Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
018892,000002: # Copyright: Public domain.
018893,000003: # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018894,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
018895,000005: # build 072. This is for the Command Module's (CM)
018896,000006: # Apollo Guidance Computer (AGC), we believe for
018897,000007: # Apollo 15-17.
018898,000008: # Assembler: yaYUL
018899,000009: # Contact: Sergio Navarro <sergionavarrog@gmail.com>
018900,000010: # Website: www.ibiblio.org/apollo/index.html
018901,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
018902,000012: # Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
018903,000013: # 2009-09-03 JL Fixed symbol names.
018904,000014: # 2009-09-06 JL Fixed typos.
018905,000015: # 2010-01-31 JL Fixed build errors.
018906,000016: # 2010-02-02 JL Fixed whitespace.
018907,000017: # 2010-02-20 RSB Un-##'d this header.
018908,000018:
018909,000019: # # Page 427
018910,000020:
018911,000021: # NAME- IMU PERFORMANCE TESTS 2
018912,000022:
018913,000023: # DATE- MARCH 20,1967
018914,000024:
018915,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018916,000026:
018917,000027: # MODNO.- ZERO
018918,000028:
018919,000029: # FUNCTIONAL DESCRIPTION
018920,000030:
018921,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018922,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018923,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018924,000034:
018925,000035: 33,2000 SETLOC IMUCAL
018926,000036: 33,2000 BANK
018927,000037:
018928,000038: 33,2002 E5,1423 EBANK= POSITON
018929,000039: 33,2002 COUNT* $$/COMST
018930,000040: 33,2002 04636 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018931,000041: 33,2003 16627 CADR IMUZERO
018932,000042: 33,2004 02126 TC IMUSTLLG
018933,000043: 33,2005 34772 IMUBACK CA ZERO
018934,000044: 33,2006 55421 TS NDXCTR
018935,000045: 33,2007 55450 TS TORQNDX
018936,000046: 33,2010 55451 TS TORQNDX +1
018937,000047: 33,2011 34352 NBPOSPL CA DEC17
018938,000048: 33,2012 55655 TS ZERONDX1
018939,000049: 33,2013 32221 CA XNBADR
018940,000050: 33,2014 02134 TC ZEROING
018941,000051: 33,2015 34753 CA HALF
018942,000052: 33,2016 55713 TS XNB
018943,000053: 33,2017 06006 TC INTPRET
018944,000054: 33,2020 73545 DLOAD SIN
018945,000055: 33,2021 02401 AZIMUTH
018946,000056: 33,2022 02724 STORE YNB +2
018947,000057: 33,2023 16734 STODL ZNB +4
018948,000058: 33,2024 02401 AZIMUTH
018949,000059: 33,2025 77746 COS
018950,000060: 33,2026 02726 STORE YNB +4
018951,000061: 33,2027 77676 DCOMP
018952,000062: 33,2030 02732 STORE ZNB +2
018953,000063: 33,2031 77776 EXIT
018954,000064: 33,2032 05354 TC CHECKMM
018955,000065: 33,2033 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018956,000066: 33,2034 12036 TCF +2 # NO
018957,000067: 33,2035 13217 TCF SETNBPOS +1 # YES
018958,000068: 33,2036 06006 TC INTPRET
018959,000069: 33,2037 77624 CALL
018960,000070: 33,2040 47344 CALCGA
018961,000071: # # Page 428
018962,000072: 33,2041 77776 EXIT
018963,000073: 33,2042 04636 TC BANKCALL
018964,000074: 33,2043 16724 CADR IMUCOARS
018965,000075: 33,2044 34753 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018966,000076: 33,2045 70077 MASK FLAGWRD3
018967,000077: 33,2046 00006 EXTEND
018968,000078: 33,2047 12051 BZF +2
018969,000079: 33,2050 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018970,000080: 33,2051 05561 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018971,000081: 33,2052 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018972,000082: 33,2053 02126 TC IMUSTLLG
018973,000083: 33,2054 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018974,000084: 33,2055 02103 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018975,000085: 33,2056 04636 TC BANKCALL
018976,000086: 33,2057 17133 CADR IMUFINE
018977,000087: 33,2060 02126 TC IMUSTLLG
018978,000088: 33,2061 00006 EXTEND
018979,000089: 33,2062 31657 DCA PERFDLAY
018980,000090: 33,2063 05332 TC LONGCALL
018981,000091: 33,2064 E5,1423 EBANK= POSITON
018982,000092: 33,2064 02070 66065 2CADR GOESTIMS
018983,000093:
018984,000094: 33,2066 32073 CA ESTICADR
018985,000095: 33,2067 05163 TC JOBSLEEP
018986,000096: 33,2070 32073 GOESTIMS CA ESTICADR
018987,000097: 33,2071 05167 TC JOBWAKE
018988,000098: 33,2072 05314 TC TASKOVER
018989,000099: 33,2073 66227 ESTICADR CADR ESTIMS
018990,000100:
018991,000101: 33,2074 34772 TORQUE CA ZERO
018992,000102: 33,2075 55253 TS DSPTEM2
018993,000103: 33,2076 31514 CA DRIFTI
018994,000104: 33,2077 55254 TS DSPTEM2 +1
018995,000105: 33,2100 51423 INDEX POSITON
018996,000106: 33,2101 55430 TS SOUTHDR -1
018997,000107: 33,2102 02205 TC SHOW
018998,000108:
018999,000109: 33,2103 34756 PIPACHK CA EBANK4
019000,000110: 33,2104 54003 TS EBANK
019001,000111: 33,2105 E4,1400 EBANK= ERASPIP
019002,000112: 33,2105 01400 TC ERASPIP
019003,000113: 33,2106 E5,1512 EBANK= DRIFTO
019004,000114: 33,2106 31512 VALMIS CA DRIFTO
019005,000115: 33,2107 55254 TS DSPTEM2 +1
019006,000116: 33,2110 34772 CA ZERO
019007,000117: 33,2111 55253 TS DSPTEM2
019008,000118: 33,2112 02205 TC SHOW
019009,000119:
019010,000120: 33,2113 05561 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
019011,000121: # # Page 429
019012,000122: 33,2114 00007 ADRES IMUSE # BIT 8 FLAG 0
019013,000123: 33,2115 44772 CS ZERO
019014,000124: 33,2116 05347 TC NEWMODEA
019015,000125: 33,2117 04636 TC BANKCALL
019016,000126: 33,2120 16073 CADR MKRELEAS
019017,000127: 33,2121 05524 TC ENDEXT
019018,000128: # # Page 430
019019,000129: 33,2122 43215 OVERFFIX DAD DAD
019020,000130: 33,2123 15344 DPPOSMAX
019021,000131: 33,2124 26670 ONEDPP
019022,000132: 33,2125 77616 RVQ
019023,000133:
019024,000134: 33,2126 00006 IMUSTLLG EXTEND
019025,000135: 33,2127 23425 QXCH QPLACE
019026,000136: 33,2130 04636 TC BANKCALL
019027,000137: 33,2131 17644 CADR IMUSTALL
019028,000138: 33,2132 02655 TC SOMERR2
019029,000139: 33,2133 01425 TC QPLACE
019030,000140: 33,2134 54001 ZEROING TS L
019031,000141: 33,2135 12137 TCF +2
019032,000142: 33,2136 55655 ZEROING1 TS ZERONDX1
019033,000143: 33,2137 34772 CAF ZERO
019034,000144: 33,2140 50001 INDEX L
019035,000145: 33,2141 54000 TS 0
019036,000146: 33,2142 24001 INCR L
019037,000147: 33,2143 11655 CCS ZERONDX1
019038,000148: 33,2144 12136 TCF ZEROING1
019039,000149: 33,2145 00002 TC Q
019040,000150:
019041,000151: # # Page 431
019042,000152: 32,2000 SETLOC IMUCAL3
019043,000153: 32,2000 BANK
019044,000154: 32,2000 COUNT* $$/COMST
019045,000155: 32,2000 65345 ERTHRVSE DLOAD PDDL
019046,000156: 32,2001 26663 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
019047,000157: 32,2002 02403 LATITUDE
019048,000158: 32,2003 57546 COS DCOMP
019049,000159: 32,2004 73525 PDDL SIN
019050,000160: 32,2005 02403 LATITUDE
019051,000161: 32,2006 74266 VDEF VXSC
019052,000162: 32,2007 26224 OMEG/MS
019053,000163: 32,2010 02405 STORE ERVECTOR
019054,000164: 32,2011 77634 RTB
019055,000165: 32,2012 51751 LOADTIME
019056,000166: 32,2013 26443 STOVL TMARK
019057,000167: 32,2014 26663 SCHZEROS
019058,000168: 32,2015 02650 STORE ERCOMP1
019059,000169: 32,2016 77616 RVQ
019060,000170: 33,2000 SETLOC IMUCAL
019061,000171: 33,2000 BANK
019062,000172: 33,2146 COUNT* $$/COMST
019063,000173: 33,2146 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
019064,000174: 33,2147 00051 S2
019065,000175: 33,2150 51751 LOADTIME
019066,000176: 33,2151 02441 +3 STORE TEMPTIME
019067,000177: 33,2152 51025 DSU BPL
019068,000178: 33,2153 02443 TMARK
019069,000179: 33,2154 66157 ERTHR
019070,000180: 33,2155 77624 CALL
019071,000181: 33,2156 66122 OVERFFIX
019072,000182: 33,2157 74261 ERTHR SL VXSC
019073,000183: 33,2160 20212 9D
019074,000184: 33,2161 02405 ERVECTOR
019075,000185: 33,2162 53321 MXV VAD
019076,000186: 33,2163 02672 XSM
019077,000187: 33,2164 02650 ERCOMP1
019078,000188: 33,2165 16650 STODL ERCOMP1
019079,000189: 33,2166 02441 TEMPTIME
019080,000190: 33,2167 02443 STORE TMARK
019081,000191: 33,2170 47170 AXT,1 RTB
019082,000192: 33,2171 02647 ECADR ERCOMP1
019083,000193: 33,2172 45722 PULSEIMU
019084,000194: 33,2173 77650 GOTO
019085,000195: 33,2174 00051 S2
019086,000196: 33,2175 00006 EARTHR* EXTEND
019087,000197: 33,2176 23426 QXCH QPLACES
019088,000198: 33,2177 06006 TC INTPRET
019089,000199: 33,2200 77624 CALL
019090,000200: 33,2201 66146 EARTHR
019091,000201: 33,2202 77776 PROUT EXIT
019092,000202: # # Page 432
019093,000203: 33,2203 02126 TC IMUSTLLG
019094,000204: 33,2204 01426 TC QPLACES
019095,000205: 33,2205 00006 SHOW EXTEND
019096,000206: 33,2206 23425 QXCH QPLACE
019097,000207: 33,2207 31423 SHOW1 CA POSITON
019098,000208: 33,2210 55255 TS DSPTEM2 +2
019099,000209: 33,2211 32217 CA VB06N98
019100,000210: 33,2212 04636 TC BANKCALL
019101,000211: 33,2213 20743 CADR GOFLASH
019102,000212: 33,2214 02113 TC ENDTEST1 # V34
019103,000213: 33,2215 01425 TC QPLACE # V33
019104,000214: 33,2216 12207 TCF SHOW1
019105,000215:
019106,000216:
019107,000217: 33,2217 33,2223 3990DEC = OMEG/MS
019108,000218: 33,2217 01542 VB06N98 VN 0698
019109,000219: 33,2220 4352 DEC17 = ND1
019110,000220: 33,2220 02757 OGCPL ECADR OGC
019111,000221: 33,2221 5016 1SECX = 1SEC
019112,000222: 33,2221 4351 DEC57 = VD1
019113,000223: 33,2221 01713 XNBADR GENADR XNB
019114,000224: 33,2222 01671 XSMADR GENADR XSM
019115,000225: 33,2223 07623 26552 OMEG/MS 2DEC .24339048
019116,000226:
019117,000227:
019118,000228: 33,2225 04636 P11OUT TC BANKCALL
019119,000229: 33,2226 70115 CADR MATRXJOB # RETURN TO P11
019120,000230:
019121,000231: 4000 SETLOC FFTAG1
019122,000232: 4000 BANK
019123,000233:
019124,000234: 4510 COUNT* $$/COMST
019125,000235: 4510 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
019126,000236: 4511 00006 +1 EXTEND
019127,000237: 4512 00004 READ LOSCALAR
019128,000238: 4513 54001 TS L
019129,000239: 4514 00006 EXTEND
019130,000240: 4515 06004 RXOR LOSCALAR
019131,000241: 4516 00006 EXTEND
019132,000242: 4517 14523 BZF +4
019133,000243: 4520 00006 EXTEND
019134,000244: 4521 00004 READ LOSCALAR
019135,000245: 4522 54001 TS L
019136,000246: 4523 44750 +4 CS POSMAX
019137,000247: 4524 60001 AD L
019138,000248: 4525 00006 EXTEND
019139,000249: 4526 14511 BZF FINETIME +1
019140,000250: 4527 00006 EXTEND
019141,000251: 4530 00003 READ HISCALAR
019142,000252: # # Page 433
019143,000253: 4531 00002 TC Q
019144,000254:
019145,000255:
019146,000256: # PROGRAM NAME- OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019147,000257: # DATE- NOVEMBER 2 1966
019148,000258: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
019149,000259: # MOD NO 3
019150,000260:
019151,000261: # FUNCTIONAL DESCRIPTION
019152,000262:
019153,000263: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019154,000264: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
019155,000265: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
019156,000266: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019157,000267: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
019158,000268: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT
019159,000269: # FOR THE DATA TO FLASH.
019160,000270:
019161,000271: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019162,000272: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019163,000273: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019164,000274: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
019165,000275: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
019166,000276: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
019167,000277: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD
019168,000278: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019169,000279: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY (to)
019170,000280: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019171,000281: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019172,000282:
019173,000283: # COMPASS ERASABLE LOAD REQUIRED
019174,000284:
019175,000285: # 1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
019176,000286: # 2- LATITUDE -DP-OF LAUNCH PAD
019177,000287: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
019178,000288: # 4- IMU COMPENSATION PARAMETERS
019179,000289: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
019180,000290:
019181,000291: # TO PERFORM AS PART OF COMPASS
019182,000292:
019183,000293: # 1-OPTICAL VERIFICATION- V 65 E
019184,000294: # 2-AXIMUTH CHANGE- V 78 E
019185,000295:
019186,000296: # SUBROUTINES CALLED
019187,000297:
019188,000298: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019189,000299: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
019190,000300:
019191,000301: # NORMAL EXIT
019192,000302:
019193,000303: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019194,000304: # GYROCOMPASS-MANY,SEE THE LISTING
019195,000305: # # Page 434
019196,000306:
019197,000307: # ALARMS
019198,000308:
019199,000309: # 1600 OVERFLOW IN DRIFT TEST
019200,000310: # 1601 BAD IMU TORQUE ABORT
019201,000311: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
019202,000312:
019203,000313: # OUTPUT
019204,000314:
019205,000315: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019206,000316: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019207,000317: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
019208,000318: # 02 GYROCOMPASSING
019209,000319: # 03 DOING OPTICAL VERIFICATION (CSM)
019210,000320:
019211,000321:
019212,000322: # DEBRIS
019213,000323:
019214,000324: # ALL CENTRALS,ALL OF EBANK XSM
019215,000325:
019216,000326: # # Page 435
019217,000327: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019218,000328: # ON THE NEXT FEW PAGES.
019219,000329:
019220,000330: 4532 0002671 EBANK= XSM
019221,000331: 33,2000 SETLOC IMUCAL
019222,000332: 33,2000 BANK
019223,000333:
019224,000334: 33,2227 COUNT* $$/P02
019225,000335: 33,2227 05362 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
019226,000336: 33,2230 00075 OCT 00075
019227,000337: 33,2231 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
019228,000338: 33,2232 01,2256 5P7SPT1 = 5.7SPOT
019229,000339: 33,2232 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
019230,000340: 33,2233 30025 CA TIME1
019231,000341: 33,2234 55645 TS GTSWTLT1
019232,000342: 33,2235 34772 CAF ZERO # ZERO THE PIPAS
019233,000343: 33,2236 54037 TS PIPAX
019234,000344: 33,2237 54040 TS PIPAY
019235,000345: 33,2240 54041 TS PIPAZ
019236,000346: 33,2241 00003 RELINT
019237,000347: 33,2242 32701 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
019238,000348: 33,2243 55655 TS ZERONDX1
019239,000349: 33,2244 32702 CA ALXXXZ
019240,000350: 33,2245 02134 TC ZEROING
019241,000351: 33,2246 06006 TC INTPRET
019242,000352: 33,2247 77735 SLOAD
019243,000353: 33,2250 26663 SCHZEROS
019244,000354: 33,2251 25477 STOVL GCOMPSW -1
019245,000355: 33,2252 26674 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
019246,000356: 33,2253 26455 STOVL ALX1S
019247,000357: 33,2254 26663 SCHZEROS
019248,000358: 33,2255 01472 STORE GCOMP
019249,000359: 33,2256 01315 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
019250,000360: 33,2257 77776 EXIT
019251,000361:
019252,000362: 33,2260 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
019253,000363: 33,2261 02263 TC +2
019254,000364: 33,2262 02277 TC SLEEPIE +1
019255,000365: 33,2263 06006 TC INTPRET
019256,000366: 33,2264 77624 CALL
019257,000367: 33,2265 64000 ERTHRVSE
019258,000368: 33,2266 77776 EXIT
019259,000369: 33,2267 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
019260,000370: 33,2270 55646 TS ERECTIME
019261,000371:
019262,000372: 33,2271 05344 TC NEWMODEX
019263,000373: 33,2272 00002 MM 02 B-14
019264,000374: 33,2273 04636 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
019265,000375: 33,2274 17214 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
019266,000376: # # Page 436
019267,000377: 33,2275 03157 TC ANNNNNN # END OF FIRST TIME THROUGH
019268,000378: # # Page 437
019269,000379:
019270,000380: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019271,000381:
019272,000382: # SET UP WAITLIST SECTION
019273,000383: 33,2276 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
019274,000384: 33,2277 05402 +1 TC PHASCHNG # CHANGE PHASE
019275,000385: 33,2300 00135 OCT 00135
019276,000386: 33,2301 01,2264 5P13SPT1 = 5.13SPOT
019277,000387: 33,2301 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
019278,000388: 33,2302 02175 TC EARTHR* # TRUE TORQUE SOUTH GYRO
019279,000389: 33,2303 03162 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
019280,000390: 33,2304 02306 TC SETGWLST
019281,000391: 33,2305 05205 TC ENDOFJOB
019282,000392:
019283,000393: 33,2306 00006 SETGWLST EXTEND
019284,000394: 33,2307 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019285,000395: 33,2310 00004 INHINT
019286,000396: 33,2311 40025 CS TIME1
019287,000397: 33,2312 61645 AD GTSWTLT1
019288,000398: 33,2313 00006 EXTEND
019289,000399: 33,2314 62316 BZMF +2
019290,000400: 33,2315 64752 AD NEGMAX # 10 MS ERROR OK
019291,000401: 33,2316 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019292,000402: 33,2317 00006 EXTEND
019293,000403: 33,2320 62324 BZMF RIGHTGTS
019294,000404: 33,2321 05223 WTGTSMPL TC TWIDDLE
019295,000405: 33,2322 02350 ADRES ALLOOP
019296,000406: 33,2323 00154 TC MPAC
019297,000407: 33,2324 34766 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
019298,000408: 33,2325 02321 TC WTGTSMPL # END OF WAITLIST SECTION
019299,000409:
019300,000410: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019301,000411:
019302,000412: 33,2326 4125 25DECML EQUALS OCT31
019303,000413: 33,2326 34125 STOREDTA CAF 25DECML
019304,000414: 33,2327 54154 +1 TS MPAC
019305,000415: 33,2330 50154 INDEX MPAC
019306,000416: 33,2331 31460 CAE THETAX1
019307,000417: 33,2332 50154 INDEX MPAC
019308,000418: 33,2333 55577 TS RESTARPT
019309,000419: 33,2334 10154 CCS MPAC
019310,000420: 33,2335 12327 TCF STOREDTA +1
019311,000421: 33,2336 00002 TC Q
019312,000422:
019313,000423: 33,2337 34125 LOADSTDT CAF 25DECML
019314,000424: 33,2340 54154 +1 TS MPAC
019315,000425: 33,2341 50154 INDEX MPAC
019316,000426: 33,2342 31577 CA RESTARPT
019317,000427: 33,2343 50154 INDEX MPAC
019318,000428: # # Page 438
019319,000429: 33,2344 55460 TS THETAX1
019320,000430: 33,2345 10154 CCS MPAC
019321,000431: 33,2346 12340 TCF LOADSTDT +1
019322,000432: 33,2347 00002 TC Q
019323,000433:
019324,000434: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019325,000435:
019326,000436: 33,2350 30025 ALLOOP CA TIME1
019327,000437: 33,2351 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
019328,000438: 33,2352 31540 ALLOOP3 CA ALTIM
019329,000439: 33,2353 55631 TS GEOSAVE1
019330,000440: 33,2354 05402 TC PHASCHNG
019331,000441: 33,2355 00115 OCT 00115
019332,000442: 33,2356 01,2261 5P11SPT1 = 5.11SPOT
019333,000443: 33,2356 31631 ALLOOP1 CAE GEOSAVE1
019334,000444: 33,2357 55540 TS ALTIM
019335,000445: 33,2360 10000 CCS A
019336,000446: 33,2361 30000 CA A # SHOULD NEVER HIT THIS LOCATION
019337,000447: 33,2362 55541 TS ALTIMS
019338,000448: 33,2363 40000 CS A
019339,000449: 33,2364 55540 TS ALTIM
019340,000450: 33,2365 34772 CAF ZERO
019341,000451: 33,2366 56037 XCH PIPAX
019342,000452: 33,2367 55314 TS DELVX
019343,000453: 33,2370 34772 CAF ZERO
019344,000454: 33,2371 56040 XCH PIPAY
019345,000455: 33,2372 55316 TS DELVY
019346,000456: 33,2373 34772 CAF ZERO
019347,000457: 33,2374 56041 XCH PIPAZ
019348,000458: 33,2375 55320 TS DELVZ
019349,000459: 33,2376 34351 CAF 19DECML # 23 OCT
019350,000460: 33,2377 04126 TC NEWPHASE
019351,000461: 33,2400 00005 OCT 00005
019352,000462: 33,2401 01,2300 5P23SPT1 = 5.23SPOT
019353,000463: 33,2401 37644 SPECSTS CAF PRIO22
019354,000464: 33,2402 05135 TC FINDVAC
019355,000465: 33,2403 E5,1631 EBANK= GEOSAVE1
019356,000466: 33,2403 02406 66065 2CADR ALFLT # START THE JOB
019357,000467:
019358,000468: 33,2405 05314 TC TASKOVER
019359,000469:
019360,000470: # # Page 439
019361,000471: # THIS IS PART OF THE JOB DONE EVERY ITERATION
019362,000472:
019363,000473: 33,2406 02326 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
019364,000474: 33,2407 05402 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
019365,000475: 33,2410 00215 OCT 00215
019366,000476: 33,2411 01,2275 5P21SPT1 = 5.21SPOT
019367,000477: 33,2411 12413 TCF +2
019368,000478: 33,2412 02337 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
019369,000479:
019370,000480: 33,2413 11643 CCS GEOCOMP1
019371,000481: 33,2414 02416 TC +2
019372,000482: 33,2415 02421 TC NORMLOP
019373,000483: 33,2416 03162 TC CHKCOMED # SEE IF PRELAUNCH OVER
019374,000484: 33,2417 04636 TC BANKCALL # COMPENSATION IF IN COMPASS
019375,000485: 33,2420 15276 CADR 1/PIPA
019376,000486:
019377,000487: 33,2421 06006 NORMLOP TC INTPRET
019378,000488: 33,2422 77745 DLOAD
019379,000489: 33,2423 26672 INTVAL
019380,000490: 33,2424 24051 STOVL S1
019381,000491: 33,2425 01315 DELVX
019382,000492: 33,2426 76505 VXM VSL1
019383,000493: 33,2427 02672 XSM
019384,000494: 33,2430 57545 DLOAD DCOMP
019385,000495: 33,2431 00160 MPAC +3
019386,000496: 33,2432 16533 STODL DPIPAY
019387,000497: 33,2433 00162 MPAC +5
019388,000498: 33,2434 02537 STORE DPIPAZ
019389,000499:
019390,000500: 33,2435 76001 SETPD AXT,1
019391,000501: 33,2436 00001 0
019392,000502: 33,2437 00010 8D
019393,000503: 33,2440 57535 SLOAD DCOMP
019394,000504: 33,2441 02644 GEOCOMP1
019395,000505: 33,2442 77640 BMN
019396,000506: 33,2443 66764 ALWAYSG # DO A QUICK COMPASS
019397,000507:
019398,000508: # # Page 440
019399,000509: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019400,000510:
019401,000511: 33,2444 COUNT* $$/COMST
019402,000512: 33,2444 50135 ALCGKK SLOAD BMN
019403,000513: 33,2445 02542 ALTIMS
019404,000514: 33,2446 66461 ALFLT3 # NO NEW GAINS NEEDED
019405,000515: 33,2447 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
019406,000516: 33,2450 00014 12D
019407,000517: 33,2451 02454 ALX1S
019408,000518: 33,2452 62143 ALKCG2 DLOAD* INCR,1
019409,000519: 33,2453 02243 ALFDK +144D,1
019410,000520: 33,2454 77775 DEC -2 B-14
019411,000521: 33,2455 12555 STORE ALDK +10D,2
019412,000522: 33,2456 66104 TIX,2 SXA,1
019413,000523: 33,2457 66452 ALKCG2
019414,000524: 33,2460 02454 ALX1S
019415,000525:
019416,000526: 33,2461 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
019417,000527: 33,2462 00010 8D # AND GAIN UPDATES
019418,000528: 33,2463 41343 DELMLP DLOAD* DMP
019419,000529: 33,2464 02543 DPIPAY +8D,1
019420,000530: 33,2465 27427 PIPASC
019421,000531: 33,2466 43661 SLR BDSU*
019422,000532: 33,2467 21212 9D
019423,000533: 33,2470 02511 INTY +8D,1
019424,000534: 33,2471 06511 STORE INTY +8D,1
019425,000535: 33,2472 40725 PDDL DMP*
019426,000536: 33,2473 27431 VELSC
019427,000537: 33,2474 02531 VLAUN +8D,1
019428,000538: 33,2475 77732 SL2R
019429,000539: 33,2476 45425 DSU STADR
019430,000540: 33,2477 71206 STORE DELM +8D,1
019431,000541: 33,2500 06573 STORE DELM +10D,1
019432,000542: 33,2501 77100 TIX,1 AXT,2
019433,000543: 33,2502 66463 DELMLP
019434,000544: 33,2503 00004 4
019435,000545: 33,2504 56743 ALILP DLOAD* DMPR*
019436,000546: 33,2505 75314 ALK +4,2
019437,000547: 33,2506 75230 ALDK +4,2
019438,000548: 33,2507 12463 STORE ALK +4,2
019439,000549: 33,2510 77104 TIX,2 AXT,2
019440,000550: 33,2511 66504 ALILP
019441,000551: 33,2512 00010 8D
019442,000552: 33,2513 66140 ALKLP LXC,1 SXA,1
019443,000553: 33,2514 02455 CMPX1
019444,000554: 33,2515 02455 CMPX1
019445,000555: 33,2516 56743 DLOAD* DMPR*
019446,000556: 33,2517 02460 ALK +1,1
019447,000557: 33,2520 75206 DELM +8D,2
019448,000558: 33,2521 77613 DAD*
019449,000559: # # Page 441
019450,000560: 33,2522 75266 INTY +8D,2
019451,000561: 33,2523 12511 STORE INTY +8D,2
019452,000562: 33,2524 42743 DLOAD* DAD*
019453,000563: 33,2525 75304 ALK +12D,2
019454,000564: 33,2526 75220 ALDK +12D,2
019455,000565: 33,2527 12473 STORE ALK +12D,2
019456,000566: 33,2530 42673 DMPR* DAD*
019457,000567: 33,2531 75206 DELM +8D,2
019458,000568: 33,2532 75256 INTY +16D,2
019459,000569: 33,2533 12521 STORE INTY +16D,2
019460,000570: 33,2534 40743 DLOAD* DMP*
019461,000571: 33,2535 27434 ALSK +1,1
019462,000572: 33,2536 75206 DELM +8D,2
019463,000573: 33,2537 42772 SL1R DAD*
019464,000574: 33,2540 75246 VLAUN +8D,2
019465,000575: 33,2541 12531 STORE VLAUN +8D,2
019466,000576: 33,2542 76104 TIX,2 AXT,1
019467,000577: 33,2543 66513 ALKLP
019468,000578: 33,2544 00010 8D
019469,000579:
019470,000580: 33,2545 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019471,000581: 33,2546 02533 ACCWD +8D,1
019472,000582: 33,2547 02531 VLAUN +8D,1
019473,000583: 33,2550 55523 PDDL* VDEF
019474,000584: 33,2551 02541 POSNV +8D,1
019475,000585: 33,2552 76521 MXV VSL1
019476,000586: 33,2553 02001 TRANSM1
019477,000587: 33,2554 77745 DLOAD
019478,000588: 33,2555 00155 MPAC
019479,000589: 33,2556 06541 STORE POSNV +8D,1
019480,000590: 33,2557 77745 DLOAD
019481,000591: 33,2560 00160 MPAC +3
019482,000592: 33,2561 06531 STORE VLAUN +8D,1
019483,000593: 33,2562 77745 DLOAD
019484,000594: 33,2563 00162 MPAC +5
019485,000595: 33,2564 06533 STORE ACCWD +8D,1
019486,000596: 33,2565 77700 TIX,1
019487,000597: 33,2566 66545 LOOSE
019488,000598:
019489,000599: 33,2567 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019490,000600: 33,2570 00006 6
019491,000601: 33,2571 00002 2
019492,000602: 33,2572 57343 BOOP DLOAD* DMPR
019493,000603: 33,2573 02513 ANGX +2,1
019494,000604: 33,2574 27437 GEORGEJ
019495,000605: 33,2575 77722 SR2R
019496,000606: 33,2576 73406 PUSH SIN
019497,000607: 33,2577 56072 SL3R XAD,1
019498,000608: # # Page 442
019499,000609: 33,2600 00046 X1
019500,000610: 33,2601 10021 STORE 16D,2
019501,000611: 33,2602 77745 DLOAD
019502,000612: 33,2603 77746 COS
019503,000613: 33,2604 10027 STORE 22D,2 # COSINES
019504,000614: 33,2605 77704 TIX,2
019505,000615: 33,2606 66572 BOOP
019506,000616: 33,2607 77776 PERFERAS EXIT
019507,000617: 33,2610 04606 TC E7SETTER
019508,000618: 33,2611 E7,1400 EBANK= LAT(SPL)
019509,000619: 33,2611 01400 TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
019510,000620:
019511,000621: # CAUTION
019512,000622:
019513,000623: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019514,000624: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019515,000625:
019516,000626: 33,2612 E5,1412 EBANK= LENGTHOT
019517,000627: 33,2612 11412 ONCEMORE CCS LENGTHOT
019518,000628: 33,2613 02276 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019519,000629:
019520,000630: 33,2614 11450 CCS TORQNDX
019521,000631: 33,2615 12617 TCF +2
019522,000632: 33,2616 02621 TC SETUPER1
019523,000633: 33,2617 30032 CA CDUX
019524,000634: 33,2620 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019525,000635: 33,2621 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019526,000636: 33,2622 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019527,000637: 33,2623 02503 ANGZ
019528,000638: 33,2624 02507 ANGY
019529,000639: 33,2625 55525 PDDL VDEF
019530,000640: 33,2626 02511 ANGX
019531,000641: 33,2627 74276 VCOMP VXSC
019532,000642: 33,2630 27437 GEORGEJ
019533,000643: 33,2631 74521 MXV VSR1
019534,000644: 33,2632 02672 XSM
019535,000645: 33,2633 02760 STORE OGC
019536,000646: 33,2634 77776 EXIT
019537,000647:
019538,000648: 33,2635 05402 TORQINCH TC PHASCHNG
019539,000649: 33,2636 00005 OCT 00005
019540,000650: 33,2637 32220 CA OGCPL
019541,000651: 33,2640 04636 TC BANKCALL
019542,000652: 33,2641 17244 CADR IMUPULSE
019543,000653: 33,2642 02126 TC IMUSTLLG
019544,000654: 33,2643 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019545,000655: 33,2644 02106 TC VALMIS # VERT DRIFT TEST OVER
019546,000656: 33,2645 06006 TC INTPRET
019547,000657: 33,2646 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019548,000658: 33,2647 64000 ERTHRVSE
019549,000659: # # Page 443
019550,000660: 33,2650 77776 EXIT
019551,000661: 33,2651 02074 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019552,000662:
019553,000663:
019554,000664: 33,2652 05671 SOMEERRR TC ALARM
019555,000665: 33,2653 01600 OCT 1600
019556,000666: 33,2654 02657 TC +3
019557,000667: 33,2655 05671 SOMERR2 TC ALARM
019558,000668: 33,2656 01601 OCT 1601
019559,000669: 33,2657 05402 TC PHASCHNG
019560,000670: 33,2660 00005 OCT 00005
019561,000671: 33,2661 02113 TC ENDTEST1
019562,000672:
019563,000673:
019564,000674: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD
019565,000675:
019566,000676:
019567,000677: 33,2662 00000 00000 SCHZEROS 2DEC .00000000
019568,000678: 33,2664 00000 00000 2DEC .00000000
019569,000679: 33,2666 00000 OCT 00000
019570,000680: 33,2667 00000 ONEDPP OCT 00000
019571,000681: 33,2670 00001 +1 OCT 00001 # ABOVE ORDER IS IMPORTANT
019572,000682:
019573,000683: 33,2671 00004 INTVAL OCT 4
019574,000684: 33,2672 00002 OCT 2
019575,000685: 33,2673 00220 DEC 144 B-14
019576,000686: 33,2674 77776 DEC -1 B-14
019577,000687: 33,2675 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019578,000688: 33,2677 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019579,000689:
019580,000690:
019581,000691: 33,2701 00115 77DECML DEC 77 B-14
019582,000692: 33,2702 01453 ALXXXZ GENADR ALX1S -1
019583,000693:
019584,000694: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019585,000695:
019586,000696: 33,2703 COUNT* $$/P01
019587,000697:
019588,000698: # INITIALIZATION SECTION
019589,000699:
019590,000700: 33,2703 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019591,000701: 33,2704 74755 MASK NOP01BIT
019592,000702: 33,2705 00006 EXTEND
019593,000703: 33,2706 12711 BZF GTSCPSSA
019594,000704: 33,2707 05726 TC POODOO
019595,000705: 33,2710 21521 OCT 21521 # NO DO ALARM FOR P01 - P11 ALREADY DONE
019596,000706: # # Page 444
019597,000707: 33,2711 34753 GTSCPSSA CAF PRIO20 # INITIAL PRIORITY ONLY 13
019598,000708: 33,2712 05176 TC PRIOCHNG # CHANGE TO 20
019599,000709:
019600,000710: 33,2713 34770 CAF ONE
019601,000711: 33,2714 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019602,000712: 33,2715 33211 CA 1/PIPAGT
019603,000713: 33,2716 55277 TS 1/PIPADT
019604,000714: 33,2717 34761 NXXTBNN CA BIT8
019605,000715: 33,2720 55412 TS LENGTHOT
019606,000716: 33,2721 35011 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019607,000717: 33,2722 55644 TS 1SECXT1
019608,000718: 33,2723 34770 CAF ONE
019609,000719: 33,2724 55632 TS PREMTRX1
019610,000720: 33,2725 55657 TS PERFDLAY +1
019611,000721: 33,2726 34772 CAF ZERO
019612,000722: 33,2727 55656 TS PERFDLAY
019613,000723: 33,2730 00006 EXTEND
019614,000724: 33,2731 31634 DCA LUNCHAZ1
019615,000725: 33,2732 53636 DXCH NEWAZ1
019616,000726: 33,2733 00006 EXTEND
019617,000727: 33,2734 31634 DCA LUNCHAZ1
019618,000728: 33,2735 53640 DXCH OLDAZMTH
019619,000729: 33,2736 34352 SETUPGC CA DEC17
019620,000730: 33,2737 55655 TS ZERONDX1
019621,000731: 33,2740 32222 CA XSMADR
019622,000732: 33,2741 02134 TC ZEROING
019623,000733: 33,2742 02744 TC POSN17C
019624,000734: 33,2743 02002 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019625,000735:
019626,000736:
019627,000737: 33,2744 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE
019628,000738: 33,2745 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE
019629,000739: 33,2746 44753 CS HALF # ALL THIS TO INITIALIZE MATRIX
019630,000740: 33,2747 55705 TS ZSM
019631,000741: 33,2750 06006 TC INTPRET
019632,000742: 33,2751 41545 DLOAD PUSH
019633,000743: 33,2752 02636 NEWAZ1
019634,000744: 33,2753 77756 SIN
019635,000745: 33,2754 02676 STORE XSM +4
019636,000746: 33,2755 16702 STODL YSM +2
019637,000747: 33,2756 77746 COS
019638,000748: 33,2757 02704 STORE YSM +4
019639,000749: 33,2760 77676 DCOMP
019640,000750: 33,2761 02674 STORE XSM +2
019641,000751: 33,2762 77776 EXIT
019642,000752: 33,2763 01425 TC QPLACE
019643,000753:
019644,000754: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019645,000755:
019646,000756: # # Page 445
019647,000757: 33,2764 COUNT* $$/P02
019648,000758: 33,2764 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019649,000759: 33,2765 02543 DPIPAY +8D,1
019650,000760: 33,2766 02505 FILDELV1 +8D,1
019651,000761: 33,2767 42675 DMPR DAD*
019652,000762: 33,2770 27441 GEOCONS1
019653,000763: 33,2771 02505 FILDELV1 +8D,1
019654,000764: 33,2772 06505 STORE FILDELV1 +8D,1
019655,000765: 33,2773 77613 DAD*
019656,000766: 33,2774 02507 INTVEC1 +8D,1
019657,000767: 33,2775 06507 STORE INTVEC1 +8D,1
019658,000768: 33,2776 42675 DMPR DAD*
019659,000769: 33,2777 27443 GEOCONS2
019660,000770: 33,3000 02505 FILDELV1 +8D,1
019661,000771: 33,3001 41475 DMPR PUSH
019662,000772: 33,3002 15334 GEOCONS5
019663,000773: 33,3003 67300 TIX,1 SLOAD
019664,000774: 33,3004 66764 ALWAYSG
019665,000775: 33,3005 02647 ERECTIM1
019666,000776: 33,3006 71254 BZE DLOAD
019667,000777: 33,3007 67020 COMPGS
019668,000778: 33,3010 02471 THETAN1 +2
019669,000779: 33,3011 45425 DSU STADR
019670,000780: 33,3012 61306 STODL THETAN1 +2 # ERECTION ONLY.
019671,000781: 33,3013 77621 BDSU
019672,000782: 33,3014 02473 THETAN1 +4
019673,000783: 33,3015 02473 STORE THETAN1 +4
019674,000784: 33,3016 77650 GOTO
019675,000785: 33,3017 67042 ADDINDRF
019676,000786: 33,3020 43345 COMPGS DLOAD DAD # COMPASS
019677,000787: 33,3021 02467 THETAN1
019678,000788: 33,3022 02475 FILDELV1
019679,000789: 33,3023 16467 STODL THETAN1
019680,000790: 33,3024 02475 FILDELV1
019681,000791: 33,3025 44275 DMPR BDSU
019682,000792: 33,3026 27445 GEOCONS3
019683,000793: 33,3027 02473 THETAN1 +4
019684,000794: 33,3030 16473 STODL THETAN1 +4
019685,000795: 33,3031 02501 FILDELV1 +4
019686,000796: 33,3032 44275 DMPR BDSU
019687,000797: 33,3033 27445 GEOCONS3
019688,000798: 33,3034 02471 THETAN1 +2
019689,000799: 33,3035 57325 PDDL DMPR
019690,000800: 33,3036 02503 INTVEC1 +4
019691,000801: 33,3037 27447 GEOCONS4
019692,000802: 33,3040 45421 BDSU STADR
019693,000803: 33,3041 75306 STORE THETAN1 +2
019694,000804: 33,3042 77776 ADDINDRF EXIT
019695,000805:
019696,000806: # # Page 446
019697,000807:
019698,000808: 33,3043 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019699,000809: 33,3044 02276 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019700,000810: 33,3045 03162 TC CHKCOMED
019701,000811: 33,3046 11324 CCS LGYRO # YES BUT ARE GYROS BUSY
019702,000812: 33,3047 12277 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019703,000813:
019704,000814: 33,3050 06006 LASTGTS TC INTPRET
019705,000815: 33,3051 77775 VLOAD
019706,000816: 33,3052 02650 ERCOMP1
019707,000817: 33,3053 16461 STODL THETAX1
019708,000818: 33,3054 02443 TMARK
019709,000819: 33,3055 02457 STORE ALK
019710,000820: 33,3056 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019711,000821:
019712,000822: 33,3057 05402 RESTAIER TC PHASCHNG
019713,000823: 33,3060 00275 OCT 00275
019714,000824: 33,3061 01,2306 5P27SPT1 = 5.27SPOT
019715,000825: 33,3061 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019716,000826: 33,3062 64375 VLOAD MXV
019717,000827: 33,3063 02467 THETAN1
019718,000828: 33,3064 02672 XSM
019719,000829: 33,3065 53372 VSL1 VAD
019720,000830: 33,3066 02461 THETAX1
019721,000831: 33,3067 16650 STODL ERCOMP1
019722,000832: 33,3070 02457 ALK
019723,000833: 33,3071 02443 STORE TMARK
019724,000834: 33,3072 77776 EXIT
019725,000835: 33,3073 02175 TC EARTHR* # TORQUE IT ALL IN
019726,000836: 33,3074 31646 CAE ERECTIM1
019727,000837: 33,3075 55631 TS GEOSAVE1
019728,000838: 33,3076 05402 TC PHASCHNG
019729,000839: 33,3077 00155 OCT 00155
019730,000840: 33,3100 01,2267 5P15SPT1 = 5.15SPOT
019731,000841: 33,3100 06006 RESTEST1 TC INTPRET
019732,000842: 33,3101 77775 VLOAD
019733,000843: 33,3102 26663 SCHZEROS
019734,000844: 33,3103 02467 STORE THETAN1
019735,000845: 33,3104 77776 EXIT
019736,000846: 33,3105 11632 CCS PREMTRXC
019737,000847: 33,3106 03155 TC NOCHORLD
019738,000848: 33,3107 05402 TC PHASCHNG
019739,000849: 33,3110 00255 OCT 00255
019740,000850: 33,3111 01,2303 5P25SPT1 = 5.25SPOT
019741,000851: 33,3111 06006 RESTEST3 TC INTPRET
019742,000852: 33,3112 77745 DLOAD
019743,000853: 33,3113 02634 LAUNCHAZ
019744,000854: 33,3114 53025 DSU BZE
019745,000855: 33,3115 02640 OLDAZMTH
019746,000856: 33,3116 67152 NOAZCHGE
019747,000857: 33,3117 00001 STORE 0D
019748,000858: # # Page 447
019749,000859: 33,3120 43335 SLOAD DAD
019750,000860: 33,3121 26671 ONEDPP +1
019751,000861: 33,3122 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019752,000862: 33,3123 16633 STODL PREMTRXC
019753,000863: 33,3124 02634 LAUNCHAZ
019754,000864: 33,3125 16636 STODL NEWAZMTH
019755,000865: 33,3126 00001 0D
019756,000866: 33,3127 02654 ADERCOMP STORE ERCOMP +4
019757,000867: 33,3130 77776 EXIT
019758,000868: 33,3131 02744 TC POSN17C
019759,000869: 33,3132 05402 TC PHASCHNG
019760,000870: 33,3133 00335 OCT 00335
019761,000871: 33,3134 01,2314 5P33SPT1 = 5.33SPOT
019762,000872: 33,3134 00006 RESCHNG EXTEND
019763,000873: 33,3135 31636 DCA NEWAZMTH
019764,000874: 33,3136 53640 DXCH OLDAZMTH
019765,000875: 33,3137 34762 CA BIT7 # SPEND 320 SEC ERECTING
019766,000876: 33,3140 55412 TS LENGTHOT
019767,000877: 33,3141 05402 TC PHASCHNG
019768,000878: 33,3142 00075 OCT 00075
019769,000879: 33,3143 01,2256 5P7SPT2 = 5.7SPOT
019770,000880: 33,3143 33210 SPITGYRO CA ERCOMPPL
019771,000881: 33,3144 04636 TC BANKCALL
019772,000882: 33,3145 17244 CADR IMUPULSE
019773,000883: 33,3146 04636 TC BANKCALL
019774,000884: 33,3147 17644 CADR IMUSTALL
019775,000885: 33,3150 02655 TC SOMERR2
019776,000886: 33,3151 02227 TC ESTIMS # RE-INITIALIZE
019777,000887:
019778,000888:
019779,000889: 33,3152 77776 NOAZCHGE EXIT
019780,000890: 33,3153 34770 CA ONE
019781,000891: 33,3154 55632 TS PREMTRXC
019782,000892: 33,3155 11631 NOCHORLD CCS GEOSAVE1
019783,000893: 33,3156 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019784,000894:
019785,000895: 33,3157 34322 ANNNNNN CAF NINE
019786,000896: 33,3160 55412 TS LENGTHOT
019787,000897: 33,3161 02277 TC SLEEPIE +1
019788,000898:
019789,000899:
019790,000900: 33,3162 00004 CHKCOMED INHINT
019791,000901: 33,3163 41214 CS MODREG # CHECK FOR MM 07 FIRST
019792,000902: 33,3164 64774 AD SEVEN
019793,000903: 33,3165 00006 EXTEND
019794,000904: 33,3166 13202 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019795,000905: 33,3167 44772 CS ZERO
019796,000906: 33,3170 00006 EXTEND
019797,000907: 33,3171 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019798,000908: 33,3172 74764 MASK BIT5 # LIFTOFF BIT
019799,000909: # # Page 448
019800,000910: 33,3173 10000 CCS A
019801,000911: 33,3174 13203 TCF PRELTERM # LIFTOFF HAS OCCURRED
019802,000912:
019803,000913: 33,3175 34764 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019804,000914: 33,3176 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019805,000915: 33,3177 10000 CCS A
019806,000916: 33,3200 13203 TCF PRELTERM # BACKUP RECEIVED
019807,000917:
019808,000918: 33,3201 00003 RELINT
019809,000919: 33,3202 00002 GOBKCALB TC Q
019810,000920:
019811,000921: 33,3203 37644 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019812,000922: 33,3204 05176 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019813,000923: 33,3205 00004 INHINT
019814,000924: 33,3206 04655 TC POSTJUMP
019815,000925: 33,3207 70000 CADR P11
019816,000926:
019817,000927:
019818,000928: 33,3210 02647 ERCOMPPL ECADR ERCOMP
019819,000929:
019820,000930: 33,3211 26,3333 GEOCONS5 EQUALS HIDPHALF
019821,000931: 33,3211 06200 1/PIPAGT OCT 06200
019822,000932: 33,3212 4352 17DECML = ND1 # OCT 21
019823,000933: 33,3212 4351 19DECML = VD1 # OCT 23
019824,000934: 33,3212 5011 1/2SECX = .5SEC
019825,000935:
019826,000936: # # Page 449
019827,000937: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019828,000938:
019829,000939: 33,3212 COUNT* $$/P03
019830,000940: 33,3212 05402 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019831,000941: 33,3213 00154 OCT 00154
019832,000942: 33,3214 01,2143 4P15SPT1 = 4.15SPOT
019833,000943: 33,3214 05344 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019834,000944: 33,3215 00003 MM 03 B-14
019835,000945: 33,3216 02011 SETNBPOS TC NBPOSPL
019836,000946: 33,3217 04636 +1 TC BANKCALL
019837,000947: 33,3220 16073 CADR MKRELEAS
019838,000948: 33,3221 34770 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019839,000949: 33,3222 22007 ZL # T 1, THEN TARGET 2
019840,000950: 33,3223 23427 +2 LXCH RUN
019841,000951: 33,3224 55252 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019842,000952: 33,3225 00006 EXTEND
019843,000953: 33,3226 51427 INDEX RUN
019844,000954: 33,3227 31433 DCA TAZEL1
019845,000955: 33,3230 53251 DXCH DSPTEM1
019846,000956: 33,3231 33252 OPTDATA8 CAF V05N30E
019847,000957: 33,3232 04636 TC BANKCALL
019848,000958: 33,3233 20705 CADR GODSPRET
019849,000959: 33,3234 35032 CAF V06N41
019850,000960: 33,3235 04636 TC BANKCALL
019851,000961: 33,3236 20743 CADR GOFLASH
019852,000962: 33,3237 03370 TC GCOMP5
019853,000963: 33,3240 03242 TC +2
019854,000964: 33,3241 13231 TCF OPTDATA8
019855,000965:
019856,000966: 33,3242 53251 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019857,000967: 33,3243 51427 INDEX RUN
019858,000968: 33,3244 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019859,000969: 33,3245 11427 CCS RUN
019860,000970: 33,3246 13313 TCF CONTIN33
019861,000971: 33,3247 34767 CAF TWO
019862,000972: 33,3250 54001 TS L
019863,000973: 33,3251 13223 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019864,000974:
019865,000975: 33,3252 01236 V05N30E VN 0530
019866,000976:
019867,000977: 33,3253 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019868,000978: 33,3254 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019869,000979: 33,3255 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
019870,000980: 33,3256 00014 12D
019871,000981: 33,3257 40331 SSP SETPD
019872,000982: 33,3260 00052 S2
019873,000983: 33,3261 00006 6
019874,000984: 33,3262 00001 0
019875,000985: 33,3263 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019876,000986: # # Page 450
019877,000987: 33,3264 02436 TAZEL1 +3,1
019878,000988: 33,3265 00001 STORE 0 # PD00 ELEVATION PD00
019879,000989: 33,3266 77756 SIN
019880,000990: 33,3267 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019881,000991: 33,3270 77745 DLOAD
019882,000992: 33,3271 00001 0
019883,000993: 33,3272 41546 COS PUSH # PD00 COS(EL) PD00
019884,000994: 33,3273 47133 SLOAD* RTB
019885,000995: 33,3274 02435 TAZEL1 +2,1
019886,000996: 33,3275 51754 CDULOGIC
019887,000997: 33,3276 00003 STORE 2 # PD02 AZIMUTH PD02
019888,000998: 33,3277 41356 SIN DMP
019889,000999: 33,3300 00001 0
019890,001000: 33,3301 77752 SL1
019891,001001: 33,3302 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019892,001002: 33,3303 71545 DLOAD COS
019893,001003: 33,3304 00003 2
019894,001004: 33,3305 72405 DMP SL1
019895,001005: 33,3306 76076 DCOMP AXT,1
019896,001006: 33,3307 00000 0
019897,001007: 33,3310 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019898,001008: 33,3311 43504 TIX,2 RVQ
019899,001009: 33,3312 67263 TAR1
019900,001010:
019901,001011:
019902,001012: 33,2000 SETLOC IMUCAL
019903,001013: 33,2000 BANK
019904,001014: 33,3313 COUNT* $$/P03
019905,001015: 33,3313 34770 CONTIN33 CA ONE
019906,001016: 33,3314 55140 TS STARCODE
019907,001017: 33,3315 34772 CA ZERO
019908,001018: 33,3316 03375 TC TARGDRVE
019909,001019: 33,3317 06006 TC INTPRET
019910,001020: 33,3320 77624 CALL
019911,001021: 33,3321 67254 TAR/EREF
019912,001022: 33,3322 64375 NEXTBNKS VLOAD MXV
019913,001023: 33,3323 00007 6D
019914,001024: 33,3324 02672 XSM
019915,001025: 33,3325 77772 VSL1
019916,001026: 33,3326 26736 STOVL STARAD
019917,001027: 33,3327 00015 12D
019918,001028: 33,3330 76521 MXV VSL1
019919,001029: 33,3331 02672 XSM
019920,001030: 33,3332 36744 STCALL STARAD +6
019921,001031: 33,3333 67450 LITTLSUB
019922,001032: 33,3334 02414 STORE LOSVEC
019923,001033: 33,3335 77776 EXIT
019924,001034: 33,3336 34767 NEXBNKSS CAF TWO
019925,001035: 33,3337 55140 TS STARCODE
019926,001036: 33,3340 36211 CAF SIX
019927,001037: # # Page 451
019928,001038: 33,3341 03375 TC TARGDRVE
019929,001039: 33,3342 06006 TC INTPRET
019930,001040: 33,3343 77624 CALL
019931,001041: 33,3344 67450 LITTLSUB
019932,001042: 33,3345 24015 STOVL 12D
019933,001043: 33,3346 02414 LOSVEC
019934,001044: 33,3347 34007 STCALL 06D
019935,001045: 33,3350 47432 AXISGEN
019936,001046: 33,3351 77624 CALL
019937,001047: 33,3352 47240 CALCGTA
019938,001048: 33,3353 77776 EXIT
019939,001049: 33,3354 35040 GCOMP4 CAF V06N93
019940,001050: 33,3355 04636 TC BANKCALL
019941,001051: 33,3356 20743 CADR GOFLASH
019942,001052: 33,3357 03370 TC GCOMP5
019943,001053: 33,3360 13362 TCF +2
019944,001054: 33,3361 13354 TCF GCOMP4
019945,001055: 33,3362 06006 TC INTPRET
019946,001056: 33,3363 53375 VLOAD VAD
019947,001057: 33,3364 02760 OGC
019948,001058: 33,3365 02650 ERCOMP1
019949,001059: 33,3366 02650 STORE ERCOMP1
019950,001060: 33,3367 77776 EXIT
019951,001061: 33,3370 05344 GCOMP5 TC NEWMODEX
019952,001062: 33,3371 00002 MM 02 B-14
019953,001063: 33,3372 05402 TC PHASCHNG
019954,001064: 33,3373 00004 OCT 00004
019955,001065: 33,3374 05205 TC ENDOFJOB
019956,001066: 33,2000 SETLOC IMUCAL
019957,001067: 33,2000 BANK
019958,001068:
019959,001069:
019960,001070: 33,3375 COUNT* $$/P03
019961,001071: 33,3375 00006 TARGDRVE EXTEND
019962,001072: 33,3376 23424 QXCH QPLAC
019963,001073: 33,3377 55431 TS TARG1/2
019964,001074: 33,3400 06006 TC INTPRET
019965,001075: 33,3401 77624 CALL
019966,001076: 33,3402 67254 TAR/EREF
019967,001077: 33,3403 76740 LXC,1 VLOAD*
019968,001078: 33,3404 02431 TARG1/2
019969,001079: 33,3405 00007 6D,1
019970,001080: 33,3406 36766 STCALL STAR
019971,001081: 33,3407 46053 SXTANG
019972,001082: 33,3410 77776 EXIT
019973,001083: 33,3411 31773 CA SAC
019974,001084: 33,3412 55313 TS DESOPTS
019975,001085: 33,3413 31775 CA PAC
019976,001086: 33,3414 55312 TS DESOPTT
019977,001087: 33,3415 34772 RETARG CAF ZERO
019978,001088: # # Page 452
019979,001089: 33,3416 55323 TS OPTIND
019980,001090: 33,3417 04636 TC BANKCALL
019981,001091: 33,3420 16000 CADR SXTMARK
019982,001092: 33,3421 10301 CCS MARKINDX
019983,001093: 33,3422 03415 TC RETARG # NO MARK TAKEN - DO AGAIN
019984,001094:
019985,001095: 33,3423 04636 TC BANKCALL
019986,001096: 33,3424 16073 CADR MKRELEAS
019987,001097:
019988,001098: 33,3425 01424 TC QPLAC
019989,001099:
019990,001100:
019991,001101: 33,2000 SETLOC IMUCAL
019992,001102: 33,2000 BANK
019993,001103: 33,3426 COUNT* $$/P03
019994,001104: 33,3426 30341 22444 PIPASC 2DEC .76376833
019995,001105: 33,3430 57223 66451 VELSC 2DEC -.52223476
019996,001106: 33,3432 05427 12577 ALSK 2DEC .17329931
019997,001107: 33,3434 77567 44202 2DEC -.00835370
019998,001108: 33,3436 24276 14066 GEORGEJ 2DEC .63661977
019999,001109: 33,3440 03146 14632 GEOCONS1 2DEC .1
020000,001110: 33,3442 00121 35341 GEOCONS2 2DEC .005
020001,001111: 33,3444 01767 31666 GEOCONS3 2DEC .062
020002,001112: 33,3446 00004 35223 GEOCONS4 2DEC .0003
020003,001113:
020004,001114: 33,3450 COUNT* $$/P02
020005,001115: 33,3450 74020 LITTLSUB STQ AXC,1
020006,001116: 33,3451 00300 QMAJ
020007,001117: 33,3452 03722 MRKBUF1
020008,001118: 33,3453 77650 GOTO
020009,001119: 33,3454 36073 SXTSM2
020010,001120:
020011,001121:
020012,001122: 43,2000 SETLOC EXTVERBS
020013,001123: 43,2000 BANK
020014,001124:
020015,001125: 43,3132 COUNT* $$/EXTVB
020016,001126: 43,3132 06006 AZMTHCG1 TC INTPRET
020017,001127: 43,3133 47145 DLOAD RTB
020018,001128: 43,3134 02636 NEWAZMTH
020019,001129: 43,3135 45640 1STO2S
020020,001130: 43,3136 77776 EXIT
020021,001131: # # Page 453
020022,001132: 43,3137 56154 XCH MPAC
020023,001133: 43,3140 55250 TS DSPTEM1
020024,001134: 43,3141 04636 TC BANKCALL
020025,001135: 43,3142 20715 CADR CLEANDSP
020026,001136: 43,3143 33165 CAF VN0629
020027,001137: 43,3144 04636 TC BANKCALL
020028,001138: 43,3145 20743 CADR GOFLASH
020029,001139: 43,3146 13157 TCF +11
020030,001140: 43,3147 13151 TCF +2
020031,001141: 43,3150 13143 TCF -5
020032,001142: 43,3151 06006 TC INTPRET
020033,001143: 43,3152 47135 SLOAD RTB
020034,001144: 43,3153 01251 DSPTEM1
020035,001145: 43,3154 51754 CDULOGIC
020036,001146: 43,3155 02634 STORE LAUNCHAZ
020037,001147: 43,3156 77776 EXIT
020038,001148: 43,3157 34772 +11 CAF ZERO
020039,001149: 43,3160 55632 TS PREMTRXC
020040,001150: 43,3161 05402 TC PHASCHNG
020041,001151: 43,3162 00004 OCT 00004
020042,001152: 43,3163 04655 TC POSTJUMP
020043,001153: 43,3164 21275 CADR PINBRNCH
020044,001154:
020045,001155: 43,3165 01435 VN0629 VN 0629
020046,001156:
020047,001157: # # Page 454
020048,001158: # *** END OF DIOGENES.064 ***
020049,001159:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc