Source Code
|
These source-code files are part of a reconstructed copy of Sundial E, the
final release of the Block II Command Module (CM) Apollo Guidance Computer
(AGC) system test software.
They have been created via disassembly of binary dumps of original core rope memory modules, part numbers 2003053-121, 2003053-151, and 2003972-211, belonging to the MIT Museum. Since only binary dumps (rather than listings) of Sundial are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
015116,000002: ## Copyright: Public domain.
015117,000003: ## Filename: IMU_PERFORMANCE_TESTS_1.agc
015118,000004: ## Purpose: A section of Sundial E.
015119,000005: ## It is part of the reconstructed source code for the final
015120,000006: ## release of the Block II Command Module system test software. No
015121,000007: ## original listings of this program are available; instead, this
015122,000008: ## file was created via disassembly of dumps of Sundial core rope
015123,000009: ## modules and comparison with other AGC programs.
015124,000010: ## Assembler: yaYUL
015125,000011: ## Contact: Ron Burkey <info@sandroid.org>.
015126,000012: ## Website: www.ibiblio.org/apollo/index.html
015127,000013: ## Mod history: 2023-06-22 MAS Created from Aurora 12.
015128,000014: ## 2023-06-30 MAS Updated for Sundial E.
015129,000015:
015130,000016:
015131,000017: 06,2000 BANK 6
015132,000018: 06,2000 E5,1400 EBANK= XSM
015133,000019:
015134,000020:
015135,000021:
015136,000022: 06,2000 37652 SXTNBIMU CAF ONE # SXT-NB-IMU FINE ALIGNMENT TEST
015137,000023: 06,2001 55512 TS EROPTN # ... TEST CAPABILITY ...
015138,000024:
015139,000025: 06,2002 04064 TC BANKCALL
015140,000026: 06,2003 26000 CADR IMUZERO # IMU ZERO ENCODER MODE
015141,000027: 06,2004 06000 TC INTPRET
015142,000028: 06,2005 77634 CALL
015143,000029: 06,2006 14541 LATAZCHK # TO LOAD AZIMUTH (SM) AND LATITUDE
015144,000030: 06,2007 77634 CALL
015145,000031: 06,2010 14273 MAKEXSMD # TO SET UP A STABLE MEMBER DESIRED MATRIX
015146,000032: 06,2011 47014 SET CALL
015147,000033: 06,2012 00065 COAROFIN # FOR COARSE OR FINE ALIGN MARKS
015148,000034: 06,2013 14416 ERTHRVSE # TO CALCULATE EARTH RATE VECTOR
015149,000035: 06,2014 77776 EXIT
015150,000036:
015151,000037: 06,2015 33430 POSLOAD CAF V25N30E # R1 0000X ENTER POSITION 1,2, OR 3
015152,000038: 06,2016 05563 TC NVSBWAIT # R2 00000 ENTER 00001 FOR LAB OPTION
015153,000039: 06,2017 04724 TC ENDIDLE # R3 0000X ENTER 00001 TO DRIVE SXT
015154,000040: 06,2020 12756 TCF ENDTEST
015155,000041: 06,2021 12015 TCF -4
015156,000042: 06,2022 56333 XCH DSPTEM1 # DO NOT USE POSITION 3 WITH NAV BASE AT
015157,000043: 06,2023 55544 TS POSITON # ZERO DEGREE TILT ANGLE. (GIMBAL LOCK)
015158,000044:
015159,000045: 06,2024 10334 CCS DSPTEM1 +1
015160,000046: 06,2025 12767 TCF CSMLAB # SPECIAL LAB TEST TO BYPASS MARKS
015161,000047:
015162,000048: 06,2026 30335 CA DSPTEM1 +2
015163,000049: 06,2027 55530 TS SXTOPTN
015164,000050: 06,2030 10000 CCS A
015165,000051: 06,2031 03071 TC OPTNB
015166,000052:
015167,000053: 06,2032 02607 TC POSNJUMP # SET UP STABLE MEMBER DESIRED COORDINATES
015168,000054:
015169,000055: 06,2033 02512 TC OPTDATA # TARGETS 1,2 AZIMUTH AND ELEVATION
015170,000056:
015171,000057: 06,2034 02133 TC FINDNAVB # COARSE ALIGN MARKS
015172,000058:
015173,000059: 06,2035 04064 TC BANKCALL
015174,000060: 06,2036 26730 CADR IMUSTALL # INSURE IMUZERO COMPLETION
015175,000061: 06,2037 12756 TCF ENDTEST
015176,000062:
015177,000063: 06,2040 02257 TC PUTPOSX # TO COARSE ALIGN STABLE MEMBER
015178,000064:
015179,000065: 06,2041 02750 TC GMLCKCHK # CHECK FOR GIMBAL LOCK BEFORE FINE ALIGN
015180,000066: 06,2042 02740 TC OGCZERO # FOR EARTH RATE COMPENSATION
015181,000067:
015182,000068: 06,2043 04064 TC BANKCALL
015183,000069: 06,2044 26227 CADR IMUFINE # FINE ALIGN MODE
015184,000070: 06,2045 04064 TC BANKCALL
015185,000071: 06,2046 26730 CADR IMUSTALL
015186,000072: 06,2047 12756 TCF ENDTEST
015187,000073:
015188,000074: 06,2050 02133 TC FINDNAVB # FINE ALIGN MARKS
015189,000075:
015190,000076: 06,2051 05632 TC FREEDSP # FREE DISPLAY SYSTEM
015191,000077:
015192,000078: 06,2052 02316 TC SMDCALC # TO FINE ALIGN STABLE MEMBER
015193,000079:
015194,000080: 06,2053 04064 ERFINAL TC BANKCALL # LAST EARTH RATE SHOT
015195,000081: 06,2054 14433 CADR EARTHR
015196,000082: 06,2055 11512 CCS EROPTN # IF DESIRED TO COMPENSATE CONTINUALLY
015197,000083: 06,2056 12063 TCF MONSTART # CHANGE BY V21 N02 E XXXXX E 00000 E
015198,000084: 06,2057 12053 TCF ERFINAL
015199,000085: 06,2060 12756 TCF ENDTEST
015200,000086: 06,2061 55512 TS EROPTN
015201,000087: 06,2062 02053 TC ERFINAL
015202,000088:
015203,000089: 06,2063 05721 MONSTART TC FINETIME # TIME AT INITIAL MISALIGNMENT
015204,000090: 06,2064 52141 DXCH MPAC
015205,000091: 06,2065 00003 RELINT
015206,000092: 06,2066 37657 CAF ZERO # ZERO PIPA COUNTERS
015207,000093: 06,2067 54037 TS PIPAX
015208,000094: 06,2070 54040 TS PIPAY
015209,000095: 06,2071 54041 TS PIPAZ
015210,000096: 06,2072 55551 TS STOREPL
015211,000097: 06,2073 55537 TS NDXCTR
015212,000098: 06,2074 02465 TC STORRSLT # STORE T(INITIAL) AND PIPAI = 0
015213,000099:
015214,000100: 06,2075 00004 INHINT
015215,000101: 06,2076 33441 CAF 60SEC # INSURE PIPAI VARIES IN ONE DIRECTION
015216,000102: 06,2077 04451 TC WAITLIST
015217,000103: 06,2100 02104 14005 2CADR PIP1
015218,000104:
015219,000105: 06,2102 32132 CAF PIP2ADR
015220,000106: 06,2103 04331 TC JOBSLEEP
015221,000107:
015222,000108: 06,2104 32132 PIP1 CAF PIP2ADR
015223,000109: 06,2105 04335 TC JOBWAKE
015224,000110: 06,2106 04505 TC TASKOVER
015225,000111:
015226,000112: 06,2107 31542 PIP2 CAE PIPNDX
015227,000113: 06,2110 55541 TS PIPINDEX # POS1 PIPAY POS2 PIPAX POS3 PIPAX
015228,000114: 06,2111 04064 TC BANKCALL
015229,000115: 06,2112 36715 CADR CHECKG # SYNC ON PIPA PULSE
015230,000116:
015231,000117: 06,2113 00003 RELINT
015232,000118:
015233,000119: 06,2114 02465 TC STORRSLT # STORE TIME AND PIPAI
015234,000120:
015235,000121: 06,2115 31543 CAE PIPNDX +1
015236,000122: 06,2116 55541 TS PIPINDEX # POS1 PIPAZ POS2 PIPAY POS3 PIPAZ
015237,000123: 06,2117 04064 TC BANKCALL
015238,000124: 06,2120 36715 CADR CHECKG # SYNC ON PIPA PULSE
015239,000125:
015240,000126: 06,2121 00003 RELINT
015241,000127: 06,2122 02465 TC STORRSLT # STORE TIME AND PIPAI
015242,000128:
015243,000129: 06,2123 00004 INHINT
015244,000130: 06,2124 33440 CAF 30SEC # MONITOR PIPAS AT 30 SECOND INTERVALS
015245,000131: 06,2125 04451 TC WAITLIST
015246,000132: 06,2126 02104 14005 2CADR PIP1
015247,000133: 06,2130 32132 CAF PIP2ADR
015248,000134: 06,2131 04331 TC JOBSLEEP
015249,000135: 06,2132 14107 PIP2ADR CADR PIP2
015250,000136:
015251,000137: 06,2133 00006 FINDNAVB EXTEND # MARKS * CALC NB OR SM WRT EARTH REF
015252,000138: 06,2134 23546 QXCH QPLACE
015253,000139:
015254,000140: 06,2135 04064 TC BANKCALL
015255,000141: 06,2136 27033 CADR MKRELEAS # RELEASE MARK SYSTEM
015256,000142: 06,2137 37652 CAF ONE
015257,000143: 06,2140 54333 TS DSPTEM1
015258,000144: 06,2141 33424 CAF V01N30E # DISPLAY 00001 IN R1
015259,000145: 06,2142 05563 TC NVSBWAIT
015260,000146: 06,2143 31530 CA SXTOPTN
015261,000147: 06,2144 00006 EXTEND
015262,000148: 06,2145 12150 BZF +3
015263,000149: 06,2146 37657 CAF ZERO
015264,000150: 06,2147 03112 TC TARGDRVE
015265,000151: 06,2150 37652 CAF ONE # TO INDICATE GROUND MARKS
015266,000152: 06,2151 04064 TC BANKCALL
015267,000153: 06,2152 26765 CADR SXTMARK # MARK ON TARGET 1
015268,000154:
015269,000155: 06,2153 04064 TC BANKCALL
015270,000156: 06,2154 26726 CADR OPTSTALL # INSURE SUCCESSFUL MARK
015271,000157: 06,2155 12756 TCF ENDTEST
015272,000158: 06,2156 00006 EXTEND
015273,000159: 06,2157 50365 INDEX MARKSTAT
015274,000160: 06,2160 30001 DCA 0
015275,000161: 06,2161 53565 DXCH TMARK # TIME(PRES) FOR EARTH RATE COMPENSATION
015276,000162:
015277,000163: 06,2162 02252 TC GIMANGS1
015278,000164:
015279,000165: 06,2163 06000 TC INTPRET
015280,000166: 06,2164 47140 LXC,1 CALL
015281,000167: 06,2165 00365 MARKSTAT # BASE ADDRESS VAC AREA FOR SXTNB
015282,000168: 06,2166 16310 SXTNB # OPTICS TO NAV BASE COORDINATE FRAME
015283,000169: 06,2167 47014 BON CALL
015284,000170: 06,2170 00305 COAROFIN # COARSE MARKS = 0 FINE MARKS = 1
015285,000171: 06,2171 14173 +2
015286,000172: 06,2172 16130 NBSM # NAV BASE DIRECT TO STABLE MEMBER
015287,000173: 06,2173 01445 STORE STARAD # TARGET 1 WRT NAV BASE OR STABLE MEMBER
015288,000174: 06,2174 01600 STORE LOS1 # ...FOR K...
015289,000175: 06,2175 77776 EXIT
015290,000176:
015291,000177: 06,2176 04064 TC BANKCALL
015292,000178: 06,2177 27033 CADR MKRELEAS # RELEASE MARK SYSTEM
015293,000179: 06,2200 37651 CAF TWO
015294,000180: 06,2201 54333 TS DSPTEM1
015295,000181: 06,2202 33424 CAF V01N30E # DISPLAY 00002 IN R1
015296,000182: 06,2203 05563 TC NVSBWAIT
015297,000183: 06,2204 31530 CA SXTOPTN
015298,000184: 06,2205 00006 EXTEND
015299,000185: 06,2206 12211 BZF +3
015300,000186: 06,2207 36162 CAF SIX
015301,000187: 06,2210 03112 TC TARGDRVE
015302,000188: 06,2211 37652 CAF ONE # TO INDICATE GROUND MARKS
015303,000189: 06,2212 04064 TC BANKCALL
015304,000190: 06,2213 26765 CADR SXTMARK # MARK ON TARGET 2
015305,000191:
015306,000192: 06,2214 37641 CAF BIT10
015307,000193: 06,2215 70061 MASK STATE # BIT10 = COAROFIN
015308,000194: 06,2216 10000 CCS A
015309,000195: 06,2217 12225 TCF EARRTCOM +5 # IF COARSE ALIGN MARKS
015310,000196:
015311,000197: 06,2220 04064 EARRTCOM TC BANKCALL # EARTH RATE COMPENSATION BETWEEN MARKS
015312,000198: 06,2221 14433 CADR EARTHR
015313,000199: 06,2222 10364 CCS OPTCADR # +0 IF MARK BUTTON NOT DEPRESSED
015314,000200: 06,2223 12226 TCF +3
015315,000201: 06,2224 12220 TCF EARRTCOM # CONTINUE TO COMPENSATE FOR EARTH RATE
015316,000202: 06,2225 12226 TCF +1
015317,000203: 06,2226 04064 TC BANKCALL
015318,000204: 06,2227 26726 CADR OPTSTALL # INSURE SUCCESSFUL MARK
015319,000205: 06,2230 12756 TCF ENDTEST
015320,000206:
015321,000207: 06,2231 02252 TC GIMANGS1
015322,000208:
015323,000209: 06,2232 06000 TC INTPRET
015324,000210: 06,2233 47140 LXC,1 CALL
015325,000211: 06,2234 00365 MARKSTAT # BASE ADDRESS VAC AREA FOR SXTNB
015326,000212: 06,2235 16310 SXTNB # OPTICS TO NAV BASE COORDINATE FRAME
015327,000213: 06,2236 47014 BONCLR CALL # SET TO ZERO FOR FINE ALIGN MARKS
015328,000214: 06,2237 00205 COAROFIN # COARSE MARKS = 0 FINE MARKS = 1
015329,000215: 06,2240 14242 +2
015330,000216: 06,2241 16130 NBSM # NAV BASE DIRECT TO STABLE MEMBER
015331,000217: 06,2242 01453 STORE STARAD +6 # TARGET 2 WRT NAV BASE OR STABLE MEMBER
015332,000218: 06,2243 01606 STORE LOS2 # ...FOR K...
015333,000219:
015334,000220: 06,2244 77634 MAXDET CALL
015335,000221: 06,2245 14360 TAR/EREF # TARGETS 1,2 WRT EARTH REF FRAME
015336,000222: 06,2246 77634 CALL
015337,000223: 06,2247 16344 AXISGEN # NAV BASE OR SM WRT EARTH REF FRAME
015338,000224: 06,2250 77776 EXIT
015339,000225: 06,2251 01546 TC QPLACE
015340,000226:
015341,000227:
015342,000228:
015343,000229: 06,2252 37651 GIMANGS1 CAF TWO # BASE ADDRESS GIMBAL ANGLES FOR NBSM
015344,000230: 06,2253 60365 AD MARKSTAT
015345,000231: 06,2254 50104 INDEX FIXLOC
015346,000232: 06,2255 54050 TS S1
015347,000233: 06,2256 00002 TC Q
015348,000234:
015349,000235: 06,2257 00006 PUTPOSX EXTEND # COARSE ALIGNS STABLE MEMBER
015350,000236: 06,2260 23546 QXCH QPLACE
015351,000237:
015352,000238: 06,2261 06000 TC INTPRET
015353,000239: 06,2262 77634 CALL
015354,000240: 06,2263 16226 CALCGA # CALCULATE COARSE ALIGN GIMBAL ANGLES
015355,000241: 06,2264 77776 EXIT
015356,000242:
015357,000243: 06,2265 04064 TC BANKCALL
015358,000244: 06,2266 26055 CADR IMUCOARS # COARSE ALIGN MODE
015359,000245: 06,2267 04064 TC BANKCALL
015360,000246: 06,2270 26730 CADR IMUSTALL
015361,000247: 06,2271 12756 TCF ENDTEST
015362,000248: 06,2272 01546 TC QPLACE
015363,000249:
015364,000250:
015365,000251:
015366,000252: 06,2273 77776 MAKEXSMD EXIT # XSM V YSM SW ZSM SE
015367,000253: 06,2274 33433 CAF 17DEC # ZERO XSM, YSM, AND ZSM
015368,000254: 06,2275 55753 TS ZERONDX
015369,000255: 06,2276 33450 CAF XSMADRX
015370,000256: 06,2277 04064 TC BANKCALL
015371,000257: 06,2300 37155 CADR ZEROING # VERT SOUTH EAST
015372,000258:
015373,000259: 06,2301 37635 CAF HALF # XSM * +1 0 0 *
015374,000260: 06,2302 55400 TS XSM # * *
015375,000261: 06,2303 06000 TC INTPRET # * *
015376,000262: 06,2304 73545 DLOAD SIN # YSM * 0 +SIN(AZ) +COS(AZ) *
015377,000263: 06,2305 01507 AZIMUTH # * *
015378,000264: 06,2306 01411 STORE XSM +8D # * *
015379,000265: 06,2307 07421 STODL XSM +16D # ZSM * 0 -COS(AZ) +SIN(AZ) *
015380,000266: 06,2310 01507 AZIMUTH
015381,000267: 06,2311 77746 COS
015382,000268: 06,2312 01413 STORE XSM +10D
015383,000269: 06,2313 77676 DCOMP
015384,000270: 06,2314 01417 STORE XSM +14D
015385,000271: 06,2315 77616 RVQ
015386,000272:
015387,000273:
015388,000274:
015389,000275: 06,2316 00006 SMDCALC EXTEND # FINE ALIGNS STABLE MEMBER
015390,000276: 06,2317 23546 QXCH QPLACE
015391,000277:
015392,000278: 06,2320 06000 TC INTPRET
015393,000279: 06,2321 64375 VLOAD MXV
015394,000280: 06,2322 01401 XSM # XSM DESIRED WRT EARTH REF FRAME
015395,000281: 06,2323 01445 STARAD # THEN TO SM PRESENT OR NAV BASE FRAME
015396,000282: 06,2324 43172 VSL1 BOFF
015397,000283: 06,2325 00345 COAROFIN # BIT10 FOR CSMLAB TEST
015398,000284: 06,2326 14331 +3
015399,000285: 06,2327 36041 STCALL 32D
015400,000286: 06,2330 16130 NBSM # THEN TO SM PRESENT FRAME
015401,000287: 06,2331 23423 STOVL XDC
015402,000288: 06,2332 01407 YSM # YSM DESIRED WRT EARTH REF FRAME
015403,000289:
015404,000290: 06,2333 76521 MXV VSL1
015405,000291: 06,2334 01445 STARAD # THEN TO SM PRESENT OR NAV BASE FRAME
015406,000292: 06,2335 77614 BOFF
015407,000293: 06,2336 00345 COAROFIN # BIT10 FOR CSMLAB TEST
015408,000294: 06,2337 14342 +3
015409,000295: 06,2340 36041 STCALL 32D
015410,000296: 06,2341 16130 NBSM # THEN TO SM PRESENT FRAME
015411,000297: 06,2342 23431 STOVL YDC
015412,000298: 06,2343 01423 XDC
015413,000299:
015414,000300: 06,2344 76435 VXV VSL1
015415,000301: 06,2345 01431 YDC
015416,000302: 06,2346 37437 STCALL ZDC # ZSM DESIRED WRT SM PRESENT FRAME
015417,000303: 06,2347 16000 CALCGTA # CALCULATE FINE ALIGN TORQUING ANGLES
015418,000304:
015419,000305: 06,2350 45170 AXT,1 RTB
015420,000306:
015421,000307: 06,2351 02500 ECADR OGC # X1 = BASE ADDRESS OF TORQUING ANGLES
015422,000308: 06,2352 11707 PULSEIMU # TO PUT OUT GYRO TORQUING PULSES
015423,000309: 06,2353 77776 EXIT
015424,000310:
015425,000311: 06,2354 04064 TC BANKCALL
015426,000312: 06,2355 26730 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
015427,000313: 06,2356 12756 TCF ENDTEST
015428,000314: 06,2357 01546 TC QPLACE
015429,000315:
015430,000316: 06,2360 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
015431,000317: 06,2361 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
015432,000318: 06,2362 00014 12D
015433,000319: 06,2363 40331 SSP SETPD
015434,000320: 06,2364 00052 S2
015435,000321: 06,2365 00006 6 # TARGET 1 TARGET 2
015436,000322: 06,2366 00001 0
015437,000323:
015438,000324: 06,2367 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 . X1=0 X2=6 S2=6
015439,000325: 06,2370 01557 TAZEL1 +3,1
015440,000326: 06,2371 00001 STORE 0 # PD00 ELEVATION PD00
015441,000327: 06,2372 77756 SIN
015442,000328: 06,2373 12023 STODL 18D,2 # PD06 *** SIN(EL) *** PD12
015443,000329:
015444,000330: 06,2374 00001 0
015445,000331: 06,2375 41546 COS PUSH # PDOO COS(EL) PD00
015446,000332: 06,2376 45133 SLOAD* RTB
015447,000333: 06,2377 01556 TAZEL1 +2,1
015448,000334: 06,2400 11537 CDULOGIC
015449,000335: 06,2401 00003 STORE 2 # PD02 AZIMUTH PD02
015450,000336: 06,2402 41356 SIN DMP
015451,000337: 06,2403 00001 0
015452,000338: 06,2404 77752 SL1
015453,000339: 06,2405 12027 STODL 22D,2 # PD10 *** +SIN(AZ)COS(EL) *** PD16
015454,000340:
015455,000341: 06,2406 00003 2
015456,000342: 06,2407 41346 COS DMP
015457,000343: 06,2410 57552 SL1 DCOMP
015458,000344: 06,2411 04025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) *** PD14
015459,000345:
015460,000346: 06,2412 61170 AXT,1 TIX,2
015461,000347: 06,2413 00000 0
015462,000348: 06,2414 14367 TAR1
015463,000349: 06,2415 77616 RVQ
015464,000350:
015465,000351: 06,2416 65345 ERTHRVSE DLOAD PDDL
015466,000352: 06,2417 16711 ZERODP # PD24 = (SIN -COS 0)(OMEG/MS)
015467,000353: 06,2420 01511 LATITUDE
015468,000354: 06,2421 57546 COS DCOMP
015469,000355: 06,2422 73525 PDDL SIN
015470,000356: 06,2423 01511 LATITUDE # EARTH RATE = .1504 ARCSEC / 10 MSEC
015471,000357: 06,2424 74266 VDEF VXSC # 1.618 GYRO PULSES = 1 ARCSEC
015472,000358: 06,2425 15454 OMEG/MS # OMEG/MS = .243... GYRO PULSES / 10 MSEC
015473,000359: 06,2426 01514 STORE ERVECTOR
015474,000360:
015475,000361: 06,2427 77624 RTB
015476,000362: 06,2430 11534 LOADTIME
015477,000363: 06,2431 01565 STORE TMARK # TIME FOR GYRO DRIFT - PIPA SCALE FACTOR
015478,000364: 06,2432 77616 RVQ
015479,000365:
015480,000366:
015481,000367:
015482,000368:
015483,000369:
015484,000370: 06,2433 04113 EARTHR TC MAKECADR # CLACULATES AND COMPENSATES EARTH RATE
015485,000371: 06,2434 55547 TS QPLACES
015486,000372:
015487,000373: 06,2435 06000 TC INTPRET
015488,000374: 06,2436 77624 RTB
015489,000375: 06,2437 11534 LOADTIME # T(PRESENT)
015490,000376: 06,2440 01562 STORE TEMPTIME
015491,000377: 06,2441 54225 DSU SL
015492,000378: 06,2442 01565 TMARK # T(PRES) - T(PREV) = DT SCALED 10 MSEC
015493,000379: 06,2443 00212 9D # 2 TO 21ST POWER = 1 REVOLUTION
015494,000380: 06,2444 64361 VXSC MXV
015495,000381: 06,2445 01514 ERVECTOR # VT = (SIN -COS 0)(OMEG/MS)(DT)
015496,000382: 06,2446 01401 XSM # (XSM)(VT) = EARTH RATE COMPENSATION
015497,000383: 06,2447 77655 VAD
015498,000384: 06,2450 00406 ERCOMP
015499,000385: 06,2451 06406 STODL ERCOMP
015500,000386: 06,2452 01562 TEMPTIME
015501,000387: 06,2453 01565 STORE TMARK # T(PREVIOUS)
015502,000388:
015503,000389: 06,2454 45170 AXT,1 RTB
015504,000390: 06,2455 00405 ECADR ERCOMP
015505,000391: 06,2456 11707 PULSEIMU # TO PUT OUT GYRO TORQUING PULSES
015506,000392: 06,2457 77776 EXIT
015507,000393:
015508,000394: 06,2460 04064 TC BANKCALL
015509,000395: 06,2461 26730 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
015510,000396: 06,2462 12756 TCF ENDTEST
015511,000397: 06,2463 31547 CAE QPLACES
015512,000398: 06,2464 14106 TCF BANKJUMP
015513,000399:
015514,000400: 06,2465 00006 STORRSLT EXTEND
015515,000401: 06,2466 23546 QXCH QPLACE
015516,000402:
015517,000403: 06,2467 06000 TC INTPRET # DP TIME IN MPAC SCALED .312(5) MSEC
015518,000404: 06,2470 54340 LXC,1 SL
015519,000405: 06,2471 01537 NDXCTR
015520,000406: 06,2472 00204 3
015521,000407: 06,2473 45005 DMP RTB
015522,000408: 06,2474 15452 SCALFTR
015523,000409: 06,2475 11600 SGNAGREE
015524,000410: 06,2476 03570 STORE GENPL,1 # STORE DP TIME
015525,000411: 06,2477 77776 EXIT
015526,000412:
015527,000413: 06,2500 57551 XCH STOREPL # CONTAINS C(PIPAI)
015528,000414: 06,2501 51537 INDEX NDXCTR
015529,000415: 06,2502 55571 TS GENPL +2 # STORE PIPA COUNTER READING
015530,000416: 06,2503 41537 CS NDXCTR
015531,000417: 06,2504 63437 AD 72DEC
015532,000418: 06,2505 00006 EXTEND
015533,000419: 06,2506 63135 BZMF MISALIGN # TO CALCULATE MISALIGNMENT
015534,000420: 06,2507 36165 CAF THREE
015535,000421: 06,2510 27537 ADS NDXCTR
015536,000422: 06,2511 01546 TC QPLACE
015537,000423:
015538,000424: 06,2512 00006 OPTDATA EXTEND # CALLS FOR AZIMUTH AND ELEVATION OF
015539,000425: 06,2513 23546 QXCH QPLACE # TARGET 1, THEN TARGET 2
015540,000426:
015541,000427: 06,2514 37652 CAF BIT1 # AZIMUTH CLOCKWISE FROM NORTH TO TARGET
015542,000428: 06,2515 22007 ZL # ELEVATION MEASURED FROM HORIZONTAL
015543,000429: 06,2516 23550 LXCH RUN
015544,000430: 06,2517 54335 TS DSPTEM1 +2
015545,000431: 06,2520 33425 CAF V05N30E # DISPLAY TARGET NUMBER IN R3
015546,000432: 06,2521 05563 TC NVSBWAIT
015547,000433: 06,2522 51550 INDEX RUN
015548,000434: 06,2523 53554 DXCH TAZEL1
015549,000435: 06,2524 52334 DXCH DSPTEM1
015550,000436:
015551,000437: 06,2525 02565 TC CHECKLD # R1 +- XXX.XX AZIMUTH IN DEGREES
015552,000438: 06,2526 00661 OCT 00661 # R2 +- XX.XXX ELEVATION IN DEGREES
015553,000439: 06,2527 12756 TCF ENDTEST # R3 0000X TARGET NUMBER 1 OR 2
015554,000440:
015555,000441: 06,2530 52334 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
015556,000442: 06,2531 51550 INDEX RUN
015557,000443: 06,2532 53554 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
015558,000444: 06,2533 11550 CCS RUN
015559,000445: 06,2534 12540 TCF +4
015560,000446: 06,2535 37651 CAF TWO
015561,000447: 06,2536 54001 TS L
015562,000448: 06,2537 12516 TCF OPTDATA +4 # MPAC 1ST PASS = 0 2ND PASS = 2
015563,000449: 06,2540 01546 TC QPLACE
015564,000450:
015565,000451: 06,2541 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH (SM) AND LATITUDE
015566,000452: 06,2542 01511 LATITUDE
015567,000453: 06,2543 06335 STODL DSPTEM1 +1
015568,000454: 06,2544 01507 AZIMUTH # ...NOT REALLY...
015569,000455:
015570,000456: 06,2545 77424 RTB EXIT
015571,000457: 06,2546 11602 1STO2S # FRACTION OF REVOLUTION TO 2S COMPLEMENT
015572,000458:
015573,000459: 06,2547 56140 XCH MPAC # AZIMUTH MUST BE 135 DEGREES R1 = .13500
015574,000460: 06,2550 54333 TS DSPTEM1 # FOR SXT-NB-IMU FINE ALIGNMENT TEST
015575,000461: 06,2551 02565 TC CHECKLD # R1 +- XXX.XX AZIMUTH IN DEGREES (SM)
015576,000462: 06,2552 00661 OCT 00661 # R2 +- XX.XXX LATITUDE IN DEGREES
015577,000463: 06,2553 12756 TCF ENDTEST # R3 NOT USED
015578,000464:
015579,000465: 06,2554 06000 TC INTPRET
015580,000466: 06,2555 45135 SLOAD RTB
015581,000467: 06,2556 00334 DSPTEM1
015582,000468: 06,2557 11537 CDULOGIC # BACK TO FRACTION OF REVOLUTION
015583,000469: 06,2560 01507 STORE AZIMUTH
015584,000470:
015585,000471: 06,2561 60535 SLOAD SR2
015586,000472: 06,2562 00335 DSPTEM1 +1
015587,000473: 06,2563 01511 STORE LATITUDE
015588,000474: 06,2564 77616 RVQ
015589,000475:
015590,000476:
015591,000477: 06,2565 00006 CHECKLD EXTEND
015592,000478: 06,2566 23545 QXCH QPLAC
015593,000479:
015594,000480: 06,2567 51545 INDEX QPLAC
015595,000481: 06,2570 30000 CA A
015596,000482: 06,2571 04673 TC NVSUB
015597,000483: 06,2572 12604 TCF CHECKLD1
015598,000484:
015599,000485: 06,2573 05525 TC FLASHON
015600,000486:
015601,000487: 06,2574 04724 TC ENDIDLE # CHANGE R1 V21 N61 E +- XXX.XX E
015602,000488: 06,2575 12600 TCF +3 # CHANGE R2 V22 N61 E +- XX.XXX E
015603,000489: 06,2576 12602 TCF +4 # VERIFY, THEN PROCEED WITH VERB 33 ENTER
015604,000490: 06,2577 12567 TCF CHECKLD +2
015605,000491: 06,2600 51545 INDEX QPLAC
015606,000492: 06,2601 00001 TC 1
015607,000493: 06,2602 51545 INDEX QPLAC
015608,000494: 06,2603 00002 TC 2
015609,000495:
015610,000496: 06,2604 32606 CHECKLD1 CAF CHECKLD2
015611,000497: 06,2605 05560 TC NVSUBUSY
015612,000498: 06,2606 14567 CHECKLD2 CADR CHECKLD +2
015613,000499:
015614,000500: 06,2607 00006 POSNJUMP EXTEND # POSITIONS FOR SXTNBIMU
015615,000501: 06,2610 23546 QXCH QPLACE
015616,000502:
015617,000503: 06,2611 51544 INDEX POSITON
015618,000504: 06,2612 12613 TCF +1
015619,000505: 06,2613 12756 TCF ENDTEST
015620,000506: 06,2614 12621 TCF POS1
015621,000507: 06,2615 12626 TCF POS2
015622,000508: 06,2616 12644 TCF POS3
015623,000509: 06,2617 12665 TCF POS4
015624,000510: 06,2620 12717 TCF POS5
015625,000511:
015626,000512:
015627,000513:
015628,000514: 06,2621 37652 POS1 CAF ONE # XSM = V YSM = SW ZSM = SE
015629,000515: 06,2622 55542 TS PIPNDX
015630,000516: 06,2623 37651 CAF TWO
015631,000517: 06,2624 55543 TS PIPNDX +1 # MONITOR PIPAY AND PIPAZ
015632,000518: 06,2625 01546 TC QPLACE
015633,000519:
015634,000520:
015635,000521:
015636,000522: 06,2626 06000 POS2 TC INTPRET # XSM = SE YSM = SW ZSM = -V
015637,000523: 06,2627 57575 VLOAD VCOMP
015638,000524: 06,2630 01401 XSM
015639,000525: 06,2631 77715 PDVL
015640,000526: 06,2632 01415 ZSM
015641,000527: 06,2633 23401 STOVL XSM
015642,000528: 06,2634 77626 STADR
015643,000529: 06,2635 76362 STORE ZSM
015644,000530: 06,2636 77776 EXIT
015645,000531: 06,2637 37657 CAF ZERO
015646,000532: 06,2640 55542 TS PIPNDX
015647,000533: 06,2641 37652 CAF ONE
015648,000534: 06,2642 55543 TS PIPNDX +1 # MONITOR PIPAX AND PIPAY
015649,000535: 06,2643 01546 TC QPLACE
015650,000536:
015651,000537:
015652,000538:
015653,000539: 06,2644 06000 POS3 TC INTPRET # XSM = SE YSM = V ZSM = SW
015654,000540: 06,2645 63375 VLOAD PDVL
015655,000541: 06,2646 01401 XSM
015656,000542: 06,2647 01407 YSM
015657,000543: 06,2650 77715 PDVL
015658,000544: 06,2651 01415 ZSM
015659,000545: 06,2652 23401 STOVL XSM
015660,000546:
015661,000547: 06,2653 77626 STADR
015662,000548: 06,2654 54362 STOVL ZSM
015663,000549:
015664,000550: 06,2655 77626 STADR
015665,000551: 06,2656 76370 STORE YSM
015666,000552: 06,2657 77776 EXIT
015667,000553: 06,2660 37657 CAF ZERO
015668,000554: 06,2661 55542 TS PIPNDX
015669,000555: 06,2662 37651 CAF TWO
015670,000556: 06,2663 55543 TS PIPNDX +1 # MONITOR PIPAX AND PIPAZ
015671,000557: 06,2664 01546 TC QPLACE
015672,000558:
015673,000559:
015674,000560:
015675,000561: 06,2665 37646 POS4 CAF BIT5 # OPTION TO ALIGN SM TO SPECIFIED ANGLES
015676,000562: 06,2666 60104 AD FIXLOC
015677,000563: 06,2667 50104 INDEX FIXLOC
015678,000564: 06,2670 54050 TS S1 # BASE ADDRESS GIMBAL ANGLES
015679,000565: 06,2671 33431 CAF V25N22E # R1 +- XXX.XX OUTER GIMBAL ANGLE
015680,000566: 06,2672 05563 TC NVSBWAIT # R2 +- XXX.XX INNER GIMBAL ANGLE
015681,000567: 06,2673 04724 TC ENDIDLE # R3 +- XXX.XX MIDDLE GIMBAL ANGLE
015682,000568: 06,2674 12756 TCF ENDTEST
015683,000569: 06,2675 12671 TCF -4
015684,000570: 06,2676 30400 CA THETAD # SET UP ANGLES FOR SMNB
015685,000571: 06,2677 50104 INDEX FIXLOC
015686,000572: 06,2700 54024 TS 24
015687,000573: 06,2701 30401 CA THETAD +1
015688,000574: 06,2702 50104 INDEX FIXLOC
015689,000575: 06,2703 54020 TS 20
015690,000576: 06,2704 30402 CA THETAD +2
015691,000577: 06,2705 50104 INDEX FIXLOC
015692,000578: 06,2706 54022 TS 22
015693,000579:
015694,000580: 06,2707 06000 TC INTPRET
015695,000581: 06,2710 47024 RTB CALL
015696,000582: 06,2711 11734 TRANSPSE # EARTH REF WRT NAV BASE
015697,000583: 06,2712 16576 SMD/EREF # STABLE MEMBER DESIRED WRT EARTH REF
015698,000584: 06,2713 77624 RTB
015699,000585: 06,2714 11734 TRANSPSE # BACK TO NAV BASE WRT TO EARTH REF
015700,000586: 06,2715 77776 EXIT
015701,000587: 06,2716 01546 TC QPLACE
015702,000588:
015703,000589: 06,2717 31546 POS5 CA QPLACE # OPTION TO ALIGN SM TO ANY ORIENTATION
015704,000590: 06,2720 55551 TS STOREPL # WRT EARTH REFERENCE FRAME
015705,000591:
015706,000592: 06,2721 02512 TC OPTDATA # LOAD YSM AND ZSM AZIMUTH AND ELEVATION
015707,000593:
015708,000594: 06,2722 06000 TC INTPRET
015709,000595: 06,2723 77634 CALL
015710,000596: 06,2724 14360 TAR/EREF # CALC YSM AND ZSM WRT EARTH REF. FRAME
015711,000597: 06,2725 41575 VLOAD PUSH
015712,000598: 06,2726 00007 6D
015713,000599: 06,2727 01407 STORE YSM
015714,000600: 06,2730 76435 VXV VSL1
015715,000601: 06,2731 00015 12D
015716,000602: 06,2732 01401 STORE XSM # XSM = (YSM) X (ZSM)
015717,000603: 06,2733 76435 VXV VSL1
015718,000604: 06,2734 77626 STADR
015719,000605: 06,2735 76362 STORE ZSM # ZSM = (XSM) X (YSM)
015720,000606: 06,2736 77776 EXIT
015721,000607:
015722,000608: 06,2737 01551 TC STOREPL
015723,000609: 06,2740 00006 OGCZERO EXTEND # ZERO EARTH RATE TORQUING ANGLES
015724,000610: 06,2741 23546 QXCH QPLACE
015725,000611:
015726,000612: 06,2742 06000 TC INTPRET
015727,000613: 06,2743 77775 VLOAD
015728,000614: 06,2744 16711 ZERODP # VECTOR IN THIS CASE
015729,000615: 06,2745 00406 STORE ERCOMP
015730,000616: 06,2746 77776 EXIT
015731,000617: 06,2747 01546 TC QPLACE
015732,000618:
015733,000619:
015734,000620:
015735,000621:
015736,000622:
015737,000623: 06,2750 37645 GMLCKCHK CAF BIT6 # CHECK FOR GIMBAL LOCK (MGA GREATER 70)
015738,000624: 06,2751 70322 MASK DSPTAB +11D
015739,000625: 06,2752 00006 EXTEND
015740,000626: 06,2753 12755 BZF +2
015741,000627: 06,2754 12756 TCF ENDTEST
015742,000628: 06,2755 00002 TC Q
015743,000629:
015744,000630:
015745,000631:
015746,000632:
015747,000633:
015748,000634: 06,2756 47643 ENDTEST CS IMUSEFLG # BIT8
015749,000635: 06,2757 00004 INHINT
015750,000636: 06,2760 70061 MASK STATE
015751,000637: 06,2761 54061 TS STATE
015752,000638:
015753,000639: 06,2762 04572 TC NEWMODEX
015754,000640: 06,2763 00000 OCT 00000
015755,000641:
015756,000642: 06,2764 04064 TC BANKCALL
015757,000643: 06,2765 27033 CADR MKRELEAS # RELEASE MARK SYSTEM
015758,000644: 06,2766 04352 TC EJFREE
015759,000645:
015760,000646: 06,2767 06000 CSMLAB TC INTPRET
015761,000647: 06,2770 57575 VLOAD VCOMP
015762,000648: 06,2771 16703 ZUNIT
015763,000649:
015764,000650: 06,2772 01431 STORE YNB # XNB MATRIX USED IN CALCGA
015765,000651: 06,2773 23453 STOVL STARAD +6 # STARAD MATRIX USED IN AXISGEN * SMDCALC
015766,000652: 06,2774 16707 XUNIT
015767,000653:
015768,000654: 06,2775 01423 STORE XNB # *XNB* *1 0 0* *V*
015769,000655: 06,2776 23445 STOVL STARAD # * * * * * *
015770,000656: 06,2777 16705 YUNIT # *YNB* = *0 0 1* *S*
015771,000657: 06,3000 01437 STORE ZNB # * * * * * *
015772,000658: 06,3001 01461 STORE STARAD +12D # *ZNB* *0 -1 0* *E*
015773,000659: 06,3002 77776 EXIT
015774,000660:
015775,000661: 06,3003 41544 CS POSITON
015776,000662: 06,3004 66165 AD THREE
015777,000663: 06,3005 00006 EXTEND
015778,000664: 06,3006 13010 BZF +2
015779,000665: 06,3007 13023 TCF CSMLAB1
015780,000666:
015781,000667: 06,3010 06000 TC INTPRET
015782,000668: 06,3011 57575 VLOAD VCOMP
015783,000669: 06,3012 01423 XNB
015784,000670: 06,3013 77715 PDVL # *XNB* * 0 -1 0* *V*
015785,000671: 06,3014 01437 ZNB # * * * * * *
015786,000672: 06,3015 01423 STORE XNB # *YNB* = * 0 0 1* *S*
015787,000673: 06,3016 23445 STOVL STARAD # * * * * * *
015788,000674: 06,3017 77626 STADR # *ZNB* *-1 0 0* * *
015789,000675: 06,3020 76340 STORE ZNB
015790,000676: 06,3021 01461 STORE STARAD +12D
015791,000677: 06,3022 77776 EXIT
015792,000678:
015793,000679: 06,3023 04064 CSMLAB1 TC BANKCALL
015794,000680: 06,3024 26730 CADR IMUSTALL # INSURE IMUZERO COMPLETION
015795,000681:
015796,000682: 06,3025 12756 TCF ENDTEST
015797,000683:
015798,000684: 06,3026 02607 TC POSNJUMP # SET UP STABLE MEMBER DESIRED COORDINATES
015799,000685: 06,3027 05632 TC FREEDSP # FREE DISPLAY SYSTEM
015800,000686: 06,3030 02257 TC PUTPOSX # TO COARSE ALIGN STABLE MEMBER
015801,000687:
015802,000688: 06,3031 02750 TC GMLCKCHK
015803,000689:
015804,000690: 06,3032 04064 TC BANKCALL
015805,000691: 06,3033 26227 CADR IMUFINE # FINE ALIGN MODE
015806,000692: 06,3034 04064 TC BANKCALL
015807,000693: 06,3035 26730 CADR IMUSTALL
015808,000694: 06,3036 12756 TCF ENDTEST
015809,000695:
015810,000696: 06,3037 30032 CA CDUX
015811,000697: 06,3040 50104 INDEX FIXLOC
015812,000698: 06,3041 54024 TS 24
015813,000699: 06,3042 30033 CA CDUY
015814,000700: 06,3043 50104 INDEX FIXLOC
015815,000701: 06,3044 54020 TS 20
015816,000702: 06,3045 30034 CA CDUZ
015817,000703: 06,3046 50104 INDEX FIXLOC
015818,000704: 06,3047 54022 TS 22
015819,000705:
015820,000706: 06,3050 37646 CAF BIT5
015821,000707: 06,3051 60104 AD FIXLOC
015822,000708: 06,3052 50104 INDEX FIXLOC
015823,000709: 06,3053 54050 TS S1
015824,000710:
015825,000711: 06,3054 02316 TC SMDCALC # TO FINE ALIGN STABLE MEMBER
015826,000712:
015827,000713: 06,3055 06000 TC INTPRET # IF EARTH RATE COMPENSATION DESIRED
015828,000714: 06,3056 77624 RTB
015829,000715: 06,3057 11534 LOADTIME
015830,000716: 06,3060 01565 STORE TMARK
015831,000717: 06,3061 77776 EXIT
015832,000718:
015833,000719: 06,3062 41512 CS EROPTN
015834,000720: 06,3063 67651 AD TWO
015835,000721: 06,3064 00006 EXTEND
015836,000722: 06,3065 13067 BZF +2
015837,000723:
015838,000724: 06,3066 12055 TCF ERFINAL +2
015839,000725:
015840,000726: 06,3067 04064 TC BANKCALL
015841,000727: 06,3070 30363 CADR SAMODRTN # RETURN TO SEMI-AUTOMATIC MODING TEST
015842,000728:
015843,000729:
015844,000730: 06,3071 00006 OPTNB EXTEND
015845,000731: 06,3072 23547 QXCH QPLACES
015846,000732:
015847,000733: 06,3073 02512 TC OPTDATA # LOAD YNB AND ZNB AZIMUTH AND ELEVATION
015848,000734:
015849,000735: 06,3074 06000 TC INTPRET
015850,000736: 06,3075 77634 CALL
015851,000737: 06,3076 14360 TAR/EREF # CALC YNB AND ZNB WRT EARTH REF. FRAME
015852,000738: 06,3077 41575 VLOAD PUSH
015853,000739: 06,3100 00007 6D
015854,000740: 06,3101 01431 STORE YNB
015855,000741: 06,3102 76435 VXV VSL1
015856,000742: 06,3103 00015 12D
015857,000743: 06,3104 01423 STORE XNB # XNB = (YNB) X (ZNB)
015858,000744: 06,3105 76435 VXV VSL1
015859,000745: 06,3106 77626 STADR
015860,000746: 06,3107 76340 STORE ZNB # ZNB = (XNB) X (YNB)
015861,000747: 06,3110 77776 EXIT
015862,000748:
015863,000749: 06,3111 01547 TC QPLACES
015864,000750:
015865,000751:
015866,000752: 06,3112 00006 TARGDRVE EXTEND
015867,000753: 06,3113 23545 QXCH QPLAC
015868,000754: 06,3114 55531 TS TARG1/2
015869,000755: 06,3115 06000 TC INTPRET
015870,000756: 06,3116 77634 CALL
015871,000757: 06,3117 14360 TAR/EREF
015872,000758: 06,3120 76740 LXC,1 VLOAD*
015873,000759: 06,3121 01531 TARG1/2
015874,000760: 06,3122 00007 6D,1
015875,000761: 06,3123 37467 STCALL STAR
015876,000762: 06,3124 16502 SXTANG
015877,000763: 06,3125 77776 EXIT
015878,000764: 06,3126 31474 CA SAC
015879,000765: 06,3127 54404 TS DESOPTS
015880,000766: 06,3130 31476 CA PAC
015881,000767: 06,3131 54403 TS DESOPTT
015882,000768: 06,3132 37657 RETARG CAF ZERO
015883,000769: 06,3133 54350 TS OPTIND
015884,000770: 06,3134 01545 TC QPLAC
015885,000771:
015886,000772:
015887,000773: 06,3135 05550 MISALIGN TC GRABWAIT # DISPLAY SYSTEM WAS FREED
015888,000774: 06,3136 37657 CAF ZERO
015889,000775: 06,3137 55537 TS NDXCTR
015890,000776: 06,3140 51537 BBBB INDEX NDXCTR
015891,000777: 06,3141 41673 CS GENPL +68D
015892,000778: 06,3142 51537 INDEX NDXCTR
015893,000779: 06,3143 27701 ADS GENPL +74D
015894,000780: 06,3144 33435 CAF 63DEC
015895,000781: 06,3145 61537 AD NDXCTR
015896,000782: 06,3146 10000 CCS A
015897,000783: 06,3147 46165 CS THREE
015898,000784: 06,3150 27537 ADS NDXCTR
015899,000785: 06,3151 13140 TCF BBBB
015900,000786: 06,3152 55537 TS NDXCTR
015901,000787:
015902,000788:
015903,000789:
015904,000790: 06,3153 06000 CCCC TC INTPRET
015905,000791: 06,3154 70750 LXA,1 DLOAD*
015906,000792: 06,3155 01537 NDXCTR
015907,000793: 06,3156 01700 GENPL +72D,1
015908,000794: 06,3157 77625 DSU
015909,000795: 06,3160 01570 GENPL
015910,000796: 06,3161 03700 STORE GENPL +72D,1
015911,000797: 06,3162 77776 EXIT
015912,000798: 06,3163 41537 CS NDXCTR
015913,000799: 06,3164 63436 AD 69DEC
015914,000800: 06,3165 10000 CCS A
015915,000801: 06,3166 36165 CAF THREE
015916,000802: 06,3167 27537 ADS NDXCTR
015917,000803: 06,3170 13153 TCF CCCC
015918,000804: 06,3171 55550 TS RUN
015919,000805: 06,3172 36165 CAF THREE
015920,000806: 06,3173 55537 TS NDXCTR
015921,000807:
015922,000808:
015923,000809:
015924,000810: 06,3174 06000 DDDD TC INTPRET
015925,000811: 06,3175 77775 VLOAD
015926,000812: 06,3176 16711 ZERODP
015927,000813: 06,3177 00031 STORE 24D
015928,000814: 06,3200 00037 STORE 30D
015929,000815: 06,3201 77735 SLOAD
015930,000816: 06,3202 15433 11DEC
015931,000817: 06,3203 00041 STORE 32D
015932,000818: 06,3204 77776 EXIT
015933,000819:
015934,000820: 06,3205 06000 DDDD1 TC INTPRET
015935,000821: 06,3206 70750 LXA,1 DLOAD*
015936,000822: 06,3207 01537 NDXCTR
015937,000823:
015938,000824: 06,3210 01700 GENPL +72D,1
015939,000825: 06,3211 41423 DSU* PUSH
015940,000826: 06,3212 01672 GENPL +66D,1
015941,000827: 06,3213 42742 SR1 DAD*
015942,000828: 06,3214 01672 GENPL +66D,1
015943,000829: 06,3215 03700 STORE GENPL +72D,1
015944,000830:
015945,000831: 06,3216 43312 SL2 DAD
015946,000832: 06,3217 00031 24D
015947,000833: 06,3220 14031 STODL* 24D
015948,000834: 06,3221 01700 GENPL +72D,1
015949,000835: 06,3222 63412 SL4 DSQ
015950,000836: 06,3223 77615 DAD
015951,000837: 06,3224 00033 26D
015952,000838: 06,3225 00033 STORE 26D
015953,000839: 06,3226 77776 EXIT
015954,000840: 06,3227 31550 CAE RUN
015955,000841: 06,3230 61537 AD NDXCTR
015956,000842: 06,3231 40000 COM
015957,000843: 06,3232 63435 AD 63DEC
015958,000844: 06,3233 10000 CCS A
015959,000845: 06,3234 36162 CAF SIX
015960,000846: 06,3235 27537 ADS NDXCTR
015961,000847: 06,3236 13205 TCF DDDD1
015962,000848: 06,3237 61550 AD RUN
015963,000849: 06,3240 55537 TS NDXCTR
015964,000850:
015965,000851:
015966,000852:
015967,000853: 06,3241 06000 EEEE TC INTPRET
015968,000854: 06,3242 66740 LXC,1 SLOAD*
015969,000855: 06,3243 01537 NDXCTR
015970,000856: 06,3244 01603 GENPL +11D,1
015971,000857: 06,3245 00043 STORE 34D
015972,000858: 06,3246 77745 DLOAD
015973,000859: 06,3247 54206 PUSH SL
015974,000860: 06,3250 00211 8D
015975,000861: 06,3251 43265 BDDV DAD
015976,000862: 06,3252 00043 34D
015977,000863: 06,3253 00035 28D
015978,000864: 06,3254 06035 STODL 28D
015979,000865: 06,3255 55261 SL BDDV
015980,000866: 06,3256 00207 6
015981,000867: 06,3257 00043 34D
015982,000868: 06,3260 42523 PDDL* SL4
015983,000869: 06,3261 01601 GENPL +9D,1
015984,000870: 06,3262 77605 DMP
015985,000871: 06,3263 77615 DAD
015986,000872: 06,3264 00037 30D
015987,000873: 06,3265 00037 STORE 30D
015988,000874:
015989,000875: 06,3266 77776 EXIT
015990,000876: 06,3267 41537 CS NDXCTR
015991,000877: 06,3270 63434 AD 60DEC
015992,000878: 06,3271 61550 AD RUN
015993,000879: 06,3272 10000 CCS A
015994,000880: 06,3273 36162 CAF SIX
015995,000881: 06,3274 27537 ADS NDXCTR
015996,000882: 06,3275 13241 TCF EEEE
015997,000883:
015998,000884:
015999,000885:
016000,000886: 06,3276 06000 TC INTPRET
016001,000887: 06,3277 41345 DLOAD DMP
016002,000888: 06,3300 00031 24D
016003,000889: 06,3301 00037 30D
016004,000890: 06,3302 41325 PDDL DMP
016005,000891: 06,3303 00033 26D
016006,000892: 06,3304 00035 28D
016007,000893: 06,3305 77625 DSU
016008,000894: 06,3306 63525 PDDL DSQ
016009,000895: 06,3307 00031 24D
016010,000896: 06,3310 65342 SR1 PDDL
016011,000897: 06,3311 00041 32D
016012,000898: 06,3312 41261 SL DMP
016013,000899: 06,3313 00212 11
016014,000900: 06,3314 00033 26D
016015,000901: 06,3315 55225 DSU BDDV
016016,000902: 06,3316 54205 DMP SL
016017,000903: 06,3317 15446 KKKK
016018,000904: 06,3320 00204 3
016019,000905: 06,3321 00337 STORE DSPTEM2
016020,000906: 06,3322 77776 EXIT
016021,000907:
016022,000908: 06,3323 31544 CA POSITON
016023,000909: 06,3324 54340 TS DSPTEM2 +2
016024,000910:
016025,000911: 06,3325 33427 CAF V06N66E
016026,000912: 06,3326 05563 TC NVSBWAIT
016027,000913: 06,3327 05525 TC FLASHON
016028,000914: 06,3330 04724 TC ENDIDLE
016029,000915: 06,3331 12756 TCF ENDTEST
016030,000916: 06,3332 36165 CAF THREE
016031,000917: 06,3333 55550 TS RUN
016032,000918: 06,3334 37657 CAF ZERO
016033,000919: 06,3335 13173 TCF DDDD -1
016034,000920:
016035,000921:
016036,000922:
016037,000923: # THE SXT ANGLE CHECKING PROGRAM PROVIDES A SIMPLE VERIFICATION OF THE ACCURACY OF THE SXT, THE IDEA IS TO
016038,000924: # COMPUTE THE ANGLE BETWEEN TWO LINES OF SIGHT AS INDICATED BY THE SXT, WHICH IS WHAT THIS PROGRAM DOES.
016039,000925: # INDEPENDENT KNOWLEDGE OF THE INCLUDED ANGLE PROVIDES A COMPARISON AND THUS A MEASURE OF THE SXT ACCURACY.
016040,000926: # THE ISS NEED NOT BE ON TO RUN THIS PROGRAM.
016041,000927:
016042,000928:
016043,000929:
016044,000930: 06,3336 37657 SXTANGCK CAF ZERO
016045,000931: 06,3337 55530 TS SXTOPTN
016046,000932:
016047,000933: 06,3340 06000 TC INTPRET
016048,000934: 06,3341 77414 SET EXIT # IN CASE THE ISS IS OFF.
016049,000935: 06,3342 00065 COAROFIN
016050,000936: 06,3343 02133 TC FINDNAVB # FOR LOS1 AND LOS2.
016051,000937: 06,3344 06000 TC INTPRET
016052,000938: 06,3345 47375 VLOAD VXV
016053,000939: 06,3346 01600 LOS1
016054,000940: 06,3347 01606 LOS2
016055,000941: 06,3350 77646 ABVAL
016056,000942: 06,3351 22023 STOVL SINTH # SINTH = ABVAL (VXV ).
016057,000943: 06,3352 01600 LOS1
016058,000944: 06,3353 77641 DOT
016059,000945: 06,3354 01606 LOS2
016060,000946: 06,3355 36021 STCALL COSTH # COSTH = V.V
016061,000947: 06,3356 16051 ARCTRIG
016062,000948: 06,3357 77624 RTB
016063,000949: 06,3360 11602 1STO2S # DP 1S COMP TO SP 2S COMP.
016064,000950: 06,3361 00025 STORE THETA
016065,000951: 06,3362 77776 EXIT
016066,000952: 06,3363 33447 CAF THETAADR
016067,000953: 06,3364 60104 AD FIXLOC
016068,000954: 06,3365 54142 TS MPAC +2
016069,000955: 06,3366 33426 CAF V06N03E # XXX.XX DEGREES IN R1.
016070,000956: 06,3367 05563 TC NVSBWAIT
016071,000957: 06,3370 37651 CAF TWO
016072,000958: 06,3371 02756 TC ENDTEST
016073,000959: 06,3372 02756 TC ENDTEST
016074,000960: 06,3373 02756 TC ENDTEST
016075,000961:
016076,000962: 06,3374 E3,1400 EBANK= 1400
016077,000963: 06,3374 00004 ZEROERAS INHINT # PROGRAM BY MUNTZ TO ZERO ERASEABLE
016078,000964: 06,3375 37657 CAF ZERO
016079,000965: 06,3376 54026 TS TIME3
016080,000966: 06,3377 33423 CAF OCT27
016081,000967: 06,3400 54003 TS EBANK
016082,000968: 06,3401 22007 ZEROLP ZL
016083,000969: 06,3402 50000 INDEX A
016084,000970: 06,3403 23401 LXCH 1401
016085,000971: 06,3404 67651 AD TWO
016086,000972: 06,3405 26003 ADS EBANK
016087,000973: 06,3406 75466 MASK LOW8
016088,000974: 06,3407 10000 CCS A
016089,000975: 06,3410 13401 TCF ZEROLP
016090,000976: 06,3411 10003 CCS EBANK
016091,000977: 06,3412 13415 TCF ZEROLP1
016092,000978: 06,3413 04103 TC POSTJUMP
016093,000979: 06,3414 24000 CADR SLAP1
016094,000980: 06,3415 00003 ZEROLP1 RELINT
016095,000981: 06,3416 37657 CAF ZERO # KEEP T4RUPT GOING, BUT NOT CYCLING.
016096,000982: 06,3417 54347 TS DSRUPTSW
016097,000983: 06,3420 47652 CS ONE
016098,000984: 06,3421 00004 INHINT
016099,000985: 06,3422 13401 TCF ZEROLP
016100,000986: 06,3423 00027 OCT27 OCT 27
016101,000987:
016102,000988: 06,3424 E5,1500 EBANK= OGC
016103,000989: 06,3424 00130 V01N30E OCT 00130 # FOR FINDNAVB
016104,000990: 06,3425 00530 V05N30E OCT 00530 # FOR OPTDATA
016105,000991: 06,3426 00603 V06N03E OCT 00603
016106,000992: 06,3427 00666 V06N66E OCT 00666
016107,000993: 06,3430 02530 V25N30E OCT 02530 # FOR POSITION LOAD
016108,000994: 06,3431 02522 V25N22E OCT 02522 # FOR POS4
016109,000995:
016110,000996: 06,3432 00013 11DEC DEC 11 B-14
016111,000997: 06,3433 00021 17DEC DEC 17 B-14
016112,000998: 06,3434 00074 60DEC DEC 60 B-14
016113,000999: 06,3435 00077 63DEC DEC 63 B-14
016114,001000: 06,3436 00105 69DEC DEC 69 B-14 # FOR MISALIGN
016115,001001: 06,3437 00110 72DEC DEC 72 B-14 # FOR STORRSLT
016116,001002:
016117,001003: 06,3440 05670 30SEC DEC 3000 B-14 # 3000 X 10 MSEC
016118,001004: 06,3441 13560 60SEC DEC 6000 B-14 # 6000 X 10 MSEC
016119,001005:
016120,001006: 06,3442 01500 OGCADR ADRES OGC # FOR ZEROING
016121,001007: 06,3443 01567 GENPLAD1 ADRES GENPL
016122,001008: 06,3444 02567 GENPLADR ECADR GENPL # FOR POS4
016123,001009: 06,3445 02316 00000 KKKK 2DEC 1230 B-14 # 210.39 B-14 FOR LEM
016124,001010:
016125,001011: 06,3447 00024 THETAADR ECADR THETA
016126,001012: 06,3450 01400 XSMADRX ADRES XSM # FOR MAKEXSMD
016127,001013:
016128,001014: 06,3451 24365 30244 SCALFTR 2DEC .64 # FOR STORRSLT
016129,001015:
016130,001016: 06,3453 07623 26552 OMEG/MS 2DEC .24339048 # GYRO PULSES / 10 MSEC
016131,001017:
016132,001018:
016133,001019: 06,3455 04113 OPTDATA2 TC MAKECADR
016134,001020: 06,3456 55777 TS OPDATRET
016135,001021: 06,3457 02512 TC OPTDATA
016136,001022: 06,3460 31777 CA OPDATRET
016137,001023: 06,3461 14106 TCF BANKJUMP
016138,001024:
016139,001025: 06,3462 ENDIMUS1 EQUALS
016140,001026:
016141,001027: # THE FOLLOWING ROUTINE READS THE CLOCK AND SCALAR (CHANNELS 3 AND 4) INTO A AND L, INSURING THAT THE
016142,001028: # DATA WAS NOT IN TRANSITION WHEN IT WAS READ.
016143,001029: 5721 SETLOC ENDFAILF
016144,001030: 5721 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED.
016145,001031: 5722 00006 EXTEND
016146,001032: 5723 00004 READ LOSCALAR
016147,001033: 5724 54001 TS L
016148,001034:
016149,001035: 5725 00006 EXTEND # SEE IF 2 READINGS AGREE. IF NOT, READ
016150,001036: 5726 06004 RXOR LOSCALAR # LOSCALAR AGAIN.
016151,001037: 5727 00006 EXTEND
016152,001038: 5730 15734 BZF +4
016153,001039:
016154,001040: 5731 00006 EXTEND # IF CLOCK RIPPLED BEFORE, IT WONT NOW.
016155,001041: 5732 00004 READ LOSCALAR
016156,001042: 5733 54001 TS L
016157,001043:
016158,001044: 5734 47632 +4 CS POSMAX # IF LOW PART CONTAINS SOMETHING LESS THAN
016159,001045: 5735 60001 AD L # POSMAX, THE HIGH PART CAN BE READ SAFELY
016160,001046: 5736 00006 EXTEND
016161,001047: 5737 15722 BZF FINETIME +1 # TRY AGAIN - CONDITION WILL DISAPPEAR.
016162,001048:
016163,001049: 5740 00006 EXTEND
016164,001050: 5741 00003 READ HISCALAR
016165,001051: 5742 00002 TC Q
016166,001052:
016167,001053: 5743 ENDIMUF EQUALS
End of include-file IMU_PERFORMANCE_TESTS_1.agc. Parent file is MAIN.agc