Source Code

These source-code files are part of a reconstructed copy of Comanche 67, the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.

They have been adapted from sources files for Comanche 55, and updated via disassembly of binary dumps of original core rope memory modules, part numbers 2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.

Since only binary dumps (rather than listings) of Comanche 67 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.

017747,000002:                                                                                                  ## Copyright:   Public domain.
017748,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
017749,000004:                                                                                                  ## Purpose:     A section of Comanche revision 067.
017750,000005:                                                                                                  ##              It is part of the reconstructed source code for the flight
017751,000006:                                                                                                  ##              software for the Command Module's (CM) Apollo Guidance Computer
017752,000007:                                                                                                  ##              (AGC) for Apollo 12. No original listings of this program are
017753,000008:                                                                                                  ##              available; instead, this file was created via dissassembly of
017754,000009:                                                                                                  ##              dumps of Comanche 067 core rope modules and comparison with
017755,000010:                                                                                                  ##              other AGC programs.
017756,000011:                                                                                                  ## Assembler:   yaYUL
017757,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
017758,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
017759,000014:                                                                                                  ## Mod history: 2023-08-16 MAS  Created from Comanche 055.
017760,000015:                                                                                                  ##              2024-05-13 MAS  Updated for Comanche 067.
017761,000016: 
017762,000017:                                                                                                  #  NAME-         IMU PERFORMANCE TESTS 2
017763,000018: 
017764,000019:                                                                                                  #  DATE-         MARCH 20, 1967
017765,000020: 
017766,000021:                                                                                                  #  BY-           SYSTEM TEST GROUP 864-6900 EXT. 1274
017767,000022: 
017768,000023:                                                                                                  #  MODNO.-       ZERO
017769,000024: 
017770,000025:                                                                                                  #  FUNCTIONAL DESCRIPTION
017771,000026: 
017772,000027:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
017773,000028:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
017774,000029:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
017775,000030: 
017776,000031: 33,2004                                           BANK     33                                    
017777,000032: 33,2000                                           SETLOC   IMUCAL                                
017778,000033: 33,2000                                           BANK                                           
017779,000034: 
017780,000035: 33,2004  E5,1423                                  EBANK=   POSITON                               
017781,000036: 33,2004           35035        IMUTEST            CA       ZERO                                  
017782,000037: 33,2005           55452                           TS       DRIFTT                                
017783,000038: 33,2006           55643                           TS       GEOCOMP1                              
017784,000039: 33,2007           32443                           CAF      TESTTIME                              
017785,000040: 33,2010           55412                           TS       LENGTHOT                              
017786,000041: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
017787,000042: 33,2012           35055                           CAF      1SECX                                 
017788,000043: 33,2013           55644                           TS       1SECXT1                               
017789,000044: 
017790,000045: 33,2014           32441                           CA       OC14400                               
017791,000046: 33,2015           55074                           TS       1/PIPADT                              
017792,000047: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
017793,000048: 33,2017           77624                           CALL                                           
017794,000049: 33,2020           10613                                    LATAZCHK                              
017795,000050: 33,2021           57546                           COS      DCOMP                                 
017796,000051: 33,2022           77752                           SL1                                            
017797,000052: 33,2023           16447                           STODL    WANGI                                 
017798,000053: 33,2024           02403                                    LATITUDE                              
017799,000054: 33,2025           72556                           SIN      SL1                                   
017800,000055: 33,2026           02445                           STORE    WANGO                                 
017801,000056: 33,2027           77776                           EXIT                                           
017802,000057: 33,2030           04676        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
017803,000058: 33,2031           16577                           CADR     IMUZERO                               
017804,000059: 33,2032           02316                           TC       IMUSTLLG                              
017805,000060: 33,2033           35035        IMUBACK            CA       ZERO                                  
017806,000061: 33,2034           55421                           TS       NDXCTR                                
017807,000062: 33,2035           55450                           TS       TORQNDX                               
017808,000063: 33,2036           55451                           TS       TORQNDX    +1                         
017809,000064: 33,2037           34375        NBPOSPL            CA       DEC17                                 
017810,000065: 33,2040           55655                           TS       ZERONDX1                              
017811,000066: 33,2041           32445                           CA       XNBADR                                
017812,000067: 33,2042           02356                           TC       ZEROING                               
017813,000068: 33,2043           35016                           CA       HALF                                  
017814,000069: 33,2044           55713                           TS       XNB                                   
017815,000070: 33,2045           06006                           TC       INTPRET                               
017816,000071: 33,2046           73545                           DLOAD    SIN                                   
017817,000072: 33,2047           02401                                    AZIMUTH                               
017818,000073: 33,2050           02724                           STORE    YNB        +2                         
017819,000074: 33,2051           16734                           STODL    ZNB        +4                         
017820,000075: 33,2052           02401                                    AZIMUTH                               
017821,000076: 33,2053           77746                           COS                                            
017822,000077: 33,2054           02726                           STORE    YNB        +4                         
017823,000078: 33,2055           77676                           DCOMP                                          
017824,000079: 33,2056           02732                           STORE    ZNB        +2                         
017825,000080: 33,2057           77776                           EXIT                                           
017826,000081: 33,2060           05400                           TC       CHECKMM                               
017827,000082: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
017828,000083: 33,2062           12064                           TCF      +2                                    #  NO
017829,000084: 33,2063           13443                           TCF      SETNBPOS   +1                         #  YES
017830,000085: 33,2064           06006                           TC       INTPRET                               
017831,000086: 33,2065           77624                           CALL                                           
017832,000087: 33,2066           47313                                    CALCGA                                
017833,000088: 33,2067           77776                           EXIT                                           
017834,000089: 33,2070           04676                           TC       BANKCALL                              
017835,000090: 33,2071           16663                           CADR     IMUCOARS                              
017836,000091: 33,2072           35016                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
017837,000092: 33,2073           70077                           MASK     FLAGWRD3                              
017838,000093: 33,2074           00006                           EXTEND                                         
017839,000094: 33,2075           12077                           BZF      +2                                    
017840,000095: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
017841,000096: 33,2077           05574                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
017842,000097: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
017843,000098: 33,2101           02316                           TC       IMUSTLLG                              
017844,000099: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
017845,000100: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
017846,000101: 33,2104           04676                           TC       BANKCALL                              
017847,000102: 33,2105           17073                           CADR     IMUFINE                               
017848,000103: 33,2106           02316                           TC       IMUSTLLG                              
017849,000104: 33,2107           00006                           EXTEND                                         
017850,000105: 33,2110           31657                           DCA      PERFDLAY                              
017851,000106: 33,2111           05356                           TC       LONGCALL                              
017852,000107: 33,2112  E5,1423                                  EBANK=   POSITON                               
017853,000108: 33,2112           02116 66065                     2CADR    GOESTIMS                              
017854,000109: 
017855,000110: 33,2114           32121                           CA       ESTICADR                              
017856,000111: 33,2115           05211                           TC       JOBSLEEP                              
017857,000112: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
017858,000113: 33,2117           05215                           TC       JOBWAKE                               
017859,000114: 33,2120           05340                           TC       TASKOVER                              
017860,000115: 33,2121           66453        ESTICADR           CADR     ESTIMS                                
017861,000116: 33,2122           35035        TORQUE             CA       ZERO                                  
017862,000117: 33,2123           55050                           TS       DSPTEM2                               
017863,000118: 33,2124           31514                           CA       DRIFTI                                
017864,000119: 33,2125           55051                           TS       DSPTEM2    +1                         
017865,000120: 33,2126           51423                           INDEX    POSITON                               
017866,000121: 33,2127           55430                           TS       SOUTHDR    -1                         
017867,000122: 33,2130           02427                           TC       SHOW                                  
017868,000123: 
017869,000124: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
017870,000125: 33,2132           02133                           TC       +1                                    
017871,000126: 33,2133           02417                           TC       EARTHR*                               
017872,000127: 33,2134           34374                           CA       DEC57                                 
017873,000128: 33,2135           55412                           TS       LENGTHOT                              
017874,000129: 33,2136           35033                           CA       ONE                                   
017875,000130: 33,2137           55547                           TS       RESULTCT                              
017876,000131: 33,2140           35035                           CA       ZERO                                  
017877,000132: 33,2141           51422                           INDEX    PIPINDEX                              
017878,000133: 33,2142           54037                           TS       PIPAX                                 
017879,000134: 33,2143           55502                           TS       DATAPL                                
017880,000135: 33,2144           55506                           TS       DATAPL     +4                         
017881,000136: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
017882,000137: 33,2146           00004                           INHINT                                         
017883,000138: 33,2147           35032                           CAF      TWO                                   
017884,000139: 33,2150           05251                           TC       TWIDDLE                               
017885,000140: 33,2151  E5,1671                                  EBANK=   XSM                                   
017886,000141: 33,2151           02153                           ADRES    PIPATASK                              
017887,000142: 33,2152           05233                           TC       ENDOFJOB                              
017888,000143: 33,2153           00006        PIPATASK           EXTEND                                         
017889,000144: 33,2154           27412                           DIM      LENGTHOT                              
017890,000145: 33,2155           31412                           CA       LENGTHOT                              
017891,000146: 33,2156           00006                           EXTEND                                         
017892,000147: 33,2157           62163                           BZMF     STARTPIP                              
017893,000148: 33,2160           35022                           CAF      BIT10                                 
017894,000149: 33,2161           05251                           TC       TWIDDLE                               
017895,000150: 33,2162  E5,1671                                  EBANK=   XSM                                   
017896,000151: 33,2162           02153                           ADRES    PIPATASK                              
017897,000152: 33,2163           35016        STARTPIP           CAF      PRIO20                                
017898,000153: 33,2164           05163                           TC       FINDVAC                               
017899,000154: 33,2165  E5,1671                                  EBANK=   XSM                                   
017900,000155: 33,2165           02170 66065                     2CADR    PIPJOBB                               
017901,000156: 
017902,000157: 33,2167           05340                           TC       TASKOVER                              
017903,000158: 
017904,000159: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
017905,000160: 33,2171           02172                           TC       +1                                    
017906,000161: 33,2172           02417                           TC       EARTHR*                               
017907,000162: 33,2173           31412                           CA       LENGTHOT                              
017908,000163: 33,2174           00006                           EXTEND                                         
017909,000164: 33,2175           62177                           BZMF     +2                                    
017910,000165: 33,2176           05233                           TC       ENDOFJOB                              
017911,000166: 33,2177           35036                           CA       FIVE                                  
017912,000167: 33,2200           55547                           TS       RESULTCT                              
017913,000168: 33,2201           02321                           TC       CHECKG                                
017914,000169: 33,2202           00006                           EXTEND                                         
017915,000170: 33,2203           41503                           DCS      DATAPL                                
017916,000171: 33,2204           21507                           DAS      DATAPL     +4                         
017917,000172: 
017918,000173: 33,2205           06006                           TC       INTPRET                               
017919,000174: 33,2206           45345                           DLOAD    DSU                                   
017920,000175: 33,2207           02511                                    DATAPL     +6                         
017921,000176: 33,2210           02505                                    DATAPL     +2                         
017922,000177: 33,2211           45044                           BPL      CALL                                  
017923,000178: 33,2212           66214                                    AINGOTN                               
017924,000179: 33,2213           66276                                    OVERFFIX                              
017925,000180: 33,2214           56325        AINGOTN            PDDL     DDV                                   
017926,000181: 33,2215           02507                                    DATAPL     +4                         
017927,000182: 33,2216           57212                           SL4      DMPR                                  
017928,000183: 33,2217           27110                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
017929,000184: 33,2220           77634                           RTB                                            
017930,000185: 33,2221           45544                                    SGNAGREE                              
017931,000186: 33,2222           01051                           STORE    DSPTEM2                               
017932,000187: 33,2223           77776                           EXIT                                           
017933,000188: 33,2224           11421                           CCS      NDXCTR                                
017934,000189: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
017935,000190: 33,2226           02427                           TC       SHOW                                  
017936,000191: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
017937,000192: 33,2230           55412                           TS       LENGTHOT                              
017938,000193: 33,2231           51423                           INDEX    POSITON                               
017939,000194: 33,2232           41427                           CS       SOUTHDR    -2                         
017940,000195: 33,2233           55452                           TS       DRIFTT                                
017941,000196: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
017942,000197: 33,2235           00006                           EXTEND                                         
017943,000198: 33,2236           12244                           BZF      PON2                                  
017944,000199: 33,2237           45027        PON4               CS       BIT5                                  #  OFFSET PLATFORM
017945,000200: 33,2240           27651                           ADS      ERCOMP1    +2                         
017946,000201: 33,2241           35027                           CA       BIT5                                  
017947,000202: 33,2242           27647                           ADS      ERCOMP1                               
017948,000203: 33,2243           12250                           TCF      PONG                                  
017949,000204: 33,2244           45027        PON2               CS       BIT5                                  
017950,000205: 33,2245           27651                           ADS      ERCOMP1    +2                         
017951,000206: 33,2246           35027                           CA       BIT5                                  
017952,000207: 33,2247           27653                           ADS      ERCOMP1    +4                         
017953,000208: 33,2250           02417        PONG               TC       EARTHR*                               
017954,000209: 33,2251           35035                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
017955,000210: 33,2252           55404                           TS       ERVECTOR                              
017956,000211: 33,2253           55405                           TS       ERVECTOR   +1                         
017957,000212: 33,2254           35013        GUESS1             CAF      POSMAX                                
017958,000213: 33,2255           55450                           TS       TORQNDX                               
017959,000214: 33,2256           55451                           TS       TORQNDX    +1                         
017960,000215: 33,2257           30032                           CA       CDUX                                  
017961,000216: 33,2260           55413                           TS       LOSVEC                                
017962,000217: 33,2261           02453                           TC       ESTIMS                                
017963,000218: 33,2262           31512        VALMIS             CA       DRIFTO                                
017964,000219: 33,2263           55051                           TS       DSPTEM2    +1                         
017965,000220: 33,2264           35035                           CA       ZERO                                  
017966,000221: 33,2265           55050                           TS       DSPTEM2                               
017967,000222: 33,2266           02427                           TC       SHOW                                  
017968,000223: 
017969,000224: 33,2267           05574        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
017970,000225: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
017971,000226: 33,2271           45035                           CS       ZERO                                  
017972,000227: 33,2272           05373                           TC       NEWMODEX   +3                         
017973,000228: 33,2273           04676                           TC       BANKCALL                              
017974,000229: 33,2274           16063                           CADR     MKRELEAS                              
017975,000230: 33,2275           05550                           TC       ENDEXT                                
017976,000231: 
017977,000232: 33,2276           43215        OVERFFIX           DAD      DAD                                   
017978,000233: 33,2277           15342                                    DPPOSMAX                              
017979,000234: 33,2300           27116                                    ONEDPP                                
017980,000235: 33,2301           77616                           RVQ                                            
017981,000236: 
017982,000237: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
017983,000238: 33,2303           23425                           QXCH     QPLACE                                
017984,000239: 33,2304           35035                           CA       ZERO                                  
017985,000240: 33,2305           55155                           TS       THETAD                                
017986,000241: 33,2306           55156                           TS       THETAD     +1                         
017987,000242: 33,2307           55157                           TS       THETAD     +2                         
017988,000243: 33,2310           04676                           TC       BANKCALL                              
017989,000244: 33,2311           16663                           CADR     IMUCOARS                              
017990,000245: 33,2312           04676                           TC       BANKCALL                              
017991,000246: 33,2313           17577                           CADR     IMUSTALL                              
017992,000247: 33,2314           03102                           TC       SOMERR2                               
017993,000248: 33,2315           01425                           TC       QPLACE                                
017994,000249: 
017995,000250: 33,2316           00006        IMUSTLLG           EXTEND                                         
017996,000251: 33,2317           23425                           QXCH     QPLACE                                
017997,000252: 33,2320           02312                           TC       COAALIGN   +10                        
017998,000253: 
017999,000254: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018000,000255: 33,2322           23425                           QXCH     QPLACE                                
018001,000256: 33,2323           02331                           TC       +6                                    
018002,000257: 33,2324           00003        CHECKG1            RELINT                                         
018003,000258: 33,2325           30067                           CA       NEWJOB                                
018004,000259: 33,2326           00006                           EXTEND                                         
018005,000260: 33,2327           62335                           BZMF     +6                                    
018006,000261: 33,2330           05200                           TC       CHANG1                                
018007,000262: 33,2331           00004                           INHINT                                         
018008,000263: 33,2332           51422                           INDEX    PIPINDEX                              
018009,000264: 33,2333           40037                           CS       PIPAX                                 
018010,000265: 33,2334           55655                           TS       ZERONDX                               
018011,000266: 33,2335           00004                           INHINT                                         
018012,000267: 33,2336           51422                           INDEX    PIPINDEX                              
018013,000268: 33,2337           30037                           CA       PIPAX                                 
018014,000269: 33,2340           61655                           AD       ZERONDX                               
018015,000270: 33,2341           00006                           EXTEND                                         
018016,000271: 33,2342           12324                           BZF      CHECKG1                               
018017,000272: 33,2343           51422                           INDEX    PIPINDEX                              
018018,000273: 33,2344           30037                           CA       PIPAX                                 
018019,000274: 33,2345           51547                           INDEX    RESULTCT                              
018020,000275: 33,2346           55502                           TS       DATAPL                                
018021,000276: 33,2347           04553                           TC       FINETIME                              
018022,000277: 33,2350           51547                           INDEX    RESULTCT                              
018023,000278: 33,2351           55503                           TS       DATAPL     +1                         
018024,000279: 33,2352           51547                           INDEX    RESULTCT                              
018025,000280: 33,2353           23504                           LXCH     DATAPL     +2                         
018026,000281: 33,2354           00003                           RELINT                                         
018027,000282: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018028,000283: 
018029,000284: 33,2356           54001        ZEROING            TS       L                                     
018030,000285: 33,2357           12361                           TCF      +2                                    
018031,000286: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018032,000287: 33,2361           35035                           CAF      ZERO                                  
018033,000288: 33,2362           50001                           INDEX    L                                     
018034,000289: 33,2363           54000                           TS       0                                     
018035,000290: 33,2364           24001                           INCR     L                                     
018036,000291: 33,2365           11655                           CCS      ZERONDX1                              
018037,000292: 33,2366           12360                           TCF      ZEROING1                              
018038,000293: 33,2367           00002                           TC       Q                                     
018039,000294: 
018040,000295: 32,2000                                           SETLOC   IMUCAL3                               
018041,000296: 32,2000                                           BANK                                           
018042,000297: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018043,000298: 32,2001           27111                                    SCHZEROS                              #  PD24 = (SIN          -COS     0)(OMEG/MS)
018044,000299: 32,2002           02403                                    LATITUDE                              
018045,000300: 32,2003           57546                           COS      DCOMP                                 
018046,000301: 32,2004           73525                           PDDL     SIN                                   
018047,000302: 32,2005           02403                                    LATITUDE                              
018048,000303: 32,2006           74266                           VDEF     VXSC                                  
018049,000304: 32,2007           26450                                    OMEG/MS                               
018050,000305: 32,2010           02405                           STORE    ERVECTOR                              
018051,000306: 32,2011           77634                           RTB                                            
018052,000307: 32,2012           45510                                    LOADTIME                              
018053,000308: 32,2013           26443                           STOVL    TMARK                                 
018054,000309: 32,2014           27111                                    SCHZEROS                              
018055,000310: 32,2015           02650                           STORE    ERCOMP1                               
018056,000311: 32,2016           77616                           RVQ                                            
018057,000312: 33,2000                                           SETLOC   IMUCAL                                
018058,000313: 33,2000                                           BANK                                           
018059,000314: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018060,000315: 33,2371           00051                                    S2                                    
018061,000316: 33,2372           45510                                    LOADTIME                              
018062,000317: 33,2373           02441                           STORE    TEMPTIME                              
018063,000318: 33,2374           51025                           DSU      BPL                                   
018064,000319: 33,2375           02443                                    TMARK                                 
018065,000320: 33,2376           66401                                    ERTHR                                 
018066,000321: 33,2377           77624                           CALL                                           
018067,000322: 33,2400           66276                                    OVERFFIX                              
018068,000323: 33,2401           74261        ERTHR              SL       VXSC                                  
018069,000324: 33,2402           20212                                    9D                                    
018070,000325: 33,2403           02405                                    ERVECTOR                              
018071,000326: 33,2404           53321                           MXV      VAD                                   
018072,000327: 33,2405           02672                                    XSM                                   
018073,000328: 33,2406           02650                                    ERCOMP1                               
018074,000329: 33,2407           16650                           STODL    ERCOMP1                               
018075,000330: 33,2410           02441                                    TEMPTIME                              
018076,000331: 33,2411           02443                           STORE    TMARK                                 
018077,000332: 33,2412           47170                           AXT,1    RTB                                   
018078,000333: 33,2413           02647                           ECADR    ERCOMP1                               
018079,000334: 33,2414           45653                                    PULSEIMU                              
018080,000335: 33,2415           77650                           GOTO                                           
018081,000336: 33,2416           00051                                    S2                                    
018082,000337: 
018083,000338: 33,2417           00006        EARTHR*            EXTEND                                         
018084,000339: 33,2420           23426                           QXCH     QPLACES                               
018085,000340: 33,2421           06006                           TC       INTPRET                               
018086,000341: 33,2422           77624                           CALL                                           
018087,000342: 33,2423           66370                                    EARTHR                                
018088,000343: 33,2424           77776        PROUT              EXIT                                           
018089,000344: 33,2425           02316                           TC       IMUSTLLG                              
018090,000345: 33,2426           01426                           TC       QPLACES                               
018091,000346: 
018092,000347: 33,2427           00006        SHOW               EXTEND                                         
018093,000348: 33,2430           23425                           QXCH     QPLACE                                
018094,000349: 33,2431           31423        SHOW1              CA       POSITON                               
018095,000350: 33,2432           55052                           TS       DSPTEM2    +2                         
018096,000351: 33,2433           32442                           CA       VB06N98                               
018097,000352: 33,2434           04676                           TC       BANKCALL                              
018098,000353: 33,2435           20720                           CADR     GOFLASH                               
018099,000354: 33,2436           02267                           TC       ENDTEST1                              #  V34
018100,000355: 33,2437           01425                           TC       QPLACE                                #  V33
018101,000356: 33,2440           12431                           TCF      SHOW1                                 
018102,000357: 
018103,000358: 33,2441           14400        OC14400            OCT      14400                                 
018104,000359: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018105,000360: 33,2442           01542        VB06N98            VN       0698                                  
018106,000361: 33,2443           01602        TESTTIME           OCT      01602                                 
018107,000362: 33,2444     4375               DEC17              =        ND1                                   
018108,000363: 33,2444           02757        OGCPL              ECADR    OGC                                   
018109,000364: 33,2445     5055               1SECX              =        1SEC                                  
018110,000365: 33,2445     4374               DEC57              =        VD1                                   
018111,000366: 33,2445           01713        XNBADR             GENADR   XNB                                   
018112,000367: 33,2446           01671        XSMADR             GENADR   XSM                                   
018113,000368: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018114,000369: 
018115,000370: 33,2451           04676        P11OUT             TC       BANKCALL                              
018116,000371: 33,2452           70117                           CADR     MATRXJOB                              #  RETURN TO P11
018117,000372: 
018118,000373: 33,2453                                           COUNT    02/COMST                              
018119,000374: 
018120,000375:    4553                                           BLOCK    2                                     
018121,000376:    4553           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018122,000377:    4554           00006                           EXTEND                                         
018123,000378:    4555           00004                           READ     LOSCALAR                              
018124,000379:    4556           54001                           TS       L                                     
018125,000380:    4557           00006                           EXTEND                                         
018126,000381:    4560           06004                           RXOR     LOSCALAR                              
018127,000382:    4561           00006                           EXTEND                                         
018128,000383:    4562           14566                           BZF      +4                                    
018129,000384:    4563           00006                           EXTEND                                         
018130,000385:    4564           00004                           READ     LOSCALAR                              
018131,000386:    4565           54001                           TS       L                                     
018132,000387:    4566           45013                 +4        CS       POSMAX                                
018133,000388:    4567           60001                           AD       L                                     
018134,000389:    4570           00006                           EXTEND                                         
018135,000390:    4571           14554                           BZF      FINETIME   +1                         
018136,000391:    4572           00006                           EXTEND                                         
018137,000392:    4573           00003                           READ     HISCALAR                              
018138,000393:    4574           00002                           TC       Q                                     
018139,000394: 
018140,000395:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018141,000396:                                                                                                  #  DATE-  NOVEMBER 2 1966
018142,000397:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
018143,000398:                                                                                                  #  MOD NO 3
018144,000399: 
018145,000400:                                                                                                  #  FUNCTIONAL DESCRIPTION
018146,000401: 
018147,000402:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018148,000403:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
018149,000404:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018150,000405:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018151,000406:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
018152,000407:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018153,000408:                                                                                                  #  FOR THE DATA TO FLASH.
018154,000409: 
018155,000410:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018156,000411:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018157,000412:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018158,000413:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018159,000414:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
018160,000415:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
018161,000416:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
018162,000417:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018163,000418:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018164,000419:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018165,000420:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018166,000421: 
018167,000422:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
018168,000423: 
018169,000424:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
018170,000425:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
018171,000426:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
018172,000427:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
018173,000428:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
018174,000429: 
018175,000430:                                                                                                  #  TO PERFORM AS PART OF COMPASS
018176,000431: 
018177,000432:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
018178,000433:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
018179,000434: 
018180,000435:                                                                                                  #  SUBROUTINES CALLED
018181,000436: 
018182,000437:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018183,000438:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
018184,000439: 
018185,000440:                                                                                                  #  NORMAL EXIT
018186,000441: 
018187,000442:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018188,000443:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
018189,000444: 
018190,000445:                                                                                                  #  ALARMS
018191,000446: 
018192,000447:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST
018193,000448:                                                                                                  #  1601  BAD IMU TORQUE ABORT
018194,000449:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
018195,000450: 
018196,000451:                                                                                                  #  OUTPUT
018197,000452: 
018198,000453:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018199,000454:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018200,000455:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
018201,000456:                                                                                                  #        02      GYROCOMPASSING
018202,000457:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
018203,000458: 
018204,000459:                                                                                                  #  DEBRIS
018205,000460: 
018206,000461:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
018207,000462: 
018208,000463:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018209,000464:                                                                                                  #  ON THE NEXT FEW PAGES.
018210,000465: 
018211,000466:    4575                                           COUNT    33/P02                                
018212,000467: 
018213,000468:    4575  E5,1671                                  EBANK=   XSM                                   
018214,000469: 33,2453                                           BANK     33                                    
018215,000470: 33,2000                                           SETLOC   IMUCAL                                
018216,000471: 33,2000                                           BANK                                           
018217,000472: 
018218,000473: 33,2453           05406        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
018219,000474: 33,2454           00075                           OCT      00075                                 
018220,000475: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
018221,000476: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
018222,000477: 33,2457           30025                           CA       TIME1                                 
018223,000478: 33,2460           55645                           TS       GTSWTLT1                              
018224,000479: 33,2461           35035                           CAF      ZERO                                  #  ZERO THE PIPAS
018225,000480: 33,2462           54037                           TS       PIPAX                                 
018226,000481: 33,2463           54040                           TS       PIPAY                                 
018227,000482: 33,2464           54041                           TS       PIPAZ                                 
018228,000483: 33,2465           00003                           RELINT                                         
018229,000484: 33,2466           33127                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
018230,000485: 33,2467           55655                           TS       ZERONDX1                              
018231,000486: 33,2470           33130                           CA       ALXXXZ                                
018232,000487: 33,2471           02356                           TC       ZEROING                               
018233,000488: 33,2472           06006                           TC       INTPRET                               
018234,000489: 33,2473           77735                           SLOAD                                          
018235,000490: 33,2474           27111                                    SCHZEROS                              
018236,000491: 33,2475           25477                           STOVL    GCOMPSW    -1                         
018237,000492: 33,2476           27122                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
018238,000493: 33,2477           26455                           STOVL    ALX1S                                 
018239,000494: 33,2500           27111                                    SCHZEROS                              
018240,000495: 33,2501           01472                           STORE    GCOMP                                 
018241,000496: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
018242,000497: 33,2503           77776                           EXIT                                           
018243,000498: 
018244,000499: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018245,000500: 33,2505           02507                           TC       +2                                    
018246,000501: 33,2506           02523                           TC       SLEEPIE    +1                         
018247,000502: 33,2507           06006                           TC       INTPRET                               
018248,000503: 33,2510           77624                           CALL                                           
018249,000504: 33,2511           64000                                    ERTHRVSE                              
018250,000505: 33,2512           77776                           EXIT                                           
018251,000506: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
018252,000507: 33,2514           55646                           TS       ERECTIME                              
018253,000508: 
018254,000509: 33,2515           05370                           TC       NEWMODEX                              
018255,000510: 33,2516           00002                           MM       02         B-14                       
018256,000511: 33,2517           04676                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM
018257,000512: 33,2520           17156                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018258,000513: 33,2521           03403                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018259,000514: 
018260,000515:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018261,000516: 
018262,000517:                                                                                                  #  SET UP WAITLIST SECTION
018263,000518: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
018264,000519: 33,2523           05426                           TC       PHASCHNG                              #  CHANGE PHASE
018265,000520: 33,2524           00135                           OCT      00135                                 
018266,000521: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018267,000522: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018268,000523: 33,2527           03406        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
018269,000524: 33,2530           02532                           TC       SETGWLST                              
018270,000525: 33,2531           05233                           TC       ENDOFJOB                              
018271,000526: 
018272,000527: 33,2532           00006        SETGWLST           EXTEND                                         
018273,000528: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018274,000529: 33,2534           00004                           INHINT                                         
018275,000530: 33,2535           40025                           CS       TIME1                                 
018276,000531: 33,2536           61645                           AD       GTSWTLT1                              
018277,000532: 33,2537           00006                           EXTEND                                         
018278,000533: 33,2540           62542                           BZMF     +2                                    
018279,000534: 33,2541           65015                           AD       NEGMAX                                #  10 MS ERROR OK
018280,000535: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018281,000536: 33,2543           00006                           EXTEND                                         
018282,000537: 33,2544           62550                           BZMF     RIGHTGTS                              
018283,000538: 33,2545           05251        WTGTSMPL           TC       TWIDDLE                               
018284,000539: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
018285,000540: 33,2546           02574                           ADRES    ALLOOP                                
018286,000541: 33,2547           00154                           TC       MPAC                                  
018287,000542: 33,2550           35031        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
018288,000543: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
018289,000544: 
018290,000545:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018291,000546: 
018292,000547: 33,2552     4113               25DECML            EQUALS   OCT31                                 
018293,000548: 33,2552           34113        STOREDTA           CAF      25DECML                               
018294,000549: 33,2553           54154                           TS       MPAC                                  
018295,000550: 33,2554           50154                           INDEX    MPAC                                  
018296,000551: 33,2555           31460                           CAE      THETAX1                               
018297,000552: 33,2556           50154                           INDEX    MPAC                                  
018298,000553: 33,2557           55577                           TS       RESTARPT                              
018299,000554: 33,2560           10154                           CCS      MPAC                                  
018300,000555: 33,2561           12553                           TCF      STOREDTA   +1                         
018301,000556: 33,2562           00002                           TC       Q                                     
018302,000557: 
018303,000558: 33,2563           34113        LOADSTDT           CAF      25DECML                               
018304,000559: 33,2564           54154                           TS       MPAC                                  
018305,000560: 33,2565           50154                           INDEX    MPAC                                  
018306,000561: 33,2566           31577                           CA       RESTARPT                              
018307,000562: 33,2567           50154                           INDEX    MPAC                                  
018308,000563: 
018309,000564: 33,2570           55460                           TS       THETAX1                               
018310,000565: 33,2571           10154                           CCS      MPAC                                  
018311,000566: 33,2572           12564                           TCF      LOADSTDT   +1                         
018312,000567: 33,2573           00002                           TC       Q                                     
018313,000568: 
018314,000569:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018315,000570: 
018316,000571: 33,2574           30025        ALLOOP             CA       TIME1                                 
018317,000572: 33,2575           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018318,000573: 33,2576           31540        ALLOOP3            CA       ALTIM                                 
018319,000574: 33,2577           55631                           TS       GEOSAVE1                              
018320,000575: 33,2600           05426                           TC       PHASCHNG                              
018321,000576: 33,2601           00115                           OCT      00115                                 
018322,000577: 33,2602           31631        ALLOOP1            CAE      GEOSAVE1                              
018323,000578: 33,2603           55540                           TS       ALTIM                                 
018324,000579: 33,2604           10000                           CCS      A                                     
018325,000580: 33,2605           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018326,000581: 33,2606           55541                           TS       ALTIMS                                
018327,000582: 33,2607           40000                           CS       A                                     
018328,000583: 33,2610           55540                           TS       ALTIM                                 
018329,000584: 33,2611           35035                           CAF      ZERO                                  
018330,000585: 33,2612           56037                           XCH      PIPAX                                 
018331,000586: 33,2613           55162                           TS       DELVX                                 
018332,000587: 33,2614           35035                           CAF      ZERO                                  
018333,000588: 33,2615           56040                           XCH      PIPAY                                 
018334,000589: 33,2616           55164                           TS       DELVY                                 
018335,000590: 33,2617           35035                           CAF      ZERO                                  
018336,000591: 33,2620           56041                           XCH      PIPAZ                                 
018337,000592: 33,2621           55166                           TS       DELVZ                                 
018338,000593: 33,2622           34374                           CAF      19DECML                               #  23 OCT
018339,000594: 33,2623           04114                           TC       NEWPHASE                              
018340,000595: 33,2624           00005                           OCT      00005                                 
018341,000596: 33,2625           37657        SPECSTS            CAF      PRIO22                                
018342,000597: 33,2626           05163                           TC       FINDVAC                               
018343,000598: 33,2627  E5,1631                                  EBANK=   GEOSAVE1                              
018344,000599: 33,2627           02632 66065                     2CADR    ALFLT                                 #  START THE JOB
018345,000600: 
018346,000601: 33,2631           05340                           TC       TASKOVER                              
018347,000602: 
018348,000603:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
018349,000604: 
018350,000605: 33,2632           02552        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
018351,000606: 33,2633           05426                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018352,000607: 33,2634           00215                           OCT      00215                                 
018353,000608: 33,2635           12637                           TCF      +2                                    
018354,000609: 33,2636           02563        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
018355,000610: 
018356,000611: 33,2637           11643                           CCS      GEOCOMP1                              
018357,000612: 33,2640           02642                           TC       +2                                    
018358,000613: 33,2641           02645                           TC       NORMLOP                               
018359,000614: 33,2642           03406                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
018360,000615: 33,2643           04676                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
018361,000616: 33,2644           15262                           CADR     1/PIPA                                
018362,000617: 33,2645           06006        NORMLOP            TC       INTPRET                               
018363,000618: 33,2646           77745                           DLOAD                                          
018364,000619: 33,2647           27120                                    INTVAL                                
018365,000620: 33,2650           24051                           STOVL    S1                                    
018366,000621: 33,2651           01163                                    DELVX                                 
018367,000622: 33,2652           76505                           VXM      VSL1                                  
018368,000623: 33,2653           02672                                    XSM                                   
018369,000624: 33,2654           57545                           DLOAD    DCOMP                                 
018370,000625: 33,2655           00160                                    MPAC       +3                         
018371,000626: 33,2656           16533                           STODL    DPIPAY                                
018372,000627: 33,2657           00162                                    MPAC       +5                         
018373,000628: 33,2660           02537                           STORE    DPIPAZ                                
018374,000629: 
018375,000630: 33,2661           76001                           SETPD    AXT,1                                 
018376,000631: 33,2662           00001                                    0                                     
018377,000632: 33,2663           00010                                    8D                                    
018378,000633: 33,2664           57535                           SLOAD    DCOMP                                 
018379,000634: 33,2665           02644                                    GEOCOMP1                              
018380,000635: 33,2666           77640                           BMN                                            
018381,000636: 33,2667           67210                                    ALWAYSG                               #  DO A QUICK COMPASS
018382,000637: 
018383,000638:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018384,000639: 
018385,000640: 33,2670                                           COUNT    33/COMST                              
018386,000641: 
018387,000642: 33,2670           50135        ALCGKK             SLOAD    BMN                                   
018388,000643: 33,2671           02542                                    ALTIMS                                
018389,000644: 33,2672           66705                                    ALFLT3                                #  NO NEW GAINS NEEDED
018390,000645: 33,2673           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018391,000646: 33,2674           00014                                    12D                                   
018392,000647: 33,2675           02454                                    ALX1S                                 
018393,000648: 33,2676           62143        ALKCG2             DLOAD*   INCR,1                                
018394,000649: 33,2677           02243                                    ALFDK      +144D,1                    
018395,000650: 33,2700           77775                           DEC      -2         B-14                       
018396,000651: 33,2701           12555                           STORE    ALDK       +10D,2                     
018397,000652: 33,2702           66104                           TIX,2    SXA,1                                 
018398,000653: 33,2703           66676                                    ALKCG2                                
018399,000654: 33,2704           02454                                    ALX1S                                 
018400,000655: 
018401,000656: 33,2705           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018402,000657: 33,2706           00010                                    8D                                    #  AND GAIN UPDATES
018403,000658: 33,2707           41343        DELMLP             DLOAD*   DMP                                   
018404,000659: 33,2710           02543                                    DPIPAY     +8D,1                      
018405,000660: 33,2711           27705                                    PIPASC                                
018406,000661: 33,2712           43661                           SLR      BDSU*                                 
018407,000662: 33,2713           21212                                    9D                                    
018408,000663: 33,2714           02511                                    INTY       +8D,1                      
018409,000664: 33,2715           06511                           STORE    INTY       +8D,1                      
018410,000665: 33,2716           40725                           PDDL     DMP*                                  
018411,000666: 33,2717           27707                                    VELSC                                 
018412,000667: 33,2720           02531                                    VLAUN      +8D,1                      
018413,000668: 33,2721           77732                           SL2R                                           
018414,000669: 33,2722           45425                           DSU      STADR                                 
018415,000670: 33,2723           71206                           STORE    DELM       +8D,1                      
018416,000671: 33,2724           06573                           STORE    DELM       +10D,1                     
018417,000672: 33,2725           77100                           TIX,1    AXT,2                                 
018418,000673: 33,2726           66707                                    DELMLP                                
018419,000674: 33,2727           00004                                    4                                     
018420,000675: 33,2730           56743        ALILP              DLOAD*   DMPR*                                 
018421,000676: 33,2731           75314                                    ALK        +4,2                       
018422,000677: 33,2732           75230                                    ALDK       +4,2                       
018423,000678: 33,2733           12463                           STORE    ALK        +4,2                       
018424,000679: 33,2734           77104                           TIX,2    AXT,2                                 
018425,000680: 33,2735           66730                                    ALILP                                 
018426,000681: 33,2736           00010                                    8D                                    
018427,000682: 33,2737           66140        ALKLP              LXC,1    SXA,1                                 
018428,000683: 33,2740           02455                                    CMPX1                                 
018429,000684: 33,2741           02455                                    CMPX1                                 
018430,000685: 33,2742           56743                           DLOAD*   DMPR*                                 
018431,000686: 33,2743           02460                                    ALK        +1,1                       
018432,000687: 33,2744           75206                                    DELM       +8D,2                      
018433,000688: 33,2745           77613                           DAD*                                           
018434,000689: 33,2746           75266                                    INTY       +8D,2                      
018435,000690: 33,2747           12511                           STORE    INTY       +8D,2                      
018436,000691: 33,2750           42743                           DLOAD*   DAD*                                  
018437,000692: 33,2751           75304                                    ALK        +12D,2                     
018438,000693: 33,2752           75220                                    ALDK       +12D,2                     
018439,000694: 33,2753           12473                           STORE    ALK        +12D,2                     
018440,000695: 33,2754           42673                           DMPR*    DAD*                                  
018441,000696: 33,2755           75206                                    DELM       +8D,2                      
018442,000697: 33,2756           75256                                    INTY       +16D,2                     
018443,000698: 33,2757           12521                           STORE    INTY       +16D,2                     
018444,000699: 33,2760           40743                           DLOAD*   DMP*                                  
018445,000700: 33,2761           27712                                    ALSK       +1,1                       
018446,000701: 33,2762           75206                                    DELM       +8D,2                      
018447,000702: 33,2763           42772                           SL1R     DAD*                                  
018448,000703: 33,2764           75246                                    VLAUN      +8D,2                      
018449,000704: 33,2765           12531                           STORE    VLAUN      +8D,2                      
018450,000705: 33,2766           76104                           TIX,2    AXT,1                                 
018451,000706: 33,2767           66737                                    ALKLP                                 
018452,000707: 33,2770           00010                                    8D                                    
018453,000708: 
018454,000709: 33,2771           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
018455,000710: 33,2772           02533                                    ACCWD      +8D,1                      
018456,000711: 33,2773           02531                                    VLAUN      +8D,1                      
018457,000712: 33,2774           55523                           PDDL*    VDEF                                  
018458,000713: 33,2775           02541                                    POSNV      +8D,1                      
018459,000714: 33,2776           76521                           MXV      VSL1                                  
018460,000715: 33,2777           02001                                    TRANSM1                               
018461,000716: 33,3000           77745                           DLOAD                                          
018462,000717: 33,3001           00155                                    MPAC                                  
018463,000718: 33,3002           06541                           STORE    POSNV      +8D,1                      
018464,000719: 33,3003           77745                           DLOAD                                          
018465,000720: 33,3004           00160                                    MPAC       +3                         
018466,000721: 33,3005           06531                           STORE    VLAUN      +8D,1                      
018467,000722: 33,3006           77745                           DLOAD                                          
018468,000723: 33,3007           00162                                    MPAC       +5                         
018469,000724: 33,3010           06533                           STORE    ACCWD      +8D,1                      
018470,000725: 33,3011           77700                           TIX,1                                          
018471,000726: 33,3012           66771                                    LOOSE                                 
018472,000727: 
018473,000728: 33,3013           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
018474,000729: 33,3014           00006                                    6                                     
018475,000730: 33,3015           00002                                    2                                     
018476,000731: 33,3016           57343        BOOP               DLOAD*   DMPR                                  
018477,000732: 33,3017           02513                                    ANGX       +2,1                       
018478,000733: 33,3020           27715                                    GEORGEJ                               
018479,000734: 33,3021           77722                           SR2R                                           
018480,000735: 33,3022           73406                           PUSH     SIN                                   
018481,000736: 33,3023           56072                           SL3R     XAD,1                                 
018482,000737: 33,3024           00046                                    X1                                    
018483,000738: 33,3025           10021                           STORE    16D,2                                 
018484,000739: 33,3026           77745                           DLOAD                                          
018485,000740: 33,3027           77746                           COS                                            
018486,000741: 33,3030           10027                           STORE    22D,2                                 #  COSINES
018487,000742: 33,3031           77704                           TIX,2                                          
018488,000743: 33,3032           67016                                    BOOP                                  
018489,000744: 
018490,000745: 33,3033           77776        PERFERAS           EXIT                                           
018491,000746: 33,3034           35074                           CA       EBANK7                                
018492,000747: 33,3035  E7,1400                                  EBANK=   LAT(SPL)                              
018493,000748: 33,3035           54003                           TS       EBANK                                 
018494,000749: 33,3036           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
018495,000750: 
018496,000751:                                                                                                  #  CAUTION
018497,000752: 
018498,000753:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018499,000754:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018500,000755: 
018501,000756: 33,3037  E5,1412                                  EBANK=   LENGTHOT                              
018502,000757: 33,3037           11412        ONCEMORE           CCS      LENGTHOT                              
018503,000758: 33,3040           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
018504,000759: 33,3041           11450                           CCS      TORQNDX                               
018505,000760: 33,3042           13044                           TCF      +2                                    
018506,000761: 33,3043           03046                           TC       SETUPER1                              
018507,000762: 33,3044           30032                           CA       CDUX                                  
018508,000763: 33,3045           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
018509,000764: 33,3046           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
018510,000765: 33,3047           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
018511,000766: 33,3050           02503                                    ANGZ                                  
018512,000767: 33,3051           02507                                    ANGY                                  
018513,000768: 33,3052           55525                           PDDL     VDEF                                  
018514,000769: 33,3053           02511                                    ANGX                                  
018515,000770: 33,3054           74276                           VCOMP    VXSC                                  
018516,000771: 33,3055           27715                                    GEORGEJ                               
018517,000772: 33,3056           74521                           MXV      VSR1                                  
018518,000773: 33,3057           02672                                    XSM                                   
018519,000774: 33,3060           02760                           STORE    OGC                                   
018520,000775: 33,3061           77776                           EXIT                                           
018521,000776: 
018522,000777: 33,3062           05426        TORQINCH           TC       PHASCHNG                              
018523,000778: 33,3063           00005                           OCT      00005                                 
018524,000779: 33,3064           32444                           CA       OGCPL                                 
018525,000780: 33,3065           04676                           TC       BANKCALL                              
018526,000781: 33,3066           17206                           CADR     IMUPULSE                              
018527,000782: 33,3067           02316                           TC       IMUSTLLG                              
018528,000783: 33,3070           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
018529,000784: 33,3071           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
018530,000785: 33,3072           06006                           TC       INTPRET                               
018531,000786: 33,3073           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
018532,000787: 33,3074           64000                                    ERTHRVSE                              
018533,000788: 33,3075           77776                           EXIT                                           
018534,000789: 33,3076           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018535,000790: 
018536,000791: 33,3077           05664        SOMEERRR           TC       ALARM                                 
018537,000792: 33,3100           01600                           OCT      1600                                  
018538,000793: 33,3101           03104                           TC       +3                                    
018539,000794: 33,3102           05664        SOMERR2            TC       ALARM                                 
018540,000795: 33,3103           01601                           OCT      1601                                  
018541,000796: 33,3104           05426                           TC       PHASCHNG                              
018542,000797: 33,3105           00005                           OCT      00005                                 
018543,000798: 33,3106           02267                           TC       ENDTEST1                              
018544,000799: 
018545,000800:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. 
018546,000801: 
018547,000802: 33,3107           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
018548,000803: 33,3110           00000 00000  SCHZEROS           2DEC     .00000000                             
018549,000804: 33,3112           00000 00000                     2DEC     .00000000                             
018550,000805: 33,3114           00000                           OCT      00000                                 
018551,000806: 33,3115           00000        ONEDPP             OCT      00000                                 
018552,000807: 33,3116           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
018553,000808: 
018554,000809: 33,3117           00004        INTVAL             OCT      4                                     
018555,000810: 33,3120           00002                           OCT      2                                     
018556,000811: 33,3121           00220                           DEC      144        B-14                       
018557,000812: 33,3122           77776                           DEC      -1         B-14                       
018558,000813: 33,3123           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
018559,000814: 33,3125           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
018560,000815: 
018561,000816: 33,3127           00115        77DECML            DEC      77         B-14                       
018562,000817: 33,3130           01453        ALXXXZ             GENADR   ALX1S      -1                         
018563,000818: 
018564,000819:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
018565,000820: 
018566,000821: 33,3131                                           COUNT    33/P01                                
018567,000822: 
018568,000823:                                                                                                  #  INITIALIZATION SECTION
018569,000824: 
018570,000825: 33,3131           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
018571,000826: 33,3132           75020                           MASK     NOP01BIT                              
018572,000827: 33,3133           00006                           EXTEND                                         
018573,000828: 33,3134           13137                           BZF      GTSCPSSA                              
018574,000829: 33,3135           05725                           TC       POODOO                                
018575,000830: 33,3136           21521                           OCT      21521                                 #  NO DO ALARM FOR P01 - P11 ALREADY DONE
018576,000831: 
018577,000832: 33,3137           35033        GTSCPSSA           CAF      ONE                                   
018578,000833: 33,3140           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
018579,000834: 33,3141           33435                           CA       1/PIPAGT                              
018580,000835: 33,3142           55074                           TS       1/PIPADT                              
018581,000836: 33,3143           35024        NXXTENN            CA       BIT8                                  
018582,000837: 33,3144           55412                           TS       LENGTHOT                              
018583,000838: 33,3145           35052                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
018584,000839: 33,3146           55644                           TS       1SECXT1                               
018585,000840: 33,3147           35033                           CAF      ONE                                   
018586,000841: 33,3150           55632                           TS       PREMTRX1                              
018587,000842: 33,3151           55657                           TS       PERFDLAY   +1                         
018588,000843: 33,3152           35035                           CAF      ZERO                                  
018589,000844: 33,3153           55656                           TS       PERFDLAY                              
018590,000845: 33,3154           00006                           EXTEND                                         
018591,000846: 33,3155           31634                           DCA      LUNCHAZ1                              
018592,000847: 33,3156           53636                           DXCH     NEWAZ1                                
018593,000848: 33,3157           00006                           EXTEND                                         
018594,000849: 33,3160           31634                           DCA      LUNCHAZ1                              
018595,000850: 33,3161           53640                           DXCH     OLDAZMTH                              
018596,000851: 33,3162           34375        SETUPGC            CA       DEC17                                 
018597,000852: 33,3163           55655                           TS       ZERONDX1                              
018598,000853: 33,3164           32446                           CA       XSMADR                                
018599,000854: 33,3165           02356                           TC       ZEROING                               
018600,000855: 33,3166           03170                           TC       POSN17C                               
018601,000856: 33,3167           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
018602,000857: 
018603,000858: 
018604,000859: 33,3170           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
018605,000860: 33,3171           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
018606,000861: 33,3172           45016                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
018607,000862: 33,3173           55705                           TS       ZSM                                   
018608,000863: 33,3174           06006                           TC       INTPRET                               
018609,000864: 33,3175           41545                           DLOAD    PUSH                                  
018610,000865: 33,3176           02636                                    NEWAZ1                                
018611,000866: 33,3177           77756                           SIN                                            
018612,000867: 33,3200           02676                           STORE    XSM        +4                         
018613,000868: 33,3201           16702                           STODL    YSM        +2                         
018614,000869: 33,3202           77746                           COS                                            
018615,000870: 33,3203           02704                           STORE    YSM        +4                         
018616,000871: 33,3204           77676                           DCOMP                                          
018617,000872: 33,3205           02674                           STORE    XSM        +2                         
018618,000873: 33,3206           77776                           EXIT                                           
018619,000874: 33,3207           01425                           TC       QPLACE                                
018620,000875: 
018621,000876:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
018622,000877: 
018623,000878: 33,3210                                           COUNT    33/P02                                
018624,000879: 
018625,000880: 33,3210           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
018626,000881: 33,3211           02543                                    DPIPAY     +8D,1                      
018627,000882: 33,3212           02505                                    FILDELV1   +8D,1                      
018628,000883: 33,3213           42675                           DMPR     DAD*                                  
018629,000884: 33,3214           27717                                    GEOCONS1                              
018630,000885: 33,3215           02505                                    FILDELV1   +8D,1                      
018631,000886: 33,3216           06505                           STORE    FILDELV1   +8D,1                      
018632,000887: 33,3217           77613                           DAD*                                           
018633,000888: 33,3220           02507                                    INTVEC1    +8D,1                      
018634,000889: 33,3221           06507                           STORE    INTVEC1    +8D,1                      
018635,000890: 33,3222           42675                           DMPR     DAD*                                  
018636,000891: 33,3223           27721                                    GEOCONS2                              
018637,000892: 33,3224           02505                                    FILDELV1   +8D,1                      
018638,000893: 33,3225           41475                           DMPR     PUSH                                  
018639,000894: 33,3226           15332                                    GEOCONS5                              
018640,000895: 33,3227           67300                           TIX,1    SLOAD                                 
018641,000896: 33,3230           67210                                    ALWAYSG                               
018642,000897: 33,3231           02647                                    ERECTIM1                              
018643,000898: 33,3232           71254                           BZE      DLOAD                                 
018644,000899: 33,3233           67244                                    COMPGS                                
018645,000900: 33,3234           02471                                    THETAN1    +2                         
018646,000901: 33,3235           45425                           DSU      STADR                                 
018647,000902: 33,3236           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
018648,000903: 33,3237           77621                           BDSU                                           
018649,000904: 33,3240           02473                                    THETAN1    +4                         
018650,000905: 33,3241           02473                           STORE    THETAN1    +4                         
018651,000906: 33,3242           77650                           GOTO                                           
018652,000907: 33,3243           67266                                    ADDINDRF                              
018653,000908: 33,3244           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
018654,000909: 33,3245           02467                                    THETAN1                               
018655,000910: 33,3246           02475                                    FILDELV1                              
018656,000911: 33,3247           16467                           STODL    THETAN1                               
018657,000912: 33,3250           02475                                    FILDELV1                              
018658,000913: 33,3251           44275                           DMPR     BDSU                                  
018659,000914: 33,3252           27723                                    GEOCONS3                              
018660,000915: 33,3253           02473                                    THETAN1    +4                         
018661,000916: 33,3254           16473                           STODL    THETAN1    +4                         
018662,000917: 33,3255           02501                                    FILDELV1   +4                         
018663,000918: 33,3256           44275                           DMPR     BDSU                                  
018664,000919: 33,3257           27723                                    GEOCONS3                              
018665,000920: 33,3260           02471                                    THETAN1    +2                         
018666,000921: 33,3261           57325                           PDDL     DMPR                                  
018667,000922: 33,3262           02503                                    INTVEC1    +4                         
018668,000923: 33,3263           27725                                    GEOCONS4                              
018669,000924: 33,3264           45421                           BDSU     STADR                                 
018670,000925: 33,3265           75306                           STORE    THETAN1    +2                         
018671,000926: 33,3266           77776        ADDINDRF           EXIT                                           
018672,000927: 
018673,000928: 
018674,000929: 33,3267           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
018675,000930: 33,3270           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
018676,000931: 33,3271           03406                           TC       CHKCOMED                              
018677,000932: 33,3272           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
018678,000933: 33,3273           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
018679,000934: 
018680,000935: 33,3274           06006        LASTGTS            TC       INTPRET                               
018681,000936: 33,3275           77775                           VLOAD                                          
018682,000937: 33,3276           02650                                    ERCOMP1                               
018683,000938: 33,3277           16461                           STODL    THETAX1                               
018684,000939: 33,3300           02443                                    TMARK                                 
018685,000940: 33,3301           02457                           STORE    ALK                                   
018686,000941: 33,3302           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
018687,000942: 
018688,000943: 33,3303           05426        RESTAIER           TC       PHASCHNG                              
018689,000944: 33,3304           00275                           OCT      00275                                 
018690,000945: 33,3305           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
018691,000946: 33,3306           64375                           VLOAD    MXV                                   
018692,000947: 33,3307           02467                                    THETAN1                               
018693,000948: 33,3310           02672                                    XSM                                   
018694,000949: 33,3311           53372                           VSL1     VAD                                   
018695,000950: 33,3312           02461                                    THETAX1                               
018696,000951: 33,3313           16650                           STODL    ERCOMP1                               
018697,000952: 33,3314           02457                                    ALK                                   
018698,000953: 33,3315           02443                           STORE    TMARK                                 
018699,000954: 33,3316           77776                           EXIT                                           
018700,000955: 33,3317           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
018701,000956: 33,3320           31646                           CAE      ERECTIM1                              
018702,000957: 33,3321           55631                           TS       GEOSAVE1                              
018703,000958: 33,3322           05426                           TC       PHASCHNG                              
018704,000959: 33,3323           00155                           OCT      00155                                 
018705,000960: 33,3324           06006        RESTEST1           TC       INTPRET                               
018706,000961: 33,3325           77775                           VLOAD                                          
018707,000962: 33,3326           27111                                    SCHZEROS                              
018708,000963: 33,3327           02467                           STORE    THETAN1                               
018709,000964: 33,3330           77776                           EXIT                                           
018710,000965: 33,3331           11632                           CCS      PREMTRXC                              
018711,000966: 33,3332           03401                           TC       NOCHORLD                              
018712,000967: 33,3333           05426                           TC       PHASCHNG                              
018713,000968: 33,3334           00255                           OCT      00255                                 
018714,000969: 33,3335           06006        RESTEST3           TC       INTPRET                               
018715,000970: 33,3336           77745                           DLOAD                                          
018716,000971: 33,3337           02634                                    LAUNCHAZ                              
018717,000972: 33,3340           53025                           DSU      BZE                                   
018718,000973: 33,3341           02640                                    OLDAZMTH                              
018719,000974: 33,3342           67376                                    NOAZCHGE                              
018720,000975: 33,3343           00001                           STORE    0D                                    
018721,000976: 33,3344           43335                           SLOAD    DAD                                   
018722,000977: 33,3345           27117                                    ONEDPP     +1                         
018723,000978: 33,3346           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
018724,000979: 33,3347           16633                           STODL    PREMTRXC                              
018725,000980: 33,3350           02634                                    LAUNCHAZ                              
018726,000981: 33,3351           16636                           STODL    NEWAZMTH                              
018727,000982: 33,3352           00001                                    0D                                    
018728,000983: 33,3353           02654        ADERCOMP           STORE    ERCOMP     +4                         
018729,000984: 33,3354           77776                           EXIT                                           
018730,000985: 33,3355           03170                           TC       POSN17C                               
018731,000986: 33,3356           05426                           TC       PHASCHNG                              
018732,000987: 33,3357           00335                           OCT      00335                                 
018733,000988: 33,3360           00006        RESCHNG            EXTEND                                         
018734,000989: 33,3361           31636                           DCA      NEWAZMTH                              
018735,000990: 33,3362           53640                           DXCH     OLDAZMTH                              
018736,000991: 33,3363           35025                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
018737,000992: 33,3364           55412                           TS       LENGTHOT                              
018738,000993: 33,3365           05426                           TC       PHASCHNG                              
018739,000994: 33,3366           00075                           OCT      00075                                 
018740,000995: 33,3367           33434        SPITGYRO           CA       ERCOMPPL                              
018741,000996: 33,3370           04676                           TC       BANKCALL                              
018742,000997: 33,3371           17206                           CADR     IMUPULSE                              
018743,000998: 33,3372           04676                           TC       BANKCALL                              
018744,000999: 33,3373           17577                           CADR     IMUSTALL                              
018745,001000: 33,3374           03102                           TC       SOMERR2                               
018746,001001: 33,3375           02453                           TC       ESTIMS                                #  RE-INITIALIZE
018747,001002: 
018748,001003: 
018749,001004: 33,3376           77776        NOAZCHGE           EXIT                                           
018750,001005: 33,3377           35033                           CA       ONE                                   
018751,001006: 33,3400           55632                           TS       PREMTRXC                              
018752,001007: 33,3401           11631        NOCHORLD           CCS      GEOSAVE1                              
018753,001008: 33,3402           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
018754,001009: 
018755,001010: 33,3403           34334        ANNNNNN            CAF      NINE                                  
018756,001011: 33,3404           55412                           TS       LENGTHOT                              
018757,001012: 33,3405           02523                           TC       SLEEPIE    +1                         
018758,001013: 
018759,001014: 
018760,001015: 33,3406           00004        CHKCOMED           INHINT                                         
018761,001016: 33,3407           41011                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
018762,001017: 33,3410           65037                           AD       SEVEN                                 
018763,001018: 33,3411           00006                           EXTEND                                         
018764,001019: 33,3412           13426                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
018765,001020: 33,3413           45035                           CS       ZERO                                  
018766,001021: 33,3414           00006                           EXTEND                                         
018767,001022: 33,3415           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
018768,001023: 33,3416           75027                           MASK     BIT5                                  #  LIFTOFF BIT
018769,001024: 33,3417           10000                           CCS      A                                     
018770,001025: 33,3420           13427                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
018771,001026: 
018772,001027: 33,3421           35027                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
018773,001028: 33,3422           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
018774,001029: 33,3423           10000                           CCS      A                                     
018775,001030: 33,3424           13427                           TCF      PRELTERM                              #  BACKUP RECEIVED
018776,001031: 
018777,001032: 33,3425           00003                           RELINT                                         
018778,001033: 33,3426           00002        GOBKCALB           TC       Q                                     
018779,001034: 
018780,001035: 33,3427           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
018781,001036: 33,3430           05224                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
018782,001037: 33,3431           00004                           INHINT                                         
018783,001038: 33,3432           04715                           TC       POSTJUMP                              
018784,001039: 33,3433           70002                           CADR     P11                                   
018785,001040: 
018786,001041: 
018787,001042: 33,3434           02647        ERCOMPPL           ECADR    ERCOMP                                
018788,001043: 
018789,001044: 33,3435  26,3331               GEOCONS5           EQUALS   HIDPHALF                              
018790,001045: 33,3435           06200        1/PIPAGT           OCT      06200                                 
018791,001046: 33,3436     4375               17DECML            =        ND1                                   #  OCT 21
018792,001047: 33,3436     4374               19DECML            =        VD1                                   #  OCT 23
018793,001048: 33,3436     5052               1/2SECX            =        .5SEC                                 
018794,001049: 
018795,001050: 
018796,001051: 33,3436     5233               GEOSTRT4           EQUALS   ENDOFJOB                              
018797,001052: 
018798,001053:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
018799,001054: 
018800,001055: 33,3436                                           COUNT    33/P03                                
018801,001056: 
018802,001057: 33,3436           05426        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
018803,001058: 33,3437           00154                           OCT      00154                                 
018804,001059: 33,3440           05370                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
018805,001060: 33,3441           00003                           MM       03         B-14                       
018806,001061: 33,3442           02037        SETNBPOS           TC       NBPOSPL                               
018807,001062: 33,3443           04676                           TC       BANKCALL                              
018808,001063: 33,3444           16063                           CADR     MKRELEAS                              
018809,001064: 33,3445           35033        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
018810,001065: 33,3446           22007                           ZL                                             #  T 1,THEN TARGET 2
018811,001066: 33,3447           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
018812,001067: 33,3450           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
018813,001068: 33,3451           00006                           EXTEND                                         
018814,001069: 33,3452           51427                           INDEX    RUN                                   
018815,001070: 33,3453           31433                           DCA      TAZEL1                                
018816,001071: 33,3454           53046                           DXCH     DSPTEM1                               
018817,001072: 33,3455           33500                           CAF      V05N30E                               
018818,001073: 33,3456           04676                           TC       BANKCALL                              
018819,001074: 33,3457           20673                           CADR     GODSPRET                              
018820,001075: 33,3460           33466                           CAF      VN0641                                
018821,001076: 33,3461           04676                           TC       BANKCALL                              
018822,001077: 33,3462           20720                           CADR     GOFLASH                               
018823,001078: 33,3463           03620                           TC       GCOMP5                                
018824,001079: 33,3464           03467                           TC       +3                                    
018825,001080: 33,3465           03455                           TC       -8D                                   
018826,001081: 33,3466           01451        VN0641             VN       0641                                  
018827,001082: 33,3467           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
018828,001083: 33,3470           51427                           INDEX    RUN                                   
018829,001084: 33,3471           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
018830,001085: 33,3472           11427                           CCS      RUN                                   
018831,001086: 33,3473           13477                           TCF      +4                                    
018832,001087: 33,3474           35032                           CAF      TWO                                   
018833,001088: 33,3475           54001                           TS       L                                     
018834,001089: 33,3476           13447                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
018835,001090: 
018836,001091: 33,3477           03541                           TC       CONTIN33                              
018837,001092: 
018838,001093: 33,3500           01236        V05N30E            VN       0530                                  
018839,001094: 
018840,001095: 33,3501           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
018841,001096: 33,3502           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
018842,001097: 33,3503           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
018843,001098: 33,3504           00014                                    12D                                   
018844,001099: 33,3505           40331                           SSP      SETPD                                 
018845,001100: 33,3506           00052                                    S2                                    
018846,001101: 33,3507           00006                                    6                                     
018847,001102: 33,3510           00001                                    0                                     
018848,001103: 33,3511           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
018849,001104: 33,3512           02436                                    TAZEL1     +3,1                       
018850,001105: 33,3513           00001                           STORE    0                                     #  PD00 ELEVATION PD00
018851,001106: 33,3514           77756                           SIN                                            
018852,001107: 33,3515           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
018853,001108: 33,3516           77745                           DLOAD                                          
018854,001109: 33,3517           00001                                    0                                     
018855,001110: 33,3520           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
018856,001111: 33,3521           47133                           SLOAD*   RTB                                   
018857,001112: 33,3522           02435                                    TAZEL1     +2,1                       
018858,001113: 33,3523           45513                                    CDULOGIC                              
018859,001114: 33,3524           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
018860,001115: 33,3525           41356                           SIN      DMP                                   
018861,001116: 33,3526           00001                                    0                                     
018862,001117: 33,3527           77752                           SL1                                            
018863,001118: 33,3530           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
018864,001119: 33,3531           71545                           DLOAD    COS                                   
018865,001120: 33,3532           00003                                    2                                     
018866,001121: 33,3533           72405                           DMP      SL1                                   
018867,001122: 33,3534           76076                           DCOMP    AXT,1                                 
018868,001123: 33,3535           00000                                    0                                     
018869,001124: 33,3536           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
018870,001125: 33,3537           43504                           TIX,2    RVQ                                   
018871,001126: 33,3540           67511                                    TAR1                                  
018872,001127: 
018873,001128: 
018874,001129: 33,3541                                           BANK     33                                    
018875,001130: 33,2000                                           SETLOC   IMUCAL                                
018876,001131: 33,2000                                           BANK                                           
018877,001132: 33,3541                                           COUNT*   $$/PO3                                
018878,001133: 
018879,001134: 33,3541           35033        CONTIN33           CA       ONE                                   
018880,001135: 33,3542           54735                           TS       STARCODE                              
018881,001136: 33,3543           35035                           CA       ZERO                                  
018882,001137: 33,3544           03635                           TC       TARGDRVE                              
018883,001138: 33,3545           06006                           TC       INTPRET                               
018884,001139: 33,3546           77624                           CALL                                           
018885,001140: 33,3547           67502                                    TAR/EREF                              
018886,001141: 33,3550           64375        NEXTBNKS           VLOAD    MXV                                   
018887,001142: 33,3551           00007                                    6D                                    
018888,001143: 33,3552           02672                                    XSM                                   
018889,001144: 33,3553           77772                           VSL1                                           
018890,001145: 33,3554           26736                           STOVL    STARAD                                
018891,001146: 33,3555           00015                                    12D                                   
018892,001147: 33,3556           76521                           MXV      VSL1                                  
018893,001148: 33,3557           02672                                    XSM                                   
018894,001149: 33,3560           36744                           STCALL   STARAD     +6                         
018895,001150: 33,3561           67726                                    LITTLSUB                              
018896,001151: 33,3562           02414                           STORE    LOSVEC                                
018897,001152: 33,3563           77776                           EXIT                                           
018898,001153: 33,3564           04676                           TC       BANKCALL                              
018899,001154: 33,3565           16063                           CADR     MKRELEAS                              
018900,001155: 
018901,001156: 
018902,001157: 33,3566           35032        NEXBNKSS           CAF      TWO                                   
018903,001158: 33,3567           54735                           TS       STARCODE                              
018904,001159: 33,3570           36211                           CAF      SIX                                   
018905,001160: 33,3571           03635                           TC       TARGDRVE                              
018906,001161: 33,3572           06006                           TC       INTPRET                               
018907,001162: 33,3573           77624                           CALL                                           
018908,001163: 33,3574           67726                                    LITTLSUB                              
018909,001164: 33,3575           24015                           STOVL    12D                                   
018910,001165: 33,3576           02414                                    LOSVEC                                
018911,001166: 33,3577           34007                           STCALL   06D                                   
018912,001167: 33,3600           47403                                    AXISGEN                               
018913,001168: 33,3601           77624                           CALL                                           
018914,001169: 33,3602           47207                                    CALCGTA                               
018915,001170: 33,3603           77776                           EXIT                                           
018916,001171: 33,3604           33631        GCOMP4             CAF      V06N93S                               
018917,001172: 33,3605           04676                           TC       BANKCALL                              
018918,001173: 33,3606           20720                           CADR     GOFLASH                               
018919,001174: 33,3607           03620                           TC       GCOMP5                                
018920,001175: 33,3610           13612                           TCF      +2                                    
018921,001176: 33,3611           13604                           TCF      GCOMP4                                
018922,001177: 33,3612           06006                           TC       INTPRET                               
018923,001178: 33,3613           53375                           VLOAD    VAD                                   
018924,001179: 33,3614           02760                                    OGC                                   
018925,001180: 33,3615           02650                                    ERCOMP1                               
018926,001181: 33,3616           02650                           STORE    ERCOMP1                               
018927,001182: 33,3617           77776                           EXIT                                           
018928,001183: 33,3620           04676        GCOMP5             TC       BANKCALL                              
018929,001184: 33,3621           16063                           CADR     MKRELEAS                              
018930,001185: 33,3622           05574                           TC       DOWNFLAG                              
018931,001186: 33,3623           00032                           ADRES    TRM03FLG                              
018932,001187: 
018933,001188: 33,3624           05370                           TC       NEWMODEX                              
018934,001189: 33,3625           00002                           MM       02         B-14                       
018935,001190: 33,3626           05426                           TC       PHASCHNG                              
018936,001191: 33,3627           00004                           OCT      00004                                 
018937,001192: 33,3630           05233                           TC       ENDOFJOB                              
018938,001193: 33,3631           01535        V06N93S            VN       0693                                  
018939,001194: 33,3632           05664        GTSOPTCS           TC       ALARM                                 
018940,001195: 33,3633           01602        GTSOPTSS           OCT      01602                                 
018941,001196: 33,3634           03620                           TC       GCOMP5                                
018942,001197: 
018943,001198: 
018944,001199: 34,2002                                           BANK     34                                    
018945,001200: 04,2000                                           SETLOC   IMUCAL1                               
018946,001201: 04,2000                                           BANK                                           
018947,001202: 
018948,001203: 04,2613                                           COUNT    34/COMST                              
018949,001204: 
018950,001205: 04,2613           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
018951,001206: 04,2614           02403                                    LATITUDE                              
018952,001207: 04,2615           15047                           STODL    DSPTEM1    +1                         
018953,001208: 04,2616           02401                                    AZIMUTH                               
018954,001209: 04,2617           77434                           RTB      EXIT                                  
018955,001210: 04,2620           45546                                    1STO2S                                
018956,001211: 04,2621           56154                           XCH      MPAC                                  
018957,001212: 04,2622           55045                           TS       DSPTEM1                               
018958,001213: 04,2623           04676                           TC       BANKCALL                              
018959,001214: 04,2624           20703                           CADR     CLEANDSP                              
018960,001215: 04,2625           32644                           CAF      VNG0641                               
018961,001216: 04,2626           04676                           TC       BANKCALL                              
018962,001217: 04,2627           20720                           CADR     GOFLASH                               
018963,001218: 04,2630           02632                           TC       +2                                    #  NOT ALLOWED
018964,001219: 04,2631           02633                           TC       +2                                    
018965,001220: 04,2632           02625                           TC       -5                                    
018966,001221: 04,2633           06006                           TC       INTPRET                               
018967,001222: 04,2634           47135                           SLOAD    RTB                                   
018968,001223: 04,2635           01046                                    DSPTEM1                               
018969,001224: 04,2636           45513                                    CDULOGIC                              
018970,001225: 04,2637           02401                           STORE    AZIMUTH                               
018971,001226: 04,2640           60535                           SLOAD    SR2                                   
018972,001227: 04,2641           01047                                    DSPTEM1    +1                         
018973,001228: 04,2642           02403                           STORE    LATITUDE                              
018974,001229: 04,2643           77616                           RVQ                                            
018975,001230: 04,2644           01451        VNG0641            VN       0641                                  
018976,001231: 33,3635                                           BANK     33                                    
018977,001232: 33,2000                                           SETLOC   IMUCAL                                
018978,001233: 33,2000                                           BANK                                           
018979,001234: 
018980,001235: 
018981,001236: 33,3635                                           COUNT*   $$/P03                                
018982,001237: 33,3635           00006        TARGDRVE           EXTEND                                         
018983,001238: 33,3636           23424                           QXCH     QPLAC                                 
018984,001239: 33,3637           55431                           TS       TARG1/2                               
018985,001240: 33,3640           06006                           TC       INTPRET                               
018986,001241: 33,3641           77624                           CALL                                           
018987,001242: 33,3642           67502                                    TAR/EREF                              
018988,001243: 33,3643           76740                           LXC,1    VLOAD*                                
018989,001244: 33,3644           02431                                    TARG1/2                               
018990,001245: 33,3645           00007                                    6D,1                                  
018991,001246: 33,3646           36766                           STCALL   STAR                                  
018992,001247: 33,3647           46053                                    SXTANG                                
018993,001248: 33,3650           77776                           EXIT                                           
018994,001249: 33,3651           31773                           CA       SAC                                   
018995,001250: 33,3652           55161                           TS       DESOPTS                               
018996,001251: 
018997,001252: 33,3653           31775                           CA       PAC                                   
018998,001253: 33,3654           55160                           TS       DESOPTT                               
018999,001254: 33,3655           35035        RETARG             CAF      ZERO                                  
019000,001255: 33,3656           55303                           TS       OPTIND                                
019001,001256: 33,3657           35033                           CAF      ONE                                   
019002,001257: 33,3660           04676                           TC       BANKCALL                              
019003,001258: 33,3661           16002                           CADR     SXTMARK                               
019004,001259: 33,3662           04676                           TC       BANKCALL                              
019005,001260: 33,3663           17573                           CADR     OPTSTALL                              
019006,001261: 33,3664           03632                           TC       GTSOPTCS                              
019007,001262: 33,3665           30075                           CAE      FLAGWRD1                              
019008,001263: 33,3666           75030                           MASK     TRM03BIT                              
019009,001264: 33,3667           10000                           CCS      A                                     
019010,001265: 33,3670           03620                           TC       GCOMP5                                
019011,001266: 
019012,001267: 33,3671           51330                           INDEX    MARKSTAT                              
019013,001268: 33,3672           30052                           CA       QPRET                                 
019014,001269: 33,3673           00006                           EXTEND                                         
019015,001270: 33,3674           13676                           BZF      RETARG1                               
019016,001271: 33,3675           01424                           TC       QPLAC                                 
019017,001272: 
019018,001273: 
019019,001274: 33,3676           35035        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019020,001275: 33,3677           57330                           XCH      MARKSTAT                              
019021,001276: 33,3700           10000                           CCS      A                                     
019022,001277: 33,3701           50000                           INDEX    A                                     
019023,001278: 33,3702           54000                           TS       A                                     
019024,001279: 33,3703           13655                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019025,001280: 33,3704                                           BANK     33                                    
019026,001281: 33,2000                                           SETLOC   IMUCAL                                
019027,001282: 33,2000                                           BANK                                           
019028,001283: 33,3704                                           COUNT*   $$/P03                                
019029,001284: 33,3704           30341 22444  PIPASC             2DEC     .76376833                             
019030,001285: 
019031,001286: 33,3706           57223 66451  VELSC              2DEC     -.52223476                            
019032,001287: 
019033,001288: 33,3710           05427 12577  ALSK               2DEC     .17329931                             
019034,001289: 
019035,001290: 33,3712           77567 44202                     2DEC     -.00835370                            
019036,001291: 
019037,001292: 33,3714           24276 14066  GEORGEJ            2DEC     .63661977                             
019038,001293: 
019039,001294: 33,3716           03146 14632  GEOCONS1           2DEC     .1                                    
019040,001295: 
019041,001296: 33,3720           00121 35341  GEOCONS2           2DEC     .005                                  
019042,001297: 
019043,001298: 33,3722           01767 31666  GEOCONS3           2DEC     .062                                  
019044,001299: 
019045,001300: 33,3724           00004 35223  GEOCONS4           2DEC     .0003                                 
019046,001301: 
019047,001302: 
019048,001303: 33,3726                                           COUNT    33/P02                                
019049,001304: 33,3726           77620        LITTLSUB           STQ                                            
019050,001305: 33,3727           02424                                    QPLAC                                 
019051,001306: 33,3730           76740                           LXC,1    VLOAD*                                
019052,001307: 33,3731           01330                                    MARKSTAT                              
019053,001308: 33,3732           00003                                    2,1                                   
019054,001309: 33,3733           34767                           STCALL   CDUSPOT                               
019055,001310: 33,3734           46000                                    SXTNB                                 
019056,001311: 33,3735           77624                           CALL                                           
019057,001312: 33,3736           47641                                    TRG*NBSM                              
019058,001313: 33,3737           77650                           GOTO                                           
019059,001314: 33,3740           02424                                    QPLAC                                 
019060,001315: 
019061,001316: 
019062,001317: 33,3741           77776                           EXIT                                           
019063,001318: 33,3742           06006        AZMTHCG1           TC       INTPRET                               
019064,001319: 33,3743           47145                           DLOAD    RTB                                   
019065,001320: 33,3744           02636                                    NEWAZMTH                              
019066,001321: 33,3745           45546                                    1STO2S                                
019067,001322: 33,3746           77776                           EXIT                                           
019068,001323: 33,3747           56154                           XCH      MPAC                                  
019069,001324: 33,3750           55045                           TS       DSPTEM1                               
019070,001325: 33,3751           04676                           TC       BANKCALL                              
019071,001326: 33,3752           20703                           CADR     CLEANDSP                              
019072,001327: 33,3753           33775                           CAF      VN0629                                
019073,001328: 33,3754           04676                           TC       BANKCALL                              
019074,001329: 33,3755           20720                           CADR     GOFLASH                               
019075,001330: 33,3756           13767                           TCF      +11                                   
019076,001331: 33,3757           13761                           TCF      +2                                    
019077,001332: 33,3760           13753                           TCF      -5                                    
019078,001333: 33,3761           06006                           TC       INTPRET                               
019079,001334: 33,3762           47135                           SLOAD    RTB                                   
019080,001335: 33,3763           01046                                    DSPTEM1                               
019081,001336: 33,3764           45513                                    CDULOGIC                              
019082,001337: 33,3765           02634                           STORE    LAUNCHAZ                              
019083,001338: 33,3766           77776                           EXIT                                           
019084,001339: 33,3767           35035                 +11       CA       ZERO                                  
019085,001340: 33,3770           55632                           TS       PREMTRXC                              
019086,001341: 33,3771           05426                           TC       PHASCHNG                              
019087,001342: 33,3772           00004                           OCT      00004                                 
019088,001343: 33,3773           04715                           TC       POSTJUMP                              
019089,001344: 33,3774           21272                           CADR     PINBRNCH                              
019090,001345: 
019091,001346: 33,3775           01435        VN0629             VN       0629                                  

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