01N30E                               #  DISPLAY 00002 IN R1
015624,000195: 14,2200           04646                           TC       NVSBWAIT                              
015625,000196: 14,2201           37761                           CAF      ZERO                                  #  TO INDICATE GROUND MARKS
015626,000197: 14,2202           05224                           TC       BANKCALL                              
015627,000198: 14,2203           27017                           CADR     AOTMARK                               #  MARK ON TARGET 2
015628,000199: 
015629,000200: 14,2204           37744                           CAF      BIT10                                 
015630,000201: 14,2205           70074                           MASK     STATE                                 #  BIT10 = COAROFIN
015631,000202: 14,2206           10000                           CCS      A                                     
015632,000203: 14,2207           12215                           TCF      EARRTCOM   +5                         #  IF COARSE ALIGN MARKS
015633,000204: 

Page 365

015635,000206: 14,2210           05224        EARRTCOM           TC       BANKCALL                              #  EARTH RATE COMPENSATION BETWEEN MARKS
015636,000207: 14,2211           30424                           CADR     EARTHR                                
015637,000208: 14,2212           10370                           CCS      OPTCADR                               #  +0 IF MARK BUTTON NOT DEPRESSED
015638,000209: 14,2213           12216                           TCF      +3                                    
015639,000210: 14,2214           12210                           TCF      EARRTCOM                              #  CONTINUE TO COMPENSATE FOR EARTH RATE
015640,000211: 14,2215           12216                           TCF      +1                                    
015641,000212: 14,2216           05224                           TC       BANKCALL                              
015642,000213: 14,2217           26760                           CADR     OPTSTALL                              #  INSURE SUCCESSFUL MARK
015643,000214: 
015644,000215: 14,2220           12747                           TCF      ENDTEST                               
015645,000216: 
015646,000217: 14,2221           02242                           TC       GIMANGS1                              
015647,000218: 
015648,000219: 14,2222           06103                           TC       INTPRET                               
015649,000220: 14,2223           45140                           LXC,1    CALL                                  
015650,000221: 14,2224           00373                                    MARKSTAT                              #  BASE ADDRESS VAC AREA FOR AOTNB
015651,000222: 14,2225           33161                                    AOTNB                                 #  OPTICS TO NAV BASE COORDINATE FRAME
015652,000223: 14,2226           45014                           BONCLR   CALL                                  #  SET TO ZERO FOR FINE ALIGN MARKS
015653,000224: 14,2227           00205                                    COAROFIN                              #  COARSE MARKS = 0    FINE MARKS = 1
015654,000225: 14,2230           30232                                    +2                                    
015655,000226: 14,2231           32622                                    NBSM                                  #  NAV BASE DIRECT TO STABLE MEMBER
015656,000227: 14,2232           02453                           STORE    STARAD     +6                         #  TARGET 2 WRT NAV BASE OR STABLE MEMBER
015657,000228: 14,2233           02607                           STORE    LOS2                                  #  ...FOR K...
015658,000229: 
015659,000230: 14,2234           77624        MAXDET             CALL                                           
015660,000231: 14,2235           30350                                    TAR/EREF                              #  TARGETS 1,2 WRT EARTH REF FRAME
015661,000232: 14,2236           77624                           CALL                                           
015662,000233: 14,2237           33006                                    AXISGEN                               #  NAV BASE OR SM WRT EARTH REF FRAME
015663,000234: 14,2240           77776                           EXIT                                           
015664,000235: 14,2241           01546                           TC       QPLACE                                
015665,000236: 
015666,000237: 
015667,000238: 
015668,000239: 14,2242           37754        GIMANGS1           CAF      TWO                                   #  BASE ADDRESS GIMBAL ANGLES FOR NBSM
015669,000240: 14,2243           60373                           AD       MARKSTAT                              
015670,000241: 14,2244           50110                           INDEX    FIXLOC                                
015671,000242: 14,2245           54050                           TS       S1                                    
015672,000243: 14,2246           00002                           TC       Q                                     
015673,000244: 

Page 366

015675,000246: 14,2247           00006        PUTPOSX            EXTEND                                         #  COARSE ALIGNS STABLE MEMBER
015676,000247: 14,2250           23546                           QXCH     QPLACE                                
015677,000248: 
015678,000249: 14,2251           06103                           TC       INTPRET                               
015679,000250: 14,2252           77624                           CALL                                           
015680,000251: 14,2253           32722                                    CALCGA                                #  CALCULATE COARSE ALIGN GIMBAL ANGLES
015681,000252: 14,2254           77776                           EXIT                                           
015682,000253: 
015683,000254: 14,2255           05224                           TC       BANKCALL                              
015684,000255: 14,2256           26065                           CADR     IMUCOARS                              #  COARSE ALIGN MODE
015685,000256: 14,2257           05224                           TC       BANKCALL                              
015686,000257: 14,2260           26762                           CADR     IMUSTALL                              
015687,000258: 14,2261           12747                           TCF      ENDTEST                               
015688,000259: 14,2262           01546                           TC       QPLACE                                
015689,000260: 
015690,000261: 
015691,000262: 
015692,000263: 
015693,000264: 14,2263           00006        SMDCALC            EXTEND                                         #  FINE ALIGNS STABLE MEMBER
015694,000265: 14,2264           23546                           QXCH     QPLACE                                
015695,000266: 
015696,000267: 14,2265           06103                           TC       INTPRET                               
015697,000268: 14,2266           64375                           VLOAD    MXV                                   
015698,000269: 14,2267           02401                                    XSM                                   #  XSM DESIRED WRT EARTH REF FRAME
015699,000270: 14,2270           02445                                    STARAD                                #  THEN TO SM PRESENT OR NAV BASE FRAME
015700,000271: 14,2271           43172                           VSL1     BOFF                                  
015701,000272: 14,2272           00345                                    COAROFIN                              #  BIT10 FOR LEMLAB TEST
015702,000273: 14,2273           30276                                    +3                                    
015703,000274: 14,2274           34041                           STCALL   32D                                   
015704,000275: 14,2275           32622                                    NBSM                                  #  THEN TO SM PRESENT FRAME
015705,000276: 14,2276           26423                           STOVL    XDC                                   
015706,000277: 14,2277           02407                                    YSM                                   #  YSM DESIRED WRT EARTH REF FRAME
015707,000278: 
015708,000279: 14,2300           76521                           MXV      VSL1                                  
015709,000280: 14,2301           02445                                    STARAD                                #  THEN TO SM PRESENT OR NAV BASE FRAME
015710,000281: 14,2302           77614                           BOFF                                           
015711,000282: 14,2303           00345                                    COAROFIN                              #  BIT10 FOR LEMLAB TEST
015712,000283: 14,2304           30307                                    +3                                    
015713,000284: 14,2305           34041                           STCALL   32D                                   
015714,000285: 14,2306           32622                                    NBSM                                  #  THEN TO SM PRESENT FRAME
015715,000286: 14,2307           26431                           STOVL    YDC                                   
015716,000287: 14,2310           02423                                    XDC                                   
015717,000288: 
015718,000289: 14,2311           76435                           VXV      VSL1                                  
015719,000290: 14,2312           02431                                    YDC                                   
015720,000291: 14,2313           36437                           STCALL   ZDC                                   #  ZSM DESIRED WRT SM PRESENT FRAME
015721,000292: 14,2314           32472                                    CALCGTA                               #  CALCULATE FINE ALIGN TORQUING ANGLES
015722,000293: 
015723,000294: 14,2315           47170                           AXT,1    RTB                                   
015724,000295: 

Page 367

015726,000297: 14,2316           02500                           ECADR    OGC                                   #  X1 = BASE ADDRESS OF TORQUING ANGLES
015727,000298: 14,2317           33674                                    PULSEIMU                              #  TO PUT OUT GYRO TORQUING PULSES
015728,000299: 14,2320           77776                           EXIT                                           
015729,000300: 
015730,000301: 14,2321           05224                           TC       BANKCALL                              
015731,000302: 14,2322           26762                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
015732,000303: 14,2323           12747                           TCF      ENDTEST                               
015733,000304: 14,2324           01546                           TC       QPLACE                                
015734,000305: 

Page 368

015736,000307: 14,2325           77776        MAKEXSMD           EXIT                                           #  XSM V   YSM SW   ZSM SE
015737,000308: 
015738,000309: 14,2326           33662                           CAF      17DEC                                 #  ZERO XSM, YSM, AND ZSM
015739,000310: 14,2327           55777                           TS       ZERONDX                               
015740,000311: 14,2330           33700                           CAF      XSMADRX                               
015741,000312: 14,2331           05224                           TC       BANKCALL                              
015742,000313: 14,2332           51240                           CADR     ZEROING                               #          VERT       SOUTH      EAST
015743,000314: 
015744,000315: 14,2333           37740                           CAF      HALF                                  #  XSM    * +1          0          0     *
015745,000316: 14,2334           55400                           TS       XSM                                   #         *                              *
015746,000317: 14,2335           06103                           TC       INTPRET                               #         *                              *
015747,000318: 14,2336           73545                           DLOAD    SIN                                   #  YSM    *  0      +SIN(AZ)    +COS(AZ) *
015748,000319: 14,2337           02507                                    AZIMUTH                               #         *                              *
015749,000320: 14,2340           02411                           STORE    XSM        +8D                        #         *                              *
015750,000321: 14,2341           16421                           STODL    XSM        +16D                       #  ZSM    *  0      -COS(AZ)    +SIN(AZ) *
015751,000322: 14,2342           02507                                    AZIMUTH                               
015752,000323: 14,2343           77746                           COS                                            
015753,000324: 14,2344           02413                           STORE    XSM        +10D                       
015754,000325: 14,2345           77676                           DCOMP                                          
015755,000326: 14,2346           02417                           STORE    XSM        +14D                       
015756,000327: 14,2347           77616                           RVQ                                            
015757,000328: 
015758,000329: 
015759,000330: 
015760,000331: 14,2350           77170        TAR/EREF           AXT,1    AXT,2                                 #               TARGET VECTOR
015761,000332: 14,2351           00002                                    2                                     #  SIN(EL)  -COS(AZ)COS(EL)  SIN(AZ)COS(EL)
015762,000333: 14,2352           00014                                    12D                                   
015763,000334: 14,2353           77731                           SSP                                            
015764,000335: 14,2354           00052                                    S2                                    
015765,000336: 14,2355           00006                                    6                                     #  TARGET 1                        TARGET 2
015766,000337: 
015767,000338: 14,2356           60533        TAR1               SLOAD*   SR2                                   #  X1=2  X2=12  S2=6 . X1=0  X2=6  S2=6
015768,000339: 14,2357           02557                                    TAZEL1     +3,1                       
015769,000340: 14,2360           00001                           STORE    0                                     #  PD00           ELEVATION            PD00
015770,000341: 14,2361           77756                           SIN                                            
015771,000342: 14,2362           10023                           STORE    18D,2                                 #  PD06  ***       SIN(EL)        ***  PD12
015772,000343: 14,2363           77745                           DLOAD                                          
015773,000344: 14,2364           00001                                    0                                     
015774,000345: 14,2365           41546                           COS      PUSH                                  #  PDOO            COS(EL)             PD00
015775,000346: 14,2366           47133                           SLOAD*   RTB                                   
015776,000347: 14,2367           02556                                    TAZEL1     +2,1                       
015777,000348: 14,2370           33524                                    CDULOGIC                              
015778,000349: 14,2371           00003                           STORE    2                                     #  PD02            AZIMUTH             PD02
015779,000350: 14,2372           41356                           SIN      DMP                                   
015780,000351: 14,2373           00001                                    0                                     
015781,000352: 14,2374           77752                           SL1                                            
015782,000353: 14,2375           10027                           STORE    22D,2                                 #  PD10  ***   +SIN(AZ)COS(EL)    ***  PD16
015783,000354: 14,2376           77745                           DLOAD                                          
015784,000355: 14,2377           00003                                    2                                     
015785,000356: 14,2400           41346                           COS      DMP                                   

Page 369

015787,000358: 14,2401           57552                           SL1      DCOMP                                 
015788,000359: 14,2402           10025                           STORE    20D,2                                 #  PD08  ***   -COS(AZ)COS(EL)    ***  PD14
015789,000360: 
015790,000361: 14,2403           61170                           AXT,1    TIX,2                                 
015791,000362: 14,2404           00000                                    0                                     
015792,000363: 14,2405           30356                                    TAR1                                  
015793,000364: 14,2406           77616                           RVQ                                            
015794,000365: 

Page 370

015796,000367: 14,2407           65345        ERTHRVSE           DLOAD    PDDL                                  
015797,000368: 14,2410           33152                                    ZERODP                                #  PD24 = (SIN  -COS  0)(OMEG/MS)
015798,000369: 14,2411           02511                                    LATITUDE                              
015799,000370: 14,2412           57546                           COS      DCOMP                                 
015800,000371: 14,2413           73525                           PDDL     SIN                                   
015801,000372: 14,2414           02511                                    LATITUDE                              #  EARTH RATE = .1504 ARCSEC / 10 MSEC
015802,000373: 14,2415           74266                           VDEF     VXSC                                  #  1.618 GYRO PULSES = 1 ARCSEC
015803,000374: 14,2416           31704                                    OMEG/MS                               #  OMEG/MS = .243... GYRO PULSES / 10 MSEC
015804,000375: 14,2417           02514                           STORE    ERVECTOR                              
015805,000376: 
015806,000377: 14,2420           77634                           RTB                                            
015807,000378: 14,2421           33521                                    LOADTIME                              
015808,000379: 14,2422           02565                           STORE    TMARK                                 #  TIME FOR GYRO DRIFT - PIPA SCALE FACTOR
015809,000380: 14,2423           77616                           RVQ                                            
015810,000381: 
015811,000382: 
015812,000383: 
015813,000384: 14,2424           05253        EARTHR             TC       MAKECADR                              #  CALCULATES AND COMPENSATES EARTH RATE
015814,000385: 14,2425           55547                           TS       QPLACES                               
015815,000386: 
015816,000387: 14,2426           06103                           TC       INTPRET                               
015817,000388: 14,2427           77634                           RTB                                            
015818,000389: 14,2430           33521                                    LOADTIME                              #  T(PRESENT)
015819,000390: 14,2431           02562                           STORE    TEMPTIME                              
015820,000391: 14,2432           54225                           DSU      SL                                    
015821,000392: 14,2433           02565                                    TMARK                                 #  T(PRES) - T(PREV) = DT    SCALED 10 MSEC
015822,000393: 14,2434           20212                                    9D                                    #  2 TO 21ST POWER = 1 REVOLUTION
015823,000394: 14,2435           64361                           VXSC     MXV                                   
015824,000395: 14,2436           02514                                    ERVECTOR                              #  VT = (SIN  -COS  0)(OMEG/MS)(DT)
015825,000396: 14,2437           02401                                    XSM                                   #  (XSM)(VT) = EARTH RATE COMPENSATION
015826,000397: 14,2440           77655                           VAD                                            
015827,000398: 14,2441           02772                                    ERCOMP                                
015828,000399: 14,2442           16772                           STODL    ERCOMP                                
015829,000400: 14,2443           02562                                    TEMPTIME                              
015830,000401: 14,2444           02565                           STORE    TMARK                                 #  T(PREVIOUS)
015831,000402: 
015832,000403: 14,2445           47170                           AXT,1    RTB                                   
015833,000404: 14,2446           02771                           ECADR    ERCOMP                                
015834,000405: 14,2447           33674                                    PULSEIMU                              #  TO PUT OUT GYRO TORQUING PULSES
015835,000406: 14,2450           77776                           EXIT                                           
015836,000407: 
015837,000408: 14,2451           05224                           TC       BANKCALL                              
015838,000409: 14,2452           26762                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
015839,000410: 14,2453           12747                           TCF      ENDTEST                               
015840,000411: 14,2454           31547                           CAE      QPLACES                               
015841,000412: 14,2455           15246                           TCF      BANKJUMP                              
015842,000413: 

Page 371

015844,000415: 14,2456           00006        STORRSLT           EXTEND                                         
015845,000416: 14,2457           23546                           QXCH     QPLACE                                
015846,000417: 
015847,000418: 14,2460           06103                           TC       INTPRET                               #  DP TIME IN MPAC SCALED .312(5) MSEC
015848,000419: 14,2461           54340                           LXC,1    SL                                    
015849,000420: 14,2462           02537                                    NDXCTR                                
015850,000421: 14,2463           20204                                    3                                     
015851,000422: 14,2464           47005                           DMP      RTB                                   
015852,000423: 14,2465           31702                                    SCALFTR                               
015853,000424: 14,2466           33565                                    SGNAGREE                              
015854,000425: 14,2467           06571                           STORE    GENPL,1                               #  STORE DP TIME
015855,000426: 14,2470           77776                           EXIT                                           
015856,000427: 
015857,000428: 14,2471           57551                           XCH      STOREPL                               #  CONTAINS C(PIPAI)
015858,000429: 14,2472           51537                           INDEX    NDXCTR                                
015859,000430: 14,2473           55572                           TS       GENPL      +2                         #  STORE PIPA COUNTER READING
015860,000431: 14,2474           41537                           CS       NDXCTR                                
015861,000432: 14,2475           63666                           AD       72DEC                                 
015862,000433: 14,2476           00006                           EXTEND                                         
015863,000434: 
015864,000435: 14,2477           63125                           BZMF     MISALIGN                              #  TO CALCULATE MISALIGNMENT
015865,000436: 14,2500           36301                           CAF      THREE                                 
015866,000437: 14,2501           27537                           ADS      NDXCTR                                
015867,000438: 14,2502           01546                           TC       QPLACE                                
015868,000439: 
015869,000440: 14,2503           00006        OPTDATA            EXTEND                                         #  CALLS FOR AZIMUTH AND ELEVATION OF
015870,000441: 14,2504           23546                           QXCH     QPLACE                                #     TARGET 1, THEN TARGET 2
015871,000442: 
015872,000443: 14,2505           37755                           CAF      BIT1                                  #  AZIMUTH CLOCKWISE FROM NORTH TO TARGET
015873,000444: 14,2506           22007                           ZL                                             #  ELEVATION MEASURED FROM HORIZONTAL
015874,000445: 14,2507           23550                           LXCH     RUN                                   
015875,000446: 14,2510           54341                           TS       DSPTEM1    +2                         
015876,000447: 14,2511           33654                           CAF      V05N30E                               #  DISPLAY TARGET NUMBER IN R3
015877,000448: 14,2512           04646                           TC       NVSBWAIT                              
015878,000449: 14,2513           51550                           INDEX    RUN                                   
015879,000450: 14,2514           53554                           DXCH     TAZEL1                                
015880,000451: 14,2515           52340                           DXCH     DSPTEM1                               
015881,000452: 
015882,000453: 14,2516           02556                           TC       CHECKLD                               #  R1  +- XXX.XX    AZIMUTH IN DEGREES
015883,000454: 14,2517           00661                           OCT      00661                                 #  R2  +- XX.XXX    ELEVATION IN DEGREES
015884,000455: 14,2520           12747                           TCF      ENDTEST                               #  R3      0000X    TARGET NUMBER 1 OR 2
015885,000456: 
015886,000457: 14,2521           52340                           DXCH     DSPTEM1                               #  TAZEL1       TARGET 1 AZIMUTH
015887,000458: 
015888,000459: 14,2522           51550                           INDEX    RUN                                   
015889,000460: 14,2523           53554                           DXCH     TAZEL1                                #  TAZEL1 +2    TARGET 2 AZIMUTH
015890,000461: 14,2524           11550                           CCS      RUN                                   
015891,000462: 14,2525           12531                           TCF      +4                                    
015892,000463: 14,2526           37754        OPTRDRIN           CAF      TWO                                   #  SPECIAL ENTRY FOR RDR37511
015893,000464: 14,2527           54001                           TS       L                                     
015894,000465: 14,2530           12507                           TCF      OPTDATA    +4                         #  MPAC    1ST PASS = 0    2ND PASS = 2
015895,000466: 14,2531           01546                           TC       QPLACE                                
015896,000467: 

Page 372

015898,000469: 14,2532           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH (SM) AND LATITUDE
015899,000470: 14,2533           02511                                    LATITUDE                              
015900,000471: 
015901,000472: 14,2534           14341                           STODL    DSPTEM1    +1                         
015902,000473: 14,2535           02507                                    AZIMUTH                               #  ...NOT REALLY...
015903,000474: 
015904,000475: 14,2536           77434                           RTB      EXIT                                  
015905,000476: 14,2537           33567                                    1STO2S                                #  FRACTION OF REVOLUTION TO 2S COMPLEMENT
015906,000477: 
015907,000478: 14,2540           56144                           XCH      MPAC                                  #  AZIMUTH MUST BE 135 DEGREES R1 = +13500
015908,000479: 14,2541           54337                           TS       DSPTEM1                               #     FOR SXT-NB-IMU FINE ALIGNMENT TEST
015909,000480: 14,2542           02556                           TC       CHECKLD                               #  R1  +- XXX.XX    AZIMUTH IN DEGREES (SM)
015910,000481: 14,2543           00661                           OCT      00661                                 #  R2  +- XX.XXX    LATITUDE IN DEGREES
015911,000482: 14,2544           12747                           TCF      ENDTEST                               #  R3               NOT USED
015912,000483: 
015913,000484: 14,2545           06103                           TC       INTPRET                               
015914,000485: 14,2546           47135                           SLOAD    RTB                                   
015915,000486: 14,2547           00340                                    DSPTEM1                               
015916,000487: 14,2550           33524                                    CDULOGIC                              #  BACK TO FRACTION OF REVOLUTION
015917,000488: 14,2551           02507                           STORE    AZIMUTH                               
015918,000489: 
015919,000490: 14,2552           60535                           SLOAD    SR2                                   
015920,000491: 14,2553           00341                                    DSPTEM1    +1                         
015921,000492: 14,2554           02511                           STORE    LATITUDE                              
015922,000493: 14,2555           77616                           RVQ                                            
015923,000494: 
015924,000495: 
015925,000496: 14,2556           00006        CHECKLD            EXTEND                                         
015926,000497: 14,2557           23545                           QXCH     QPLAC                                 
015927,000498: 
015928,000499: 14,2560           51545                           INDEX    QPLAC                                 
015929,000500: 14,2561           30000                           CA       A                                     
015930,000501: 14,2562           04433                           TC       NVSUB                                 
015931,000502: 14,2563           12575                           TCF      CHECKLD1                              
015932,000503: 
015933,000504: 14,2564           04611                           TC       FLASHON                               
015934,000505: 
015935,000506: 14,2565           04464                           TC       ENDIDLE                               #  CHANGE R1  V21 N61 E  +- XXX.XX E
015936,000507: 14,2566           12571                           TCF      +3                                    #  CHANGE R2  V22 N61 E  +- XX.XXX E
015937,000508: 14,2567           12573                           TCF      +4                                    #  VERIFY, THEN PROCEED WITH VERB 33 ENTER
015938,000509: 14,2570           12560                           TCF      CHECKLD    +2                         
015939,000510: 14,2571           51545                           INDEX    QPLAC                                 
015940,000511: 14,2572           00001                           TC       1                                     
015941,000512: 14,2573           51545                           INDEX    QPLAC                                 
015942,000513: 14,2574           00002                           TC       2                                     
015943,000514: 
015944,000515: 14,2575           32577        CHECKLD1           CAF      CHECKLD2                              
015945,000516: 14,2576           04643                           TC       NVSUBUSY                              
015946,000517: 14,2577           30560        CHECKLD2           CADR     CHECKLD    +2                         
015947,000518: 

Page 373

015949,000520: 14,2600           00006        POSNJUMP           EXTEND                                         #  POSITIONS FOR SXTNBIMU
015950,000521: 14,2601           23546                           QXCH     QPLACE                                
015951,000522: 
015952,000523: 14,2602           51544                           INDEX    POSITON                               
015953,000524: 14,2603           12604                           TCF      +1                                    
015954,000525: 14,2604           12747                           TCF      ENDTEST                               
015955,000526: 14,2605           12612                           TCF      POS1                                  
015956,000527: 14,2606           12617                           TCF      POS2                                  
015957,000528: 
015958,000529: 14,2607           12635                           TCF      POS3                                  
015959,000530: 14,2610           12656                           TCF      POS4                                  
015960,000531: 14,2611           12710                           TCF      POS5                                  
015961,000532: 
015962,000533: 
015963,000534: 
015964,000535: 14,2612           37755        POS1               CAF      ONE                                   #  XSM = V     YSM = SW    ZSM = SE
015965,000536: 14,2613           55542                           TS       PIPNDX                                
015966,000537: 14,2614           37754                           CAF      TWO                                   
015967,000538: 14,2615           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAY AND PIPAZ 
015968,000539: 14,2616           01546                           TC       QPLACE                                
015969,000540: 
015970,000541: 
015971,000542: 
015972,000543: 14,2617           06103        POS2               TC       INTPRET                               #  XSM = SE    YSM = SW    ZSM = -V
015973,000544: 14,2620           57575                           VLOAD    VCOMP                                 
015974,000545: 14,2621           02401                                    XSM                                   
015975,000546: 14,2622           77715                           PDVL                                           
015976,000547: 14,2623           02415                                    ZSM                                   
015977,000548: 14,2624           26401                           STOVL    XSM                                   
015978,000549: 14,2625           77626                           STADR                                          
015979,000550: 14,2626           75362                           STORE    ZSM                                   
015980,000551: 14,2627           77776                           EXIT                                           
015981,000552: 
015982,000553: 14,2630           37761                           CAF      ZERO                                  
015983,000554: 14,2631           55542                           TS       PIPNDX                                
015984,000555: 14,2632           37755                           CAF      ONE                                   
015985,000556: 14,2633           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAX AND PIPAY
015986,000557: 14,2634           01546                           TC       QPLACE                                
015987,000558: 
015988,000559: 
015989,000560: 
015990,000561: 14,2635           06103        POS3               TC       INTPRET                               #  XSM = SE    YSM = V     ZSM = SW
015991,000562: 14,2636           63375                           VLOAD    PDVL                                  
015992,000563: 14,2637           02401                                    XSM                                   
015993,000564: 14,2640           02407                                    YSM                                   
015994,000565: 14,2641           77715                           PDVL                                           
015995,000566: 14,2642           02415                                    ZSM                                   
015996,000567: 14,2643           26401                           STOVL    XSM                                   
015997,000568: 
015998,000569: 14,2644           77626                           STADR                                          
015999,000570: 14,2645           51362                           STOVL    ZSM                                   
016000,000571: 

Page 374

016002,000573: 14,2646           77626                           STADR                                          
016003,000574: 14,2647           75370                           STORE    YSM                                   
016004,000575: 14,2650           77776                           EXIT                                           
016005,000576: 14,2651           37761                           CAF      ZERO                                  
016006,000577: 14,2652           55542                           TS       PIPNDX                                
016007,000578: 14,2653           37754                           CAF      TWO                                   
016008,000579: 14,2654           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAX AND PIPAZ
016009,000580: 14,2655           01546                           TC       QPLACE                                
016010,000581: 
016011,000582: 
016012,000583: 
016013,000584: 14,2656           37751        POS4               CAF      BIT5                                  #  OPTION TO ALIGN SM TO SPECIFIED ANGLES
016014,000585: 14,2657           60110                           AD       FIXLOC                                
016015,000586: 14,2660           50110                           INDEX    FIXLOC                                
016016,000587: 
016017,000588: 14,2661           54050                           TS       S1                                    #  BASE ADDRESS GIMBAL ANGLES
016018,000589: 14,2662           33660                           CAF      V25N22E                               #  R1  +- XXX.XX   OUTER GIMBAL ANGLE
016019,000590: 14,2663           04646                           TC       NVSBWAIT                              #  R2  +- XXX.XX   INNER GIMBAL ANGLE
016020,000591: 14,2664           04464                           TC       ENDIDLE                               #  R3  +- XXX.XX   MIDDLE GIMBAL ANGLE
016021,000592: 14,2665           12747                           TCF      ENDTEST                               
016022,000593: 14,2666           12662                           TCF      -4                                    
016023,000594: 14,2667           30400                           CA       THETAD                                #  SET UP ANGLES FOR SMNB
016024,000595: 14,2670           50110                           INDEX    FIXLOC                                
016025,000596: 14,2671           54024                           TS       24                                    
016026,000597: 14,2672           30401                           CA       THETAD     +1                         
016027,000598: 14,2673           50110                           INDEX    FIXLOC                                
016028,000599: 14,2674           54020                           TS       20                                    
016029,000600: 14,2675           30402                           CA       THETAD     +2                         
016030,000601: 14,2676           50110                           INDEX    FIXLOC                                
016031,000602: 14,2677           54022                           TS       22                                    
016032,000603: 
016033,000604: 14,2700           06103                           TC       INTPRET                               
016034,000605: 14,2701           45034                           RTB      CALL                                  
016035,000606: 14,2702           33076                                    TRANSPSE                              #  EARTH REF WRT NAV BASE
016036,000607: 14,2703           33110                                    SMD/EREF                              #  STABLE MEMBER DESIRED WRT EARTH REF
016037,000608: 14,2704           77634                           RTB                                            
016038,000609: 14,2705           33076                                    TRANSPSE                              #  BACK TO NAV BASE WRT TO EARTH REF
016039,000610: 14,2706           77776                           EXIT                                           
016040,000611: 
016041,000612: 14,2707           01546                           TC       QPLACE                                
016042,000613: 

Page 375

016044,000615: 14,2710           31546        POS5               CA       QPLACE                                #  OPTION TO ALIGN SM TO ANY ORIENTATION
016045,000616: 14,2711           55551                           TS       STOREPL                               #    WRT EARTH REFERENCE FRAME
016046,000617: 
016047,000618: 14,2712           02503                           TC       OPTDATA                               #  LOAD YSM AND ZSM AZIMUTH AND ELEVATION
016048,000619: 
016049,000620: 14,2713           06103                           TC       INTPRET                               
016050,000621: 14,2714           77624                           CALL                                           
016051,000622: 14,2715           30350                                    TAR/EREF                              #  CALC YSM AND ZSM WRT EARTH REF. FRAME
016052,000623: 14,2716           41575                           VLOAD    PUSH                                  
016053,000624: 14,2717           00007                                    6D                                    
016054,000625: 14,2720           02407                           STORE    YSM                                   
016055,000626: 14,2721           76435                           VXV      VSL1                                  
016056,000627: 14,2722           00015                                    12D                                   
016057,000628: 14,2723           02401                           STORE    XSM                                   #  XSM = (YSM) X (ZSM)
016058,000629: 14,2724           76435                           VXV      VSL1                                  
016059,000630: 14,2725           77626                           STADR                                          
016060,000631: 14,2726           75362                           STORE    ZSM                                   #  ZSM = (XSM) X (YSM)
016061,000632: 14,2727           77776                           EXIT                                           
016062,000633: 
016063,000634: 14,2730           01551                           TC       STOREPL                               

Page 376

016065,000636: 14,2731           00006        OGCZERO            EXTEND                                         #  ZERO EARTH RATE TORQUING ANGLES
016066,000637: 14,2732           23546                           QXCH     QPLACE                                
016067,000638: 
016068,000639: 14,2733           06103                           TC       INTPRET                               
016069,000640: 14,2734           77775                           VLOAD                                          
016070,000641: 14,2735           33152                                    ZERODP                                #  VECTOR IN THIS CASE
016071,000642: 14,2736           02772                           STORE    ERCOMP                                
016072,000643: 14,2737           77776                           EXIT                                           
016073,000644: 14,2740           01546                           TC       QPLACE                                
016074,000645: 
016075,000646: 
016076,000647: 
016077,000648: 14,2741           37750        GMLCKCHK           CAF      BIT6                                  #  CHECK FOR GIMBAL LOCK  (MGA GREATER 70)
016078,000649: 14,2742           70326                           MASK     DSPTAB     +11D                       
016079,000650: 14,2743           00006                           EXTEND                                         
016080,000651: 14,2744           12746                           BZF      +2                                    
016081,000652: 14,2745           12747                           TCF      ENDTEST                               
016082,000653: 14,2746           00002                           TC       Q                                     
016083,000654: 
016084,000655: 
016085,000656: 
016086,000657: 14,2747           37746        ENDTEST            CA       IMUSEFLG                              #  BIT8
016087,000658: 
016088,000659: 14,2750           67747                           AD       RRUSEFLG                              #  BIT7
016089,000660: 14,2751           40000                           CS       A                                     
016090,000661: 14,2752           00004                           INHINT                                         
016091,000662: 14,2753           70074                           MASK     STATE                                 
016092,000663: 14,2754           54074                           TS       STATE                                 
016093,000664: 
016094,000665: 14,2755           04105                           TC       NEWMODEX                              
016095,000666: 14,2756           00000                           OCT      00000                                 
016096,000667: 
016097,000668: 14,2757           05224                           TC       BANKCALL                              
016098,000669: 14,2760           27060                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
016099,000670: 14,2761           05604                           TC       EJFREE                                
016100,000671: 

Page 377

016102,000673: 14,2762           06103        LEMLAB             TC       INTPRET                               
016103,000674: 14,2763           57575                           VLOAD    VCOMP                                 
016104,000675: 14,2764           33146                                    YUNIT                                 
016105,000676: 
016106,000677: 14,2765           02437                           STORE    ZNB                                   #  XNB MATRIX USED IN CALCGA
016107,000678: 14,2766           26461                           STOVL    STARAD     +12D                       #  STARAD MATRIX USED IN AXISGEN * SMDCALC
016108,000679: 14,2767           33150                                    XUNIT                                 
016109,000680: 
016110,000681: 14,2770           02423                           STORE    XNB                                   #  *XNB*   *1    0    0* *V*
016111,000682: 14,2771           26445                           STOVL    STARAD                                #  *   *   *           * * *
016112,000683: 14,2772           33144                                    ZUNIT                                 #  *YNB* = *0    0    1* *S*
016113,000684: 14,2773           02431                           STORE    YNB                                   #  *   *   *           * * *
016114,000685: 14,2774           02453                           STORE    STARAD     +6                         #  *ZNB*   *0   -1    0* *E*
016115,000686: 14,2775           77776                           EXIT                                           
016116,000687: 
016117,000688: 14,2776           41544                           CS       POSITON                               
016118,000689: 14,2777           66301                           AD       THREE                                 
016119,000690: 14,3000           00006                           EXTEND                                         
016120,000691: 14,3001           13003                           BZF      +2                                    
016121,000692: 14,3002           13016                           TCF      LEMLAB1                               
016122,000693: 
016123,000694: 14,3003           06103                           TC       INTPRET                               
016124,000695: 14,3004           57575                           VLOAD    VCOMP                                 
016125,000696: 14,3005           02423                                    XNB                                   
016126,000697: 14,3006           77715                           PDVL                                           #  *XNB*   * 0   -1    0* *V*
016127,000698: 14,3007           02437                                    ZNB                                   #  *   *   *            * * *
016128,000699: 14,3010           02423                           STORE    XNB                                   #  *YNB* = * 0    0    1* *S*
016129,000700: 14,3011           26445                           STOVL    STARAD                                #  *   *   *            * * *
016130,000701: 14,3012           77626                           STADR                                          #  *ZNB*   *-1    0    0* * *
016131,000702: 14,3013           75340                           STORE    ZNB                                   
016132,000703: 14,3014           02461                           STORE    STARAD     +12D                       
016133,000704: 14,3015           77776                           EXIT                                           
016134,000705: 
016135,000706: 14,3016           05224        LEMLAB1            TC       BANKCALL                              
016136,000707: 14,3017           26762                           CADR     IMUSTALL                              #  INSURE IMUZERO COMPLETION
016137,000708: 
016138,000709: 14,3020           12747                           TCF      ENDTEST                               
016139,000710: 
016140,000711: 14,3021           02600                           TC       POSNJUMP                              #  SET UP STABLE MEMBER DESIRED COORDINATES
016141,000712: 14,3022           04713                           TC       FREEDSP                               #  FREE DISPLAY SYSTEM
016142,000713: 14,3023           02247                           TC       PUTPOSX                               #  TO COARSE ALIGN STABLE MEMBER
016143,000714: 
016144,000715: 14,3024           02741                           TC       GMLCKCHK                              
016145,000716: 
016146,000717: 14,3025           05224                           TC       BANKCALL                              
016147,000718: 14,3026           26251                           CADR     IMUFINE                               #  FINE ALIGN MODE
016148,000719: 14,3027           05224                           TC       BANKCALL                              
016149,000720: 14,3030           26762                           CADR     IMUSTALL                              
016150,000721: 14,3031           12747                           TCF      ENDTEST                               
016151,000722: 

Page 378

016153,000724: 14,3032           30032                           CA       CDUX                                  
016154,000725: 14,3033           50110                           INDEX    FIXLOC                                
016155,000726: 14,3034           54024                           TS       24                                    
016156,000727: 14,3035           30033                           CA       CDUY                                  
016157,000728: 14,3036           50110                           INDEX    FIXLOC                                
016158,000729: 14,3037           54020                           TS       20                                    
016159,000730: 14,3040           30034                           CA       CDUZ                                  
016160,000731: 14,3041           50110                           INDEX    FIXLOC                                
016161,000732: 14,3042           54022                           TS       22                                    
016162,000733: 
016163,000734: 14,3043           37751                           CAF      BIT5                                  
016164,000735: 14,3044           60110                           AD       FIXLOC                                
016165,000736: 14,3045           50110                           INDEX    FIXLOC                                
016166,000737: 14,3046           54050                           TS       S1                                    
016167,000738: 
016168,000739: 14,3047           02263                           TC       SMDCALC                               #  TO FINE ALIGN STABLE MEMBER
016169,000740: 
016170,000741: 14,3050           06103                           TC       INTPRET                               #  IF EARTH RATE COMPENSATION DESIRED
016171,000742: 14,3051           77634                           RTB                                            
016172,000743: 14,3052           33521                                    LOADTIME                              
016173,000744: 14,3053           02565                           STORE    TMARK                                 
016174,000745: 14,3054           77776                           EXIT                                           
016175,000746: 
016176,000747: 14,3055           41512                           CS       EROPTN                                
016177,000748: 14,3056           67754                           AD       TWO                                   
016178,000749: 14,3057           00006                           EXTEND                                         
016179,000750: 14,3060           13062                           BZF      +2                                    
016180,000751: 
016181,000752: 14,3061           12051                           TCF      ERFINAL    +2                         
016182,000753: 
016183,000754: 14,3062           05224                           TC       BANKCALL                              
016184,000755: 14,3063           47237                           CADR     SAMODRTN                              #  RETURN TO SEMI-AUTOMATIC MODING TEST
016185,000756: 

Page 379

016187,000758: 14,3064           33676        RDR37511           CAF      RDRRETN                               #  RENDEZVOUS RADAR AND ANTENNA TRACKING
016188,000759: 14,3065           55546                           TS       QPLACE                                #  TO RETURN FROM OPTDATA
016189,000760: 
016190,000761: 14,3066           05224                           TC       BANKCALL                              
016191,000762: 14,3067           20247                           CADR     RRZERO                                
016192,000763: 
016193,000764: 14,3070           05224                           TC       BANKCALL                              
016194,000765: 14,3071           22765                           CADR     AURLOKON                              #  OPERATOR DECISION TO LOCK ON OR NOT
016195,000766: 
016196,000767: 14,3072           12526        RDR1               TCF      OPTRDRIN                              #  CALL FOR AZIMUTH AND ELEVATION
016197,000768: 
016198,000769: 14,3073           05224                           TC       BANKCALL                              
016199,000770: 14,3074           26756                           CADR     RADSTALL                              
016200,000771: 14,3075           15605                           TCF      ENDOFJOB                              
016201,000772: 
016202,000773: 14,3076           06103                           TC       INTPRET                               
016203,000774: 14,3077           77170                           AXT,1    AXT,2                                 #  SET UP X1 AND X2 FOR TAR/EREF
016204,000775: 14,3100           00000                                    0                                     
016205,000776: 14,3101           00006                                    6                                     
016206,000777: 14,3102           77624                           CALL                                           
016207,000778: 14,3103           30353                                    TAR/EREF   +3                         #  LINE-OF-SIGHT WRT EARTH REF FRAME
016208,000779: 14,3104           64375                           VLOAD    MXV                                   
016209,000780: 14,3105           00015                                    12D                                   #  LINE-OF-SIGHT WRT EARTH REF FRAME
016210,000781: 14,3106           02401                                    XSM                                   #  TO STABLE MEMBER PRESENT FRAME
016211,000782: 14,3107           77772                           VSL1                                           
016212,000783: 14,3110           34416                           STCALL   RRTARGET                              
016213,000784: 14,3111           20306                                    RRDESSM                               
016214,000785: 
016215,000786: 14,3112           13117                           TCF      37511ALM                              
016216,000787: 14,3113           05224                           TC       BANKCALL                              
016217,000788: 14,3114           26756                           CADR     RADSTALL                              
016218,000789: 14,3115           15605                           TCF      ENDOFJOB                              
016219,000790: 14,3116           15605                           TCF      ENDOFJOB                              
016220,000791: 
016221,000792: 
016222,000793: 
016223,000794: 14,3117           04744        37511ALM           TC       ALARM                                 
016224,000795: 14,3120           00524                           OCT      524                                   
016225,000796: 14,3121           15605                           TCF      ENDOFJOB                              
016226,000797: 
016227,000798: 
016228,000799: 
016229,000800: 14,3122           47761        RDRINIT            CS       ZERO                                  
016230,000801: 14,3123           55512                           TS       EROPTN                                
016231,000802: 14,3124           12002                           TCF      AOTNBIMU   +2                         
016232,000803: 

Page 380

016234,000805: 14,3125           04633        MISALIGN           TC       GRABWAIT                              #  DISPLAY SYSTEM WAS FREED
016235,000806: 14,3126           37761                           CAF      ZERO                                  
016236,000807: 
016237,000808: 14,3127           55537                           TS       NDXCTR                                
016238,000809: 14,3130           51537        BBBB               INDEX    NDXCTR                                
016239,000810: 14,3131           41674                           CS       GENPL      +68D                       
016240,000811: 14,3132           51537                           INDEX    NDXCTR                                
016241,000812: 14,3133           27702                           ADS      GENPL      +74D                       
016242,000813: 14,3134           33664                           CAF      63DEC                                 
016243,000814: 14,3135           61537                           AD       NDXCTR                                
016244,000815: 14,3136           10000                           CCS      A                                     
016245,000816: 14,3137           46301                           CS       THREE                                 
016246,000817: 14,3140           27537                           ADS      NDXCTR                                
016247,000818: 14,3141           13130                           TCF      BBBB                                  
016248,000819: 14,3142           55537                           TS       NDXCTR                                
016249,000820: 
016250,000821: 
016251,000822: 
016252,000823: 14,3143           06103        CCCC               TC       INTPRET                               
016253,000824: 14,3144           70750                           LXA,1    DLOAD*                                
016254,000825: 14,3145           02537                                    NDXCTR                                
016255,000826: 14,3146           02701                                    GENPL      +72D,1                     
016256,000827: 14,3147           77625                           DSU                                            
016257,000828: 14,3150           02571                                    GENPL                                 
016258,000829: 14,3151           06701                           STORE    GENPL      +72D,1                     
016259,000830: 14,3152           77776                           EXIT                                           
016260,000831: 
016261,000832: 14,3153           41537                           CS       NDXCTR                                
016262,000833: 14,3154           63665                           AD       69DEC                                 
016263,000834: 14,3155           10000                           CCS      A                                     
016264,000835: 14,3156           36301                           CAF      THREE                                 
016265,000836: 14,3157           27537                           ADS      NDXCTR                                
016266,000837: 14,3160           13143                           TCF      CCCC                                  
016267,000838: 14,3161           55550                           TS       RUN                                   
016268,000839: 14,3162           36301                           CAF      THREE                                 
016269,000840: 14,3163           55537                           TS       NDXCTR                                
016270,000841: 
016271,000842: 
016272,000843: 
016273,000844: 14,3164           06103        DDDD               TC       INTPRET                               
016274,000845: 14,3165           77775                           VLOAD                                          
016275,000846: 14,3166           33152                                    ZERODP                                
016276,000847: 14,3167           00031                           STORE    24D                                   
016277,000848: 14,3170           00037                           STORE    30D                                   
016278,000849: 14,3171           77735                           SLOAD                                          
016279,000850: 14,3172           31662                                    11DEC                                 
016280,000851: 14,3173           00041                           STORE    32D                                   
016281,000852: 14,3174           77776                           EXIT                                           
016282,000853: 
016283,000854: 14,3175           06103        DDDD1              TC       INTPRET                               
016284,000855: 
016285,000856: 14,3176           70750                           LXA,1    DLOAD*                                
016286,000857: 14,3177           02537                                    NDXCTR                                
016287,000858: 

Page 381

016289,000860: 14,3200           02701                                    GENPL      +72D,1                     
016290,000861: 14,3201           41423                           DSU*     PUSH                                  
016291,000862: 14,3202           02673                                    GENPL      +66D,1                     
016292,000863: 14,3203           42742                           SR1      DAD*                                  
016293,000864: 14,3204           02673                                    GENPL      +66D,1                     
016294,000865: 14,3205           06701                           STORE    GENPL      +72D,1                     
016295,000866: 
016296,000867: 14,3206           43312                           SL2      DAD                                   
016297,000868: 
016298,000869: 14,3207           00031                                    24D                                   
016299,000870: 14,3210           20031                           STODL*   24D                                   
016300,000871: 14,3211           02701                                    GENPL      +72D,1                     
016301,000872: 14,3212           63412                           SL4      DSQ                                   
016302,000873: 14,3213           77615                           DAD                                            
016303,000874: 14,3214           00033                                    26D                                   
016304,000875: 14,3215           00033                           STORE    26D                                   
016305,000876: 14,3216           77776                           EXIT                                           
016306,000877: 14,3217           31550                           CAE      RUN                                   
016307,000878: 14,3220           61537                           AD       NDXCTR                                
016308,000879: 14,3221           40000                           COM                                            
016309,000880: 14,3222           63664                           AD       63DEC                                 
016310,000881: 14,3223           10000                           CCS      A                                     
016311,000882: 14,3224           36276                           CAF      SIX                                   
016312,000883: 14,3225           27537                           ADS      NDXCTR                                
016313,000884: 14,3226           13175                           TCF      DDDD1                                 
016314,000885: 14,3227           61550                           AD       RUN                                   
016315,000886: 14,3230           55537                           TS       NDXCTR                                
016316,000887: 
016317,000888: 
016318,000889: 
016319,000890: 14,3231           06103        EEEE               TC       INTPRET                               
016320,000891: 14,3232           66740                           LXC,1    SLOAD*                                
016321,000892: 
016322,000893: 14,3233           02537                                    NDXCTR                                
016323,000894: 14,3234           02604                                    GENPL      +11D,1                     
016324,000895: 14,3235           00043                           STORE    34D                                   
016325,000896: 14,3236           77745                           DLOAD                                          
016326,000897: 14,3237           54206                           PUSH     SL                                    
016327,000898: 14,3240           20211                                    8D                                    
016328,000899: 14,3241           43265                           BDDV     DAD                                   
016329,000900: 14,3242           00043                                    34D                                   
016330,000901: 14,3243           00035                                    28D                                   
016331,000902: 14,3244           14035                           STODL    28D                                   
016332,000903: 14,3245           55261                           SL       BDDV                                  
016333,000904: 14,3246           20207                                    6                                     
016334,000905: 14,3247           00043                                    34D                                   
016335,000906: 14,3250           42523                           PDDL*    SL4                                   
016336,000907: 14,3251           02602                                    GENPL      +9D,1                      
016337,000908: 14,3252           77605                           DMP                                            
016338,000909: 14,3253           77615                           DAD                                            
016339,000910: 14,3254           00037                                    30D                                   
016340,000911: 14,3255           00037                           STORE    30D                                   
016341,000912: 

Page 382

016343,000914: 14,3256           77776                           EXIT                                           
016344,000915: 14,3257           41537                           CS       NDXCTR                                
016345,000916: 14,3260           63663                           AD       60DEC                                 
016346,000917: 14,3261           61550                           AD       RUN                                   
016347,000918: 14,3262           10000                           CCS      A                                     
016348,000919: 14,3263           36276                           CAF      SIX                                   
016349,000920: 14,3264           27537                           ADS      NDXCTR                                
016350,000921: 14,3265           13231                           TCF      EEEE                                  
016351,000922: 
016352,000923: 
016353,000924: 
016354,000925: 14,3266           06103                           TC       INTPRET                               
016355,000926: 14,3267           41345                           DLOAD    DMP                                   
016356,000927: 14,3270           00031                                    24D                                   
016357,000928: 
016358,000929: 14,3271           00037                                    30D                                   
016359,000930: 14,3272           41325                           PDDL     DMP                                   
016360,000931: 14,3273           00033                                    26D                                   
016361,000932: 14,3274           00035                                    28D                                   
016362,000933: 14,3275           77625                           DSU                                            
016363,000934: 14,3276           63525                           PDDL     DSQ                                   
016364,000935: 14,3277           00031                                    24D                                   
016365,000936: 14,3300           65342                           SR1      PDDL                                  
016366,000937: 14,3301           00041                                    32D                                   
016367,000938: 14,3302           41261                           SL       DMP                                   
016368,000939: 14,3303           20212                                    11                                    
016369,000940: 14,3304           00033                                    26D                                   
016370,000941: 14,3305           55225                           DSU      BDDV                                  
016371,000942: 14,3306           54205                           DMP      SL                                    
016372,000943: 14,3307           31675                                    KKKK                                  
016373,000944: 14,3310           20204                                    3                                     
016374,000945: 14,3311           00343                           STORE    DSPTEM2                               
016375,000946: 14,3312           77776                           EXIT                                           
016376,000947: 
016377,000948: 14,3313           31544                           CA       POSITON                               
016378,000949: 14,3314           54344                           TS       DSPTEM2    +2                         
016379,000950: 
016380,000951: 14,3315           33656                           CAF      V06N66E                               
016381,000952: 
016382,000953: 14,3316           04646                           TC       NVSBWAIT                              
016383,000954: 14,3317           04611                           TC       FLASHON                               
016384,000955: 14,3320           04464                           TC       ENDIDLE                               
016385,000956: 14,3321           12747                           TCF      ENDTEST                               
016386,000957: 14,3322           36301                           CAF      THREE                                 
016387,000958: 14,3323           55550                           TS       RUN                                   
016388,000959: 14,3324           37761                           CAF      ZERO                                  
016389,000960: 14,3325           13163                           TCF      DDDD       -1                         
016390,000961: 

Page 383

016392,000963:                                                                                                  #  THIS REVISION REFLECTS CHANGES AS OF
016393,000964:                                                                                                  #   1/31/66
016394,000965:                                                                                                  #  ENGINE ON/OFF NOW IN CHANNEL ELEVEN.  THE BITS FOR EACH CHANNEL GET TURNED ON ALL AT ONCE.  THEY STAY ON UNTIL
016395,000966:                                                                                                  #   :ENTER:IS PUSHED.  THEN THEY ALL GO OUT AND THE NEXT CHANNEL:S BITS ARE TURNED ON.
016396,000967:                                                                                                  #  CHANNEL 5  BITS 1-8
016397,000968:                                                                                                  #  CHANNEL 6  BITS 1-8
016398,000969:                                                                                                  #  CHANNEL 11 BITS  13,14
016399,000970:                                                                                                  #  CHANNEL 12 BITS 9-14
016400,000971:                                                                                                  #  FOLLOWING THE CHANNEL 12 TESTS ENTER IS PRESSED.  CHANNEL 12 IS SET TO ZERO AND THE NEXT TEST BEGUN. LOW9
016401,000972:                                                                                                  #  GOES IN LOCATION (COUNTER) 55.
016402,000973:                                                                                                  #  INCREASE THROTTLE RATE DESCENT ENGINE
016403,000974:                                                                                                  #  :ENTER: NOW CAUSES THE CONTENTS OF 55 TO BE MADE NEGATIVE
016404,000975:                                                                                                  #  DECREASE THROTTLE RATE DESCENT ENGINE
016405,000976:                                                                                                  #  THE NEXT :ENTER: ZEROS THE REGISTER AND SENDS A PULSE TRAIN (HERE ALTERN
016406,000977:                                                                                                  #  ZEROS FOR CLARITY) TO THE ALTITUDE METER.
016407,000978:                                                                                                  #  THE NEXT :ENTER: WILL ADVANCE THE TEST TO THE ALTITUDE RATE METER TEST.
016408,000979:                                                                                                  #  THE NEXT :ENTER : WILL TERMINATE THE TEST.
016409,000980: 
016410,000981: 
016411,000982: 
016412,000983: 14,3326           37735        SAUTOIFS           CA       POSMAX                                
016413,000984: 14,3327           55576                           TS       NOBITS                                
016414,000985: 14,3330           37761                           CA       ZERO                                  
016415,000986: 14,3331           55577                           TS       CHAN                                  
016416,000987: 14,3332           55575                           TS       TEMP                                  
016417,000988: 14,3333           03335                           TC       DINO                                  
016418,000989: 14,3334           25577        BACK1              INCR     CHAN                                  
016419,000990: 
016420,000991: 14,3335           51577        DINO               INDEX    CHAN                                  
016421,000992: 14,3336           33340                           CA       SAUTLOCS                              
016422,000993: 14,3337           15230                           TCF      SWCALL                                
016423,000994: 14,3340           31354        SAUTLOCS           CADR     CHAN5D                                
016424,000995: 14,3341           31372                           CADR     CHAN6D                                
016425,000996: 14,3342           31400                           CADR     CHAN11D                               
016426,000997: 14,3343           31412                           CADR     CHAN12D                               
016427,000998: 14,3344           31424                           CADR     PTITRDE                               
016428,000999: 14,3345           31451                           CADR     PTDTRDE                               
016429,001000: 14,3346           31526                           CADR     ALTMET                                
016430,001001: 14,3347           31553                           CADR     ALTRMET                               
016431,001002: 14,3350           30747                           CADR     ENDTEST                               
016432,001003: 14,3351           31456        THROTADD           CADR     PTDTRDE    +5                         
016433,001004: 14,3352           31531        METERADD           CADR     ALTMET     +3                         
016434,001005: 14,3353           31556        MRATEADD           CADR     ALTRMET    +3                         
016435,001006: 
016436,001007: 14,3354           37760        CHAN5D             CA       FIVE                                  
016437,001008: 14,3355           54337                           TS       DSPTEM1                               
016438,001009: 14,3356           34553        2ENTRY             CA       LOW8                                  #  CHANNEL 6 RETURNS HERE
016439,001010: 14,3357           54340                           TS       DSPTEM1    +1                         
016440,001011: 14,3360           00006                           EXTEND                                         
016441,001012: 14,3361           51575                           INDEX    TEMP                                  
016442,001013: 14,3362           01005                           WRITE    5                                     
016443,001014: 

Page 384

016445,001016: 14,3363           33645        3ENTRY             CA       V04N30D                               #  CH11,12 RETURN HERE TO USE THE DISPLAY
016446,001017: 14,3364           04646                           TC       NVSBWAIT                              
016447,001018: 
016448,001019: 14,3365           33652        4ENTRY             CAF      WAITER                                #  WAITER IS 03300
016449,001020: 14,3366           04646                           TC       NVSBWAIT                              
016450,001021: 14,3367           04464                           TC       ENDIDLE                               
016451,001022: 14,3370           02747                           TC       ENDTEST                               
016452,001023: 14,3371           03334                           TC       BACK1                                 
016453,001024: 
016454,001025: 14,3372           25575        CHAN6D             INCR     TEMP                                  
016455,001026: 14,3373           24337                           INCR     DSPTEM1                               
016456,001027: 14,3374           37761                           CAF      ZERO                                  
016457,001028: 14,3375           00006                           EXTEND                                         
016458,001029: 14,3376           01005                           WRITE    5                                     #  GET RID OF CHANNEL 5 BITS
016459,001030: 14,3377           03356                           TC       2ENTRY                                
016460,001031: 14,3400           34517        CHAN11D            CA       OCT11                                 
016461,001032: 14,3401           54337                           TS       DSPTEM1                               
016462,001033: 14,3402           35226                           CA       BIT13-14                              
016463,001034: 14,3403           54340                           TS       DSPTEM1    +1                         
016464,001035: 14,3404           00006                           EXTEND                                         
016465,001036: 14,3405           05011                           WOR      11                                    #  WOR IS NON EXCLUSIVE OR
016466,001037: 14,3406           37761                           CAF      ZERO                                  
016467,001038: 14,3407           00006                           EXTEND                                         
016468,001039: 14,3410           01006                           WRITE    6                                     
016469,001040: 14,3411           03363                           TC       3ENTRY                                
016470,001041: 14,3412           34557        CHAN12D            CA       OCT12                                 
016471,001042: 
016472,001043: 14,3413           54337                           TS       DSPTEM1                               
016473,001044: 14,3414           45226                           CS       BIT13-14                              
016474,001045: 14,3415           00006                           EXTEND                                         
016475,001046: 14,3416           03011                           WAND     11                                    
016476,001047: 14,3417           33650                           CA       CH12BITS                              
016477,001048: 14,3420           54340                           TS       DSPTEM1    +1                         
016478,001049: 14,3421           00006                           EXTEND                                         
016479,001050: 14,3422           05012                           WOR      12                                    
016480,001051: 14,3423           03363                           TC       3ENTRY                                
016481,001052: 14,3424           43650        PTITRDE            CS       CH12BITS                              
016482,001053: 14,3425           00006                           EXTEND                                         
016483,001054: 14,3426           03012                           WAND     12                                    
016484,001055: 14,3427           37761                           CA       ZERO                                  
016485,001056: 14,3430           54337                           TS       DSPTEM1                               
016486,001057: 14,3431           54340                           TS       DSPTEM1    +1                         
016487,001058: 14,3432           55575                           TS       TEMP                                  
016488,001059: 14,3433           37755                           CA       BIT1                                  
016489,001060: 14,3434           55576                           TS       NOBITS                                
016490,001061: 14,3435           00004        PIT                INHINT                                         
016491,001062: 14,3436           05701                           TC       WAITLIST                              
016492,001063: 14,3437  E5,1400                                  EBANK=   XSM                                   
016493,001064: 14,3437           03462 30005                     2CADR    THROTASK                              
016494,001065: 
016495,001066: 14,3441           00003                           RELINT                                         
016496,001067: 14,3442           33652                           CA       WAITER                                

Page 385

016498,001069: 14,3443           04646                           TC       NVSBWAIT                              
016499,001070: 14,3444           04464                           TC       ENDIDLE                               
016500,001071: 14,3445           02747                           TC       ENDTEST                               
016501,001072: 14,3446           37761                           CA       ZERO                                  
016502,001073: 14,3447           55576                           TS       NOBITS                                
016503,001074: 14,3450           03334                           TC       BACK1                                 
016504,001075: 
016505,001076: 14,3451           37761        PTDTRDE            CA       ZERO                                  
016506,001077: 
016507,001078: 14,3452           54055                           TS       THRUST                                
016508,001079: 14,3453           33351                           CA       THROTADD                              
016509,001080: 14,3454           55574                           TS       TEMPADD                               
016510,001081: 14,3455           05563                           TC       JOBSLEEP                              #  THIS INHIBITS THE NEXT TASK UNTIL
016511,001082:                                                                                                  #  CURRENT TASK HAS BEEN COMPLETED
016512,001083: 14,3456           37735                           CA       POSMAX                                
016513,001084: 14,3457           55575                           TS       TEMP                                  
016514,001085: 14,3460           37747                           CA       BIT7                                  
016515,001086: 14,3461           03435                           TC       PIT                                   
016516,001087: 14,3462           11576        THROTASK           CCS      NOBITS                                #  IS THIS TASK STILL REQ
016517,001088: 14,3463           03470                           TC       +5                                    #  YES
016518,001089: 14,3464           31574                           CA       TEMPADD                               #  NO
016519,001090: 14,3465           55576                           TS       NOBITS                                
016520,001091: 14,3466           05567                           TC       JOBWAKE                               
016521,001092: 14,3467           05745                           TC       TASKOVER                              
016522,001093: 14,3470           11575                           CCS      TEMP                                  
016523,001094: 14,3471           03504                           TC       SOMETIME                              
016524,001095: 14,3472           34552                           CA       LOW11                                 
016525,001096: 14,3473           54055        ALWAYS             TS       THRUST                                
016526,001097: 14,3474           37752                           CA       BIT4                                  
016527,001098: 14,3475           00006                           EXTEND                                         #  A SMERZH FIX.
016528,001099: 14,3476           05014                           WOR      14                                    
016529,001100: 14,3477           37750                           CA       BIT6                                  #  320 MS.DELAY
016530,001101: 
016531,001102: 14,3500           05701                           TC       WAITLIST                              
016532,001103: 14,3501  E5,1400                                  EBANK=   XSM                                   
016533,001104: 14,3501           03462 30005                     2CADR    THROTASK                              
016534,001105: 
016535,001106: 14,3503           05745                           TC       TASKOVER                              
016536,001107: 14,3504           44552        SOMETIME           CS       LOW11                                 
016537,001108: 14,3505           03473                           TC       ALWAYS                                
016538,001109: 14,3506           11576        ALTASK             CCS      NOBITS                                #  IS TASK STILL REQ
016539,001110: 14,3507           03514                           TC       +5                                    
016540,001111: 14,3510           31574                           CA       TEMPADD                               #  NO
016541,001112: 14,3511           55576                           TS       NOBITS                                #  ENABLES NEXT TASK
016542,001113: 14,3512           05567                           TC       JOBWAKE                               
016543,001114: 14,3513           05745                           TC       TASKOVER                              
016544,001115: 14,3514           33646                           CA       ALBITS                                #  ACTUAL TASK STARTS HERE
016545,001116: 14,3515           54060                           TS       ALTM                                  
016546,001117: 14,3516           37753                           CA       BIT3                                  
016547,001118: 14,3517           00006                           EXTEND                                         
016548,001119: 14,3520           05014                           WOR      14                                    
016549,001120: 14,3521           37750                           CA       BIT6                                  #  320 MS. DELAY

Page 386

016551,001122: 14,3522           05701                           TC       WAITLIST                              
016552,001123: 14,3523  E5,1400                                  EBANK=   XSM                                   
016553,001124: 14,3523           03506 30005                     2CADR    ALTASK                                
016554,001125: 
016555,001126: 14,3525           05745                           TC       TASKOVER                              
016556,001127: 14,3526           33352        ALTMET             CA       METERADD                              
016557,001128: 14,3527           55574                           TS       TEMPADD                               
016558,001129: 14,3530           05563                           TC       JOBSLEEP                              
016559,001130: 14,3531           37761                           CA       ZERO                                  
016560,001131: 14,3532           55575                           TS       TEMP                                  
016561,001132: 14,3533           47752                           CS       BIT4                                  
016562,001133: 14,3534           00006                           EXTEND                                         
016563,001134: 14,3535           03014                           WAND     14                                    
016564,001135: 14,3536           00004                           INHINT                                         
016565,001136: 
016566,001137: 14,3537           37755                           CA       ONE                                   
016567,001138: 14,3540           05701                           TC       WAITLIST                              
016568,001139: 14,3541  E5,1400                                  EBANK=   XSM                                   
016569,001140: 14,3541           03506 30005                     2CADR    ALTASK                                
016570,001141: 
016571,001142: 14,3543           00003                           RELINT                                         
016572,001143: 14,3544           33652                           CA       WAITER                                
016573,001144: 14,3545           04646                           TC       NVSBWAIT                              
016574,001145: 14,3546           04464                           TC       ENDIDLE                               
016575,001146: 14,3547           02747                           TC       ENDTEST                               
016576,001147: 14,3550           37761                           CA       ZERO                                  
016577,001148: 14,3551           55576                           TS       NOBITS                                
016578,001149: 14,3552           03334                           TC       BACK1                                 
016579,001150: 
016580,001151: 14,3553           33353        ALTRMET            CA       MRATEADD                              
016581,001152: 14,3554           55574                           TS       TEMPADD                               
016582,001153: 14,3555           05563                           TC       JOBSLEEP                              
016583,001154: 14,3556           37755                           CA       ONE                                   
016584,001155: 14,3557           55575                           TS       TEMP                                  #  TEMP WILL BE INDEXED TO ACQUIRE BIT2 INS
016585,001156:                                                                                                  #  TEAD OF BIT3
016586,001157: 14,3560           37754                           CA       BIT2                                  
016587,001158: 14,3561           00006                           EXTEND                                         
016588,001159: 14,3562           05014                           WOR      14                                    
016589,001160: 
016590,001161: 14,3563           03536                           TC       ALTMET     +8D                        
016591,001162: 

Page 387

016593,001164:                                                                                                  #       THE AOT ANGLE CHECKING PROGRAM PROVIDES A SIMPLE VERIFICATION OF THE ACCURACY OF THE AOT.  THE IDEA IS TO
016594,001165:                                                                                                  #  COMPUTE THE ANGLE BETWEEN TWO LINES OF SIGHT AS INDICATED BY THE AOT, WHICH IS WHAT THIS PROGRAM DOES.
016595,001166:                                                                                                  #  INDEPENDENT KNOWLEDGE OF THE INCLUDED ANGLE PROVIDES A COMPARISON AND THUS A MEASURE OF THE AOT ACCURACY.
016596,001167:                                                                                                  #        THE ISS NEED NOT BE ON TO RUN THIS PROGRAM.
016597,001168: 
016598,001169: 
016599,001170: 14,3564           06103        AOTANGCK           TC       INTPRET                               
016600,001171: 14,3565           77414                           SET      EXIT                                  #  IN CASE THE ISS IS OFF.
016601,001172: 14,3566           00065                                    COAROFIN                              
016602,001173: 14,3567           02135                           TC       FINDNAVB                              #  FOR LOS1 AND LOS2.
016603,001174: 14,3570           06103                           TC       INTPRET                               
016604,001175: 14,3571           47375                           VLOAD    VXV                                   
016605,001176: 14,3572           02601                                    LOS1                                  
016606,001177: 14,3573           02607                                    LOS2                                  
016607,001178: 14,3574           77646                           ABVAL                                          
016608,001179: 14,3575           24023                           STOVL    SINTH                                 #  SINTH = ABVAL (VXV ).
016609,001180: 14,3576           02601                                    LOS1                                  
016610,001181: 14,3577           77641                           DOT                                            
016611,001182: 14,3600           02607                                    LOS2                                  
016612,001183: 14,3601           34021                           STCALL   COSTH                                 #  COSTH = V.V
016613,001184: 14,3602           32543                                    ARCTRIG                               
016614,001185: 14,3603           77634                           RTB                                            
016615,001186: 14,3604           33567                                    1STO2S                                #  DP 1S COMP TO SP 2S COMP.
016616,001187: 14,3605           00025                           STORE    THETA                                 
016617,001188: 14,3606           77776                           EXIT                                           
016618,001189: 14,3607           33677                           CAF      THETAADR                              
016619,001190: 14,3610           60110                           AD       FIXLOC                                
016620,001191: 14,3611           54146                           TS       MPAC       +2                         
016621,001192: 14,3612           33655                           CAF      V06N03E                               #  XXX.XX DEGREES IN R1.
016622,001193: 14,3613           04646                           TC       NVSBWAIT                              
016623,001194: 14,3614           12747                           TCF      ENDTEST                               
016624,001195: 

Page 388

016626,001197: 14,3615  E3,1400                                  EBANK=   1400                                  
016627,001198: 14,3615           00004        ZEROERAS           INHINT                                         #  PROGRAM BY MUNTZ TO ZERO ERASEABLE
016628,001199: 
016629,001200: 14,3616           37761                           CAF      ZERO                                  
016630,001201: 14,3617           54026                           TS       TIME3                                 
016631,001202: 14,3620           33644                           CAF      OCT27                                 
016632,001203: 14,3621           54003                           TS       EBANK                                 
016633,001204: 14,3622           22007        ZEROLP             ZL                                             
016634,001205: 14,3623           50000                           INDEX    A                                     
016635,001206: 14,3624           23401                           LXCH     1401                                  
016636,001207: 14,3625           67754                           AD       TWO                                   
016637,001208: 14,3626           26003                           ADS      EBANK                                 
016638,001209: 14,3627           74553                           MASK     LOW8                                  
016639,001210: 14,3630           10000                           CCS      A                                     
016640,001211: 14,3631           13622                           TCF      ZEROLP                                
016641,001212: 14,3632           10003                           CCS      EBANK                                 
016642,001213: 14,3633           13636                           TCF      ZEROLP1                               
016643,001214: 14,3634           05243                           TC       POSTJUMP                              
016644,001215: 14,3635           02000                           CADR     SLAP1                                 
016645,001216: 14,3636           00003        ZEROLP1            RELINT                                         
016646,001217: 14,3637           37761                           CAF      ZERO                                  #  KEEP T4RUPT GOING, BUT NOT CYCLING.
016647,001218: 14,3640           54347                           TS       DSRUPTSW                              
016648,001219: 14,3641           00004                           INHINT                                         
016649,001220: 14,3642           47755                           CS       ONE                                   
016650,001221: 14,3643           13622                           TCF      ZEROLP                                
016651,001222: 14,3644           00027        OCT27              OCT      27                                    
016652,001223: 

Page 389

016654,001225: 14,3645  E5,1500                                  EBANK=   OGC                                   
016655,001226: 14,3645           00430        V04N30D            OCT      00430                                 
016656,001227: 14,3646           52525        ALBITS             OCT      52525                                 
016657,001228: 14,3647           70707        THRSBITS           OCT      70707                                 
016658,001229: 14,3650     4557               OCT12              =        TEN                                   
016659,001230: 14,3650     4517               OCT11              =        NINE                                  
016660,001231: 14,3650           37400        CH12BITS           OCT      37400                                 
016661,001232: 14,3651           00130        V01N30D            OCT      00130                                 
016662,001233: 
016663,001234: 14,3652           03300        WAITER             OCT      03300                                 
016664,001235: 
016665,001236: 
016666,001237: 14,3653           00130        V01N30E            OCT      00130                                 #  FOR FINDNAVB
016667,001238: 14,3654           00530        V05N30E            OCT      00530                                 #  FOR OPTDATA
016668,001239: 14,3655           00603        V06N03E            OCT      00603                                 
016669,001240: 14,3656           00666        V06N66E            OCT      00666                                 
016670,001241: 14,3657           02430        V24N30E            OCT      02430                                 #  FOR POSITION LOAD
016671,001242: 14,3660           02522        V25N22E            OCT      02522                                 #  FOR POS4
016672,001243: 
016673,001244: 14,3661           00013        11DEC              DEC      11         B-14                       
016674,001245: 14,3662           00021        17DEC              DEC      17         B-14                       
016675,001246: 14,3663           00074        60DEC              DEC      60         B-14                       
016676,001247: 14,3664           00077        63DEC              DEC      63         B-14                       
016677,001248: 14,3665           00105        69DEC              DEC      69         B-14                       #  FOR MISALIGN
016678,001249: 14,3666           00110        72DEC              DEC      72         B-14                       #  FOR STORRSLT
016679,001250: 
016680,001251: 14,3667           05670        30SEC              DEC      3000       B-14                       #  3000 X 10 MSEC
016681,001252: 14,3670           13560        60SEC              DEC      6000       B-14                       #  6000 X 10 MSEC
016682,001253: 
016683,001254: 14,3671           01500        OGCADR             ADRES    OGC                                   #  FOR ZEROING
016684,001255: 14,3672           01570        GENPLAD1           ADRES    GENPL                                 
016685,001256: 14,3673           02570        GENPLADR           ECADR    GENPL                                 #  FOR POS4
016686,001257: 14,3674           00322 14366  KKKK               2DEC     210.39     B-14                       #  1230 B-14 FOR CSM
016687,001258: 
016688,001259: 14,3676           03073        RDRRETN            ADRES    RDR1       +1                         #  FOR RDR37511
016689,001260: 14,3677           00024        THETAADR           ECADR    THETA                                 
016690,001261: 14,3700           01400        XSMADRX            ADRES    XSM                                   #  FOR MAKEXSMD
016691,001262: 
016692,001263: 14,3701           24365 30244  SCALFTR            2DEC     .64                                   #  FOR STORRSLT
016693,001264: 
016694,001265: 14,3703           07623 26552  OMEG/MS            2DEC     .24339048                             #  GYRO PULSES / 10 MSEC
016695,001266: 

Page 390

016697,001268:                                                                                                  #           THE FOLLOWING ROUTINE READS THE CLOCK AND SCALAR (CHANNELS 3 AND 4) INTO A AND L, INSURING THAT THE
016698,001269:                                                                                                  #  DATA WAS NOT IN TRANSITION WHEN IT WAS READ.
016699,001270: 
016700,001271:    5015                                           BLOCK    02                                    
016701,001272:    5015           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED.
016702,001273:    5016           00006                           EXTEND                                         
016703,001274:    5017           00004                           READ     LOSCALAR                              
016704,001275:    5020           54001                           TS       L                                     
016705,001276: 
016706,001277:    5021           00006                           EXTEND                                         #  SEE IF 2 READINGS AGREE. IF NOT, READ
016707,001278:    5022           06004                           RXOR     LOSCALAR                              #  LOSCALAR AGAIN.
016708,001279:    5023           00006                           EXTEND                                         
016709,001280:    5024           15030                           BZF      +4                                    
016710,001281: 
016711,001282:    5025           00006                           EXTEND                                         #  IF CLOCK RIPPLED BEFORE, IT WONT NOW.
016712,001283:    5026           00004                           READ     LOSCALAR                              
016713,001284:    5027           54001                           TS       L                                     
016714,001285: 
016715,001286:    5030           47735                 +4        CS       POSMAX                                #  IF LOW PART CONTAINS SOMETHING LESS THAN
016716,001287:    5031           60001                           AD       L                                     #  POSMAX, THE HIGH PART CAN BE READ SAFELY
016717,001288:    5032           00006                           EXTEND                                         
016718,001289:    5033           15016                           BZF      FINETIME   +1                         #  TRY AGAIN - CONDITION WILL DISAPPEAR.
016719,001290: 
016720,001291:    5034           00006                           EXTEND                                         
016721,001292:    5035           00003                           READ     HISCALAR                              
016722,001293:    5036           00002                           TC       Q                                     
016723,001294: 
016724,001295: 14,3705                                           SETLOC   OMEG/MS    +2                         
016725,001296: 14,3705           05224        REDYTORK           TC       BANKCALL                              
016726,001297: 14,3706           26762                           CADR     IMUSTALL                              
016727,001298: 14,3707           12747                           TCF      ENDTEST                               
016728,001299: 
016729,001300: 14,3710           02731                           TC       OGCZERO                               
016730,001301: 
016731,001302: 14,3711           06103                           TC       INTPRET                               
016732,001303: 14,3712           77624                           CALL                                           
016733,001304: 14,3713           30407                                    ERTHRVSE                              #  SETS UP EARTHRATE ANGLES AND TIME
016734,001305: 14,3714           77776                           EXIT                                           
016735,001306: 
016736,001307: 14,3715           31617                           CA       OPTNREG                               #  INITIALIZE CDUNDX FOR PULSE CATCHING
016737,001308: 14,3716           65355                           AD       NEG2                                  #  C(K) WAS 4 2 1 NOW C(A) IS 2 0 -1
016738,001309: 14,3717           55616                           TS       GYTOBETQ                              #  C(K) = 2,0,-1 FOR  X,Y,Z.
016739,001310: 14,3720           00006                           EXTEND                                         
016740,001311: 14,3721           13724                           BZF      +3                                    
016741,001312: 14,3722           37754                           CAF      TWO                                   
016742,001313: 14,3723           03725                           TC       +2                                    
016743,001314: 14,3724           37755                           CAF      ONE                                   
016744,001315: 14,3725           55672                           TS       CDUNDX                                #  C(K) = 1 FOR Y, 2 FOR Z CDU SELECT
016745,001316: 14,3726           05224                           TC       BANKCALL                              
016746,001317: 14,3727           50547                           CADR     ENABLE                                

End of include-file IMU_PERFORMANCE_TESTS_1.agc.  Parent file is MAIN.agc