Source Code

These source-code files are part of a reconstructed copy of Comanche 72, the first release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

They have been adapted from sources files created from a listing of Comanche 55. These source files were updated to match binary dumps of a set of Comanche 67 rope modules. They were then further modified by applying known changes between Comanche 67 and Comanche 72. A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used to validate changes made to banks 05-13. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72 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.

017915,000002:                                                                                                  ## Copyright:   Public domain.
017916,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
017917,000004:                                                                                                  ## Purpose:     A section of Comanche revision 072.
017918,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
017919,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
017920,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
017921,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
017922,000009:                                                                                                  ##              from a printout of Comanche 055, binary dumps of a set of
017923,000010:                                                                                                  ##              Comanche 067 rope modules, and changelogs between Comanche 067
017924,000011:                                                                                                  ##              and 072. It has been adapted such that the resulting bugger words
017925,000012:                                                                                                  ##              exactly match those specified for Comanche 072 in NASA drawing
017926,000013:                                                                                                  ##              2021153G, which gives relatively high confidence that the
017927,000014:                                                                                                  ##              reconstruction is correct.
017928,000015:                                                                                                  ## Assembler:   yaYUL
017929,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
017930,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
017931,000018:                                                                                                  ## Mod history: 2024-05-13 MAS  Created from Comanche 067.
017932,000019: 
017933,000020:                                                                                                  #  NAME-         IMU PERFORMANCE TESTS 2
017934,000021: 
017935,000022:                                                                                                  #  DATE-         MARCH 20, 1967
017936,000023: 
017937,000024:                                                                                                  #  BY-           SYSTEM TEST GROUP 864-6900 EXT. 1274
017938,000025: 
017939,000026:                                                                                                  #  MODNO.-       ZERO
017940,000027: 
017941,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
017942,000029: 
017943,000030:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
017944,000031:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
017945,000032:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
017946,000033: 
017947,000034: 33,2004                                           BANK     33                                    
017948,000035: 33,2000                                           SETLOC   IMUCAL                                
017949,000036: 33,2000                                           BANK                                           
017950,000037: 
017951,000038: 33,2004  E5,1423                                  EBANK=   POSITON                               
017952,000039: 33,2004           35035        IMUTEST            CA       ZERO                                  
017953,000040: 33,2005           55452                           TS       DRIFTT                                
017954,000041: 33,2006           55643                           TS       GEOCOMP1                              
017955,000042: 33,2007           32443                           CAF      TESTTIME                              
017956,000043: 33,2010           55412                           TS       LENGTHOT                              
017957,000044: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
017958,000045: 33,2012           35055                           CAF      1SECX                                 
017959,000046: 33,2013           55644                           TS       1SECXT1                               
017960,000047: 
017961,000048: 33,2014           32441                           CA       OC14400                               
017962,000049: 33,2015           55074                           TS       1/PIPADT                              
017963,000050: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
017964,000051: 33,2017           77624                           CALL                                           
017965,000052: 33,2020           10613                                    LATAZCHK                              
017966,000053: 33,2021           57546                           COS      DCOMP                                 
017967,000054: 33,2022           77752                           SL1                                            
017968,000055: 33,2023           16447                           STODL    WANGI                                 
017969,000056: 33,2024           02403                                    LATITUDE                              
017970,000057: 33,2025           72556                           SIN      SL1                                   
017971,000058: 33,2026           02445                           STORE    WANGO                                 
017972,000059: 33,2027           77776                           EXIT                                           
017973,000060: 33,2030           04676        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
017974,000061: 33,2031           16577                           CADR     IMUZERO                               
017975,000062: 33,2032           02316                           TC       IMUSTLLG                              
017976,000063: 33,2033           35035        IMUBACK            CA       ZERO                                  
017977,000064: 33,2034           55421                           TS       NDXCTR                                
017978,000065: 33,2035           55450                           TS       TORQNDX                               
017979,000066: 33,2036           55451                           TS       TORQNDX    +1                         
017980,000067: 33,2037           34375        NBPOSPL            CA       DEC17                                 
017981,000068: 33,2040           55655                           TS       ZERONDX1                              
017982,000069: 33,2041           32445                           CA       XNBADR                                
017983,000070: 33,2042           02356                           TC       ZEROING                               
017984,000071: 33,2043           35016                           CA       HALF                                  
017985,000072: 33,2044           55713                           TS       XNB                                   
017986,000073: 33,2045           06006                           TC       INTPRET                               
017987,000074: 33,2046           73545                           DLOAD    SIN                                   
017988,000075: 33,2047           02401                                    AZIMUTH                               
017989,000076: 33,2050           02724                           STORE    YNB        +2                         
017990,000077: 33,2051           16734                           STODL    ZNB        +4                         
017991,000078: 33,2052           02401                                    AZIMUTH                               
017992,000079: 33,2053           77746                           COS                                            
017993,000080: 33,2054           02726                           STORE    YNB        +4                         
017994,000081: 33,2055           77676                           DCOMP                                          
017995,000082: 33,2056           02732                           STORE    ZNB        +2                         
017996,000083: 33,2057           77776                           EXIT                                           
017997,000084: 33,2060           05400                           TC       CHECKMM                               
017998,000085: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
017999,000086: 33,2062           12064                           TCF      +2                                    #  NO
018000,000087: 33,2063           13443                           TCF      SETNBPOS   +1                         #  YES
018001,000088: 33,2064           06006                           TC       INTPRET                               
018002,000089: 33,2065           77624                           CALL                                           
018003,000090: 33,2066           47313                                    CALCGA                                
018004,000091: 33,2067           77776                           EXIT                                           
018005,000092: 33,2070           04676                           TC       BANKCALL                              
018006,000093: 33,2071           16663                           CADR     IMUCOARS                              
018007,000094: 33,2072           35016                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
018008,000095: 33,2073           70077                           MASK     FLAGWRD3                              
018009,000096: 33,2074           00006                           EXTEND                                         
018010,000097: 33,2075           12077                           BZF      +2                                    
018011,000098: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
018012,000099: 33,2077           05574                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018013,000100: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018014,000101: 33,2101           02316                           TC       IMUSTLLG                              
018015,000102: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018016,000103: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018017,000104: 33,2104           04676                           TC       BANKCALL                              
018018,000105: 33,2105           17073                           CADR     IMUFINE                               
018019,000106: 33,2106           02316                           TC       IMUSTLLG                              
018020,000107: 33,2107           00006                           EXTEND                                         
018021,000108: 33,2110           31657                           DCA      PERFDLAY                              
018022,000109: 33,2111           05356                           TC       LONGCALL                              
018023,000110: 33,2112  E5,1423                                  EBANK=   POSITON                               
018024,000111: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018025,000112: 
018026,000113: 33,2114           32121                           CA       ESTICADR                              
018027,000114: 33,2115           05211                           TC       JOBSLEEP                              
018028,000115: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018029,000116: 33,2117           05215                           TC       JOBWAKE                               
018030,000117: 33,2120           05340                           TC       TASKOVER                              
018031,000118: 33,2121           66453        ESTICADR           CADR     ESTIMS                                
018032,000119: 33,2122           35035        TORQUE             CA       ZERO                                  
018033,000120: 33,2123           55050                           TS       DSPTEM2                               
018034,000121: 33,2124           31514                           CA       DRIFTI                                
018035,000122: 33,2125           55051                           TS       DSPTEM2    +1                         
018036,000123: 33,2126           51423                           INDEX    POSITON                               
018037,000124: 33,2127           55430                           TS       SOUTHDR    -1                         
018038,000125: 33,2130           02427                           TC       SHOW                                  
018039,000126: 
018040,000127: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018041,000128: 33,2132           02133                           TC       +1                                    
018042,000129: 33,2133           02417                           TC       EARTHR*                               
018043,000130: 33,2134           34374                           CA       DEC57                                 
018044,000131: 33,2135           55412                           TS       LENGTHOT                              
018045,000132: 33,2136           35033                           CA       ONE                                   
018046,000133: 33,2137           55547                           TS       RESULTCT                              
018047,000134: 33,2140           35035                           CA       ZERO                                  
018048,000135: 33,2141           51422                           INDEX    PIPINDEX                              
018049,000136: 33,2142           54037                           TS       PIPAX                                 
018050,000137: 33,2143           55502                           TS       DATAPL                                
018051,000138: 33,2144           55506                           TS       DATAPL     +4                         
018052,000139: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018053,000140: 33,2146           00004                           INHINT                                         
018054,000141: 33,2147           35032                           CAF      TWO                                   
018055,000142: 33,2150           05251                           TC       TWIDDLE                               
018056,000143: 33,2151  E5,1671                                  EBANK=   XSM                                   
018057,000144: 33,2151           02153                           ADRES    PIPATASK                              
018058,000145: 33,2152           05233                           TC       ENDOFJOB                              
018059,000146: 33,2153           00006        PIPATASK           EXTEND                                         
018060,000147: 33,2154           27412                           DIM      LENGTHOT                              
018061,000148: 33,2155           31412                           CA       LENGTHOT                              
018062,000149: 33,2156           00006                           EXTEND                                         
018063,000150: 33,2157           62163                           BZMF     STARTPIP                              
018064,000151: 33,2160           35022                           CAF      BIT10                                 
018065,000152: 33,2161           05251                           TC       TWIDDLE                               
018066,000153: 33,2162  E5,1671                                  EBANK=   XSM                                   
018067,000154: 33,2162           02153                           ADRES    PIPATASK                              
018068,000155: 33,2163           35016        STARTPIP           CAF      PRIO20                                
018069,000156: 33,2164           05163                           TC       FINDVAC                               
018070,000157: 33,2165  E5,1671                                  EBANK=   XSM                                   
018071,000158: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018072,000159: 
018073,000160: 33,2167           05340                           TC       TASKOVER                              
018074,000161: 
018075,000162: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018076,000163: 33,2171           02172                           TC       +1                                    
018077,000164: 33,2172           02417                           TC       EARTHR*                               
018078,000165: 33,2173           31412                           CA       LENGTHOT                              
018079,000166: 33,2174           00006                           EXTEND                                         
018080,000167: 33,2175           62177                           BZMF     +2                                    
018081,000168: 33,2176           05233                           TC       ENDOFJOB                              
018082,000169: 33,2177           35036                           CA       FIVE                                  
018083,000170: 33,2200           55547                           TS       RESULTCT                              
018084,000171: 33,2201           02321                           TC       CHECKG                                
018085,000172: 33,2202           00006                           EXTEND                                         
018086,000173: 33,2203           41503                           DCS      DATAPL                                
018087,000174: 33,2204           21507                           DAS      DATAPL     +4                         
018088,000175: 
018089,000176: 33,2205           06006                           TC       INTPRET                               
018090,000177: 33,2206           45345                           DLOAD    DSU                                   
018091,000178: 33,2207           02511                                    DATAPL     +6                         
018092,000179: 33,2210           02505                                    DATAPL     +2                         
018093,000180: 33,2211           45044                           BPL      CALL                                  
018094,000181: 33,2212           66214                                    AINGOTN                               
018095,000182: 33,2213           66276                                    OVERFFIX                              
018096,000183: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018097,000184: 33,2215           02507                                    DATAPL     +4                         
018098,000185: 33,2216           57212                           SL4      DMPR                                  
018099,000186: 33,2217           27110                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018100,000187: 33,2220           77634                           RTB                                            
018101,000188: 33,2221           45544                                    SGNAGREE                              
018102,000189: 33,2222           01051                           STORE    DSPTEM2                               
018103,000190: 33,2223           77776                           EXIT                                           
018104,000191: 33,2224           11421                           CCS      NDXCTR                                
018105,000192: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018106,000193: 33,2226           02427                           TC       SHOW                                  
018107,000194: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018108,000195: 33,2230           55412                           TS       LENGTHOT                              
018109,000196: 33,2231           51423                           INDEX    POSITON                               
018110,000197: 33,2232           41427                           CS       SOUTHDR    -2                         
018111,000198: 33,2233           55452                           TS       DRIFTT                                
018112,000199: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018113,000200: 33,2235           00006                           EXTEND                                         
018114,000201: 33,2236           12244                           BZF      PON2                                  
018115,000202: 33,2237           45027        PON4               CS       BIT5                                  #  OFFSET PLATFORM
018116,000203: 33,2240           27651                           ADS      ERCOMP1    +2                         
018117,000204: 33,2241           35027                           CA       BIT5                                  
018118,000205: 33,2242           27647                           ADS      ERCOMP1                               
018119,000206: 33,2243           12250                           TCF      PONG                                  
018120,000207: 33,2244           45027        PON2               CS       BIT5                                  
018121,000208: 33,2245           27651                           ADS      ERCOMP1    +2                         
018122,000209: 33,2246           35027                           CA       BIT5                                  
018123,000210: 33,2247           27653                           ADS      ERCOMP1    +4                         
018124,000211: 33,2250           02417        PONG               TC       EARTHR*                               
018125,000212: 33,2251           35035                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018126,000213: 33,2252           55404                           TS       ERVECTOR                              
018127,000214: 33,2253           55405                           TS       ERVECTOR   +1                         
018128,000215: 33,2254           35013        GUESS1             CAF      POSMAX                                
018129,000216: 33,2255           55450                           TS       TORQNDX                               
018130,000217: 33,2256           55451                           TS       TORQNDX    +1                         
018131,000218: 33,2257           30032                           CA       CDUX                                  
018132,000219: 33,2260           55413                           TS       LOSVEC                                
018133,000220: 33,2261           02453                           TC       ESTIMS                                
018134,000221: 33,2262           31512        VALMIS             CA       DRIFTO                                
018135,000222: 33,2263           55051                           TS       DSPTEM2    +1                         
018136,000223: 33,2264           35035                           CA       ZERO                                  
018137,000224: 33,2265           55050                           TS       DSPTEM2                               
018138,000225: 33,2266           02427                           TC       SHOW                                  
018139,000226: 
018140,000227: 33,2267           05574        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018141,000228: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018142,000229: 33,2271           45035                           CS       ZERO                                  
018143,000230: 33,2272           05373                           TC       NEWMODEX   +3                         
018144,000231: 33,2273           04676                           TC       BANKCALL                              
018145,000232: 33,2274           16063                           CADR     MKRELEAS                              
018146,000233: 33,2275           05550                           TC       ENDEXT                                
018147,000234: 
018148,000235: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018149,000236: 33,2277           15342                                    DPPOSMAX                              
018150,000237: 33,2300           27116                                    ONEDPP                                
018151,000238: 33,2301           77616                           RVQ                                            
018152,000239: 
018153,000240: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
018154,000241: 33,2303           23425                           QXCH     QPLACE                                
018155,000242: 33,2304           35035                           CA       ZERO                                  
018156,000243: 33,2305           55155                           TS       THETAD                                
018157,000244: 33,2306           55156                           TS       THETAD     +1                         
018158,000245: 33,2307           55157                           TS       THETAD     +2                         
018159,000246: 33,2310           04676                           TC       BANKCALL                              
018160,000247: 33,2311           16663                           CADR     IMUCOARS                              
018161,000248: 33,2312           04676                           TC       BANKCALL                              
018162,000249: 33,2313           17577                           CADR     IMUSTALL                              
018163,000250: 33,2314           03102                           TC       SOMERR2                               
018164,000251: 33,2315           01425                           TC       QPLACE                                
018165,000252: 
018166,000253: 33,2316           00006        IMUSTLLG           EXTEND                                         
018167,000254: 33,2317           23425                           QXCH     QPLACE                                
018168,000255: 33,2320           02312                           TC       COAALIGN   +10                        
018169,000256: 
018170,000257: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018171,000258: 33,2322           23425                           QXCH     QPLACE                                
018172,000259: 33,2323           02331                           TC       +6                                    
018173,000260: 33,2324           00003        CHECKG1            RELINT                                         
018174,000261: 33,2325           30067                           CA       NEWJOB                                
018175,000262: 33,2326           00006                           EXTEND                                         
018176,000263: 33,2327           62335                           BZMF     +6                                    
018177,000264: 33,2330           05200                           TC       CHANG1                                
018178,000265: 33,2331           00004                           INHINT                                         
018179,000266: 33,2332           51422                           INDEX    PIPINDEX                              
018180,000267: 33,2333           40037                           CS       PIPAX                                 
018181,000268: 33,2334           55655                           TS       ZERONDX                               
018182,000269: 33,2335           00004                           INHINT                                         
018183,000270: 33,2336           51422                           INDEX    PIPINDEX                              
018184,000271: 33,2337           30037                           CA       PIPAX                                 
018185,000272: 33,2340           61655                           AD       ZERONDX                               
018186,000273: 33,2341           00006                           EXTEND                                         
018187,000274: 33,2342           12324                           BZF      CHECKG1                               
018188,000275: 33,2343           51422                           INDEX    PIPINDEX                              
018189,000276: 33,2344           30037                           CA       PIPAX                                 
018190,000277: 33,2345           51547                           INDEX    RESULTCT                              
018191,000278: 33,2346           55502                           TS       DATAPL                                
018192,000279: 33,2347           04553                           TC       FINETIME                              
018193,000280: 33,2350           51547                           INDEX    RESULTCT                              
018194,000281: 33,2351           55503                           TS       DATAPL     +1                         
018195,000282: 33,2352           51547                           INDEX    RESULTCT                              
018196,000283: 33,2353           23504                           LXCH     DATAPL     +2                         
018197,000284: 33,2354           00003                           RELINT                                         
018198,000285: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018199,000286: 
018200,000287: 33,2356           54001        ZEROING            TS       L                                     
018201,000288: 33,2357           12361                           TCF      +2                                    
018202,000289: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018203,000290: 33,2361           35035                           CAF      ZERO                                  
018204,000291: 33,2362           50001                           INDEX    L                                     
018205,000292: 33,2363           54000                           TS       0                                     
018206,000293: 33,2364           24001                           INCR     L                                     
018207,000294: 33,2365           11655                           CCS      ZERONDX1                              
018208,000295: 33,2366           12360                           TCF      ZEROING1                              
018209,000296: 33,2367           00002                           TC       Q                                     
018210,000297: 
018211,000298: 32,2000                                           SETLOC   IMUCAL3                               
018212,000299: 32,2000                                           BANK                                           
018213,000300: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018214,000301: 32,2001           27111                                    SCHZEROS                              #  PD24 = (SIN          -COS     0)(OMEG/MS)
018215,000302: 32,2002           02403                                    LATITUDE                              
018216,000303: 32,2003           57546                           COS      DCOMP                                 
018217,000304: 32,2004           73525                           PDDL     SIN                                   
018218,000305: 32,2005           02403                                    LATITUDE                              
018219,000306: 32,2006           74266                           VDEF     VXSC                                  
018220,000307: 32,2007           26450                                    OMEG/MS                               
018221,000308: 32,2010           02405                           STORE    ERVECTOR                              
018222,000309: 32,2011           77634                           RTB                                            
018223,000310: 32,2012           45510                                    LOADTIME                              
018224,000311: 32,2013           26443                           STOVL    TMARK                                 
018225,000312: 32,2014           27111                                    SCHZEROS                              
018226,000313: 32,2015           02650                           STORE    ERCOMP1                               
018227,000314: 32,2016           77616                           RVQ                                            
018228,000315: 33,2000                                           SETLOC   IMUCAL                                
018229,000316: 33,2000                                           BANK                                           
018230,000317: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018231,000318: 33,2371           00051                                    S2                                    
018232,000319: 33,2372           45510                                    LOADTIME                              
018233,000320: 33,2373           02441                           STORE    TEMPTIME                              
018234,000321: 33,2374           51025                           DSU      BPL                                   
018235,000322: 33,2375           02443                                    TMARK                                 
018236,000323: 33,2376           66401                                    ERTHR                                 
018237,000324: 33,2377           77624                           CALL                                           
018238,000325: 33,2400           66276                                    OVERFFIX                              
018239,000326: 33,2401           74261        ERTHR              SL       VXSC                                  
018240,000327: 33,2402           20212                                    9D                                    
018241,000328: 33,2403           02405                                    ERVECTOR                              
018242,000329: 33,2404           53321                           MXV      VAD                                   
018243,000330: 33,2405           02672                                    XSM                                   
018244,000331: 33,2406           02650                                    ERCOMP1                               
018245,000332: 33,2407           16650                           STODL    ERCOMP1                               
018246,000333: 33,2410           02441                                    TEMPTIME                              
018247,000334: 33,2411           02443                           STORE    TMARK                                 
018248,000335: 33,2412           47170                           AXT,1    RTB                                   
018249,000336: 33,2413           02647                           ECADR    ERCOMP1                               
018250,000337: 33,2414           45653                                    PULSEIMU                              
018251,000338: 33,2415           77650                           GOTO                                           
018252,000339: 33,2416           00051                                    S2                                    
018253,000340: 
018254,000341: 33,2417           00006        EARTHR*            EXTEND                                         
018255,000342: 33,2420           23426                           QXCH     QPLACES                               
018256,000343: 33,2421           06006                           TC       INTPRET                               
018257,000344: 33,2422           77624                           CALL                                           
018258,000345: 33,2423           66370                                    EARTHR                                
018259,000346: 33,2424           77776        PROUT              EXIT                                           
018260,000347: 33,2425           02316                           TC       IMUSTLLG                              
018261,000348: 33,2426           01426                           TC       QPLACES                               
018262,000349: 
018263,000350: 33,2427           00006        SHOW               EXTEND                                         
018264,000351: 33,2430           23425                           QXCH     QPLACE                                
018265,000352: 33,2431           31423        SHOW1              CA       POSITON                               
018266,000353: 33,2432           55052                           TS       DSPTEM2    +2                         
018267,000354: 33,2433           32442                           CA       VB06N98                               
018268,000355: 33,2434           04676                           TC       BANKCALL                              
018269,000356: 33,2435           20720                           CADR     GOFLASH                               
018270,000357: 33,2436           02267                           TC       ENDTEST1                              #  V34
018271,000358: 33,2437           01425                           TC       QPLACE                                #  V33
018272,000359: 33,2440           12431                           TCF      SHOW1                                 
018273,000360: 
018274,000361: 33,2441           14400        OC14400            OCT      14400                                 
018275,000362: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018276,000363: 33,2442           01542        VB06N98            VN       0698                                  
018277,000364: 33,2443           01602        TESTTIME           OCT      01602                                 
018278,000365: 33,2444     4375               DEC17              =        ND1                                   
018279,000366: 33,2444           02757        OGCPL              ECADR    OGC                                   
018280,000367: 33,2445     5055               1SECX              =        1SEC                                  
018281,000368: 33,2445     4374               DEC57              =        VD1                                   
018282,000369: 33,2445           01713        XNBADR             GENADR   XNB                                   
018283,000370: 33,2446           01671        XSMADR             GENADR   XSM                                   
018284,000371: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018285,000372: 
018286,000373: 33,2451           04676        P11OUT             TC       BANKCALL                              
018287,000374: 33,2452           70117                           CADR     MATRXJOB                              #  RETURN TO P11
018288,000375: 
018289,000376: 33,2453                                           COUNT    02/COMST                              
018290,000377: 
018291,000378:    4553                                           BLOCK    2                                     
018292,000379:    4553           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018293,000380:    4554           00006                           EXTEND                                         
018294,000381:    4555           00004                           READ     LOSCALAR                              
018295,000382:    4556           54001                           TS       L                                     
018296,000383:    4557           00006                           EXTEND                                         
018297,000384:    4560           06004                           RXOR     LOSCALAR                              
018298,000385:    4561           00006                           EXTEND                                         
018299,000386:    4562           14566                           BZF      +4                                    
018300,000387:    4563           00006                           EXTEND                                         
018301,000388:    4564           00004                           READ     LOSCALAR                              
018302,000389:    4565           54001                           TS       L                                     
018303,000390:    4566           45013                 +4        CS       POSMAX                                
018304,000391:    4567           60001                           AD       L                                     
018305,000392:    4570           00006                           EXTEND                                         
018306,000393:    4571           14554                           BZF      FINETIME   +1                         
018307,000394:    4572           00006                           EXTEND                                         
018308,000395:    4573           00003                           READ     HISCALAR                              
018309,000396:    4574           00002                           TC       Q                                     
018310,000397: 
018311,000398:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018312,000399:                                                                                                  #  DATE-  NOVEMBER 2 1966
018313,000400:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
018314,000401:                                                                                                  #  MOD NO 3
018315,000402: 
018316,000403:                                                                                                  #  FUNCTIONAL DESCRIPTION
018317,000404: 
018318,000405:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018319,000406:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
018320,000407:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018321,000408:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018322,000409:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
018323,000410:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018324,000411:                                                                                                  #  FOR THE DATA TO FLASH.
018325,000412: 
018326,000413:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018327,000414:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018328,000415:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018329,000416:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018330,000417:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
018331,000418:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
018332,000419:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
018333,000420:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018334,000421:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018335,000422:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018336,000423:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018337,000424: 
018338,000425:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
018339,000426: 
018340,000427:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
018341,000428:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
018342,000429:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
018343,000430:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
018344,000431:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
018345,000432: 
018346,000433:                                                                                                  #  TO PERFORM AS PART OF COMPASS
018347,000434: 
018348,000435:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
018349,000436:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
018350,000437: 
018351,000438:                                                                                                  #  SUBROUTINES CALLED
018352,000439: 
018353,000440:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018354,000441:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
018355,000442: 
018356,000443:                                                                                                  #  NORMAL EXIT
018357,000444: 
018358,000445:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018359,000446:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
018360,000447: 
018361,000448:                                                                                                  #  ALARMS
018362,000449: 
018363,000450:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST
018364,000451:                                                                                                  #  1601  BAD IMU TORQUE ABORT
018365,000452:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
018366,000453: 
018367,000454:                                                                                                  #  OUTPUT
018368,000455: 
018369,000456:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018370,000457:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018371,000458:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
018372,000459:                                                                                                  #        02      GYROCOMPASSING
018373,000460:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
018374,000461: 
018375,000462:                                                                                                  #  DEBRIS
018376,000463: 
018377,000464:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
018378,000465: 
018379,000466:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018380,000467:                                                                                                  #  ON THE NEXT FEW PAGES.
018381,000468: 
018382,000469:    4575                                           COUNT    33/P02                                
018383,000470: 
018384,000471:    4575  E5,1671                                  EBANK=   XSM                                   
018385,000472: 33,2453                                           BANK     33                                    
018386,000473: 33,2000                                           SETLOC   IMUCAL                                
018387,000474: 33,2000                                           BANK                                           
018388,000475: 
018389,000476: 33,2453           05406        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
018390,000477: 33,2454           00075                           OCT      00075                                 
018391,000478: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
018392,000479: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
018393,000480: 33,2457           30025                           CA       TIME1                                 
018394,000481: 33,2460           55645                           TS       GTSWTLT1                              
018395,000482: 33,2461           35035                           CAF      ZERO                                  #  ZERO THE PIPAS
018396,000483: 33,2462           54037                           TS       PIPAX                                 
018397,000484: 33,2463           54040                           TS       PIPAY                                 
018398,000485: 33,2464           54041                           TS       PIPAZ                                 
018399,000486: 33,2465           00003                           RELINT                                         
018400,000487: 33,2466           33127                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
018401,000488: 33,2467           55655                           TS       ZERONDX1                              
018402,000489: 33,2470           33130                           CA       ALXXXZ                                
018403,000490: 33,2471           02356                           TC       ZEROING                               
018404,000491: 33,2472           06006                           TC       INTPRET                               
018405,000492: 33,2473           77735                           SLOAD                                          
018406,000493: 33,2474           27111                                    SCHZEROS                              
018407,000494: 33,2475           25477                           STOVL    GCOMPSW    -1                         
018408,000495: 33,2476           27122                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
018409,000496: 33,2477           26455                           STOVL    ALX1S                                 
018410,000497: 33,2500           27111                                    SCHZEROS                              
018411,000498: 33,2501           01472                           STORE    GCOMP                                 
018412,000499: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
018413,000500: 33,2503           77776                           EXIT                                           
018414,000501: 
018415,000502: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018416,000503: 33,2505           02507                           TC       +2                                    
018417,000504: 33,2506           02523                           TC       SLEEPIE    +1                         
018418,000505: 33,2507           06006                           TC       INTPRET                               
018419,000506: 33,2510           77624                           CALL                                           
018420,000507: 33,2511           64000                                    ERTHRVSE                              
018421,000508: 33,2512           77776                           EXIT                                           
018422,000509: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
018423,000510: 33,2514           55646                           TS       ERECTIME                              
018424,000511: 
018425,000512: 33,2515           05370                           TC       NEWMODEX                              
018426,000513: 33,2516           00002                           MM       02         B-14                       
018427,000514: 33,2517           04676                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM
018428,000515: 33,2520           17156                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018429,000516: 33,2521           03403                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018430,000517: 
018431,000518:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018432,000519: 
018433,000520:                                                                                                  #  SET UP WAITLIST SECTION
018434,000521: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
018435,000522: 33,2523           05426                           TC       PHASCHNG                              #  CHANGE PHASE
018436,000523: 33,2524           00135                           OCT      00135                                 
018437,000524: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018438,000525: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018439,000526: 33,2527           03406        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
018440,000527: 33,2530           02532                           TC       SETGWLST                              
018441,000528: 33,2531           05233                           TC       ENDOFJOB                              
018442,000529: 
018443,000530: 33,2532           00006        SETGWLST           EXTEND                                         
018444,000531: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018445,000532: 33,2534           00004                           INHINT                                         
018446,000533: 33,2535           40025                           CS       TIME1                                 
018447,000534: 33,2536           61645                           AD       GTSWTLT1                              
018448,000535: 33,2537           00006                           EXTEND                                         
018449,000536: 33,2540           62542                           BZMF     +2                                    
018450,000537: 33,2541           65015                           AD       NEGMAX                                #  10 MS ERROR OK
018451,000538: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018452,000539: 33,2543           00006                           EXTEND                                         
018453,000540: 33,2544           62550                           BZMF     RIGHTGTS                              
018454,000541: 33,2545           05251        WTGTSMPL           TC       TWIDDLE                               
018455,000542: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
018456,000543: 33,2546           02574                           ADRES    ALLOOP                                
018457,000544: 33,2547           00154                           TC       MPAC                                  
018458,000545: 33,2550           35031        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
018459,000546: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
018460,000547: 
018461,000548:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018462,000549: 
018463,000550: 33,2552     4113               25DECML            EQUALS   OCT31                                 
018464,000551: 33,2552           34113        STOREDTA           CAF      25DECML                               
018465,000552: 33,2553           54154                           TS       MPAC                                  
018466,000553: 33,2554           50154                           INDEX    MPAC                                  
018467,000554: 33,2555           31460                           CAE      THETAX1                               
018468,000555: 33,2556           50154                           INDEX    MPAC                                  
018469,000556: 33,2557           55577                           TS       RESTARPT                              
018470,000557: 33,2560           10154                           CCS      MPAC                                  
018471,000558: 33,2561           12553                           TCF      STOREDTA   +1                         
018472,000559: 33,2562           00002                           TC       Q                                     
018473,000560: 
018474,000561: 33,2563           34113        LOADSTDT           CAF      25DECML                               
018475,000562: 33,2564           54154                           TS       MPAC                                  
018476,000563: 33,2565           50154                           INDEX    MPAC                                  
018477,000564: 33,2566           31577                           CA       RESTARPT                              
018478,000565: 33,2567           50154                           INDEX    MPAC                                  
018479,000566: 
018480,000567: 33,2570           55460                           TS       THETAX1                               
018481,000568: 33,2571           10154                           CCS      MPAC                                  
018482,000569: 33,2572           12564                           TCF      LOADSTDT   +1                         
018483,000570: 33,2573           00002                           TC       Q                                     
018484,000571: 
018485,000572:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018486,000573: 
018487,000574: 33,2574           30025        ALLOOP             CA       TIME1                                 
018488,000575: 33,2575           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018489,000576: 33,2576           31540        ALLOOP3            CA       ALTIM                                 
018490,000577: 33,2577           55631                           TS       GEOSAVE1                              
018491,000578: 33,2600           05426                           TC       PHASCHNG                              
018492,000579: 33,2601           00115                           OCT      00115                                 
018493,000580: 33,2602           31631        ALLOOP1            CAE      GEOSAVE1                              
018494,000581: 33,2603           55540                           TS       ALTIM                                 
018495,000582: 33,2604           10000                           CCS      A                                     
018496,000583: 33,2605           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018497,000584: 33,2606           55541                           TS       ALTIMS                                
018498,000585: 33,2607           40000                           CS       A                                     
018499,000586: 33,2610           55540                           TS       ALTIM                                 
018500,000587: 33,2611           35035                           CAF      ZERO                                  
018501,000588: 33,2612           56037                           XCH      PIPAX                                 
018502,000589: 33,2613           55162                           TS       DELVX                                 
018503,000590: 33,2614           35035                           CAF      ZERO                                  
018504,000591: 33,2615           56040                           XCH      PIPAY                                 
018505,000592: 33,2616           55164                           TS       DELVY                                 
018506,000593: 33,2617           35035                           CAF      ZERO                                  
018507,000594: 33,2620           56041                           XCH      PIPAZ                                 
018508,000595: 33,2621           55166                           TS       DELVZ                                 
018509,000596: 33,2622           34374                           CAF      19DECML                               #  23 OCT
018510,000597: 33,2623           04114                           TC       NEWPHASE                              
018511,000598: 33,2624           00005                           OCT      00005                                 
018512,000599: 33,2625           37657        SPECSTS            CAF      PRIO22                                
018513,000600: 33,2626           05163                           TC       FINDVAC                               
018514,000601: 33,2627  E5,1631                                  EBANK=   GEOSAVE1                              
018515,000602: 33,2627           02632 66065                     2CADR    ALFLT                                 #  START THE JOB
018516,000603: 
018517,000604: 33,2631           05340                           TC       TASKOVER                              
018518,000605: 
018519,000606:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
018520,000607: 
018521,000608: 33,2632           02552        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
018522,000609: 33,2633           05426                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018523,000610: 33,2634           00215                           OCT      00215                                 
018524,000611: 33,2635           12637                           TCF      +2                                    
018525,000612: 33,2636           02563        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
018526,000613: 
018527,000614: 33,2637           11643                           CCS      GEOCOMP1                              
018528,000615: 33,2640           02642                           TC       +2                                    
018529,000616: 33,2641           02645                           TC       NORMLOP                               
018530,000617: 33,2642           03406                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
018531,000618: 33,2643           04676                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
018532,000619: 33,2644           15262                           CADR     1/PIPA                                
018533,000620: 33,2645           06006        NORMLOP            TC       INTPRET                               
018534,000621: 33,2646           77745                           DLOAD                                          
018535,000622: 33,2647           27120                                    INTVAL                                
018536,000623: 33,2650           24051                           STOVL    S1                                    
018537,000624: 33,2651           01163                                    DELVX                                 
018538,000625: 33,2652           76505                           VXM      VSL1                                  
018539,000626: 33,2653           02672                                    XSM                                   
018540,000627: 33,2654           57545                           DLOAD    DCOMP                                 
018541,000628: 33,2655           00160                                    MPAC       +3                         
018542,000629: 33,2656           16533                           STODL    DPIPAY                                
018543,000630: 33,2657           00162                                    MPAC       +5                         
018544,000631: 33,2660           02537                           STORE    DPIPAZ                                
018545,000632: 
018546,000633: 33,2661           76001                           SETPD    AXT,1                                 
018547,000634: 33,2662           00001                                    0                                     
018548,000635: 33,2663           00010                                    8D                                    
018549,000636: 33,2664           57535                           SLOAD    DCOMP                                 
018550,000637: 33,2665           02644                                    GEOCOMP1                              
018551,000638: 33,2666           77640                           BMN                                            
018552,000639: 33,2667           67210                                    ALWAYSG                               #  DO A QUICK COMPASS
018553,000640: 
018554,000641:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018555,000642: 
018556,000643: 33,2670                                           COUNT    33/COMST                              
018557,000644: 
018558,000645: 33,2670           50135        ALCGKK             SLOAD    BMN                                   
018559,000646: 33,2671           02542                                    ALTIMS                                
018560,000647: 33,2672           66705                                    ALFLT3                                #  NO NEW GAINS NEEDED
018561,000648: 33,2673           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018562,000649: 33,2674           00014                                    12D                                   
018563,000650: 33,2675           02454                                    ALX1S                                 
018564,000651: 33,2676           62143        ALKCG2             DLOAD*   INCR,1                                
018565,000652: 33,2677           02243                                    ALFDK      +144D,1                    
018566,000653: 33,2700           77775                           DEC      -2         B-14                       
018567,000654: 33,2701           12555                           STORE    ALDK       +10D,2                     
018568,000655: 33,2702           66104                           TIX,2    SXA,1                                 
018569,000656: 33,2703           66676                                    ALKCG2                                
018570,000657: 33,2704           02454                                    ALX1S                                 
018571,000658: 
018572,000659: 33,2705           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018573,000660: 33,2706           00010                                    8D                                    #  AND GAIN UPDATES
018574,000661: 33,2707           41343        DELMLP             DLOAD*   DMP                                   
018575,000662: 33,2710           02543                                    DPIPAY     +8D,1                      
018576,000663: 33,2711           27705                                    PIPASC                                
018577,000664: 33,2712           43661                           SLR      BDSU*                                 
018578,000665: 33,2713           21212                                    9D                                    
018579,000666: 33,2714           02511                                    INTY       +8D,1                      
018580,000667: 33,2715           06511                           STORE    INTY       +8D,1                      
018581,000668: 33,2716           40725                           PDDL     DMP*                                  
018582,000669: 33,2717           27707                                    VELSC                                 
018583,000670: 33,2720           02531                                    VLAUN      +8D,1                      
018584,000671: 33,2721           77732                           SL2R                                           
018585,000672: 33,2722           45425                           DSU      STADR                                 
018586,000673: 33,2723           71206                           STORE    DELM       +8D,1                      
018587,000674: 33,2724           06573                           STORE    DELM       +10D,1                     
018588,000675: 33,2725           77100                           TIX,1    AXT,2                                 
018589,000676: 33,2726           66707                                    DELMLP                                
018590,000677: 33,2727           00004                                    4                                     
018591,000678: 33,2730           56743        ALILP              DLOAD*   DMPR*                                 
018592,000679: 33,2731           75314                                    ALK        +4,2                       
018593,000680: 33,2732           75230                                    ALDK       +4,2                       
018594,000681: 33,2733           12463                           STORE    ALK        +4,2                       
018595,000682: 33,2734           77104                           TIX,2    AXT,2                                 
018596,000683: 33,2735           66730                                    ALILP                                 
018597,000684: 33,2736           00010                                    8D                                    
018598,000685: 33,2737           66140        ALKLP              LXC,1    SXA,1                                 
018599,000686: 33,2740           02455                                    CMPX1                                 
018600,000687: 33,2741           02455                                    CMPX1                                 
018601,000688: 33,2742           56743                           DLOAD*   DMPR*                                 
018602,000689: 33,2743           02460                                    ALK        +1,1                       
018603,000690: 33,2744           75206                                    DELM       +8D,2                      
018604,000691: 33,2745           77613                           DAD*                                           
018605,000692: 33,2746           75266                                    INTY       +8D,2                      
018606,000693: 33,2747           12511                           STORE    INTY       +8D,2                      
018607,000694: 33,2750           42743                           DLOAD*   DAD*                                  
018608,000695: 33,2751           75304                                    ALK        +12D,2                     
018609,000696: 33,2752           75220                                    ALDK       +12D,2                     
018610,000697: 33,2753           12473                           STORE    ALK        +12D,2                     
018611,000698: 33,2754           42673                           DMPR*    DAD*                                  
018612,000699: 33,2755           75206                                    DELM       +8D,2                      
018613,000700: 33,2756           75256                                    INTY       +16D,2                     
018614,000701: 33,2757           12521                           STORE    INTY       +16D,2                     
018615,000702: 33,2760           40743                           DLOAD*   DMP*                                  
018616,000703: 33,2761           27712                                    ALSK       +1,1                       
018617,000704: 33,2762           75206                                    DELM       +8D,2                      
018618,000705: 33,2763           42772                           SL1R     DAD*                                  
018619,000706: 33,2764           75246                                    VLAUN      +8D,2                      
018620,000707: 33,2765           12531                           STORE    VLAUN      +8D,2                      
018621,000708: 33,2766           76104                           TIX,2    AXT,1                                 
018622,000709: 33,2767           66737                                    ALKLP                                 
018623,000710: 33,2770           00010                                    8D                                    
018624,000711: 
018625,000712: 33,2771           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
018626,000713: 33,2772           02533                                    ACCWD      +8D,1                      
018627,000714: 33,2773           02531                                    VLAUN      +8D,1                      
018628,000715: 33,2774           55523                           PDDL*    VDEF                                  
018629,000716: 33,2775           02541                                    POSNV      +8D,1                      
018630,000717: 33,2776           76521                           MXV      VSL1                                  
018631,000718: 33,2777           02001                                    TRANSM1                               
018632,000719: 33,3000           77745                           DLOAD                                          
018633,000720: 33,3001           00155                                    MPAC                                  
018634,000721: 33,3002           06541                           STORE    POSNV      +8D,1                      
018635,000722: 33,3003           77745                           DLOAD                                          
018636,000723: 33,3004           00160                                    MPAC       +3                         
018637,000724: 33,3005           06531                           STORE    VLAUN      +8D,1                      
018638,000725: 33,3006           77745                           DLOAD                                          
018639,000726: 33,3007           00162                                    MPAC       +5                         
018640,000727: 33,3010           06533                           STORE    ACCWD      +8D,1                      
018641,000728: 33,3011           77700                           TIX,1                                          
018642,000729: 33,3012           66771                                    LOOSE                                 
018643,000730: 
018644,000731: 33,3013           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
018645,000732: 33,3014           00006                                    6                                     
018646,000733: 33,3015           00002                                    2                                     
018647,000734: 33,3016           57343        BOOP               DLOAD*   DMPR                                  
018648,000735: 33,3017           02513                                    ANGX       +2,1                       
018649,000736: 33,3020           27715                                    GEORGEJ                               
018650,000737: 33,3021           77722                           SR2R                                           
018651,000738: 33,3022           73406                           PUSH     SIN                                   
018652,000739: 33,3023           56072                           SL3R     XAD,1                                 
018653,000740: 33,3024           00046                                    X1                                    
018654,000741: 33,3025           10021                           STORE    16D,2                                 
018655,000742: 33,3026           77745                           DLOAD                                          
018656,000743: 33,3027           77746                           COS                                            
018657,000744: 33,3030           10027                           STORE    22D,2                                 #  COSINES
018658,000745: 33,3031           77704                           TIX,2                                          
018659,000746: 33,3032           67016                                    BOOP                                  
018660,000747: 
018661,000748: 33,3033           77776        PERFERAS           EXIT                                           
018662,000749: 33,3034           35074                           CA       EBANK7                                
018663,000750: 33,3035  E7,1400                                  EBANK=   LAT(SPL)                              
018664,000751: 33,3035           54003                           TS       EBANK                                 
018665,000752: 33,3036           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
018666,000753: 
018667,000754:                                                                                                  #  CAUTION
018668,000755: 
018669,000756:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018670,000757:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018671,000758: 
018672,000759: 33,3037  E5,1412                                  EBANK=   LENGTHOT                              
018673,000760: 33,3037           11412        ONCEMORE           CCS      LENGTHOT                              
018674,000761: 33,3040           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
018675,000762: 33,3041           11450                           CCS      TORQNDX                               
018676,000763: 33,3042           13044                           TCF      +2                                    
018677,000764: 33,3043           03046                           TC       SETUPER1                              
018678,000765: 33,3044           30032                           CA       CDUX                                  
018679,000766: 33,3045           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
018680,000767: 33,3046           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
018681,000768: 33,3047           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
018682,000769: 33,3050           02503                                    ANGZ                                  
018683,000770: 33,3051           02507                                    ANGY                                  
018684,000771: 33,3052           55525                           PDDL     VDEF                                  
018685,000772: 33,3053           02511                                    ANGX                                  
018686,000773: 33,3054           74276                           VCOMP    VXSC                                  
018687,000774: 33,3055           27715                                    GEORGEJ                               
018688,000775: 33,3056           74521                           MXV      VSR1                                  
018689,000776: 33,3057           02672                                    XSM                                   
018690,000777: 33,3060           02760                           STORE    OGC                                   
018691,000778: 33,3061           77776                           EXIT                                           
018692,000779: 
018693,000780: 33,3062           05426        TORQINCH           TC       PHASCHNG                              
018694,000781: 33,3063           00005                           OCT      00005                                 
018695,000782: 33,3064           32444                           CA       OGCPL                                 
018696,000783: 33,3065           04676                           TC       BANKCALL                              
018697,000784: 33,3066           17206                           CADR     IMUPULSE                              
018698,000785: 33,3067           02316                           TC       IMUSTLLG                              
018699,000786: 33,3070           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
018700,000787: 33,3071           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
018701,000788: 33,3072           06006                           TC       INTPRET                               
018702,000789: 33,3073           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
018703,000790: 33,3074           64000                                    ERTHRVSE                              
018704,000791: 33,3075           77776                           EXIT                                           
018705,000792: 33,3076           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018706,000793: 
018707,000794: 33,3077           05664        SOMEERRR           TC       ALARM                                 
018708,000795: 33,3100           01600                           OCT      1600                                  
018709,000796: 33,3101           03104                           TC       +3                                    
018710,000797: 33,3102           05664        SOMERR2            TC       ALARM                                 
018711,000798: 33,3103           01601                           OCT      1601                                  
018712,000799: 33,3104           05426                           TC       PHASCHNG                              
018713,000800: 33,3105           00005                           OCT      00005                                 
018714,000801: 33,3106           02267                           TC       ENDTEST1                              
018715,000802: 
018716,000803:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. 
018717,000804: 
018718,000805: 33,3107           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
018719,000806: 33,3110           00000 00000  SCHZEROS           2DEC     .00000000                             
018720,000807: 33,3112           00000 00000                     2DEC     .00000000                             
018721,000808: 33,3114           00000                           OCT      00000                                 
018722,000809: 33,3115           00000        ONEDPP             OCT      00000                                 
018723,000810: 33,3116           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
018724,000811: 
018725,000812: 33,3117           00004        INTVAL             OCT      4                                     
018726,000813: 33,3120           00002                           OCT      2                                     
018727,000814: 33,3121           00220                           DEC      144        B-14                       
018728,000815: 33,3122           77776                           DEC      -1         B-14                       
018729,000816: 33,3123           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
018730,000817: 33,3125           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
018731,000818: 
018732,000819: 33,3127           00115        77DECML            DEC      77         B-14                       
018733,000820: 33,3130           01453        ALXXXZ             GENADR   ALX1S      -1                         
018734,000821: 
018735,000822:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
018736,000823: 
018737,000824: 33,3131                                           COUNT    33/P01                                
018738,000825: 
018739,000826:                                                                                                  #  INITIALIZATION SECTION
018740,000827: 
018741,000828: 33,3131           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
018742,000829: 33,3132           75020                           MASK     NOP01BIT                              
018743,000830: 33,3133           00006                           EXTEND                                         
018744,000831: 33,3134           13137                           BZF      GTSCPSSA                              
018745,000832: 33,3135           05725                           TC       POODOO                                
018746,000833: 33,3136           21521                           OCT      21521                                 #  NO DO ALARM FOR P01 - P11 ALREADY DONE
018747,000834: 
018748,000835: 33,3137           35033        GTSCPSSA           CAF      ONE                                   
018749,000836: 33,3140           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
018750,000837: 33,3141           33435                           CA       1/PIPAGT                              
018751,000838: 33,3142           55074                           TS       1/PIPADT                              
018752,000839: 33,3143           35024        NXXTENN            CA       BIT8                                  
018753,000840: 33,3144           55412                           TS       LENGTHOT                              
018754,000841: 33,3145           35052                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
018755,000842: 33,3146           55644                           TS       1SECXT1                               
018756,000843: 33,3147           35033                           CAF      ONE                                   
018757,000844: 33,3150           55632                           TS       PREMTRX1                              
018758,000845: 33,3151           55657                           TS       PERFDLAY   +1                         
018759,000846: 33,3152           35035                           CAF      ZERO                                  
018760,000847: 33,3153           55656                           TS       PERFDLAY                              
018761,000848: 33,3154           00006                           EXTEND                                         
018762,000849: 33,3155           31634                           DCA      LUNCHAZ1                              
018763,000850: 33,3156           53636                           DXCH     NEWAZ1                                
018764,000851: 33,3157           00006                           EXTEND                                         
018765,000852: 33,3160           31634                           DCA      LUNCHAZ1                              
018766,000853: 33,3161           53640                           DXCH     OLDAZMTH                              
018767,000854: 33,3162           34375        SETUPGC            CA       DEC17                                 
018768,000855: 33,3163           55655                           TS       ZERONDX1                              
018769,000856: 33,3164           32446                           CA       XSMADR                                
018770,000857: 33,3165           02356                           TC       ZEROING                               
018771,000858: 33,3166           03170                           TC       POSN17C                               
018772,000859: 33,3167           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
018773,000860: 
018774,000861: 
018775,000862: 33,3170           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
018776,000863: 33,3171           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
018777,000864: 33,3172           45016                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
018778,000865: 33,3173           55705                           TS       ZSM                                   
018779,000866: 33,3174           06006                           TC       INTPRET                               
018780,000867: 33,3175           41545                           DLOAD    PUSH                                  
018781,000868: 33,3176           02636                                    NEWAZ1                                
018782,000869: 33,3177           77756                           SIN                                            
018783,000870: 33,3200           02676                           STORE    XSM        +4                         
018784,000871: 33,3201           16702                           STODL    YSM        +2                         
018785,000872: 33,3202           77746                           COS                                            
018786,000873: 33,3203           02704                           STORE    YSM        +4                         
018787,000874: 33,3204           77676                           DCOMP                                          
018788,000875: 33,3205           02674                           STORE    XSM        +2                         
018789,000876: 33,3206           77776                           EXIT                                           
018790,000877: 33,3207           01425                           TC       QPLACE                                
018791,000878: 
018792,000879:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
018793,000880: 
018794,000881: 33,3210                                           COUNT    33/P02                                
018795,000882: 
018796,000883: 33,3210           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
018797,000884: 33,3211           02543                                    DPIPAY     +8D,1                      
018798,000885: 33,3212           02505                                    FILDELV1   +8D,1                      
018799,000886: 33,3213           42675                           DMPR     DAD*                                  
018800,000887: 33,3214           27717                                    GEOCONS1                              
018801,000888: 33,3215           02505                                    FILDELV1   +8D,1                      
018802,000889: 33,3216           06505                           STORE    FILDELV1   +8D,1                      
018803,000890: 33,3217           77613                           DAD*                                           
018804,000891: 33,3220           02507                                    INTVEC1    +8D,1                      
018805,000892: 33,3221           06507                           STORE    INTVEC1    +8D,1                      
018806,000893: 33,3222           42675                           DMPR     DAD*                                  
018807,000894: 33,3223           27721                                    GEOCONS2                              
018808,000895: 33,3224           02505                                    FILDELV1   +8D,1                      
018809,000896: 33,3225           41475                           DMPR     PUSH                                  
018810,000897: 33,3226           15332                                    GEOCONS5                              
018811,000898: 33,3227           67300                           TIX,1    SLOAD                                 
018812,000899: 33,3230           67210                                    ALWAYSG                               
018813,000900: 33,3231           02647                                    ERECTIM1                              
018814,000901: 33,3232           71254                           BZE      DLOAD                                 
018815,000902: 33,3233           67244                                    COMPGS                                
018816,000903: 33,3234           02471                                    THETAN1    +2                         
018817,000904: 33,3235           45425                           DSU      STADR                                 
018818,000905: 33,3236           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
018819,000906: 33,3237           77621                           BDSU                                           
018820,000907: 33,3240           02473                                    THETAN1    +4                         
018821,000908: 33,3241           02473                           STORE    THETAN1    +4                         
018822,000909: 33,3242           77650                           GOTO                                           
018823,000910: 33,3243           67266                                    ADDINDRF                              
018824,000911: 33,3244           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
018825,000912: 33,3245           02467                                    THETAN1                               
018826,000913: 33,3246           02475                                    FILDELV1                              
018827,000914: 33,3247           16467                           STODL    THETAN1                               
018828,000915: 33,3250           02475                                    FILDELV1                              
018829,000916: 33,3251           44275                           DMPR     BDSU                                  
018830,000917: 33,3252           27723                                    GEOCONS3                              
018831,000918: 33,3253           02473                                    THETAN1    +4                         
018832,000919: 33,3254           16473                           STODL    THETAN1    +4                         
018833,000920: 33,3255           02501                                    FILDELV1   +4                         
018834,000921: 33,3256           44275                           DMPR     BDSU                                  
018835,000922: 33,3257           27723                                    GEOCONS3                              
018836,000923: 33,3260           02471                                    THETAN1    +2                         
018837,000924: 33,3261           57325                           PDDL     DMPR                                  
018838,000925: 33,3262           02503                                    INTVEC1    +4                         
018839,000926: 33,3263           27725                                    GEOCONS4                              
018840,000927: 33,3264           45421                           BDSU     STADR                                 
018841,000928: 33,3265           75306                           STORE    THETAN1    +2                         
018842,000929: 33,3266           77776        ADDINDRF           EXIT                                           
018843,000930: 
018844,000931: 
018845,000932: 33,3267           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
018846,000933: 33,3270           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
018847,000934: 33,3271           03406                           TC       CHKCOMED                              
018848,000935: 33,3272           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
018849,000936: 33,3273           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
018850,000937: 
018851,000938: 33,3274           06006        LASTGTS            TC       INTPRET                               
018852,000939: 33,3275           77775                           VLOAD                                          
018853,000940: 33,3276           02650                                    ERCOMP1                               
018854,000941: 33,3277           16461                           STODL    THETAX1                               
018855,000942: 33,3300           02443                                    TMARK                                 
018856,000943: 33,3301           02457                           STORE    ALK                                   
018857,000944: 33,3302           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
018858,000945: 
018859,000946: 33,3303           05426        RESTAIER           TC       PHASCHNG                              
018860,000947: 33,3304           00275                           OCT      00275                                 
018861,000948: 33,3305           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
018862,000949: 33,3306           64375                           VLOAD    MXV                                   
018863,000950: 33,3307           02467                                    THETAN1                               
018864,000951: 33,3310           02672                                    XSM                                   
018865,000952: 33,3311           53372                           VSL1     VAD                                   
018866,000953: 33,3312           02461                                    THETAX1                               
018867,000954: 33,3313           16650                           STODL    ERCOMP1                               
018868,000955: 33,3314           02457                                    ALK                                   
018869,000956: 33,3315           02443                           STORE    TMARK                                 
018870,000957: 33,3316           77776                           EXIT                                           
018871,000958: 33,3317           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
018872,000959: 33,3320           31646                           CAE      ERECTIM1                              
018873,000960: 33,3321           55631                           TS       GEOSAVE1                              
018874,000961: 33,3322           05426                           TC       PHASCHNG                              
018875,000962: 33,3323           00155                           OCT      00155                                 
018876,000963: 33,3324           06006        RESTEST1           TC       INTPRET                               
018877,000964: 33,3325           77775                           VLOAD                                          
018878,000965: 33,3326           27111                                    SCHZEROS                              
018879,000966: 33,3327           02467                           STORE    THETAN1                               
018880,000967: 33,3330           77776                           EXIT                                           
018881,000968: 33,3331           11632                           CCS      PREMTRXC                              
018882,000969: 33,3332           03401                           TC       NOCHORLD                              
018883,000970: 33,3333           05426                           TC       PHASCHNG                              
018884,000971: 33,3334           00255                           OCT      00255                                 
018885,000972: 33,3335           06006        RESTEST3           TC       INTPRET                               
018886,000973: 33,3336           77745                           DLOAD                                          
018887,000974: 33,3337           02634                                    LAUNCHAZ                              
018888,000975: 33,3340           53025                           DSU      BZE                                   
018889,000976: 33,3341           02640                                    OLDAZMTH                              
018890,000977: 33,3342           67376                                    NOAZCHGE                              
018891,000978: 33,3343           00001                           STORE    0D                                    
018892,000979: 33,3344           43335                           SLOAD    DAD                                   
018893,000980: 33,3345           27117                                    ONEDPP     +1                         
018894,000981: 33,3346           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
018895,000982: 33,3347           16633                           STODL    PREMTRXC                              
018896,000983: 33,3350           02634                                    LAUNCHAZ                              
018897,000984: 33,3351           16636                           STODL    NEWAZMTH                              
018898,000985: 33,3352           00001                                    0D                                    
018899,000986: 33,3353           02654        ADERCOMP           STORE    ERCOMP     +4                         
018900,000987: 33,3354           77776                           EXIT                                           
018901,000988: 33,3355           03170                           TC       POSN17C                               
018902,000989: 33,3356           05426                           TC       PHASCHNG                              
018903,000990: 33,3357           00335                           OCT      00335                                 
018904,000991: 33,3360           00006        RESCHNG            EXTEND                                         
018905,000992: 33,3361           31636                           DCA      NEWAZMTH                              
018906,000993: 33,3362           53640                           DXCH     OLDAZMTH                              
018907,000994: 33,3363           35025                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
018908,000995: 33,3364           55412                           TS       LENGTHOT                              
018909,000996: 33,3365           05426                           TC       PHASCHNG                              
018910,000997: 33,3366           00075                           OCT      00075                                 
018911,000998: 33,3367           33434        SPITGYRO           CA       ERCOMPPL                              
018912,000999: 33,3370           04676                           TC       BANKCALL                              
018913,001000: 33,3371           17206                           CADR     IMUPULSE                              
018914,001001: 33,3372           04676                           TC       BANKCALL                              
018915,001002: 33,3373           17577                           CADR     IMUSTALL                              
018916,001003: 33,3374           03102                           TC       SOMERR2                               
018917,001004: 33,3375           02453                           TC       ESTIMS                                #  RE-INITIALIZE
018918,001005: 
018919,001006: 
018920,001007: 33,3376           77776        NOAZCHGE           EXIT                                           
018921,001008: 33,3377           35033                           CA       ONE                                   
018922,001009: 33,3400           55632                           TS       PREMTRXC                              
018923,001010: 33,3401           11631        NOCHORLD           CCS      GEOSAVE1                              
018924,001011: 33,3402           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
018925,001012: 
018926,001013: 33,3403           34334        ANNNNNN            CAF      NINE                                  
018927,001014: 33,3404           55412                           TS       LENGTHOT                              
018928,001015: 33,3405           02523                           TC       SLEEPIE    +1                         
018929,001016: 
018930,001017: 
018931,001018: 33,3406           00004        CHKCOMED           INHINT                                         
018932,001019: 33,3407           41011                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
018933,001020: 33,3410           65037                           AD       SEVEN                                 
018934,001021: 33,3411           00006                           EXTEND                                         
018935,001022: 33,3412           13426                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
018936,001023: 33,3413           45035                           CS       ZERO                                  
018937,001024: 33,3414           00006                           EXTEND                                         
018938,001025: 33,3415           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
018939,001026: 33,3416           75027                           MASK     BIT5                                  #  LIFTOFF BIT
018940,001027: 33,3417           10000                           CCS      A                                     
018941,001028: 33,3420           13427                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
018942,001029: 
018943,001030: 33,3421           35027                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
018944,001031: 33,3422           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
018945,001032: 33,3423           10000                           CCS      A                                     
018946,001033: 33,3424           13427                           TCF      PRELTERM                              #  BACKUP RECEIVED
018947,001034: 
018948,001035: 33,3425           00003                           RELINT                                         
018949,001036: 33,3426           00002        GOBKCALB           TC       Q                                     
018950,001037: 
018951,001038: 33,3427           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
018952,001039: 33,3430           05224                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
018953,001040: 33,3431           00004                           INHINT                                         
018954,001041: 33,3432           04715                           TC       POSTJUMP                              
018955,001042: 33,3433           70002                           CADR     P11                                   
018956,001043: 
018957,001044: 
018958,001045: 33,3434           02647        ERCOMPPL           ECADR    ERCOMP                                
018959,001046: 
018960,001047: 33,3435  26,3331               GEOCONS5           EQUALS   HIDPHALF                              
018961,001048: 33,3435           06200        1/PIPAGT           OCT      06200                                 
018962,001049: 33,3436     4375               17DECML            =        ND1                                   #  OCT 21
018963,001050: 33,3436     4374               19DECML            =        VD1                                   #  OCT 23
018964,001051: 33,3436     5052               1/2SECX            =        .5SEC                                 
018965,001052: 
018966,001053: 
018967,001054: 33,3436     5233               GEOSTRT4           EQUALS   ENDOFJOB                              
018968,001055: 
018969,001056:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
018970,001057: 
018971,001058: 33,3436                                           COUNT    33/P03                                
018972,001059: 
018973,001060: 33,3436           05426        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
018974,001061: 33,3437           00154                           OCT      00154                                 
018975,001062: 33,3440           05370                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
018976,001063: 33,3441           00003                           MM       03         B-14                       
018977,001064: 33,3442           02037        SETNBPOS           TC       NBPOSPL                               
018978,001065: 33,3443           04676                           TC       BANKCALL                              
018979,001066: 33,3444           16063                           CADR     MKRELEAS                              
018980,001067: 33,3445           35033        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
018981,001068: 33,3446           22007                           ZL                                             #  T 1,THEN TARGET 2
018982,001069: 33,3447           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
018983,001070: 33,3450           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
018984,001071: 33,3451           00006                           EXTEND                                         
018985,001072: 33,3452           51427                           INDEX    RUN                                   
018986,001073: 33,3453           31433                           DCA      TAZEL1                                
018987,001074: 33,3454           53046                           DXCH     DSPTEM1                               
018988,001075: 33,3455           33500                           CAF      V05N30E                               
018989,001076: 33,3456           04676                           TC       BANKCALL                              
018990,001077: 33,3457           20673                           CADR     GODSPRET                              
018991,001078: 33,3460           33466                           CAF      VN0641                                
018992,001079: 33,3461           04676                           TC       BANKCALL                              
018993,001080: 33,3462           20720                           CADR     GOFLASH                               
018994,001081: 33,3463           03620                           TC       GCOMP5                                
018995,001082: 33,3464           03467                           TC       +3                                    
018996,001083: 33,3465           03455                           TC       -8D                                   
018997,001084: 33,3466           01451        VN0641             VN       0641                                  
018998,001085: 33,3467           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
018999,001086: 33,3470           51427                           INDEX    RUN                                   
019000,001087: 33,3471           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019001,001088: 33,3472           11427                           CCS      RUN                                   
019002,001089: 33,3473           13477                           TCF      +4                                    
019003,001090: 33,3474           35032                           CAF      TWO                                   
019004,001091: 33,3475           54001                           TS       L                                     
019005,001092: 33,3476           13447                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
019006,001093: 
019007,001094: 33,3477           03541                           TC       CONTIN33                              
019008,001095: 
019009,001096: 33,3500           01236        V05N30E            VN       0530                                  
019010,001097: 
019011,001098: 33,3501           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019012,001099: 33,3502           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019013,001100: 33,3503           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019014,001101: 33,3504           00014                                    12D                                   
019015,001102: 33,3505           40331                           SSP      SETPD                                 
019016,001103: 33,3506           00052                                    S2                                    
019017,001104: 33,3507           00006                                    6                                     
019018,001105: 33,3510           00001                                    0                                     
019019,001106: 33,3511           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019020,001107: 33,3512           02436                                    TAZEL1     +3,1                       
019021,001108: 33,3513           00001                           STORE    0                                     #  PD00 ELEVATION PD00
019022,001109: 33,3514           77756                           SIN                                            
019023,001110: 33,3515           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019024,001111: 33,3516           77745                           DLOAD                                          
019025,001112: 33,3517           00001                                    0                                     
019026,001113: 33,3520           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
019027,001114: 33,3521           47133                           SLOAD*   RTB                                   
019028,001115: 33,3522           02435                                    TAZEL1     +2,1                       
019029,001116: 33,3523           45513                                    CDULOGIC                              
019030,001117: 33,3524           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
019031,001118: 33,3525           41356                           SIN      DMP                                   
019032,001119: 33,3526           00001                                    0                                     
019033,001120: 33,3527           77752                           SL1                                            
019034,001121: 33,3530           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019035,001122: 33,3531           71545                           DLOAD    COS                                   
019036,001123: 33,3532           00003                                    2                                     
019037,001124: 33,3533           72405                           DMP      SL1                                   
019038,001125: 33,3534           76076                           DCOMP    AXT,1                                 
019039,001126: 33,3535           00000                                    0                                     
019040,001127: 33,3536           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019041,001128: 33,3537           43504                           TIX,2    RVQ                                   
019042,001129: 33,3540           67511                                    TAR1                                  
019043,001130: 
019044,001131: 
019045,001132: 33,3541                                           BANK     33                                    
019046,001133: 33,2000                                           SETLOC   IMUCAL                                
019047,001134: 33,2000                                           BANK                                           
019048,001135: 33,3541                                           COUNT*   $$/PO3                                
019049,001136: 
019050,001137: 33,3541           35033        CONTIN33           CA       ONE                                   
019051,001138: 33,3542           54735                           TS       STARCODE                              
019052,001139: 33,3543           35035                           CA       ZERO                                  
019053,001140: 33,3544           03635                           TC       TARGDRVE                              
019054,001141: 33,3545           06006                           TC       INTPRET                               
019055,001142: 33,3546           77624                           CALL                                           
019056,001143: 33,3547           67502                                    TAR/EREF                              
019057,001144: 33,3550           64375        NEXTBNKS           VLOAD    MXV                                   
019058,001145: 33,3551           00007                                    6D                                    
019059,001146: 33,3552           02672                                    XSM                                   
019060,001147: 33,3553           77772                           VSL1                                           
019061,001148: 33,3554           26736                           STOVL    STARAD                                
019062,001149: 33,3555           00015                                    12D                                   
019063,001150: 33,3556           76521                           MXV      VSL1                                  
019064,001151: 33,3557           02672                                    XSM                                   
019065,001152: 33,3560           36744                           STCALL   STARAD     +6                         
019066,001153: 33,3561           67726                                    LITTLSUB                              
019067,001154: 33,3562           02414                           STORE    LOSVEC                                
019068,001155: 33,3563           77776                           EXIT                                           
019069,001156: 33,3564           04676                           TC       BANKCALL                              
019070,001157: 33,3565           16063                           CADR     MKRELEAS                              
019071,001158: 
019072,001159: 
019073,001160: 33,3566           35032        NEXBNKSS           CAF      TWO                                   
019074,001161: 33,3567           54735                           TS       STARCODE                              
019075,001162: 33,3570           36211                           CAF      SIX                                   
019076,001163: 33,3571           03635                           TC       TARGDRVE                              
019077,001164: 33,3572           06006                           TC       INTPRET                               
019078,001165: 33,3573           77624                           CALL                                           
019079,001166: 33,3574           67726                                    LITTLSUB                              
019080,001167: 33,3575           24015                           STOVL    12D                                   
019081,001168: 33,3576           02414                                    LOSVEC                                
019082,001169: 33,3577           34007                           STCALL   06D                                   
019083,001170: 33,3600           47403                                    AXISGEN                               
019084,001171: 33,3601           77624                           CALL                                           
019085,001172: 33,3602           47207                                    CALCGTA                               
019086,001173: 33,3603           77776                           EXIT                                           
019087,001174: 33,3604           33631        GCOMP4             CAF      V06N93S                               
019088,001175: 33,3605           04676                           TC       BANKCALL                              
019089,001176: 33,3606           20720                           CADR     GOFLASH                               
019090,001177: 33,3607           03620                           TC       GCOMP5                                
019091,001178: 33,3610           13612                           TCF      +2                                    
019092,001179: 33,3611           13604                           TCF      GCOMP4                                
019093,001180: 33,3612           06006                           TC       INTPRET                               
019094,001181: 33,3613           53375                           VLOAD    VAD                                   
019095,001182: 33,3614           02760                                    OGC                                   
019096,001183: 33,3615           02650                                    ERCOMP1                               
019097,001184: 33,3616           02650                           STORE    ERCOMP1                               
019098,001185: 33,3617           77776                           EXIT                                           
019099,001186: 33,3620           04676        GCOMP5             TC       BANKCALL                              
019100,001187: 33,3621           16063                           CADR     MKRELEAS                              
019101,001188: 33,3622           05574                           TC       DOWNFLAG                              
019102,001189: 33,3623           00032                           ADRES    TRM03FLG                              
019103,001190: 
019104,001191: 33,3624           05370                           TC       NEWMODEX                              
019105,001192: 33,3625           00002                           MM       02         B-14                       
019106,001193: 33,3626           05426                           TC       PHASCHNG                              
019107,001194: 33,3627           00004                           OCT      00004                                 
019108,001195: 33,3630           05233                           TC       ENDOFJOB                              
019109,001196: 33,3631           01535        V06N93S            VN       0693                                  
019110,001197: 33,3632           05664        GTSOPTCS           TC       ALARM                                 
019111,001198: 33,3633           01602        GTSOPTSS           OCT      01602                                 
019112,001199: 33,3634           03620                           TC       GCOMP5                                
019113,001200: 
019114,001201: 
019115,001202: 34,2002                                           BANK     34                                    
019116,001203: 04,2000                                           SETLOC   IMUCAL1                               
019117,001204: 04,2000                                           BANK                                           
019118,001205: 
019119,001206: 04,2613                                           COUNT    34/COMST                              
019120,001207: 
019121,001208: 04,2613           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019122,001209: 04,2614           02403                                    LATITUDE                              
019123,001210: 04,2615           15047                           STODL    DSPTEM1    +1                         
019124,001211: 04,2616           02401                                    AZIMUTH                               
019125,001212: 04,2617           77434                           RTB      EXIT                                  
019126,001213: 04,2620           45546                                    1STO2S                                
019127,001214: 04,2621           56154                           XCH      MPAC                                  
019128,001215: 04,2622           55045                           TS       DSPTEM1                               
019129,001216: 04,2623           04676                           TC       BANKCALL                              
019130,001217: 04,2624           20703                           CADR     CLEANDSP                              
019131,001218: 04,2625           32644                           CAF      VNG0641                               
019132,001219: 04,2626           04676                           TC       BANKCALL                              
019133,001220: 04,2627           20720                           CADR     GOFLASH                               
019134,001221: 04,2630           02632                           TC       +2                                    #  NOT ALLOWED
019135,001222: 04,2631           02633                           TC       +2                                    
019136,001223: 04,2632           02625                           TC       -5                                    
019137,001224: 04,2633           06006                           TC       INTPRET                               
019138,001225: 04,2634           47135                           SLOAD    RTB                                   
019139,001226: 04,2635           01046                                    DSPTEM1                               
019140,001227: 04,2636           45513                                    CDULOGIC                              
019141,001228: 04,2637           02401                           STORE    AZIMUTH                               
019142,001229: 04,2640           60535                           SLOAD    SR2                                   
019143,001230: 04,2641           01047                                    DSPTEM1    +1                         
019144,001231: 04,2642           02403                           STORE    LATITUDE                              
019145,001232: 04,2643           77616                           RVQ                                            
019146,001233: 04,2644           01451        VNG0641            VN       0641                                  
019147,001234: 33,3635                                           BANK     33                                    
019148,001235: 33,2000                                           SETLOC   IMUCAL                                
019149,001236: 33,2000                                           BANK                                           
019150,001237: 
019151,001238: 
019152,001239: 33,3635                                           COUNT*   $$/P03                                
019153,001240: 33,3635           00006        TARGDRVE           EXTEND                                         
019154,001241: 33,3636           23424                           QXCH     QPLAC                                 
019155,001242: 33,3637           55431                           TS       TARG1/2                               
019156,001243: 33,3640           06006                           TC       INTPRET                               
019157,001244: 33,3641           77624                           CALL                                           
019158,001245: 33,3642           67502                                    TAR/EREF                              
019159,001246: 33,3643           76740                           LXC,1    VLOAD*                                
019160,001247: 33,3644           02431                                    TARG1/2                               
019161,001248: 33,3645           00007                                    6D,1                                  
019162,001249: 33,3646           36766                           STCALL   STAR                                  
019163,001250: 33,3647           46053                                    SXTANG                                
019164,001251: 33,3650           77776                           EXIT                                           
019165,001252: 33,3651           31773                           CA       SAC                                   
019166,001253: 33,3652           55161                           TS       DESOPTS                               
019167,001254: 
019168,001255: 33,3653           31775                           CA       PAC                                   
019169,001256: 33,3654           55160                           TS       DESOPTT                               
019170,001257: 33,3655           35035        RETARG             CAF      ZERO                                  
019171,001258: 33,3656           55303                           TS       OPTIND                                
019172,001259: 33,3657           35033                           CAF      ONE                                   
019173,001260: 33,3660           04676                           TC       BANKCALL                              
019174,001261: 33,3661           16002                           CADR     SXTMARK                               
019175,001262: 33,3662           04676                           TC       BANKCALL                              
019176,001263: 33,3663           17573                           CADR     OPTSTALL                              
019177,001264: 33,3664           03632                           TC       GTSOPTCS                              
019178,001265: 33,3665           30075                           CAE      FLAGWRD1                              
019179,001266: 33,3666           75030                           MASK     TRM03BIT                              
019180,001267: 33,3667           10000                           CCS      A                                     
019181,001268: 33,3670           03620                           TC       GCOMP5                                
019182,001269: 
019183,001270: 33,3671           51330                           INDEX    MARKSTAT                              
019184,001271: 33,3672           30052                           CA       QPRET                                 
019185,001272: 33,3673           00006                           EXTEND                                         
019186,001273: 33,3674           13676                           BZF      RETARG1                               
019187,001274: 33,3675           01424                           TC       QPLAC                                 
019188,001275: 
019189,001276: 
019190,001277: 33,3676           35035        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019191,001278: 33,3677           57330                           XCH      MARKSTAT                              
019192,001279: 33,3700           10000                           CCS      A                                     
019193,001280: 33,3701           50000                           INDEX    A                                     
019194,001281: 33,3702           54000                           TS       A                                     
019195,001282: 33,3703           13655                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019196,001283: 33,3704                                           BANK     33                                    
019197,001284: 33,2000                                           SETLOC   IMUCAL                                
019198,001285: 33,2000                                           BANK                                           
019199,001286: 33,3704                                           COUNT*   $$/P03                                
019200,001287: 33,3704           30341 22444  PIPASC             2DEC     .76376833                             
019201,001288: 
019202,001289: 33,3706           57223 66451  VELSC              2DEC     -.52223476                            
019203,001290: 
019204,001291: 33,3710           05427 12577  ALSK               2DEC     .17329931                             
019205,001292: 
019206,001293: 33,3712           77567 44202                     2DEC     -.00835370                            
019207,001294: 
019208,001295: 33,3714           24276 14066  GEORGEJ            2DEC     .63661977                             
019209,001296: 
019210,001297: 33,3716           03146 14632  GEOCONS1           2DEC     .1                                    
019211,001298: 
019212,001299: 33,3720           00121 35341  GEOCONS2           2DEC     .005                                  
019213,001300: 
019214,001301: 33,3722           01767 31666  GEOCONS3           2DEC     .062                                  
019215,001302: 
019216,001303: 33,3724           00004 35223  GEOCONS4           2DEC     .0003                                 
019217,001304: 
019218,001305: 
019219,001306: 33,3726                                           COUNT    33/P02                                
019220,001307: 33,3726           77620        LITTLSUB           STQ                                            
019221,001308: 33,3727           02424                                    QPLAC                                 
019222,001309: 33,3730           76740                           LXC,1    VLOAD*                                
019223,001310: 33,3731           01330                                    MARKSTAT                              
019224,001311: 33,3732           00003                                    2,1                                   
019225,001312: 33,3733           34767                           STCALL   CDUSPOT                               
019226,001313: 33,3734           46000                                    SXTNB                                 
019227,001314: 33,3735           77624                           CALL                                           
019228,001315: 33,3736           47641                                    TRG*NBSM                              
019229,001316: 33,3737           77650                           GOTO                                           
019230,001317: 33,3740           02424                                    QPLAC                                 
019231,001318: 
019232,001319: 
019233,001320: 33,3741           77776                           EXIT                                           
019234,001321: 33,3742           06006        AZMTHCG1           TC       INTPRET                               
019235,001322: 33,3743           47145                           DLOAD    RTB                                   
019236,001323: 33,3744           02636                                    NEWAZMTH                              
019237,001324: 33,3745           45546                                    1STO2S                                
019238,001325: 33,3746           77776                           EXIT                                           
019239,001326: 33,3747           56154                           XCH      MPAC                                  
019240,001327: 33,3750           55045                           TS       DSPTEM1                               
019241,001328: 33,3751           04676                           TC       BANKCALL                              
019242,001329: 33,3752           20703                           CADR     CLEANDSP                              
019243,001330: 33,3753           33775                           CAF      VN0629                                
019244,001331: 33,3754           04676                           TC       BANKCALL                              
019245,001332: 33,3755           20720                           CADR     GOFLASH                               
019246,001333: 33,3756           13767                           TCF      +11                                   
019247,001334: 33,3757           13761                           TCF      +2                                    
019248,001335: 33,3760           13753                           TCF      -5                                    
019249,001336: 33,3761           06006                           TC       INTPRET                               
019250,001337: 33,3762           47135                           SLOAD    RTB                                   
019251,001338: 33,3763           01046                                    DSPTEM1                               
019252,001339: 33,3764           45513                                    CDULOGIC                              
019253,001340: 33,3765           02634                           STORE    LAUNCHAZ                              
019254,001341: 33,3766           77776                           EXIT                                           
019255,001342: 33,3767           35035                 +11       CA       ZERO                                  
019256,001343: 33,3770           55632                           TS       PREMTRXC                              
019257,001344: 33,3771           05426                           TC       PHASCHNG                              
019258,001345: 33,3772           00004                           OCT      00004                                 
019259,001346: 33,3773           04715                           TC       POSTJUMP                              
019260,001347: 33,3774           21272                           CADR     PINBRNCH                              
019261,001348: 
019262,001349: 33,3775           01435        VN0629             VN       0629                                  

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