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
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[WORKAROUND] RSB 2004 |
018270,000132: 33,2112 30,2000 SBANK= LOWSUPER
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[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