Source Code

018139,000001: # Copyright: Public domain. 018140,000002: # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc 018141,000003: # Purpose: Part of the source code for Colossus, build 249. 018142,000004: # It is part of the source code for the Command Module's (CM) 018143,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 018144,000006: # Assembler: yaYUL 018145,000007: # Reference: pp. 418-450 of 1701.pdf. 018146,000008: # Contact: Ron Burkey <info@sandroid.org>. 018147,000009: # Website: www.ibiblio.org/apollo. 018148,000010: # Mod history: 08/11/04 RSB Began transcribing. 018149,000011: # 2010-10-24 JL Indentation fixes. 018150,000012: # 2011-05-07 JL Flag SBANK= workarounds for future removal. 018151,000013: 018152,000014: # The contents of the "Colossus249" files, in general, are transcribed 018153,000015: # from a scanned document obtained from MIT's website, 018154,000016: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 018155,000017: # document read, in part: 018156,000018: 018157,000019: # Assemble revision 249 of AGC program Colossus by NASA 018158,000020: # 2021111-041. October 28, 1968. 018159,000021: 018160,000022: # This AGC program shall also be referred to as 018161,000023: # Colossus 1A 018162,000024: 018163,000025: # Prepared by 018164,000026: # Massachusetts Institute of Technology 018165,000027: # 75 Cambridge Parkway 018166,000028: # Cambridge, Massachusetts 018167,000029: # under NASA contract NAS 9-4065. 018168,000030: 018169,000031: # Refer directly to the online document mentioned above for further information. 018170,000032: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 018171,000033: 018172,000034: # In some cases, where the source code for Luminary 131 overlaps that of 018173,000035: # Colossus 249, this code is instead copied from the corresponding Luminary 131 018174,000036: # source file, and then is proofed to incorporate any changes. 018175,000037: 018176,000038: # Page 418 018177,000039: # NAME -- IMU PERFORMANCE TESTS 2 018178,000040: 018179,000041: # DATE -- MARCH 20, 1967 018180,000042: 018181,000043: # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 018182,000044: 018183,000045: # MODNO. -- ZERO 018184,000046: 018185,000047: # FUNCTIONAL DESCRIPTION 018186,000048: 018187,000049: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF 018188,000050: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE 018189,000051: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 018190,000052: 018191,000053: 33,2004 BANK 33 018192,000054: 33,2000 SETLOC IMUCAL 018193,000055: 33,2000 BANK 018194,000056: 33,2004 E5,1423 EBANK= POSITON 018195,000057: 018196,000058: 33,2004 34714 IMUTEST CA ZERO 018197,000059: 33,2005 55452 TS DRIFTT 018198,000060: 33,2006 55643 TS GEOCOMP1 018199,000061: 33,2007 32443 CAF TESTTIME 018200,000062: 33,2010 55412 TS LENGTHOT 018201,000063: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG 018202,000064: 33,2012 34734 CAF 1SECX 018203,000065: 33,2013 55644 TS 1SECXT1 018204,000066: 018205,000067: 33,2014 32441 CA OC14400 018206,000068: 33,2015 55074 TS 1/PIPADT 018207,000069: 018208,000070: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE 018209,000071: 33,2017 77624 CALL 018210,000072: 33,2020 10617 LATAZCHK 018211,000073: 33,2021 57546 COS DCOMP 018212,000074: 33,2022 77752 SL1 018213,000075: 33,2023 16447 STODL WANGI 018214,000076: 33,2024 02403 LATITUDE 018215,000077: 33,2025 72556 SIN SL1 018216,000078: 33,2026 02445 STORE WANGO 018217,000079: 33,2027 77776 EXIT 018218,000080: 33,2030 04555 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE 018219,000081: 33,2031 16516 CADR IMUZERO 018220,000082: 33,2032 02316 TC IMUSTLLG 018221,000083: 33,2033 34714 IMUBACK CA ZERO 018222,000084: 33,2034 55421 TS NDXCTR 018223,000085: 33,2035 55450 TS TORQNDX 018224,000086: 33,2036 55451 TS TORQNDX +1 018225,000087: 33,2037 34375 NBPOSPL CA DEC17 018226,000088: 33,2040 55655 TS ZERONDX1 018227,000089: 33,2041 32445 CA XNBADR 018228,000090: # Page 419 018229,000091: 33,2042 02356 TC ZEROING 018230,000092: 33,2043 34675 CA HALF 018231,000093: 33,2044 55713 TS XNB 018232,000094: 33,2045 06006 TC INTPRET 018233,000095: 33,2046 73545 DLOAD SIN 018234,000096: 33,2047 02401 AZIMUTH 018235,000097: 33,2050 02724 STORE YNB +2 018236,000098: 33,2051 16734 STODL ZNB +4 018237,000099: 33,2052 02401 AZIMUTH 018238,000100: 33,2053 77746 COS 018239,000101: 33,2054 02726 STORE YNB +4 018240,000102: 33,2055 77676 DCOMP 018241,000103: 33,2056 02732 STORE ZNB +2 018242,000104: 33,2057 77776 EXIT 018243,000105: 33,2060 05253 TC CHECKMM 018244,000106: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION 018245,000107: 33,2062 12064 TCF +2 # NO 018246,000108: 33,2063 13432 TCF SETNBPOS +1 # YES 018247,000109: 33,2064 06006 TC INTPRET 018248,000110: 33,2065 77624 CALL 018249,000111: 33,2066 47244 CALCGA 018250,000112: 33,2067 77776 EXIT 018251,000113: 33,2070 04555 TC BANKCALL 018252,000114: 33,2071 16602 CADR IMUCOARS 018253,000115: 33,2072 34675 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK 018254,000116: 33,2073 70077 MASK FLAGWRD3 018255,000117: 33,2074 00006 EXTEND 018256,000118: 33,2075 12077 BZF +2 018257,000119: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 018258,000120: 33,2077 05447 TC DOWNFLAG # RESET GIMBAL LOCK FLAG 018259,000121: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3 018260,000122: 33,2101 02316 TC IMUSTLLG 018261,000123: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 018262,000124: 33,2103 02131 TC PIPACHK # ALIGN AND MEARSUE VERTICAL PIPA RATE 018263,000125: 33,2104 04555 TC BANKCALL 018264,000126: 33,2105 17012 CADR IMUFINE 018265,000127: 33,2106 02316 TC IMUSTLLG 018266,000128: 33,2107 00006 EXTEND 018267,000129: 33,2110 31657 DCA PERFDLAY 018268,000130: 33,2111 05231 TC LONGCALL

[WORKAROUND] RSB 2004

018270,000132: 33,2112  30,2000                                 SBANK=   LOWSUPER                              

[WORKAROUND]

018272,000134: 33,2112  E5,1423                                 EBANK=   POSITON                               
018273,000135: 33,2112           02116 66065                    2CADR    GOESTIMS                              
018274,000136: 
018275,000137: 33,2114           32121                          CA       ESTICADR                              
018276,000138: 33,2115           05070                          TC       JOBSLEEP                              
018277,000139: 33,2116           32121        GOESTIMS          CA       ESTICADR                              
018278,000140: 33,2117           05074                          TC       JOBWAKE                               
018279,000141: 33,2120           05213                          TC       TASKOVER                              
018280,000142: 33,2121           66453        ESTICADR          CADR     ESTIMS                                
018281,000143:                                                                                                 #  Page 420
018282,000144: 33,2122           34714        TORQUE            CA       ZERO                                  
018283,000145: 33,2123           55050                          TS       DSPTEM2                               
018284,000146: 33,2124           31514                          CA       DRIFTI                                
018285,000147: 33,2125           55051                          TS       DSPTEM2    +1                         
018286,000148: 33,2126           51423                          INDEX    POSITON                               
018287,000149: 33,2127           55430                          TS       SOUTHDR    -1                         
018288,000150: 33,2130           02427                          TC       SHOW                                  
018289,000151: 
018290,000152: 33,2131           51421        PIPACHK           INDEX    NDXCTR                                #  PIPA TEST
018291,000153: 33,2132           02133                          TC       +1                                    
018292,000154: 33,2133           02417                          TC       EARTHR*                               
018293,000155: 33,2134           34374                          CA       DEC57                                 
018294,000156: 33,2135           55412                          TS       LENGTHOT                              
018295,000157: 33,2136           34712                          CA       ONE                                   
018296,000158: 33,2137           55547                          TS       RESULTCT                              
018297,000159: 33,2140           34714                          CA       ZERO                                  
018298,000160: 33,2141           51422                          INDEX    PIPINDEX                              
018299,000161: 33,2142           54037                          TS       PIPAX                                 
018300,000162: 33,2143           55502                          TS       DATAPL                                
018301,000163: 33,2144           55506                          TS       DATAPL     +4                         
018302,000164: 33,2145           02321                          TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018303,000165: 33,2146           00004                          INHINT                                         
018304,000166: 33,2147           34711                          CAF      TWO                                   
018305,000167: 33,2150           05130                          TC       TWIDDLE                               
018306,000168: 33,2151  0002671                                 EBANK=   XSM                                   
018307,000169: 33,2151           02153                          ADRES    PIPATASK                              
018308,000170: 33,2152           05112                          TC       ENDOFJOB                              
018309,000171: 
018310,000172: 33,2153           00006        PIPATASK          EXTEND                                         
018311,000173: 33,2154           27412                          DIM      LENGTHOT                              
018312,000174: 33,2155           31412                          CA       LENGTHOT                              
018313,000175: 33,2156           00006                          EXTEND                                         
018314,000176: 33,2157           62163                          BZMF     STARTPIP                              
018315,000177: 33,2160           34701                          CAF      BIT10                                 
018316,000178: 33,2161           05130                          TC       TWIDDLE                               
018317,000179: 33,2162  0002671                                 EBANK=   XSM                                   
018318,000180: 33,2162           02153                          ADRES    PIPATASK                              
018319,000181: 33,2163           34675        STARTPIP          CAF      PRIO20                                
018320,000182: 33,2164           05042                          TC       FINDVAC                               
018321,000183: 33,2165  0002671                                 EBANK=   XSM                                   
018322,000184: 33,2165           02170 66065                    2CADR    PIPJOBB                               
018323,000185: 
018324,000186: 33,2167           05213                          TC       TASKOVER                              
018325,000187: 
018326,000188: 33,2170           51421        PIPJOBB           INDEX    NDXCTR                                
018327,000189: 33,2171           02172                          TC       +1                                    
018328,000190: 33,2172           02417                          TC       EARTHR*                               
018329,000191: 33,2173           31412                          CA       LENGTHOT                              
018330,000192: 33,2174           00006                          EXTEND                                         
018331,000193: 33,2175           62177                          BZMF     +2                                    
018332,000194: 33,2176           05112                          TC       ENDOFJOB                              
018333,000195: 33,2177           34715                          CA       FIVE                                  
018334,000196:                                                                                                 #  Page 421
018335,000197: 33,2200           55547                          TS       RESULTCT                              
018336,000198: 33,2201           02321                          TC       CHECKG                                
018337,000199: 33,2202           00006                          EXTEND                                         
018338,000200: 33,2203           41503                          DCS      DATAPL                                
018339,000201: 33,2204           21507                          DAS      DATAPL     +4                         
018340,000202: 
018341,000203: 33,2205           06006                          TC       INTPRET                               
018342,000204: 33,2206           45345                          DLOAD    DSU                                   
018343,000205: 33,2207           02511                                   DATAPL     +6                         
018344,000206: 33,2210           02505                                   DATAPL     +2                         
018345,000207: 33,2211           45044                          BPL      CALL                                  
018346,000208: 33,2212           66214                                   AINGOTN                               
018347,000209: 33,2213           66276                                   OVERFFIX                              
018348,000210: 33,2214           56325        AINGOTN           PDDL     DDV                                   
018349,000211: 33,2215           02507                                   DATAPL     +4                         
018350,000212: 33,2216           57212                          SL4      DMPR                                  
018351,000213: 33,2217           27111                                   DEC585                                #  DEC585 HAS BEEN REDEVINED FOR LEM
018352,000214: 33,2220           77634                          RTB                                            
018353,000215: 33,2221           45541                                   SGNAGREE                              
018354,000216: 33,2222           01051                          STORE    DSPTEM2                               
018355,000217: 33,2223           77776                          EXIT                                           
018356,000218: 33,2224           11421                          CCS      NDXCTR                                
018357,000219: 33,2225           02302                          TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018358,000220: 33,2226           02427                          TC       SHOW                                  
018359,000221: 33,2227           32447        VERTDRFT          CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018360,000222: 33,2230           55412                          TS       LENGTHOT                              
018361,000223: 33,2231           51423                          INDEX    POSITON                               
018362,000224: 33,2232           41427                          CS       SOUTHDR    -2                         
018363,000225: 33,2233           55452                          TS       DRIFTT                                
018364,000226: 33,2234           31675                          CA       XSM        +4                         #  0 IF POSN 4
018365,000227: 33,2235           00006                          EXTEND                                         
018366,000228: 33,2236           12244                          BZF      PON2                                  
018367,000229: 33,2237           44706        PON4              CS       BIT5                                  #  OFFSET PLATFORM
018368,000230: 33,2240           27651                          ADS      ERCOMP1    +2                         
018369,000231: 33,2241           34706                          CA       BIT5                                  
018370,000232: 33,2242           27647                          ADS      ERCOMP1                               
018371,000233: 33,2243           12250                          TCF      PONG                                  
018372,000234: 33,2244           44706        PON2              CS       BIT5                                  
018373,000235: 33,2245           27651                          ADS      ERCOMP1    +2                         
018374,000236: 33,2246           34706                          CA       BIT5                                  
018375,000237: 33,2247           27653                          ADS      ERCOMP1    +4                         
018376,000238: 33,2250           02417        PONG              TC       EARTHR*                               
018377,000239: 33,2251           34714                          CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018378,000240: 33,2252           55404                          TS       ERVECTOR                              
018379,000241: 33,2253           55405                          TS       ERVECTOR   +1                         
018380,000242: 33,2254           34672        GUESS1            CAF      POSMAX                                
018381,000243: 33,2255           55450                          TS       TORQNDX                               
018382,000244: 33,2256           55451                          TS       TORQNDX    +1                         
018383,000245: 33,2257           30032                          CA       CDUX                                  
018384,000246: 33,2260           55413                          TS       LOSVEC                                
018385,000247:                                                                                                 #  Page 422
018386,000248: 33,2261           02453                          TC       ESTIMS                                
018387,000249: 33,2262           31512        VALMIS            CA       DRIFTO                                
018388,000250: 33,2263           55051                          TS       DSPTEM2    +1                         
018389,000251: 33,2264           34714                          CA       ZERO                                  
018390,000252: 33,2265           55050                          TS       DSPTEM2                               
018391,000253: 33,2266           02427                          TC       SHOW                                  
018392,000254: 
018393,000255: 33,2267           05447        ENDTEST1          TC       DOWNFLAG                              #  IMU NOT IN USE
018394,000256: 33,2270           00007                          ADRES    IMUSE                                 #  BIT 8 FLAG 0
018395,000257: 33,2271           44714                          CS       ZERO                                  
018396,000258: 33,2272           05246                          TC       NEWMODEX   +3                         
018397,000259: 33,2273           04555                          TC       BANKCALL                              
018398,000260: 33,2274           16063                          CADR     MKRELEAS                              
018399,000261: 33,2275           05423                          TC       ENDEXT                                
018400,000262:                                                                                                 #  Page 423
018401,000263: 
018402,000264: 33,2276           43215        OVERFFIX          DAD      DAD                                   
018403,000265: 33,2277           15340                                   DPPOSMAX                              
018404,000266: 33,2300           27117                                   ONEDPP                                
018405,000267: 33,2301           77616                          RVQ                                            
018406,000268: 
018407,000269: 33,2302           00006        COAALIGN          EXTEND                                         #  COARSE ALIGN SUBROUTINE
018408,000270: 33,2303           23425                          QXCH     QPLACE                                
018409,000271: 33,2304           34714                          CA       ZERO                                  
018410,000272: 33,2305           55155                          TS       THETAD                                
018411,000273: 33,2306           55156                          TS       THETAD     +1                         
018412,000274: 33,2307           55157                          TS       THETAD     +2                         
018413,000275: 33,2310           04555                          TC       BANKCALL                              
018414,000276: 33,2311           16602                          CADR     IMUCOARS                              
018415,000277: 33,2312           04555                          TC       BANKCALL                              
018416,000278: 33,2313           17516                          CADR     IMUSTALL                              
018417,000279: 33,2314           03103                          TC       SOMERR2                               
018418,000280: 33,2315           01425                          TC       QPLACE                                
018419,000281: 
018420,000282: 33,2316           00006        IMUSTLLG          EXTEND                                         
018421,000283: 33,2317           23425                          QXCH     QPLACE                                
018422,000284: 33,2320           02312                          TC       COAALIGN   +10                        
018423,000285: 
018424,000286: 33,2321           00006        CHECKG            EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018425,000287: 33,2322           23425                          QXCH     QPLACE                                
018426,000288: 33,2323           02331                          TC       +6                                    
018427,000289: 33,2324           00003        CHECKG1           RELINT                                         
018428,000290: 33,2325           30067                          CA       NEWJOB                                
018429,000291: 33,2326           00006                          EXTEND                                         
018430,000292: 33,2327           62335                          BZMF     +6                                    
018431,000293: 33,2330           05057                          TC       CHANG1                                
018432,000294: 33,2331           00004                          INHINT                                         
018433,000295: 33,2332           51422                          INDEX    PIPINDEX                              
018434,000296: 33,2333           40037                          CS       PIPAX                                 
018435,000297: 33,2334           55655                          TS       ZERONDX                               
018436,000298: 33,2335           00004                          INHINT                                         
018437,000299: 33,2336           51422                          INDEX    PIPINDEX                              
018438,000300: 33,2337           30037                          CA       PIPAX                                 
018439,000301: 33,2340           61655                          AD       ZERONDX                               
018440,000302: 33,2341           00006                          EXTEND                                         
018441,000303: 33,2342           12324                          BZF      CHECKG1                               
018442,000304: 33,2343           51422                          INDEX    PIPINDEX                              
018443,000305: 33,2344           30037                          CA       PIPAX                                 
018444,000306: 33,2345           51547                          INDEX    RESULTCT                              
018445,000307: 33,2346           55502                          TS       DATAPL                                
018446,000308: 33,2347           04526                          TC       FINETIME                              
018447,000309: 33,2350           51547                          INDEX    RESULTCT                              
018448,000310: 33,2351           55503                          TS       DATAPL     +1                         
018449,000311:                                                                                                 #  Page 424
018450,000312: 33,2352           51547                          INDEX    RESULTCT                              
018451,000313: 33,2353           23504                          LXCH     DATAPL     +2                         
018452,000314: 33,2354           00003                          RELINT                                         
018453,000315: 33,2355           01425        ENDCHKG           TC       QPLACE                                
018454,000316: 
018455,000317: 33,2356           54001        ZEROING           TS       L                                     
018456,000318: 33,2357           12361                          TCF      +2                                    
018457,000319: 33,2360           55655        ZEROING1          TS       ZERONDX1                              
018458,000320: 33,2361           34714                          CAF      ZERO                                  
018459,000321: 33,2362           50001                          INDEX    L                                     
018460,000322: 33,2363           54000                          TS       0                                     
018461,000323: 33,2364           24001                          INCR     L                                     
018462,000324: 33,2365           11655                          CCS      ZERONDX1                              
018463,000325: 33,2366           12360                          TCF      ZEROING1                              
018464,000326: 33,2367           00002                          TC       Q                                     
018465,000327: 
018466,000328:                                                                                                 #  Page 425
018467,000329: 32,2000                                          SETLOC   IMUCAL3                               
018468,000330: 32,2000                                          BANK                                           
018469,000331: 32,2000           65345        ERTHRVSE          DLOAD    PDDL                                  
018470,000332: 32,2001           27112                                   SCHZEROS                              #  PD24 = (SIN  (missing)  -COS (missing) 0)(OMEG/MS)
018471,000333: 32,2002           02403                                   LATITUDE                              
018472,000334: 32,2003           57546                          COS      DCOMP                                 
018473,000335: 32,2004           73525                          PDDL     SIN                                   
018474,000336: 32,2005           02403                                   LATITUDE                              
018475,000337: 32,2006           74266                          VDEF     VXSC                                  
018476,000338: 32,2007           26450                                   OMEG/MS                               
018477,000339: 32,2010           02405                          STORE    ERVECTOR                              
018478,000340: 32,2011           77634                          RTB                                            
018479,000341: 32,2012           45505                                   LOADTIME                              
018480,000342: 32,2013           26443                          STOVL    TMARK                                 
018481,000343: 32,2014           27112                                   SCHZEROS                              
018482,000344: 32,2015           02650                          STORE    ERCOMP1                               
018483,000345: 32,2016           77616                          RVQ                                            
018484,000346: 33,2000                                          SETLOC   IMUCAL                                
018485,000347: 33,2000                                          BANK                                           
018486,000348: 
018487,000349: 33,2370           47020        EARTHR            ITA      RTB                                   #  CALCULATES AD COMPENSATES EARTH RATE
018488,000350: 33,2371           00051                                   S2                                    
018489,000351: 33,2372           45505                                   LOADTIME                              
018490,000352: 33,2373           02441                          STORE    TEMPTIME                              
018491,000353: 33,2374           51025                          DSU      BPL                                   
018492,000354: 33,2375           02443                                   TMARK                                 
018493,000355: 33,2376           66401                                   ERTHR                                 
018494,000356: 33,2377           77624                          CALL                                           
018495,000357: 33,2400           66276                                   OVERFFIX                              
018496,000358: 33,2401           74261        ERTHR             SL       VXSC                                  
018497,000359: 33,2402           20212                                   9D                                    
018498,000360: 33,2403           02405                                   ERVECTOR                              
018499,000361: 33,2404           53321                          MXV      VAD                                   
018500,000362: 33,2405           02672                                   XSM                                   
018501,000363: 33,2406           02650                                   ERCOMP1                               
018502,000364: 33,2407           16650                          STODL    ERCOMP1                               
018503,000365: 33,2410           02441                                   TEMPTIME                              
018504,000366: 33,2411           02443                          STORE    TMARK                                 
018505,000367: 33,2412           47170                          AXT,1    RTB                                   
018506,000368: 33,2413           02647                          ECADR    ERCOMP1                               
018507,000369: 33,2414           45650                                   PULSEIMU                              
018508,000370: 33,2415           77650                          GOTO                                           
018509,000371: 33,2416           00051                                   S2                                    
018510,000372: 
018511,000373: 33,2417           00006        EARTHR*           EXTEND                                         
018512,000374: 33,2420           23426                          QXCH     QPLACES                               
018513,000375: 33,2421           06006                          TC       INTPRET                               
018514,000376: 33,2422           77624                          CALL                                           
018515,000377: 33,2423           66370                                   EARTHR                                
018516,000378: 33,2424           77776        PROUT             EXIT                                           
018517,000379: 33,2425           02316                          TC       IMUSTLLG                              
018518,000380: 33,2426           01426                          TC       QPLACES                               
018519,000381:                                                                                                 #  Page 426
018520,000382: 
018521,000383: 33,2427           00006        SHOW              EXTEND                                         
018522,000384: 33,2430           23425                          QXCH     QPLACE                                
018523,000385: 33,2431           31423        SHOW1             CA       POSITON                               
018524,000386: 33,2432           55052                          TS       DSPTEM2    +2                         
018525,000387: 33,2433           32442                          CA       VB06N98                               
018526,000388: 33,2434           04555                          TC       BANKCALL                              
018527,000389: 33,2435           20624                          CADR     GOFLASH                               
018528,000390: 33,2436           02267                          TC       ENDTEST1                              #  V34
018529,000391: 33,2437           01425                          TC       QPLACE                                #  V33
018530,000392: 33,2440           12431                          TCF      SHOW1                                 
018531,000393: 
018532,000394: 33,2441           14400        OC14400           OCT      14400                                 
018533,000395: 33,2442  33,2447               3990DEC           =        OMEG/MS                               
018534,000396: 33,2442           01542        VB06N98           VN       0698                                  
018535,000397: 33,2443           01602        TESTTIME          OCT      01602                                 
018536,000398: 33,2444     4375               DEC17             =        ND1                                   
018537,000399: 33,2444           02757        OGCPL             ECADR    OGC                                   
018538,000400: 33,2445     4734               1SECX             =        1SEC                                  
018539,000401: 33,2445     4374               DEC57             =        VD1                                   
018540,000402: 33,2445           01713        XNBADR            GENADR   XNB                                   
018541,000403: 33,2446           01671        XSMADR            GENADR   XSM                                   
018542,000404: 33,2447           07623 26552  OMEG/MS           2DEC     .24339048                             
018543,000405: 
018544,000406: 33,2451           04555        P11OUT            TC       BANKCALL                              
018545,000407: 33,2452           70127                          CADR     MATRXJOB                              #  RETURN TO P11
018546,000408: 
018547,000409: 33,2453                                          COUNT    02.COMST                              
018548,000410: 
018549,000411:    4526                                          BLOCK    2                                     
018550,000412: 
018551,000413:    4526           00004        FINETIME          INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018552,000414:    4527           00006                          EXTEND                                         
018553,000415:    4530           00004                          READ     LOSCALAR                              
018554,000416:    4531           54001                          TS       L                                     
018555,000417:    4532           00006                          EXTEND                                         
018556,000418:    4533           06004                          RXOR     LOSCALAR                              
018557,000419:    4534           00006                          EXTEND                                         
018558,000420:    4535           14541                          BZF      +4                                    
018559,000421:    4536           00006                          EXTEND                                         
018560,000422:    4537           00004                          READ     LOSCALAR                              
018561,000423:    4540           54001                          TS       L                                     
018562,000424:    4541           44672                 +4       CS       POSMAX                                
018563,000425:    4542           60001                          AD       L                                     
018564,000426:    4543           00006                          EXTEND                                         
018565,000427:    4544           14527                          BZF      FINETIME   +1                         
018566,000428:    4545           00006                          EXTEND                                         
018567,000429:    4546           00003                          READ     HISCALAR                              
018568,000430:    4547           00002                          TC       Q                                     
018569,000431: 
018570,000432:                                                                                                 #  Page 427
018571,000433:                                                                                                 #  PROGRAM NAME:  OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018572,000434:                                                                                                 #  DATE:  NOVEMBER 2 1966
018573,000435:                                                                                                 #  BY:  GEORGE SCHMIDT IL 7-146 EXT. 126
018574,000436:                                                                                                 #  MOD NO 3
018575,000437: 
018576,000438:                                                                                                 #  FUNCTIONAL DESCRIPTION
018577,000439: 
018578,000440:                                                                                                 #  THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018579,000441:                                                                                                 #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
018580,000442:                                                                                                 #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018581,000443:                                                                                                 #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018582,000444:                                                                                                 #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
018583,000445:                                                                                                 #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT
018584,000446:                                                                                                 #  FOR THE DATA TO FLASH.
018585,000447: 
018586,000448:                                                                                                 #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST.
018587,000449:                                                                                                 #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018588,000450:                                                                                                 #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018589,000451:                                                                                                 #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018590,000452:                                                                                                 #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
018591,000453:                                                                                                 #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
018592,000454:                                                                                                 #  PROCEDURE THE DRIFT TESTS IS IN THE JDC'S.  THE INITIALIZATION METHOD
018593,000455:                                                                                                 #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018594,000456:                                                                                                 #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018595,000457:                                                                                                 #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018596,000458:                                                                                                 #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018597,000459: 
018598,000460:                                                                                                 #  COMPASS ERASABLE LOAD REQUIRED
018599,000461: 
018600,000462:                                                                                                 #         1.      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
018601,000463:                                                                                                 #         2.      LATITUDE-DP-OF LAUNCH PAD
018602,000464:                                                                                                 #         3.      AZIMUTH-DP-OF ZNB OF VEHICLE
018603,000465:                                                                                                 #         4.      IMU COMPENSATION PARAMETERS
018604,000466:                                                                                                 #         5.      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
018605,000467: 
018606,000468:                                                                                                 #  TO PERFORM AS PART OF COMPASS
018607,000469: 
018608,000470:                                                                                                 #         1.      OPTICAL VERIFICATION: V 65 E
018609,000471:                                                                                                 #         2.      AXIMUTH CHANGE: V 78 E
018610,000472: 
018611,000473:                                                                                                 #  SUBROUTINES CALLED
018612,000474: 
018613,000475:                                                                                                 #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018614,000476:                                                                                                 #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
018615,000477: 
018616,000478:                                                                                                 #  NORMAL EXIT
018617,000479: 
018618,000480:                                                                                                 #  DRIFT TESTS.  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018619,000481:                                                                                                 #  GYROCOMPASS-MANY, SEE THE LISTING.
018620,000482: 
018621,000483:                                                                                                 #  ALARMS
018622,000484: 
018623,000485:                                                                                                 #  1600   OVERFLOW IN DRIFT TEST
018624,000486:                                                                                                 #  Page 428
018625,000487:                                                                                                 #  1601   BAD IMU TORQUE ABORT
018626,000488:                                                                                                 #  1602   BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
018627,000489: 
018628,000490:                                                                                                 #  OUTPUT
018629,000491: 
018630,000492:                                                                                                 #  DRIFT TESTS:  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018631,000493:                                                                                                 #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN
018632,000494:                                                                                                 #         01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
018633,000495:                                                                                                 #         02      GYROCOMPASSING
018634,000496:                                                                                                 #         03      DOING OPTICAL VERIFICATION (CSM)
018635,000497: 
018636,000498:                                                                                                 #  DEBRIS
018637,000499: 
018638,000500:                                                                                                 #  ALL CENTRALS, ALL OF EBANK XSM
018639,000501: 
018640,000502:                                                                                                 #  Page 429
018641,000503:                                                                                                 #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018642,000504:                                                                                                 #  ON THE NEXT FEW PAGES.
018643,000505: 
018644,000506:    4550                                          COUNT    33/P02                                
018645,000507: 
018646,000508:    4550  0002671                                 EBANK=   XSM                                   
018647,000509: 33,2453                                          BANK     33                                    
018648,000510: 33,2000                                          SETLOC   IMUCAL                                
018649,000511: 33,2000                                          BANK                                           
018650,000512: 
018651,000513: 33,2453           05261        ESTIMS            TC       2PHSCHNG                              #  COMES HERE FROM IMU2
018652,000514: 33,2454           00075                          OCT      00075                                 
018653,000515: 33,2455           00004                          OCT      00004                                 #  TURN OFF GROUP 4 IF ON
018654,000516: 
018655,000517: 
018656,000518: 33,2456           00004        RSTGTS1           INHINT                                         #  COMES HERE PHASE1 RESTART
018657,000519: 33,2457           30025                          CA       TIME1                                 
018658,000520: 33,2460           55645                          TS       GTSWTLT1                              
018659,000521: 33,2461           34714                          CAF      ZERO                                  #  ZERO THE PIPAS
018660,000522: 33,2462           54037                          TS       PIPAX                                 
018661,000523: 33,2463           54040                          TS       PIPAY                                 
018662,000524: 33,2464           54041                          TS       PIPAZ                                 
018663,000525: 33,2465           00003                          RELINT                                         
018664,000526: 33,2466           33130                          CA       77DECML                               
018665,000527: 33,2467           55655                          TS       ZERONDX1                              
018666,000528: 33,2470           33131                          CA       ALXXXZ                                
018667,000529: 33,2471           02356                          TC       ZEROING                               
018668,000530: 33,2472           06006                          TC       INTPRET                               
018669,000531: 33,2473           77735                          SLOAD                                          
018670,000532: 33,2474           27112                                   SCHZEROS                              
018671,000533: 33,2475           25477                          STOVL    GCOMPSW    -1                         
018672,000534: 33,2476           27123                                   INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
018673,000535: 33,2477           26455                          STOVL    ALX1S                                 
018674,000536: 33,2500           27112                                   SCHZEROS                              
018675,000537: 33,2501           01472                          STORE    GCOMP                                 
018676,000538: 33,2502           01163                          STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
018677,000539: 33,2503           77776                          EXIT                                           
018678,000540: 
018679,000541: 33,2504           11643                          CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018680,000542: 33,2505           02507                          TC       +2                                    
018681,000543: 33,2506           02523                          TC       SLEEPIE    +1                         
018682,000544: 33,2507           06006                          TC       INTPRET                               
018683,000545: 33,2510           77624                          CALL                                           
018684,000546: 33,2511           64000                                   ERTHRVSE                              
018685,000547: 33,2512           77776                          EXIT                                           
018686,000548: 33,2513           31412                          CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
018687,000549: 33,2514           55646                          TS       ERECTIME                              
018688,000550: 
018689,000551: 33,2515           05243                          TC       NEWMODEX                              
018690,000552: 33,2516           00002                          MM       02         B-14                       
018691,000553: 33,2517           04555                          TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM
018692,000554:                                                                                                 #  Page 430               
018693,000555: 33,2520           17075                          CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018694,000556: 33,2521           03376                          TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018695,000557: 
018696,000558:                                                                                                 #  Page 431
018697,000559:                                                                                                 #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018698,000560: 
018699,000561:                                                                                                 #  SET UP WAITLIST SECTION
018700,000562: 33,2522           55412        SLEEPIE           TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGHOT
018701,000563: 33,2523           05301                          TC       PHASCHNG                              #  CHANGE PHASE
018702,000564: 33,2524           00135                          OCT      00135                                 
018703,000565: 33,2525           11450                          CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018704,000566: 33,2526           02417                          TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018705,000567: 33,2527           03401        WTLISTNT          TC       CHKCOMED                              #  SEE IF COMPASS OVER
018706,000568: 33,2530           02532                          TC       SETGWLST                              
018707,000569: 33,2531           05112                          TC       ENDOFJOB                              
018708,000570: 
018709,000571: 33,2532           00006        SETGWLST          EXTEND                                         
018710,000572: 33,2533           22154                          QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018711,000573: 33,2534           00004                          INHINT                                         
018712,000574: 33,2535           40025                          CS       TIME1                                 
018713,000575: 33,2536           61645                          AD       GTSWTLT1                              
018714,000576: 33,2537           00006                          EXTEND                                         
018715,000577: 33,2540           62542                          BZMF     +2                                    
018716,000578: 33,2541           64674                          AD       NEGMAX                                #  10 MS ERROR OK
018717,000579: 33,2542           61644                          AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018718,000580: 33,2543           00006                          EXTEND                                         
018719,000581: 33,2544           62550                          BZMF     RIGHTGTS                              
018720,000582: 33,2545           05130        WTGTSMPL          TC       TWIDDLE                               
018721,000583: 33,2546  E5,1540                                 EBANK=   ALTIM                                 
018722,000584: 33,2546           02575                          ADRES    ALLOOP                                
018723,000585: 33,2547           00154                          TC       MPAC                                  
018724,000586: 33,2550           34710        RIGHTGTS          CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
018725,000587: 33,2551           02545                          TC       WTGTSMPL                              #  END OF WAITLIST SECTION
018726,000588: 
018727,000589:                                                                                                 #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018728,000590: 
018729,000591: 33,2552           00031        25DECML           DEC      25         B-14                       
018730,000592: 
018731,000593: 33,2553           32552        STOREDTA          CAF      25DECML                               
018732,000594: 33,2554           54154                          TS       MPAC                                  
018733,000595: 33,2555           50154                          INDEX    MPAC                                  
018734,000596: 33,2556           31460                          CAE      THETAX1                               
018735,000597: 33,2557           50154                          INDEX    MPAC                                  
018736,000598: 33,2560           55577                          TS       RESTARPT                              
018737,000599: 33,2561           10154                          CCS      MPAC                                  
018738,000600: 33,2562           12554                          TCF      STOREDTA   +1                         
018739,000601: 33,2563           00002                          TC       Q                                     
018740,000602: 33,2564           32552        LOADSTDT          CAF      25DECML                               
018741,000603: 33,2565           54154                          TS       MPAC                                  
018742,000604: 33,2566           50154                          INDEX    MPAC                                  
018743,000605: 33,2567           31577                          CA       RESTARPT                              
018744,000606:                                                                                                 #  Page 432
018745,000607: 33,2570           50154                          INDEX    MPAC                                  
018746,000608: 33,2571           55460                          TS       THETAX1                               
018747,000609: 33,2572           10154                          CCS      MPAC                                  
018748,000610: 33,2573           12565                          TCF      LOADSTDT   +1                         
018749,000611: 33,2574           00002                          TC       Q                                     
018750,000612: 
018751,000613:                                                                                                 #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018752,000614: 
018753,000615: 33,2575           30025        ALLOOP            CAE      TIME1                                 
018754,000616: 33,2576           55645                          TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018755,000617: 33,2577           31540        ALLOOP3           CA       ALTIM                                 
018756,000618: 33,2600           55631                          TS       GEOSAVE1                              
018757,000619: 33,2601           05301                          TC       PHASCHNG                              
018758,000620: 33,2602           00115                          OCT      00115                                 
018759,000621: 33,2603           31631        ALLOOP1           CAE      GEOSAVE1                              
018760,000622: 33,2604           55540                          TS       ALTIM                                 
018761,000623: 33,2605           10000                          CCS      A                                     
018762,000624: 33,2606           30000                          CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018763,000625: 33,2607           55541                          TS       ALTIMS                                
018764,000626: 33,2610           40000                          CS       A                                     
018765,000627: 33,2611           55540                          TS       ALTIM                                 
018766,000628: 33,2612           34714                          CAF      ZERO                                  
018767,000629: 33,2613           56037                          XCH      PIPAX                                 
018768,000630: 33,2614           55162                          TS       DELVX                                 
018769,000631: 33,2615           34714                          CAF      ZERO                                  
018770,000632: 33,2616           56040                          XCH      PIPAY                                 
018771,000633: 33,2617           55164                          TS       DELVY                                 
018772,000634: 33,2620           34714                          CAF      ZERO                                  
018773,000635: 33,2621           56041                          XCH      PIPAZ                                 
018774,000636: 33,2622           55166                          TS       DELVZ                                 
018775,000637: 33,2623           34374                          CAF      19DECML                               #  23 OCT
018776,000638: 33,2624           04114                          TC       NEWPHASE                              
018777,000639: 33,2625           00005                          OCT      00005                                 
018778,000640: 33,2626           34675        SPECSTS           CAF      PRIO20                                
018779,000641: 33,2627           05042                          TC       FINDVAC                               
018780,000642: 33,2630  E5,1631                                 EBANK=   GEOSAVE1                              
018781,000643: 33,2630           02633 66065                    2CADR    ALFLT                                 #  START THE JOB
018782,000644: 
018783,000645: 33,2632           05213                          TC       TASKOVER                              
018784,000646: 
018785,000647:                                                                                                 #  Page 433
018786,000648:                                                                                                 #  THIS IS PART OF THE JOB DONE EVERY ITERATION
018787,000649: 
018788,000650: 33,2633           02553        ALFLT             TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
018789,000651: 33,2634           05301                          TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018790,000652: 33,2635           00215                          OCT      00215                                 
018791,000653: 33,2636           12640                          TCF      +2                                    
018792,000654: 33,2637           02564        ALFLT1            TC       LOADSTDT                              #  COMES HERE ON RESTART
018793,000655: 
018794,000656: 33,2640           11643                          CCS      GEOCOMP1                              
018795,000657: 33,2641           02643                          TC       +2                                    
018796,000658: 33,2642           02646                          TC       NORMLOP                               
018797,000659: 33,2643           03401                          TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
018798,000660: 33,2644           04555                          TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
018799,000661: 33,2645           15262                          CADR     1/PIPA                                
018800,000662: 33,2646           06006        NORMLOP           TC       INTPRET                               
018801,000663: 33,2647           77745                          DLOAD                                          
018802,000664: 33,2650           27121                                   INTVAL                                
018803,000665: 33,2651           24051                          STOVL    S1                                    
018804,000666: 33,2652           01163                                   DELVX                                 
018805,000667: 33,2653           76505                          VXM      VSL1                                  
018806,000668: 33,2654           02672                                   XSM                                   
018807,000669: 33,2655           57545                          DLOAD    DCOMP                                 
018808,000670: 33,2656           00160                                   MPAC       +3                         
018809,000671: 33,2657           16533                          STODL    DPIPAY                                
018810,000672: 33,2660           00162                                   MPAC       +5                         
018811,000673: 33,2661           02537                          STORE    DPIPAZ                                
018812,000674: 
018813,000675: 33,2662           76001                          SETPD    AXT,1                                 
018814,000676: 33,2663           00001                                   0                                     
018815,000677: 33,2664           00010                                   8D                                    
018816,000678: 33,2665           57535                          SLOAD    DCOMP                                 
018817,000679: 33,2666           02644                                   GEOCOMP1                              
018818,000680: 33,2667           77640                          BMN                                            
018819,000681: 33,2670           67203                                   ALWAYSG                               #  DO A QUICK COMPASS
018820,000682: 
018821,000683:                                                                                                 #  Page 434
018822,000684:                                                                                                 #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018823,000685: 
018824,000686: 33,2671                                          COUNT    33/COMST                              
018825,000687: 
018826,000688: 33,2671           50135        ALCGKK            SLOAD    BMN                                   
018827,000689: 33,2672           02542                                   ALTIMS                                
018828,000690: 33,2673           66706                                   ALFLT3                                #  NO NEW GAINS NEEDED
018829,000691: 33,2674           72174        ALKCG             AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018830,000692: 33,2675           00014                                   12D                                   
018831,000693: 33,2676           02454                                   ALX1S                                 
018832,000694: 33,2677           62143        ALKCG2            DLOAD*   INCR,1                                
018833,000695: 33,2700           02243                                   ALFDK      +144D,1                    
018834,000696: 33,2701           77775                          DEC      -2         B-14                       
018835,000697: 33,2702           12555                          STORE    ALDK       +10D,2                     
018836,000698: 33,2703           66104                          TIX,2    SXA,1                                 
018837,000699: 33,2704           66677                                   ALKCG2                                
018838,000700: 33,2705           02454                                   ALX1S                                 
018839,000701: 
018840,000702: 33,2706           77770        ALFLT3            AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018841,000703: 33,2707           00010                                   8D                                    #  AND GAIN UPDATES
018842,000704: 33,2710           41343        DELMLP            DLOAD*   DMP                                   
018843,000705: 33,2711           02543                                   DPIPAY     +8D,1                      
018844,000706: 33,2712           27675                                   PIPASC                                
018845,000707: 33,2713           43661                          SLR      BDSU*                                 
018846,000708: 33,2714           21212                                   9D                                    
018847,000709: 33,2715           02511                                   INTY       +8D,1                      
018848,000710: 33,2716           06511                          STORE    INTY       +8D,1                      
018849,000711: 33,2717           40725                          PDDL     DMP*                                  
018850,000712: 33,2720           27677                                   VELSC                                 
018851,000713: 33,2721           02531                                   VLAUN      +8D,1                      
018852,000714: 33,2722           77732                          SL2R                                           
018853,000715: 33,2723           45425                          DSU      STADR                                 
018854,000716: 33,2724           71206                          STORE    DELM       +8D,1                      
018855,000717: 33,2725           06573                          STORE    DELM       +10D,1                     
018856,000718: 33,2726           77100                          TIX,1    AXT,2                                 
018857,000719: 33,2727           66710                                   DELMLP                                
018858,000720: 33,2730           00004                                   4                                     
018859,000721: 33,2731           56743        ALILP             DLOAD*   DMPR*                                 
018860,000722: 33,2732           75314                                   ALK        +4,2                       
018861,000723: 33,2733           75230                                   ALDK       +4,2                       
018862,000724: 33,2734           12463                          STORE    ALK        +4,2                       
018863,000725: 33,2735           77104                          TIX,2    AXT,2                                 
018864,000726: 33,2736           66731                                   ALILP                                 
018865,000727: 33,2737           00010                                   8D                                    
018866,000728: 33,2740           66140        ALKLP             LXC,1    SXA,1                                 
018867,000729: 33,2741           02455                                   CMPX1                                 
018868,000730: 33,2742           02455                                   CMPX1                                 
018869,000731: 33,2743           56743                          DLOAD*   DMPR*                                 
018870,000732: 33,2744           02460                                   ALK        +1,1                       
018871,000733: 33,2745           75206                                   DELM       +8D,2                      
018872,000734:                                                                                                 #  Page 435
018873,000735: 33,2746           77613                          DAD*                                           
018874,000736: 33,2747           75266                                   INTY       +8D,2                      
018875,000737: 33,2750           12511                          STORE    INTY       +8D,2                      
018876,000738: 33,2751           42743                          DLOAD*   DAD*                                  
018877,000739: 33,2752           75304                                   ALK        +12D,2                     
018878,000740: 33,2753           75220                                   ALDK       +12D,2                     
018879,000741: 33,2754           12473                          STORE    ALK        +12D,2                     
018880,000742: 33,2755           42673                          DMPR*    DAD*                                  
018881,000743: 33,2756           75206                                   DELM       +8D,2                      
018882,000744: 33,2757           75256                                   INTY       +16D,2                     
018883,000745: 33,2760           12521                          STORE    INTY       +16D,2                     
018884,000746: 33,2761           40743                          DLOAD*   DMP*                                  
018885,000747: 33,2762           27702                                   ALSK       +1,1                       
018886,000748: 33,2763           75206                                   DELM       +8D,2                      
018887,000749: 33,2764           42772                          SL1R     DAD*                                  
018888,000750: 33,2765           75246                                   VLAUN      +8D,2                      
018889,000751: 33,2766           12531                          STORE    VLAUN      +8D,2                      
018890,000752: 33,2767           76104                          TIX,2    AXT,1                                 
018891,000753: 33,2770           66740                                   ALKLP                                 
018892,000754: 33,2771           00010                                   8D                                    
018893,000755: 
018894,000756: 33,2772           64743        LOOSE             DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
018895,000757: 33,2773           02533                                   ACCWD      +8D,1                      
018896,000758: 33,2774           02531                                   VLAUN      +8D,1                      
018897,000759: 33,2775           55523                          PDDL*    VDEF                                  
018898,000760: 33,2776           02541                                   POSNV      +8D,1                      
018899,000761: 33,2777           76521                          MXV      VSL1                                  
018900,000762: 33,3000           02001                                   TRANSM1                               
018901,000763: 33,3001           77745                          DLOAD                                          
018902,000764: 33,3002           00155                                   MPAC                                  
018903,000765: 33,3003           06541                          STORE    POSNV      +8D,1                      
018904,000766: 33,3004           77745                          DLOAD                                          
018905,000767: 33,3005           00160                                   MPAC       +3                         
018906,000768: 33,3006           06531                          STORE    VLAUN      +8D,1                      
018907,000769: 33,3007           77745                          DLOAD                                          
018908,000770: 33,3010           00162                                   MPAC       +5                         
018909,000771: 33,3011           06533                          STORE    ACCWD      +8D,1                      
018910,000772: 33,3012           77700                          TIX,1                                          
018911,000773: 33,3013           66772                                   LOOSE                                 
018912,000774: 
018913,000775: 33,3014           76174                          AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
018914,000776: 33,3015           00006                                   6                                     
018915,000777: 33,3016           00002                                   2                                     
018916,000778: 33,3017           57343        BOOP              DLOAD*   DMPR                                  
018917,000779: 33,3020           02513                                   ANGX       +2,1                       
018918,000780: 33,3021           27705                                   GEORGEJ                               
018919,000781: 33,3022           77722                          SR2R                                           
018920,000782: 33,3023           73406                          PUSH     SIN                                   
018921,000783:                                                                                                 #  Page 436
018922,000784: 33,3024           56072                          SL3R     XAD,1                                 
018923,000785: 33,3025           00046                                   X1                                    
018924,000786: 33,3026           10021                          STORE    16D,2                                 
018925,000787: 33,3027           77745                          DLOAD                                          
018926,000788: 33,3030           77746                          COS                                            
018927,000789: 33,3031           10027                          STORE    22D,2                                 #  COSINES
018928,000790: 33,3032           77704                          TIX,2                                          
018929,000791: 33,3033           67017                                   BOOP                                  
018930,000792: 
018931,000793: 33,3034           77776        PERFERAS          EXIT                                           
018932,000794: 33,3035           34753                          CA       EBANK7                                
018933,000795: 33,3036  E7,1400                                 EBANK=   LAT(SPL)                              
018934,000796: 33,3036           54003                          TS       EBANK                                 
018935,000797: 33,3037           01400                          TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
018936,000798: 
018937,000799:                                                                                                 #  CAUTION
018938,000800: 
018939,000801:                                                                                                 #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018940,000802:                                                                                                 #  BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
018941,000803: 
018942,000804: 33,3040  E5,1412                                 EBANK=   LENGTHOT                              
018943,000805: 33,3040           11412        ONCEMORE          CCS      LENGTHOT                              
018944,000806: 33,3041           02522                          TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
018945,000807: 33,3042           11450                          CCS      TORQNDX                               
018946,000808: 33,3043           13045                          TCF      +2                                    
018947,000809: 33,3044           03047                          TC       SETUPER1                              
018948,000810: 33,3045           30032                          CA       CDUX                                  
018949,000811: 33,3046           55414                          TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING VD POSNS 2.
018950,000812: 
018951,000813: 33,3047           06006        SETUPER1          TC       INTPRET                               #  DRIFT TEST OVER
018952,000814: 33,3050           65345                          DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
018953,000815: 33,3051           02503                                   ANGZ                                  
018954,000816: 33,3052           02507                                   ANGY                                  
018955,000817: 33,3053           55525                          PDDL     VDEF                                  
018956,000818: 33,3054           02511                                   ANGX                                  
018957,000819: 33,3055           74276                          VCOMP    VXSC                                  
018958,000820: 33,3056           27705                                   GEORGEJ                               
018959,000821: 33,3057           74521                          MXV      VSR1                                  
018960,000822: 33,3060           02672                                   XSM                                   
018961,000823: 33,3061           02760                          STORE    OGC                                   
018962,000824: 33,3062           77776                          EXIT                                           
018963,000825: 
018964,000826: 33,3063           05301        TORQINCH          TC       PHASCHNG                              
018965,000827: 33,3064           00005                          OCT      00005                                 
018966,000828: 
018967,000829: 33,3065           32444                          CA       OGCPL                                 
018968,000830: 33,3066           04555                          TC       BANKCALL                              
018969,000831: 33,3067           17125                          CADR     IMUPULSE                              
018970,000832: 33,3070           02316                          TC       IMUSTLLG                              
018971,000833: 33,3071           11450                          CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
018972,000834: 33,3072           02262                          TC       VALMIS                                #  VERT DRIFT TEST OVER
018973,000835: 33,3073           06006                          TC       INTPRET                               
018974,000836:                                                                                                 #  Page 437
018975,000837: 33,3074           77624                          CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
018976,000838: 33,3075           64000                                   ERTHRVSE                              
018977,000839: 33,3076           77776                          EXIT                                           
018978,000840: 33,3077           02122                          TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018979,000841: 
018980,000842: 33,3100           05537        SOMEERR           TC       ALARM                                 
018981,000843: 33,3101           01600                          OCT      1600                                  
018982,000844: 33,3102           03105                          TC       +3                                    
018983,000845: 33,3103           05537        SOMERR2           TC       ALARM                                 
018984,000846: 33,3104           01601                          OCT      1601                                  
018985,000847: 33,3105           05301                          TC       PHASCHNG                              
018986,000848: 33,3106           00005                          OCT      00005                                 
018987,000849: 33,3107           02267                          TC       ENDTEST1                              
018988,000850: 
018989,000851:                                                                                                 #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD           
018990,000852: 
018991,000853: 33,3110           02222        DEC585            OCT      02222                                 #  1170 B+14 ORDER IS IMPORTANT
018992,000854: 33,3111           00000 00000  SCHZEROS          2DEC     .00000000                             
018993,000855: 33,3113           00000 00000                    2DEC     .00000000                             
018994,000856: 33,3115           00000                          OCT      00000                                 
018995,000857: 33,3116           00000        ONEDPP            OCT      00000                                 
018996,000858: 33,3117           00001                          OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
018997,000859: 
018998,000860: 33,3120           00004        INTVAL            OCT      4                                     
018999,000861: 33,3121           00002                          OCT      2                                     
019000,000862: 33,3122           00220                          DEC      144        B-14                       
019001,000863: 33,3123           77776                          DEC      -1         B-14                       
019002,000864: 33,3124           35730 00035  SOUPLY            2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019003,000865: 33,3126           10317 17550                    2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019004,000866: 
019005,000867: 33,3130           00115        77DECML           DEC      77         B-14                       
019006,000868: 33,3131           01453        ALXXXZ            GENADR   ALX1S      -1                         
019007,000869: 
019008,000870:                                                                                                 #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019009,000871: 
019010,000872: 33,3132                                          COUNT    33/P01                                
019011,000873: 
019012,000874:                                                                                                 #  INITIALIZATION SECTION
019013,000875: 
019014,000876: 33,3132           34712        GTSCPSS           CAF      ONE                                   #  CALLED BY V37
019015,000877: 33,3133           55643                          TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS
019016,000878:                                                                                                 #  Page 438
019017,000879: 33,3134           33424                          CA       1/PIPAGT                              
019018,000880: 33,3135           55074                          TS       1/PIPADT                              
019019,000881: 33,3136           34703        NXXTENN           CA       BIT8                                  
019020,000882: 33,3137           55412                          TS       LENGTHOT                              
019021,000883: 33,3140           34731                          CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019022,000884: 33,3141           55644                          TS       1SECXT1                               
019023,000885: 33,3142           34712                          CAF      ONE                                   
019024,000886: 33,3143           55632                          TS       PREMTRX1                              
019025,000887: 33,3144           55657                          TS       PERFDLAY   +1                         
019026,000888: 33,3145           34714                          CAF      ZERO                                  
019027,000889: 33,3146           55656                          TS       PERFDLAY                              
019028,000890: 33,3147           00006                          EXTEND                                         
019029,000891: 33,3150           31634                          DCA      LUNCHAZ1                              
019030,000892: 33,3151           53636                          DXCH     NEWAZ1                                
019031,000893: 33,3152           00006                          EXTEND                                         
019032,000894: 33,3153           31634                          DCA      LUNCHAZ1                              
019033,000895: 33,3154           53640                          DXCH     OLDAZMTH                              
019034,000896: 33,3155           34375        SETUPGC           CA       DEC17                                 
019035,000897: 33,3156           55655                          TS       ZERONDX1                              
019036,000898: 33,3157           32446                          CA       XSMADR                                
019037,000899: 33,3160           02356                          TC       ZEROING                               
019038,000900: 33,3161           03163                          TC       POSN17C                               
019039,000901: 33,3162           02030                          TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019040,000902: 33,3163           00006        POSN17C           EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
019041,000903: 33,3164           23425                          QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWISE
019042,000904: 33,3165           44675                          CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019043,000905: 33,3166           55705                          TS       ZSM                                   
019044,000906: 33,3167           06006                          TC       INTPRET                               
019045,000907: 33,3170           41545                          DLOAD    PUSH                                  
019046,000908: 33,3171           02636                                   NEWAZ1                                
019047,000909: 33,3172           77756                          SIN                                            
019048,000910: 33,3173           02676                          STORE    XSM        +4                         
019049,000911: 33,3174           16702                          STODL    YSM        +2                         
019050,000912: 33,3175           77746                          COS                                            
019051,000913: 33,3176           02704                          STORE    YSM        +4                         
019052,000914: 33,3177           77676                          DCOMP                                          
019053,000915: 33,3200           02674                          STORE    XSM        +2                         
019054,000916: 33,3201           77776                          EXIT                                           
019055,000917: 33,3202           01425                          TC       QPLACE                                
019056,000918: 
019057,000919:                                                                                                 #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
019058,000920: 
019059,000921: 33,3203                                          COUNT    33/P02                                
019060,000922: 
019061,000923: 33,3203           44743        ALWAYSG           DLOAD*   DSU*                                  #  COMPASS AND ERECT
019062,000924: 33,3204           02543                                   DPIPAY     +8D,1                      
019063,000925: 33,3205           02505                                   FILDELV1   +8D,1                      
019064,000926:                                                                                                 #  Page 439
019065,000927: 33,3206           42675                          DMPR     DAD*                                  
019066,000928: 33,3207           27713                                   GEOCONS1                              
019067,000929: 33,3210           02505                                   FILDELV1   +8D,1                      
019068,000930: 33,3211           06505                          STORE    FILDELV1   +8D,1                      
019069,000931: 33,3212           77613                          DAD*                                           
019070,000932: 33,3213           02507                                   INTVEC1    +8D,1                      
019071,000933: 33,3214           06507                          STORE    INTVEC1    +8D,1                      
019072,000934: 33,3215           42675                          DMPR     DAD*                                  
019073,000935: 33,3216           27715                                   GEOCONS2                              
019074,000936: 33,3217           02505                                   FILDELV1   +8D,1                      
019075,000937: 33,3220           41475                          DMPR     PUSH                                  
019076,000938: 33,3221           15330                                   GEOCONS5                              
019077,000939: 33,3222           67300                          TIX,1    SLOAD                                 
019078,000940: 33,3223           67203                                   ALWAYSG                               
019079,000941: 33,3224           02647                                   ERECTIM1                              
019080,000942: 33,3225           71254                          BZE      DLOAD                                 
019081,000943: 33,3226           67237                                   COMPGS                                
019082,000944: 33,3227           02471                                   THETAN1    +2                         
019083,000945: 33,3230           45425                          DSU      STADR                                 
019084,000946: 33,3231           61306                          STODL    THETAN1    +2                         #  ERECTION ONLY.
019085,000947: 33,3232           77621                          BDSU                                           
019086,000948: 33,3233           02473                                   THETAN1    +4                         
019087,000949: 33,3234           02473                          STORE    THETAN1    +4                         
019088,000950: 33,3235           77650                          GOTO                                           
019089,000951: 33,3236           67261                                   ADDINDRF                              
019090,000952: 33,3237           43345        COMPGS            DLOAD    DAD                                   #  COMPASS
019091,000953: 33,3240           02467                                   THETAN1                               
019092,000954: 33,3241           02475                                   FILDELV1                              
019093,000955: 33,3242           16467                          STODL    THETAN1                               
019094,000956: 33,3243           02475                                   FILDELV1                              
019095,000957: 33,3244           44275                          DMPR     BDSU                                  
019096,000958: 33,3245           27717                                   GEOCONS3                              
019097,000959: 33,3246           02473                                   THETAN1    +4                         
019098,000960: 33,3247           16473                          STODL    THETAN1    +4                         
019099,000961: 33,3250           02501                                   FILDELV1   +4                         
019100,000962: 33,3251           44275                          DMPR     BDSU                                  
019101,000963: 33,3252           27717                                   GEOCONS3                              
019102,000964: 33,3253           02471                                   THETAN1    +2                         
019103,000965: 33,3254           57325                          PDDL     DMPR                                  
019104,000966: 33,3255           02503                                   INTVEC1    +4                         
019105,000967: 33,3256           27721                                   GEOCONS4                              
019106,000968: 33,3257           45421                          BDSU     STADR                                 
019107,000969: 33,3260           75306                          STORE    THETAN1    +2                         
019108,000970: 33,3261           77776        ADDINDRF          EXIT                                           
019109,000971: 33,3262           11412        ENDGTSAL          CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019110,000972: 33,3263           02522                          TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019111,000973: 33,3264           03401                          TC       CHKCOMED                              
019112,000974: 33,3265           11304                          CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
019113,000975:                                                                                                 #  Page 440
019114,000976: 33,3266           12523                          TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019115,000977: 
019116,000978: 33,3267           06006        LASTGTS           TC       INTPRET                               
019117,000979: 33,3270           77775                          VLOAD                                          
019118,000980: 33,3271           02650                                   ERCOMP1                               
019119,000981: 33,3272           16461                          STODL    THETAX1                               
019120,000982: 33,3273           02443                                   TMARK                                 
019121,000983: 33,3274           02457                          STORE    ALK                                   
019122,000984: 33,3275           77776                          EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019123,000985: 
019124,000986: 33,3276           05301        RESTAIER          TC       PHASCHNG                              
019125,000987: 33,3277           00275                          OCT      00275                                 
019126,000988: 33,3300           06006                          TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019127,000989: 33,3301           64375                          VLOAD    MXV                                   
019128,000990: 33,3302           02467                                   THETAN1                               
019129,000991: 33,3303           02672                                   XSM                                   
019130,000992: 33,3304           53372                          VSL1     VAD                                   
019131,000993: 33,3305           02461                                   THETAX1                               
019132,000994: 33,3306           16650                          STODL    ERCOMP1                               
019133,000995: 33,3307           02457                                   ALK                                   
019134,000996: 33,3310           02443                          STORE    TMARK                                 
019135,000997: 33,3311           77776                          EXIT                                           
019136,000998: 33,3312           02417                          TC       EARTHR*                               #  TORQUE IT ALL IN
019137,000999: 33,3313           31646                          CAE      ERECTIM1                              
019138,001000: 33,3314           55631                          TS       GEOSAVE1                              
019139,001001: 33,3315           05301                          TC       PHASCHNG                              
019140,001002: 33,3316           00155                          OCT      00155                                 
019141,001003: 33,3317           06006        RESTEST1          TC       INTPRET                               
019142,001004: 33,3320           77775                          VLOAD                                          
019143,001005: 33,3321           27112                                   SCHZEROS                              
019144,001006: 33,3322           02467                          STORE    THETAN1                               
019145,001007: 33,3323           77776                          EXIT                                           
019146,001008: 33,3324           11632                          CCS      PREMTRXC                              
019147,001009: 33,3325           03374                          TC       NOCHORLD                              
019148,001010: 33,3326           05301                          TC       PHASCHNG                              
019149,001011: 33,3327           00255                          OCT      00255                                 
019150,001012: 33,3330           06006        RESTEST3          TC       INTPRET                               
019151,001013: 33,3331           77745                          DLOAD                                          
019152,001014: 33,3332           02634                                   LAUNCHAZ                              
019153,001015: 33,3333           53025                          DSU      BZE                                   
019154,001016: 33,3334           02640                                   OLDAZMTH                              
019155,001017: 33,3335           67371                                   NOAZCHGE                              
019156,001018: 33,3336           00001                          STORE    0D                                    
019157,001019: 33,3337           43335                          SLOAD    DAD                                   
019158,001020: 33,3340           27120                                   ONEDPP     +1                         
019159,001021: 33,3341           02633                                   PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019160,001022: 33,3342           16633                          STODL    PREMTRXC                              
019161,001023: 33,3343           02634                                   LAUNCHAZ                              
019162,001024: 33,3344           16636                          STODL    NEWAZMTH                              
019163,001025: 33,3345           00001                                   0D                                    
019164,001026:                                                                                                 #  Page 441
019165,001027: 33,3346           02654        ADERCOMP          STORE    ERCOMP     +4                         
019166,001028: 33,3347           77776                          EXIT                                           
019167,001029: 33,3350           03163                          TC       POSN17C                               
019168,001030: 33,3351           05301                          TC       PHASCHNG                              
019169,001031: 33,3352           00335                          OCT      00335                                 
019170,001032: 33,3353           00006        RESCHNG           EXTEND                                         
019171,001033: 33,3354           31636                          DCA      NEWAZMTH                              
019172,001034: 33,3355           53640                          DXCH     OLDAZMTH                              
019173,001035: 33,3356           34704                          CA       BIT7                                  #  SPEND 320 SEC ERECTING
019174,001036: 33,3357           55412                          TS       LENGTHOT                              
019175,001037: 33,3360           05301                          TC       PHASCHNG                              
019176,001038: 33,3361           00075                          OCT      00075                                 
019177,001039: 33,3362           33423        SPITGYRO          CA       ERCOMPPL                              
019178,001040: 33,3363           04555                          TC       BANKCALL                              
019179,001041: 33,3364           17125                          CADR     IMUPULSE                              
019180,001042: 33,3365           04555                          TC       BANKCALL                              
019181,001043: 33,3366           17516                          CADR     IMUSTALL                              
019182,001044: 33,3367           03103                          TC       SOMERR2                               
019183,001045: 33,3370           02453                          TC       ESTIMS                                #  RE-INITIALIZE
019184,001046: 33,3371           77776        NOAZCHGE          EXIT                                           
019185,001047: 33,3372           34712                          CA       ONE                                   
019186,001048: 33,3373           55632                          TS       PREMTRXC                              
019187,001049: 33,3374           11631        NOCHORLD          CCS      GEOSAVE1                              
019188,001050: 33,3375           55646                          TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019189,001051: 
019190,001052: 33,3376           34334        ANNNNNN           CAF      NINE                                  
019191,001053: 33,3377           55412                          TS       LENGTHOT                              
019192,001054: 33,3400           02523                          TC       SLEEPIE    +1                         
019193,001055: 33,3401           00004        CHKCOMED          INHINT                                         
019194,001056: 33,3402           44714                          CS       ZERO                                  
019195,001057: 33,3403           00006                          EXTEND                                         
019196,001058: 33,3404           06030                          RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019197,001059: 33,3405           74706                          MASK     BIT5                                  #  LIFTOFF BIT
019198,001060: 33,3406           10000                          CCS      A                                     
019199,001061: 33,3407           13416                          TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019200,001062: 
019201,001063: 33,3410           34706                          CA       BIT5                                  #  CHECK FOR BACKUP LIFTOFF
019202,001064: 33,3411           70101                          MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019203,001065: 33,3412           10000                          CCS      A                                     
019204,001066: 33,3413           13416                          TCF      PRELTERM                              #  BACKUP RECEIVED
019205,001067: 
019206,001068: 33,3414           00003                          RELINT                                         
019207,001069: 33,3415           00002                          TC       Q                                     #  CONTINUE PRELAUNCH
019208,001070: 33,3416           37657        PRELTERM          CA       PRIO22                                #  PRELAUNCH DONE -- SET UP P11
019209,001071:                                                                                                 #  Page 442
019210,001072: 33,3417           05103                          TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019211,001073: 33,3420           00004                          INHINT                                         
019212,001074: 33,3421           04574                          TC       POSTJUMP                              
019213,001075: 33,3422           70002                          CADR     P11                                   
019214,001076: 33,3423           02647        ERCOMPPL          ECADR    ERCOMP                                
019215,001077: 
019216,001078: 33,3424  26,3327               GEOCONS5          EQUALS   HIDPHALF                              
019217,001079: 33,3424           06200        1/PIPAGT          OCT      06200                                 
019218,001080: 33,3425     4375               17DECML           =        ND1                                   #  OCT 21
019219,001081: 33,3425     4374               19DECML           =        VD1                                   #  OCT 23
019220,001082: 33,3425     4731               1/2SECX           =        .5SEC                                 
019221,001083:                                                                                                 #  Page 443
019222,001084: 33,3425     5112               GEOSTRT4          EQUALS   ENDOFJOB                              
019223,001085: 
019224,001086:                                                                                                 #  Page 444
019225,001087:                                                                                                 #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019226,001088: 
019227,001089: 33,3425                                          COUNT    33/P03                                
019228,001090: 
019229,001091: 33,3425           05301        GCOMPVER          TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019230,001092: 33,3426           00154                          OCT      00154                                 
019231,001093: 33,3427           05243                          TC       NEWMODEX                              #  ENTERED BY VERB 65 ENGER
019232,001094: 33,3430           00003                          MM       03         B-14                       
019233,001095: 33,3431           02037        SETNBPOS          TC       NBPOSPL                               
019234,001096: 33,3432           04555                          TC       BANKCALL                              
019235,001097: 33,3433           16063                          CADR     MKRELEAS                              
019236,001098: 33,3434           34712        OPTDATA           CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGET
019237,001099: 33,3435           22007                          ZL                                             #  1, THEN TARGET 2
019238,001100: 33,3436           23427                          LXCH     RUN                                   #  AZIMUTH CLOCKWISE FROM NORTH TO TARGET
019239,001101: 33,3437           55047                          TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019240,001102: 33,3440           00006                          EXTEND                                         
019241,001103: 33,3441           51427                          INDEX    RUN                                   
019242,001104: 33,3442           31433                          DCA      TAZEL1                                
019243,001105: 33,3443           53046                          DXCH     DSPTEM1                               
019244,001106: 33,3444           33467                          CAF      V05N30E                               
019245,001107: 33,3445           04555                          TC       BANKCALL                              
019246,001108: 33,3446           20577                          CADR     GODSPRET                              
019247,001109: 33,3447           33455                          CAF      VN0641                                
019248,001110: 33,3450           04555                          TC       BANKCALL                              
019249,001111: 33,3451           20624                          CADR     GOFLASH                               
019250,001112: 33,3452           03610                          TC       GCOMP5                                
019251,001113: 33,3453           03456                          TC       +3                                    
019252,001114: 33,3454           03444                          TC       -8D                                   
019253,001115: 33,3455           01451        VN0641            VN       0641                                  
019254,001116: 33,3456           53046                          DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
019255,001117: 33,3457           51427                          INDEX    RUN                                   
019256,001118: 33,3460           53433                          DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019257,001119: 33,3461           11427                          CCS      RUN                                   
019258,001120: 33,3462           13466                          TCF      +4                                    
019259,001121: 33,3463           34711                          CAF      TWO                                   
019260,001122: 33,3464           54001                          TS       L                                     
019261,001123: 33,3465           13436                          TCF      OPTDATA    +2                         #  MPAC   1ST PASS=0   2ND PASS=2
019262,001124: 33,3466           03530                          TC       CONTIN33                              
019263,001125: 
019264,001126: 33,3467           01236        V05N30E           VN       0530                                  
019265,001127: 
019266,001128: 33,3470           06006                          TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019267,001129: 33,3471           77170        TAR/EREF          AXT,1    AXT,2                                 #  TARGET VECTOR
019268,001130: 33,3472           00002                                   2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL)
019269,001131: 33,3473           00014                                   12D                                   
019270,001132: 33,3474           40331                          SSP      SETPD                                 
019271,001133: 33,3475           00052                                   S2                                    
019272,001134: 33,3476           00006                                   6                                     
019273,001135:                                                                                                 #  Page 445
019274,001136: 33,3477           00001                                   0                                     
019275,001137: 33,3500           60533        TAR1              SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019276,001138: 33,3501           02436                                   TAZEL1     +3,1                       
019277,001139: 33,3502           00001                          STORE    0                                     #  PD00 ELEVATION PD00
019278,001140: 33,3503           77756                          SIN                                            
019279,001141: 33,3504           10023                          STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019280,001142: 33,3505           77745                          DLOAD                                          
019281,001143: 33,3506           00001                                   0                                     
019282,001144: 33,3507           41546                          COS      PUSH                                  #  PD00 COS(EL) PD00
019283,001145: 33,3510           47133                          SLOAD*   RTB                                   
019284,001146: 33,3511           02435                                   TAZEL1     +2,1                       
019285,001147: 33,3512           45510                                   CDULOGIC                              
019286,001148: 33,3513           00003                          STORE    2                                     #  PD02 AZIMUTH PD02
019287,001149: 33,3514           41356                          SIN      DMP                                   
019288,001150: 33,3515           00001                                   0                                     
019289,001151: 33,3516           77752                          SL1                                            
019290,001152: 33,3517           10027                          STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019291,001153: 33,3520           71545                          DLOAD    COS                                   
019292,001154: 33,3521           00003                                   2                                     
019293,001155: 33,3522           72405                          DMP      SL1                                   
019294,001156: 33,3523           76076                          DCOMP    AXT,1                                 
019295,001157: 33,3524           00000                                   0                                     
019296,001158: 33,3525           10025                          STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019297,001159: 33,3526           43504                          TIX,2    RVQ                                   
019298,001160: 33,3527           67500                                   TAR1                                  
019299,001161: 33,3530                                          BANK     33                                    
019300,001162: 33,2000                                          SETLOC   IMUCAL                                
019301,001163: 33,2000                                          BANK                                           
019302,001164: 33,3530                                          COUNT*   $$/P03                                
019303,001165: 
019304,001166: 33,3530           34712        CONTIN33          CA       ONE                                   
019305,001167: 33,3531           54735                          TS       STARCODE                              
019306,001168: 33,3532           34714                          CA       ZERO                                  
019307,001169: 33,3533           03625                          TC       TARGDRVE                              
019308,001170: 33,3534           06006                          TC       INTPRET                               
019309,001171: 33,3535           77624                          CALL                                           
019310,001172: 33,3536           67471                                   TAR/EREF                              
019311,001173: 33,3537           64375        NEXTBNKS          VLOAD    MXV                                   
019312,001174: 33,3540           00007                                   6D                                    
019313,001175: 33,3541           02672                                   XSM                                   
019314,001176: 33,3542           77772                          VSL1                                           
019315,001177: 33,3543           26736                          STOVL    STARAD                                
019316,001178: 33,3544           00015                                   12D                                   
019317,001179: 33,3545           76521                          MXV      VSL1                                  
019318,001180: 33,3546           02672                                   XSM                                   
019319,001181: 33,3547           02744                          STORE    STARAD     +6                         
019320,001182: 33,3550           77624                          CALL                                           
019321,001183: 33,3551           67722                                   LITTLSUB                              
019322,001184:                                                                                                 #  Page 446
019323,001185: 33,3552           02414                          STORE    LOSVEC                                
019324,001186: 33,3553           77776                          EXIT                                           
019325,001187: 33,3554           04555                          TC       BANKCALL                              
019326,001188: 33,3555           16063                          CADR     MKRELEAS                              
019327,001189: 33,3556           34711        NEXBNKSS          CAF      TWO                                   
019328,001190: 33,3557           54735                          TS       STARCODE                              
019329,001191: 33,3560           36211                          CAF      SIX                                   
019330,001192: 33,3561           03625                          TC       TARGDRVE                              
019331,001193: 33,3562           06006                          TC       INTPRET                               
019332,001194: 33,3563           77624                          CALL                                           
019333,001195: 33,3564           67722                                   LITTLSUB                              
019334,001196: 33,3565           24015                          STOVL    12D                                   
019335,001197: 33,3566           02414                                   LOSVEC                                
019336,001198: 33,3567           34007                          STCALL   06D                                   
019337,001199: 33,3570           47334                                   AXISGEN                               
019338,001200: 33,3571           77624                          CALL                                           
019339,001201: 33,3572           47140                                   CALCGTA                               
019340,001202: 33,3573           77776                          EXIT                                           
019341,001203: 33,3574           33621        GCOMP4            CAF      V06N93S                               
019342,001204: 33,3575           04555                          TC       BANKCALL                              
019343,001205: 33,3576           20624                          CADR     GOFLASH                               
019344,001206: 33,3577           03610                          TC       GCOMP5                                
019345,001207: 33,3600           13602                          TCF      +2                                    
019346,001208: 33,3601           13574                          TCF      GCOMP4                                
019347,001209: 33,3602           06006                          TC       INTPRET                               
019348,001210: 33,3603           53375                          VLOAD    VAD                                   
019349,001211: 33,3604           02760                                   OGC                                   
019350,001212: 33,3605           02650                                   ERCOMP1                               
019351,001213: 33,3606           02650                          STORE    ERCOMP1                               
019352,001214: 33,3607           77776                          EXIT                                           
019353,001215: 33,3610           04555        GCOMP5            TC       BANKCALL                              
019354,001216: 33,3611           16063                          CADR     MKRELEAS                              
019355,001217: 33,3612           05447                          TC       DOWNFLAG                              
019356,001218: 33,3613           00032                          ADRES    TRM03FLG                              
019357,001219: 
019358,001220: 33,3614           05243                          TC       NEWMODEX                              
019359,001221: 33,3615           00002                          MM       02         B-14                       
019360,001222: 33,3616           05301                          TC       PHASCHNG                              
019361,001223: 33,3617           00004                          OCT      00004                                 
019362,001224: 33,3620           05112                          TC       ENDOFJOB                              
019363,001225: 33,3621           01535        V06N93S           VN       0693                                  
019364,001226: 33,3622           05537        GTSOPTCS          TC       ALARM                                 
019365,001227: 33,3623           01602        GTSOPTSS          OCT      01602                                 
019366,001228: 33,3624           03610                          TC       GCOMP5                                
019367,001229: 34,2002                                          BANK     34                                    
019368,001230: 04,2000                                          SETLOC   IMUCAL1                               
019369,001231:                                                                                                 #  Page 447
019370,001232: 04,2000                                          BANK                                           
019371,001233: 
019372,001234: 04,2617                                          COUNT    34/COMST                              
019373,001235: 
019374,001236: 04,2617           62545        LATAZCHK          DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019375,001237: 04,2620           02403                                   LATITUDE                              
019376,001238: 04,2621           15047                          STODL    DSPTEM1    +1                         
019377,001239: 04,2622           02401                                   AZIMUTH                               
019378,001240: 04,2623           77434                          RTB      EXIT                                  
019379,001241: 04,2624           45543                                   1STO2S                                
019380,001242: 04,2625           56154                          XCH      MPAC                                  
019381,001243: 04,2626           55045                          TS       DSPTEM1                               
019382,001244: 04,2627           04555                          TC       BANKCALL                              
019383,001245: 04,2630           20607                          CADR     CLEANDSP                              
019384,001246: 04,2631           32650                          CAF      VNG0641                               
019385,001247: 04,2632           04555                          TC       BANKCALL                              
019386,001248: 04,2633           20624                          CADR     GOFLASH                               
019387,001249: 04,2634           02636                          TC       +2                                    #  NOT ALLOWED
019388,001250: 04,2635           02637                          TC       +2                                    
019389,001251: 04,2636           02631                          TC       -5                                    
019390,001252: 04,2637           06006                          TC       INTPRET                               
019391,001253: 04,2640           47135                          SLOAD    RTB                                   
019392,001254: 04,2641           01046                                   DSPTEM1                               
019393,001255: 04,2642           45510                                   CDULOGIC                              
019394,001256: 04,2643           02401                          STORE    AZIMUTH                               
019395,001257: 04,2644           60535                          SLOAD    SR2                                   
019396,001258: 04,2645           01047                                   DSPTEM1    +1                         
019397,001259: 04,2646           02403                          STORE    LATITUDE                              
019398,001260: 04,2647           77616                          RVQ                                            
019399,001261: 04,2650           01451        VNG0641           VN       0641                                  
019400,001262: 33,3625                                          BANK     33                                    
019401,001263: 33,2000                                          SETLOC   IMUCAL                                
019402,001264: 33,2000                                          BANK                                           
019403,001265: 33,3625                                          COUNT*   $$/P03                                
019404,001266: 33,3625           00006        TARGDRVE          EXTEND                                         
019405,001267: 33,3626           23424                          QXCH     QPLAC                                 
019406,001268: 33,3627           55431                          TS       TARG1/2                               
019407,001269: 33,3630           06006                          TC       INTPRET                               
019408,001270: 33,3631           77624                          CALL                                           
019409,001271: 33,3632           67471                                   TAR/EREF                              
019410,001272: 33,3633           76740                          LXC,1    VLOAD*                                
019411,001273: 33,3634           02431                                   TARG1/2                               
019412,001274: 33,3635           00007                                   6D,1                                  
019413,001275: 33,3636           36766                          STCALL   STAR                                  
019414,001276: 33,3637           46053                                   SXTANG                                
019415,001277: 33,3640           77776                          EXIT                                           
019416,001278:                                                                                                 #  Page 448
019417,001279: 33,3641           31773                          CA       SAC                                   
019418,001280: 33,3642           55161                          TS       DESOPTS                               
019419,001281: 33,3643           31775                          CA       PAC                                   
019420,001282: 33,3644           55160                          TS       DESOPTT                               
019421,001283: 33,3645           34714        RETARG            CAF      ZERO                                  
019422,001284: 33,3646           55303                          TS       OPTIND                                
019423,001285: 33,3647           34712                          CAF      ONE                                   
019424,001286: 33,3650           04555                          TC       BANKCALL                              
019425,001287: 33,3651           16002                          CADR     SXTMARK                               
019426,001288: 33,3652           04555                          TC       BANKCALL                              
019427,001289: 33,3653           17512                          CADR     OPTSTALL                              
019428,001290: 33,3654           03622                          TC       GTSOPTCS                              
019429,001291: 33,3655           30075                          CAE      FLAGWRD1                              
019430,001292: 33,3656           74707                          MASK     TRM03BIT                              
019431,001293: 33,3657           10000                          CCS      A                                     
019432,001294: 33,3660           03610                          TC       GCOMP5                                
019433,001295: 
019434,001296: 33,3661           51330                          INDEX    MARKSTAT                              
019435,001297: 33,3662           30052                          CA       QPRET                                 
019436,001298: 33,3663           00006                          EXTEND                                         
019437,001299: 33,3664           13666                          BZF      RETARG1                               
019438,001300: 33,3665           01424                          TC       QPLAC                                 
019439,001301: 33,3666           34714        RETARG1           CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019440,001302: 33,3667           57330                          XCH      MARKSTAT                              
019441,001303: 33,3670           10000                          CCS      A                                     
019442,001304: 33,3671           50000                          INDEX    A                                     
019443,001305: 33,3672           54000                          TS       A                                     
019444,001306: 33,3673           13645                          TCF      RETARG                                #  GO DO SXTMARK AGAIN
019445,001307: 33,3674                                          BANK     33                                    
019446,001308: 33,2000                                          SETLOC   IMUCAL                                
019447,001309: 33,2000                                          BANK                                           
019448,001310: 33,3674                                          COUNT*   $$/P03                                
019449,001311: 33,3674           30341 22444  PIPASC            2DEC     .76376833                             
019450,001312: 33,3676           57223 66451  VELSC             2DEC     -.52223476                            
019451,001313: 33,3700           05427 12577  ALSK              2DEC     .17329931                             
019452,001314: 33,3702           77567 44202                    2DEC     -.00835370                            
019453,001315: 33,3704           24276 14066  GEORGEJ           2DEC     .63661977                             
019454,001316: 33,3706           23073 11773  GEORGEK           2DEC     .59737013                             
019455,001317: 33,3710           00055 20267  2DEGRES           2DEC     .00277778                             
019456,001318: 33,3712           03146 14632  GEOCONS1          2DEC     .1                                    
019457,001319:                                                                                                 #  Page 449
019458,001320: 33,3714           00121 35341  GEOCONS2          2DEC     .005                                  
019459,001321: 33,3716           01767 31666  GEOCONS3          2DEC     .062                                  
019460,001322: 33,3720           00004 35223  GEOCONS4          2DEC     .0003                                 
019461,001323: 
019462,001324: 33,3722                                          COUNT    33/P02                                
019463,001325: 33,3722           77620        LITTLSUB          STQ                                            
019464,001326: 33,3723           02424                                   QPLAC                                 
019465,001327: 33,3724           76740                          LXC,1    VLOAD*                                
019466,001328: 33,3725           01330                                   MARKSTAT                              
019467,001329: 33,3726           00003                                   2,1                                   
019468,001330: 33,3727           34767                          STCALL   CDUSPOT                               
019469,001331: 33,3730           46000                                   SXTNB                                 
019470,001332: 33,3731           77624                          CALL                                           
019471,001333: 33,3732           47572                                   TRG*NBSM                              
019472,001334: 33,3733           77650                          GOTO                                           
019473,001335: 33,3734           02424                                   QPLAC                                 
019474,001336: 33,3735           77776                          EXIT                                           
019475,001337: 33,3736           06006        AZMTHCG1          TC       INTPRET                               
019476,001338: 33,3737           47145                          DLOAD    RTB                                   
019477,001339: 33,3740           02636                                   NEWAZMTH                              
019478,001340: 33,3741           45543                                   1STO2S                                
019479,001341: 33,3742           77776                          EXIT                                           
019480,001342: 33,3743           56154                          XCH      MPAC                                  
019481,001343: 33,3744           55045                          TS       DSPTEM1                               
019482,001344: 33,3745           04555                          TC       BANKCALL                              
019483,001345: 33,3746           20607                          CADR     CLEANDSP                              
019484,001346: 33,3747           33771                          CAF      VN0629                                
019485,001347: 33,3750           04555                          TC       BANKCALL                              
019486,001348: 33,3751           20624                          CADR     GOFLASH                               
019487,001349: 33,3752           13754                          TCF      +2                                    
019488,001350: 33,3753           13755                          TCF      +2                                    
019489,001351: 33,3754           13747                          TCF      -5                                    
019490,001352: 33,3755           06006                          TC       INTPRET                               
019491,001353: 33,3756           47135                          SLOAD    RTB                                   
019492,001354: 33,3757           01046                                   DSPTEM1                               
019493,001355: 33,3760           45510                                   CDULOGIC                              
019494,001356: 33,3761           02634                          STORE    LAUNCHAZ                              
019495,001357: 33,3762           77776                          EXIT                                           
019496,001358: 33,3763           34714                          CA       ZERO                                  
019497,001359: 33,3764           55632                          TS       PREMTRXC                              
019498,001360: 33,3765           05301                          TC       PHASCHNG                              
019499,001361: 33,3766           00004                          OCT      00004                                 
019500,001362: 33,3767           04574                          TC       POSTJUMP                              
019501,001363: 33,3770           21176                          CADR     PINBRNCH                              
019502,001364: 
019503,001365: 33,3771           01435        VN0629            VN       0629                                  
019504,001366: 
019505,001367:                                                                                                 #  Page 450
019506,001368:                                                                                                 #  *** END OF KOOLADE .069 ***
019507,001369: 

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