Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are 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 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

018119,000002:                                                                                                 #  Copyright:    Public domain.
018120,000003:                                                                                                 #  Filename:      IMU_CALIBRATION_AND_ALIGNMENT.agc
018121,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
018122,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
018123,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
018124,000007:                                                                                                 #  Assembler:    yaYUL
018125,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
018126,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
018127,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
018128,000011:                                                                                                 #  Mod history:  2011-01-27 JL   Adapted from corresponding Colossus 249 file.
018129,000012: 
018130,000013:                                                                                                 # # Page 414
018131,000014:                                                                                                 #  NAME- IMU PERFORMANCE TESTS 2
018132,000015: 
018133,000016:                                                                                                 #  DATE- MARCH 20,1967
018134,000017: 
018135,000018:                                                                                                 #  BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018136,000019: 
018137,000020:                                                                                                 #  MODNO.- ZERO
018138,000021: 
018139,000022:                                                                                                 #  FUNCTIONAL DESCRIPTION
018140,000023: 
018141,000024:                                                                                                 #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018142,000025:                                                                                                 #  THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018143,000026:                                                                                                 #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
018144,000027: 
018145,000028: 33,2004                                          BANK     33                                    
018146,000029: 33,2000                                          SETLOC   IMUCAL                                
018147,000030: 33,2000                                          BANK                                           
018148,000031: 
018149,000032: 33,2004  E5,1423                                 EBANK=   POSITON                               
018150,000033: 33,2004           34714        IMUTEST           CA       ZERO                                  
018151,000034: 33,2005           55452                          TS       DRIFTT                                
018152,000035: 33,2006           55643                          TS       GEOCOMP1                              
018153,000036: 33,2007           32443                          CAF      TESTTIME                              
018154,000037: 33,2010           55412                          TS       LENGTHOT                              
018155,000038: 33,2011           02302                          TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018156,000039: 33,2012           34734                          CAF      1SECX                                 
018157,000040: 33,2013           55644                          TS       1SECXT1                               
018158,000041: 
018159,000042: 33,2014           32441                          CA       OC14400                               
018160,000043: 33,2015           55074                          TS       1/PIPADT                              
018161,000044: 33,2016           06006        GUESS             TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018162,000045: 33,2017           77624                          CALL                                           
018163,000046: 33,2020           10617                                   LATAZCHK                              
018164,000047: 33,2021           57546                          COS      DCOMP                                 
018165,000048: 33,2022           77752                          SL1                                            
018166,000049: 33,2023           16447                          STODL    WANGI                                 
018167,000050: 33,2024           02403                                   LATITUDE                              
018168,000051: 33,2025           72556                          SIN      SL1                                   
018169,000052: 33,2026           02445                          STORE    WANGO                                 
018170,000053: 33,2027           77776                          EXIT                                           
018171,000054: 33,2030           04555        GEOIMUTT          TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018172,000055: 33,2031           16516                          CADR     IMUZERO                               
018173,000056: 33,2032           02316                          TC       IMUSTLLG                              
018174,000057: 33,2033           34714        IMUBACK           CA       ZERO                                  
018175,000058: 33,2034           55421                          TS       NDXCTR                                
018176,000059: 33,2035           55450                          TS       TORQNDX                               
018177,000060: 33,2036           55451                          TS       TORQNDX    +1                         
018178,000061: 33,2037           34375        NBPOSPL           CA       DEC17                                 
018179,000062: 33,2040           55655                          TS       ZERONDX1                              
018180,000063: 33,2041           32445                          CA       XNBADR                                
018181,000064:                                                                                                 # # Page 415
018182,000065: 33,2042           02356                          TC       ZEROING                               
018183,000066: 33,2043           34675                          CA       HALF                                  
018184,000067: 33,2044           55713                          TS       XNB                                   
018185,000068: 33,2045           06006                          TC       INTPRET                               
018186,000069: 33,2046           73545                          DLOAD    SIN                                   
018187,000070: 33,2047           02401                                   AZIMUTH                               
018188,000071: 33,2050           02724                          STORE    YNB        +2                         
018189,000072: 33,2051           16734                          STODL    ZNB        +4                         
018190,000073: 33,2052           02401                                   AZIMUTH                               
018191,000074: 33,2053           77746                          COS                                            
018192,000075: 33,2054           02726                          STORE    YNB        +4                         
018193,000076: 33,2055           77676                          DCOMP                                          
018194,000077: 33,2056           02732                          STORE    ZNB        +2                         
018195,000078: 33,2057           77776                          EXIT                                           
018196,000079: 33,2060           05253                          TC       CHECKMM                               
018197,000080: 33,2061           00003                          MM       03         B-14                       #    SEE IF IN OPTICAL VERIFICATION
018198,000081: 33,2062           12064                          TCF      +2                                    #   NO
018199,000082: 33,2063           13433                          TCF      SETNBPOS   +1                         #     YES
018200,000083: 33,2064           06006                          TC       INTPRET                               
018201,000084: 33,2065           77624                          CALL                                           
018202,000085: 33,2066           47244                                   CALCGA                                
018203,000086: 33,2067           77776                          EXIT                                           
018204,000087: 33,2070           04555                          TC       BANKCALL                              
018205,000088: 33,2071           16602                          CADR     IMUCOARS                              
018206,000089: 33,2072           34675                          CAF      BIT14                                 #  IF BIT14 SET, GIMBAL LOCK
018207,000090: 33,2073           70077                          MASK     FLAGWRD3                              
018208,000091: 33,2074           00006                          EXTEND                                         
018209,000092: 33,2075           12077                          BZF      +2                                    
018210,000093: 33,2076           25421                          INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK,OTHERWISE 0
018211,000094: 33,2077           05447                          TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018212,000095: 33,2100           00056                          ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018213,000096: 33,2101           02316                          TC       IMUSTLLG                              
018214,000097: 33,2102           11421                          CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018215,000098: 33,2103           02131                          TC       PIPACHK                               #  ALIGN AND MEARSUE VERTICAL PIPA RATE
018216,000099: 33,2104           04555                          TC       BANKCALL                              
018217,000100: 33,2105           17012                          CADR     IMUFINE                               
018218,000101: 33,2106           02316                          TC       IMUSTLLG                              
018219,000102: 33,2107           00006                          EXTEND                                         
018220,000103: 33,2110           31657                          DCA      PERFDLAY                              
018221,000104: 33,2111           05231                          TC       LONGCALL                              
018222,000105: 33,2112  E5,1423                                 EBANK=   POSITON                               
018223,000106: 33,2112           02116 66065                    2CADR    GOESTIMS                              
018224,000107: 
018225,000108: 33,2114           32121                          CA       ESTICADR                              
018226,000109: 33,2115           05070                          TC       JOBSLEEP                              
018227,000110: 33,2116           32121        GOESTIMS          CA       ESTICADR                              
018228,000111: 33,2117           05074                          TC       JOBWAKE                               
018229,000112: 33,2120           05213                          TC       TASKOVER                              
018230,000113: 33,2121           66453        ESTICADR          CADR     ESTIMS                                
018231,000114:                                                                                                 # # Page 416
018232,000115: 33,2122           34714        TORQUE            CA       ZERO                                  
018233,000116: 33,2123           55050                          TS       DSPTEM2                               
018234,000117: 33,2124           31514                          CA       DRIFTI                                
018235,000118: 33,2125           55051                          TS       DSPTEM2    +1                         
018236,000119: 33,2126           51423                          INDEX    POSITON                               
018237,000120: 33,2127           55430                          TS       SOUTHDR    -1                         
018238,000121: 33,2130           02427                          TC       SHOW                                  
018239,000122: 
018240,000123: 33,2131           51421        PIPACHK           INDEX    NDXCTR                                #  PIPA TEST
018241,000124: 33,2132           02133                          TC       +1                                    
018242,000125: 33,2133           02417                          TC       EARTHR*                               
018243,000126: 33,2134           34374                          CA       DEC57                                 
018244,000127: 33,2135           55412                          TS       LENGTHOT                              
018245,000128: 33,2136           34712                          CA       ONE                                   
018246,000129: 33,2137           55547                          TS       RESULTCT                              
018247,000130: 33,2140           34714                          CA       ZERO                                  
018248,000131: 33,2141           51422                          INDEX    PIPINDEX                              
018249,000132: 33,2142           54037                          TS       PIPAX                                 
018250,000133: 33,2143           55502                          TS       DATAPL                                
018251,000134: 33,2144           55506                          TS       DATAPL     +4                         
018252,000135: 33,2145           02321                          TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018253,000136: 33,2146           00004                          INHINT                                         
018254,000137: 33,2147           34711                          CAF      TWO                                   
018255,000138: 33,2150           05130                          TC       TWIDDLE                               
018256,000139: 33,2151  0002671                                 EBANK=   XSM                                   
018257,000140: 33,2151           02153                          ADRES    PIPATASK                              
018258,000141: 33,2152           05112                          TC       ENDOFJOB                              
018259,000142: 33,2153           00006        PIPATASK          EXTEND                                         
018260,000143: 33,2154           27412                          DIM      LENGTHOT                              
018261,000144: 33,2155           31412                          CA       LENGTHOT                              
018262,000145: 33,2156           00006                          EXTEND                                         
018263,000146: 33,2157           62163                          BZMF     STARTPIP                              
018264,000147: 33,2160           34701                          CAF      BIT10                                 
018265,000148: 33,2161           05130                          TC       TWIDDLE                               
018266,000149: 33,2162  0002671                                 EBANK=   XSM                                   
018267,000150: 33,2162           02153                          ADRES    PIPATASK                              
018268,000151: 33,2163           34675        STARTPIP          CAF      PRIO20                                
018269,000152: 33,2164           05042                          TC       FINDVAC                               
018270,000153: 33,2165  0002671                                 EBANK=   XSM                                   
018271,000154: 33,2165           02170 66065                    2CADR    PIPJOBB                               
018272,000155: 33,2167           05213                          TC       TASKOVER                              
018273,000156: 33,2170           51421        PIPJOBB           INDEX    NDXCTR                                
018274,000157: 33,2171           02172                          TC       +1                                    
018275,000158: 33,2172           02417                          TC       EARTHR*                               
018276,000159: 33,2173           31412                          CA       LENGTHOT                              
018277,000160: 33,2174           00006                          EXTEND                                         
018278,000161: 33,2175           62177                          BZMF     +2                                    
018279,000162: 33,2176           05112                          TC       ENDOFJOB                              
018280,000163: 33,2177           34715                          CA       FIVE                                  
018281,000164:                                                                                                 # # Page 417
018282,000165: 33,2200           55547                          TS       RESULTCT                              
018283,000166: 33,2201           02321                          TC       CHECKG                                
018284,000167: 33,2202           00006                          EXTEND                                         
018285,000168: 33,2203           41503                          DCS      DATAPL                                
018286,000169: 33,2204           21507                          DAS      DATAPL     +4                         
018287,000170: 
018288,000171: 33,2205           06006                          TC       INTPRET                               
018289,000172: 33,2206           45345                          DLOAD    DSU                                   
018290,000173: 33,2207           02511                                   DATAPL     +6                         
018291,000174: 33,2210           02505                                   DATAPL     +2                         
018292,000175: 33,2211           45044                          BPL      CALL                                  
018293,000176: 33,2212           66214                                   AINGOTN                               
018294,000177: 33,2213           66276                                   OVERFFIX                              
018295,000178: 33,2214           56325        AINGOTN           PDDL     DDV                                   
018296,000179: 33,2215           02507                                   DATAPL     +4                         
018297,000180: 33,2216           57212                          SL4      DMPR                                  
018298,000181: 33,2217           27112                                   DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018299,000182: 33,2220           77634                          RTB                                            
018300,000183: 33,2221           45541                                   SGNAGREE                              
018301,000184: 33,2222           01051                          STORE    DSPTEM2                               
018302,000185: 33,2223           77776                          EXIT                                           
018303,000186: 33,2224           11421                          CCS      NDXCTR                                
018304,000187: 33,2225           02302                          TC       COAALIGN                              #   TAKE PLATFORM OUT OF GIMBAL LOCK
018305,000188: 33,2226           02427                          TC       SHOW                                  
018306,000189: 33,2227           32447        VERTDRFT          CA       3990DEC                               #   ABOUT 1 HOUR VERTICAL DRIFT TEST
018307,000190: 33,2230           55412                          TS       LENGTHOT                              
018308,000191: 33,2231           51423                          INDEX    POSITON                               
018309,000192: 33,2232           41427                          CS       SOUTHDR    -2                         
018310,000193: 33,2233           55452                          TS       DRIFTT                                
018311,000194: 33,2234           31675                          CA       XSM        +4                         #  0 IF POSN 4
018312,000195: 33,2235           00006                          EXTEND                                         
018313,000196: 33,2236           12244                          BZF      PON2                                  
018314,000197: 33,2237           44706        PON4              CS       BIT5                                  #        OFFSET PLATFORM
018315,000198: 33,2240           27651                          ADS      ERCOMP1    +2                         
018316,000199: 33,2241           34706                          CA       BIT5                                  
018317,000200: 33,2242           27647                          ADS      ERCOMP1                               
018318,000201: 33,2243           12250                          TCF      PONG                                  
018319,000202: 33,2244           44706        PON2              CS       BIT5                                  
018320,000203: 33,2245           27651                          ADS      ERCOMP1    +2                         
018321,000204: 33,2246           34706                          CA       BIT5                                  
018322,000205: 33,2247           27653                          ADS      ERCOMP1    +4                         
018323,000206: 33,2250           02417        PONG              TC       EARTHR*                               
018324,000207: 33,2251           34714                          CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018325,000208: 33,2252           55404                          TS       ERVECTOR                              
018326,000209: 33,2253           55405                          TS       ERVECTOR   +1                         
018327,000210: 33,2254           34672        GUESS1            CAF      POSMAX                                
018328,000211: 33,2255           55450                          TS       TORQNDX                               
018329,000212: 33,2256           55451                          TS       TORQNDX    +1                         
018330,000213: 33,2257           30032                          CA       CDUX                                  
018331,000214: 33,2260           55413                          TS       LOSVEC                                
018332,000215:                                                                                                 # # Page 418
018333,000216: 33,2261           02453                          TC       ESTIMS                                
018334,000217: 33,2262           31512        VALMIS            CA       DRIFTO                                
018335,000218: 33,2263           55051                          TS       DSPTEM2    +1                         
018336,000219: 33,2264           34714                          CA       ZERO                                  
018337,000220: 33,2265           55050                          TS       DSPTEM2                               
018338,000221: 33,2266           02427                          TC       SHOW                                  
018339,000222: 
018340,000223: 
018341,000224: 33,2267           05447        ENDTEST1          TC       DOWNFLAG                              #  IMU NOT IN USE
018342,000225: 33,2270           00007                          ADRES    IMUSE                                 #  BIT 8 FLAG 0
018343,000226: 33,2271           44714                          CS       ZERO                                  
018344,000227: 33,2272           05246                          TC       NEWMODEX   +3                         
018345,000228: 33,2273           04555                          TC       BANKCALL                              
018346,000229: 33,2274           16063                          CADR     MKRELEAS                              
018347,000230: 33,2275           05423                          TC       ENDEXT                                
018348,000231: 
018349,000232:                                                                                                 # # Page 419
018350,000233: 33,2276           43215        OVERFFIX          DAD      DAD                                   
018351,000234: 33,2277           15340                                   DPPOSMAX                              
018352,000235: 33,2300           27120                                   ONEDPP                                
018353,000236: 33,2301           77616                          RVQ                                            
018354,000237: 
018355,000238: 
018356,000239: 33,2302           00006        COAALIGN          EXTEND                                         #   COARSE ALIGN SUBROUTINE
018357,000240: 33,2303           23425                          QXCH     QPLACE                                
018358,000241: 33,2304           34714                          CA       ZERO                                  
018359,000242: 33,2305           55155                          TS       THETAD                                
018360,000243: 33,2306           55156                          TS       THETAD     +1                         
018361,000244: 33,2307           55157                          TS       THETAD     +2                         
018362,000245: 33,2310           04555                          TC       BANKCALL                              
018363,000246: 33,2311           16602                          CADR     IMUCOARS                              
018364,000247: 33,2312           04555                          TC       BANKCALL                              
018365,000248: 33,2313           17516                          CADR     IMUSTALL                              
018366,000249: 33,2314           03104                          TC       SOMERR2                               
018367,000250: 33,2315           01425                          TC       QPLACE                                
018368,000251: 
018369,000252: 
018370,000253: 33,2316           00006        IMUSTLLG          EXTEND                                         
018371,000254: 33,2317           23425                          QXCH     QPLACE                                
018372,000255: 33,2320           02312                          TC       COAALIGN   +10                        
018373,000256: 
018374,000257: 
018375,000258: 33,2321           00006        CHECKG            EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018376,000259: 33,2322           23425                          QXCH     QPLACE                                
018377,000260: 33,2323           02331                          TC       +6                                    
018378,000261: 33,2324           00003        CHECKG1           RELINT                                         
018379,000262: 33,2325           30067                          CA       NEWJOB                                
018380,000263: 33,2326           00006                          EXTEND                                         
018381,000264: 33,2327           62335                          BZMF     +6                                    
018382,000265: 33,2330           05057                          TC       CHANG1                                
018383,000266: 33,2331           00004                          INHINT                                         
018384,000267: 33,2332           51422                          INDEX    PIPINDEX                              
018385,000268: 33,2333           40037                          CS       PIPAX                                 
018386,000269: 33,2334           55655                          TS       ZERONDX                               
018387,000270: 33,2335           00004                          INHINT                                         
018388,000271: 33,2336           51422                          INDEX    PIPINDEX                              
018389,000272: 33,2337           30037                          CA       PIPAX                                 
018390,000273: 33,2340           61430                          AD       STOREPL                               
018391,000274: 33,2341           00006                          EXTEND                                         
018392,000275: 33,2342           12324                          BZF      CHECKG1                               
018393,000276: 33,2343           51422                          INDEX    PIPINDEX                              
018394,000277: 33,2344           30037                          CA       PIPAX                                 
018395,000278: 33,2345           51547                          INDEX    RESULTCT                              
018396,000279: 33,2346           55502                          TS       DATAPL                                
018397,000280: 33,2347           04526                          TC       FINETIME                              
018398,000281: 33,2350           51547                          INDEX    RESULTCT                              
018399,000282: 33,2351           55503                          TS       DATAPL     +1                         
018400,000283:                                                                                                 # # Page 420
018401,000284: 33,2352           51547                          INDEX    RESULTCT                              
018402,000285: 33,2353           23504                          LXCH     DATAPL     +2                         
018403,000286: 33,2354           00003                          RELINT                                         
018404,000287: 33,2355           01425        ENDCHKG           TC       QPLACE                                
018405,000288: 
018406,000289: 
018407,000290: 33,2356           54001        ZEROING           TS       L                                     
018408,000291: 33,2357           12361                          TCF      +2                                    
018409,000292: 33,2360           55655        ZEROING1          TS       ZERONDX1                              
018410,000293: 33,2361           34714                          CAF      ZERO                                  
018411,000294: 33,2362           50001                          INDEX    L                                     
018412,000295: 33,2363           54000                          TS       0                                     
018413,000296: 33,2364           24001                          INCR     L                                     
018414,000297: 33,2365           11655                          CCS      ZERONDX1                              
018415,000298: 33,2366           12360                          TCF      ZEROING1                              
018416,000299: 33,2367           00002                          TC       Q                                     
018417,000300: 
018418,000301:                                                                                                 # # Page 421
018419,000302: 32,2000                                          SETLOC   IMUCAL3                               
018420,000303: 32,2000                                          BANK                                           
018421,000304: 32,2000           65345        ERTHRVSE          DLOAD    PDDL                                  
018422,000305: 32,2001           27113                                   SCHZEROS                              #  PD24 = (SIN          -COS    0)(OMEG/MS)
018423,000306: 32,2002           02403                                   LATITUDE                              
018424,000307: 32,2003           57546                          COS      DCOMP                                 
018425,000308: 32,2004           73525                          PDDL     SIN                                   
018426,000309: 32,2005           02403                                   LATITUDE                              
018427,000310: 32,2006           74266                          VDEF     VXSC                                  
018428,000311: 32,2007           26450                                   OMEG/MS                               
018429,000312: 32,2010           02405                          STORE    ERVECTOR                              
018430,000313: 32,2011           77634                          RTB                                            
018431,000314: 32,2012           45505                                   LOADTIME                              
018432,000315: 32,2013           26443                          STOVL    TMARK                                 
018433,000316: 32,2014           27113                                   SCHZEROS                              
018434,000317: 32,2015           02650                          STORE    ERCOMP1                               
018435,000318: 32,2016           77616                          RVQ                                            
018436,000319: 33,2000                                          SETLOC   IMUCAL                                
018437,000320: 33,2000                                          BANK                                           
018438,000321: 33,2370           47020        EARTHR            ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018439,000322: 33,2371           00051                                   S2                                    
018440,000323: 33,2372           45505                                   LOADTIME                              
018441,000324: 33,2373           02441                          STORE    TEMPTIME                              
018442,000325: 33,2374           51025                          DSU      BPL                                   
018443,000326: 33,2375           02443                                   TMARK                                 
018444,000327: 33,2376           66401                                   ERTHR                                 
018445,000328: 33,2377           77624                          CALL                                           
018446,000329: 33,2400           66276                                   OVERFFIX                              
018447,000330: 33,2401           74261        ERTHR             SL       VXSC                                  
018448,000331: 33,2402           20212                                   9D                                    
018449,000332: 33,2403           02405                                   ERVECTOR                              
018450,000333: 33,2404           53321                          MXV      VAD                                   
018451,000334: 33,2405           02672                                   XSM                                   
018452,000335: 33,2406           02650                                   ERCOMP1                               
018453,000336: 33,2407           16650                          STODL    ERCOMP1                               
018454,000337: 33,2410           02441                                   TEMPTIME                              
018455,000338: 33,2411           02443                          STORE    TMARK                                 
018456,000339: 33,2412           47170                          AXT,1    RTB                                   
018457,000340: 33,2413           02647                          ECADR    ERCOMP1                               
018458,000341: 33,2414           45650                                   PULSEIMU                              
018459,000342: 33,2415           77650                          GOTO                                           
018460,000343: 33,2416           00051                                   S2                                    
018461,000344: 33,2417           00006        EARTHR*           EXTEND                                         
018462,000345: 33,2420           23426                          QXCH     QPLACES                               
018463,000346: 33,2421           06006                          TC       INTPRET                               
018464,000347: 33,2422           77624                          CALL                                           
018465,000348: 33,2423           66370                                   EARTHR                                
018466,000349: 33,2424           77776        PROUT             EXIT                                           
018467,000350: 33,2425           02316                          TC       IMUSTLLG                              
018468,000351: 33,2426           01426                          TC       QPLACES                               
018469,000352:                                                                                                 # # Page 422
018470,000353: 33,2427           00006        SHOW              EXTEND                                         
018471,000354: 33,2430           23425                          QXCH     QPLACE                                
018472,000355: 33,2431           31423        SHOW1             CA       POSITON                               
018473,000356: 33,2432           55052                          TS       DSPTEM2    +2                         
018474,000357: 33,2433           32442                          CA       VB06N98                               
018475,000358: 33,2434           04555                          TC       BANKCALL                              
018476,000359: 33,2435           20624                          CADR     GOFLASH                               
018477,000360: 33,2436           02267                          TC       ENDTEST1                              #  V 34
018478,000361: 33,2437           01425                          TC       QPLACE                                #   V33
018479,000362: 33,2440           12431                          TCF      SHOW1                                 
018480,000363: 
018481,000364: 33,2441           14400        OC14400           OCT      14400                                 
018482,000365: 33,2442  33,2447               3990DEC           =        OMEG/MS                               
018483,000366: 33,2442           01542        VB06N98           VN       0698                                  
018484,000367: 33,2443           01602        TESTTIME          OCT      01602                                 
018485,000368: 33,2444     4375               DEC17             =        ND1                                   
018486,000369: 33,2444           02757        OGCPL             ECADR    OGC                                   
018487,000370: 33,2445     4734               1SECX             =        1SEC                                  
018488,000371: 33,2445     4374               DEC57             =        VD1                                   
018489,000372: 33,2445           01713        XNBADR            GENADR   XNB                                   
018490,000373: 33,2446           01671        XSMADR            GENADR   XSM                                   
018491,000374: 33,2447           07623 26552  OMEG/MS           2DEC     .24339048                             
018492,000375: 
018493,000376: 
018494,000377: 33,2451           04555        P11OUT            TC       BANKCALL                              
018495,000378: 33,2452           70127                          CADR     MATRXJOB                              #  RETURN TO P11
018496,000379: 
018497,000380: 33,2453                                          COUNT    02/COMST                              
018498,000381: 
018499,000382:    4526                                          BLOCK    2                                     
018500,000383:    4526           00004        FINETIME          INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018501,000384:    4527           00006                          EXTEND                                         
018502,000385:    4530           00004                          READ     LOSCALAR                              
018503,000386:    4531           54001                          TS       L                                     
018504,000387:    4532           00006                          EXTEND                                         
018505,000388:    4533           06004                          RXOR     LOSCALAR                              
018506,000389:    4534           00006                          EXTEND                                         
018507,000390:    4535           14541                          BZF      +4                                    
018508,000391:    4536           00006                          EXTEND                                         
018509,000392:    4537           00004                          READ     LOSCALAR                              
018510,000393:    4540           54001                          TS       L                                     
018511,000394:    4541           44672                 +4       CS       POSMAX                                
018512,000395:    4542           60001                          AD       L                                     
018513,000396:    4543           00006                          EXTEND                                         
018514,000397:    4544           14527                          BZF      FINETIME   +1                         
018515,000398:    4545           00006                          EXTEND                                         
018516,000399:    4546           00003                          READ     HISCALAR                              
018517,000400:    4547           00002                          TC       Q                                     
018518,000401: 
018519,000402:                                                                                                 # # Page 423
018520,000403:                                                                                                 #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018521,000404:                                                                                                 #  DATE- NOVEMBER 2  1966
018522,000405:                                                                                                 #  BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018523,000406:                                                                                                 #  MOD NO 3
018524,000407:                                                                                                 #  FUNCTIONAL DESCRIPTION
018525,000408: 
018526,000409:                                                                                                 #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018527,000410:                                                                                                 #  INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018528,000411:                                                                                                 #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018529,000412:                                                                                                 #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018530,000413:                                                                                                 #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018531,000414:                                                                                                 #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018532,000415:                                                                                                 #  FOR THE DATA TO FLASH.
018533,000416:                                                                                                 #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018534,000417:                                                                                                 #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018535,000418:                                                                                                 #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018536,000419:                                                                                                 #  HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018537,000420:                                                                                                 #  OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973.BOTH OF THESE
018538,000421:                                                                                                 #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018539,000422:                                                                                                 #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018540,000423:                                                                                                 #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018541,000424:                                                                                                 #  THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY
018542,000425:                                                                                                 #  CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR
018543,000426:                                                                                                 #  COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY).
018544,000427: 
018545,000428:                                                                                                 #  COMPASS ERASABLE LOAD REQUIRED
018546,000429: 
018547,000430:                                                                                                 #   1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED      (NOM=.2)
018548,000431:                                                                                                 #  2- LATITUDE -DP-OF LAUNCH PAD
018549,000432:                                                                                                 #  3- AZIMUTH-DP-OF ZNB OF VEHICLE
018550,000433:                                                                                                 #  4- IMU COMPENSATION PARAMETERS
018551,000434:                                                                                                 #  5-AZ AND ELEVATION OF TARGETS 1,2     ****OPTIONAL****
018552,000435: 
018553,000436:                                                                                                 #  TO PERFORM AS PART OF COMPASS
018554,000437: 
018555,000438:                                                                                                 #  1-OPTICAL VERIFICATION- V 65 E
018556,000439:                                                                                                 #  2-AZIMUTH CHANGE-V 78 E
018557,000440: 
018558,000441:                                                                                                 #  SUBROUTINES CALLED
018559,000442: 
018560,000443:                                                                                                 #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018561,000444:                                                                                                 #  IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018562,000445: 
018563,000446:                                                                                                 #  NORMAL EXIT
018564,000447: 
018565,000448:                                                                                                 #  DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018566,000449:                                                                                                 #  GYROCOMPASS-MANY,SEE THE LISTING
018567,000450:                                                                                                 #  ALARMS
018568,000451: 
018569,000452:                                                                                                 #  1600     OVERFLOW IN DRIFT TEST
018570,000453:                                                                                                 # # Page 424
018571,000454:                                                                                                 #  1601     BAD IMU TORQUE ABORT
018572,000455:                                                                                                 #  1602     BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS      CSM ONLY
018573,000456: 
018574,000457:                                                                                                 #  OUTPUT
018575,000458: 
018576,000459:                                                                                                 #  DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018577,000460:                                                                                                 #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018578,000461:                                                                                                 #     01    INITIALIZING THE PLATFORM POSITION AND ERASABLE
018579,000462:                                                                                                 #     02    GYROCOMPASSING
018580,000463:                                                                                                 #     03    DOING OPTICAL VERIFICATION (CSM)
018581,000464: 
018582,000465: 
018583,000466:                                                                                                 #  DEBRIS
018584,000467: 
018585,000468:                                                                                                 #  ALL CENTRALS,ALL OF EBANK XSM
018586,000469: 
018587,000470:                                                                                                 # # Page 425
018588,000471:                                                                                                 #   MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018589,000472:                                                                                                 #   ON THE NEXT FEW PAGES.
018590,000473: 
018591,000474: 
018592,000475:    4550                                          COUNT    33/P02                                
018593,000476: 
018594,000477:    4550  0002671                                 EBANK=   XSM                                   
018595,000478: 33,2453                                          BANK     33                                    
018596,000479: 33,2000                                          SETLOC   IMUCAL                                
018597,000480: 33,2000                                          BANK                                           
018598,000481: 
018599,000482: 33,2453           05261        ESTIMS            TC       2PHSCHNG                              #   COMES HERE FROM IMU2
018600,000483: 33,2454           00075                          OCT      00075                                 
018601,000484: 33,2455           00004                          OCT      00004                                 #   TURN OFF GROUP 4 IF ON
018602,000485: 33,2456           00004        RSTGTS1           INHINT                                         #   COMES HERE PHASE1 RESTART
018603,000486: 33,2457           30025                          CA       TIME1                                 
018604,000487: 33,2460           55645                          TS       GTSWTLT1                              
018605,000488: 33,2461           34714                          CAF      ZERO                                  #  ZERO THE PIPAS
018606,000489: 33,2462           54037                          TS       PIPAX                                 
018607,000490: 33,2463           54040                          TS       PIPAY                                 
018608,000491: 33,2464           54041                          TS       PIPAZ                                 
018609,000492: 33,2465           00003                          RELINT                                         
018610,000493: 33,2466           33131                          CA       77DECML                               #   ZERO ALL NECESSARY LOCATIONS
018611,000494: 33,2467           55655                          TS       ZERONDX1                              
018612,000495: 33,2470           33132                          CA       ALXXXZ                                
018613,000496: 33,2471           02356                          TC       ZEROING                               
018614,000497: 33,2472           06006                          TC       INTPRET                               
018615,000498: 33,2473           77735                          SLOAD                                          
018616,000499: 33,2474           27113                                   SCHZEROS                              
018617,000500: 33,2475           25477                          STOVL    GCOMPSW    -1                         
018618,000501: 33,2476           27124                                   INTVAL     +2                         #   LOAD SOME INITIAL DRIFT GAINS
018619,000502: 33,2477           26455                          STOVL    ALX1S                                 
018620,000503: 33,2500           27113                                   SCHZEROS                              
018621,000504: 33,2501           01472                          STORE    GCOMP                                 
018622,000505: 33,2502           01163                          STORE    DELVX                                 #   GCOMPZER SUBROUTINE NO LONGER NEEDED
018623,000506: 33,2503           77776                          EXIT                                           
018624,000507: 
018625,000508: 33,2504           11643                          CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018626,000509: 33,2505           02507                          TC       +2                                    
018627,000510: 33,2506           02523                          TC       SLEEPIE    +1                         
018628,000511: 33,2507           06006                          TC       INTPRET                               
018629,000512: 33,2510           77624                          CALL                                           
018630,000513: 33,2511           64000                                   ERTHRVSE                              
018631,000514: 33,2512           77776                          EXIT                                           
018632,000515: 33,2513           31412                          CA       LENGTHOT                              #    TIMES FIVE IS THE NUM OF SEC ERECTING
018633,000516: 33,2514           55646                          TS       ERECTIME                              
018634,000517: 
018635,000518: 33,2515           05243                          TC       NEWMODEX                              
018636,000519: 33,2516           00002                          MM       02         B-14                       
018637,000520: 33,2517           04555                          TC       BANKCALL                              #   SET UP PIPA FAIL TO CAUSE ISS ALARM
018638,000521:                                                                                                 # # Page 426
018639,000522: 33,2520           17075                          CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018640,000523: 33,2521           03377                          TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018641,000524: 
018642,000525:                                                                                                 # # Page 427
018643,000526:                                                                                                 #   COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018644,000527: 
018645,000528:                                                                                                 #  SET UP WAITLIST SECTION
018646,000529: 33,2522           55412        SLEEPIE           TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGHOT
018647,000530: 33,2523           05301                          TC       PHASCHNG                              #   CHANGE PHASE
018648,000531: 33,2524           00135                          OCT      00135                                 
018649,000532: 33,2525           11450                          CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018650,000533: 33,2526           02417                          TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018651,000534: 33,2527           03402        WTLISTNT          TC       CHKCOMED                              #         SEE IF COMPASS OVER
018652,000535: 33,2530           02532                          TC       SETGWLST                              
018653,000536: 33,2531           05112                          TC       ENDOFJOB                              
018654,000537: 
018655,000538: 33,2532           00006        SETGWLST          EXTEND                                         
018656,000539: 33,2533           22154                          QXCH     MPAC                                  #   CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018657,000540: 33,2534           00004                          INHINT                                         
018658,000541: 33,2535           40025                          CS       TIME1                                 
018659,000542: 33,2536           61645                          AD       GTSWTLT1                              
018660,000543: 33,2537           00006                          EXTEND                                         
018661,000544: 33,2540           62542                          BZMF     +2                                    
018662,000545: 33,2541           64674                          AD       NEGMAX                                #   10 MS ERROR OK
018663,000546: 33,2542           61644                          AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018664,000547: 33,2543           00006                          EXTEND                                         
018665,000548: 33,2544           62550                          BZMF     RIGHTGTS                              
018666,000549: 33,2545           05130        WTGTSMPL          TC       TWIDDLE                               
018667,000550: 33,2546  E5,1540                                 EBANK=   ALTIM                                 
018668,000551: 33,2546           02575                          ADRES    ALLOOP                                
018669,000552: 33,2547           00154                          TC       MPAC                                  
018670,000553: 33,2550           34710        RIGHTGTS          CAF      FOUR                                  #   SET UP NEXT WAITLIST-ALLOW SOME TIME
018671,000554: 33,2551           02545                          TC       WTGTSMPL                              #   END OF WAITLIST SECTION
018672,000555: 
018673,000556: 
018674,000557:                                                                                                 #   STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018675,000558: 
018676,000559: 33,2552           00031        25DECML           DEC      25         B-14                       
018677,000560: 
018678,000561: 33,2553           32552        STOREDTA          CAF      25DECML                               
018679,000562: 33,2554           54154                          TS       MPAC                                  
018680,000563: 33,2555           50154                          INDEX    MPAC                                  
018681,000564: 33,2556           31460                          CAE      THETAX1                               
018682,000565: 33,2557           50154                          INDEX    MPAC                                  
018683,000566: 33,2560           55577                          TS       RESTARPT                              
018684,000567: 33,2561           10154                          CCS      MPAC                                  
018685,000568: 33,2562           12554                          TCF      STOREDTA   +1                         
018686,000569: 33,2563           00002                          TC       Q                                     
018687,000570: 
018688,000571: 
018689,000572: 33,2564           32552        LOADSTDT          CAF      25DECML                               
018690,000573: 33,2565           54154                          TS       MPAC                                  
018691,000574: 33,2566           50154                          INDEX    MPAC                                  
018692,000575: 33,2567           31577                          CA       RESTARPT                              
018693,000576:                                                                                                 # # Page 428
018694,000577: 33,2570           50154                          INDEX    MPAC                                  
018695,000578: 33,2571           55460                          TS       THETAX1                               
018696,000579: 33,2572           10154                          CCS      MPAC                                  
018697,000580: 33,2573           12565                          TCF      LOADSTDT   +1                         
018698,000581: 33,2574           00002                          TC       Q                                     
018699,000582: 
018700,000583: 
018701,000584:                                                                                                 #   COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018702,000585: 
018703,000586: 33,2575           30025        ALLOOP            CAE      TIME1                                 
018704,000587: 33,2576           55645                          TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018705,000588: 33,2577           31540        ALLOOP3           CA       ALTIM                                 
018706,000589: 33,2600           55631                          TS       GEOSAVE1                              
018707,000590: 33,2601           05301                          TC       PHASCHNG                              
018708,000591: 33,2602           00115                          OCT      00115                                 
018709,000592: 33,2603           31631        ALLOOP1           CAE      GEOSAVE1                              
018710,000593: 33,2604           55540                          TS       ALTIM                                 
018711,000594: 33,2605           10000                          CCS      A                                     
018712,000595: 33,2606           30000                          CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018713,000596: 33,2607           55541                          TS       ALTIMS                                
018714,000597: 33,2610           40000                          CS       A                                     
018715,000598: 33,2611           55540                          TS       ALTIM                                 
018716,000599: 33,2612           30037                          CA       PIPAX                                 
018717,000600: 33,2613           55162                          TS       DELVX                                 
018718,000601: 33,2614           30040                          CA       PIPAY                                 
018719,000602: 33,2615           55164                          TS       DELVY                                 
018720,000603: 33,2616           30041                          CA       PIPAZ                                 
018721,000604: 33,2617           55166                          TS       DELVZ                                 
018722,000605: 33,2620           34374                          CAF      19DECML                               #  23 OCT
018723,000606: 33,2621           04114                          TC       NEWPHASE                              
018724,000607: 33,2622           00005                          OCT      00005                                 
018725,000608: 33,2623           34714        SPECSTS           CAF      ZERO                                  
018726,000609: 33,2624           54037                          TS       PIPAX                                 
018727,000610: 33,2625           54040                          TS       PIPAY                                 
018728,000611: 33,2626           54041                          TS       PIPAZ                                 
018729,000612: 33,2627           34675                          CAF      PRIO20                                
018730,000613: 33,2630           05042                          TC       FINDVAC                               
018731,000614: 33,2631  E5,1631                                 EBANK=   GEOSAVE1                              
018732,000615: 33,2631           02634 66065                    2CADR    ALFLT                                 #   START THE JOB
018733,000616: 33,2633           05213                          TC       TASKOVER                              
018734,000617: 
018735,000618:                                                                                                 # # Page 429
018736,000619:                                                                                                 #   THIS IS PART OF THE JOB DONE EVERY ITERATION
018737,000620: 
018738,000621: 33,2634           02553        ALFLT             TC       STOREDTA                              #   STORE DATA IN CASE OF RESTART IN JOB
018739,000622: 33,2635           05301                          TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018740,000623: 33,2636           00215                          OCT      00215                                 
018741,000624: 33,2637           12641                          TCF      +2                                    
018742,000625: 33,2640           02564        ALFLT1            TC       LOADSTDT                              #   COMES HERE ON RESTART
018743,000626: 
018744,000627: 33,2641           11643                          CCS      GEOCOMP1                              
018745,000628: 33,2642           02644                          TC       +2                                    
018746,000629: 33,2643           02647                          TC       NORMLOP                               
018747,000630: 33,2644           03402                          TC       CHKCOMED                              #       SEE IF PRELAUNCH OVER
018748,000631: 33,2645           04555                          TC       BANKCALL                              #   COMPENSATION IF IN COMPASS
018749,000632: 33,2646           15262                          CADR     1/PIPA                                
018750,000633: 
018751,000634: 33,2647           06006        NORMLOP           TC       INTPRET                               
018752,000635: 33,2650           77745                          DLOAD                                          
018753,000636: 33,2651           27122                                   INTVAL                                
018754,000637: 33,2652           24051                          STOVL    S1                                    
018755,000638: 33,2653           01163                                   DELVX                                 
018756,000639: 33,2654           76505                          VXM      VSL1                                  
018757,000640: 33,2655           02672                                   XSM                                   
018758,000641: 33,2656           57545                          DLOAD    DCOMP                                 
018759,000642: 33,2657           00160                                   MPAC       +3                         
018760,000643: 33,2660           16533                          STODL    DPIPAY                                
018761,000644: 33,2661           00162                                   MPAC       +5                         
018762,000645: 33,2662           02537                          STORE    DPIPAZ                                
018763,000646: 
018764,000647: 33,2663           76001                          SETPD    AXT,1                                 
018765,000648: 33,2664           00001                                   0                                     
018766,000649: 33,2665           00010                                   8D                                    
018767,000650: 33,2666           57535                          SLOAD    DCOMP                                 
018768,000651: 33,2667           02644                                   GEOCOMP1                              
018769,000652: 33,2670           77640                          BMN                                            
018770,000653: 33,2671           67204                                   ALWAYSG                               #  DO A QUICK COMPASS
018771,000654: 
018772,000655:                                                                                                 # # Page 430
018773,000656:                                                                                                 #   NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018774,000657: 
018775,000658: 33,2672                                          COUNT    33/COMST                              
018776,000659: 
018777,000660: 33,2672           50135        ALCGKK            SLOAD    BMN                                   
018778,000661: 33,2673           02542                                   ALTIMS                                
018779,000662: 33,2674           66707                                   ALFLT3                                #  NO NEW GAINS NEEDED
018780,000663: 33,2675           72174        ALKCG             AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018781,000664: 33,2676           00014                                   12D                                   
018782,000665: 33,2677           02454                                   ALX1S                                 
018783,000666: 33,2700           62143        ALKCG2            DLOAD*   INCR,1                                
018784,000667: 33,2701           02243                                   ALFDK      +144D,1                    
018785,000668: 33,2702           77775                          DEC      -2         B-14                       
018786,000669: 33,2703           12555                          STORE    ALDK       +10D,2                     
018787,000670: 33,2704           66104                          TIX,2    SXA,1                                 
018788,000671: 33,2705           66700                                   ALKCG2                                
018789,000672: 33,2706           02454                                   ALX1S                                 
018790,000673: 
018791,000674: 33,2707           77770        ALFLT3            AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018792,000675: 33,2710           00010                                   8D                                    #  AND GAIN UPDATES
018793,000676: 33,2711           41343        DELMLP            DLOAD*   DMP                                   
018794,000677: 33,2712           02543                                   DPIPAY     +8D,1                      
018795,000678: 33,2713           27676                                   PIPASC                                
018796,000679: 33,2714           43661                          SLR      BDSU*                                 
018797,000680: 33,2715           21212                                   9D                                    
018798,000681: 33,2716           02511                                   INTY       +8D,1                      
018799,000682: 33,2717           06511                          STORE    INTY       +8D,1                      
018800,000683: 33,2720           40725                          PDDL     DMP*                                  
018801,000684: 33,2721           27700                                   VELSC                                 
018802,000685: 33,2722           02531                                   VLAUN      +8D,1                      
018803,000686: 33,2723           77732                          SL2R                                           
018804,000687: 33,2724           45425                          DSU      STADR                                 
018805,000688: 33,2725           71206                          STORE    DELM       +8D,1                      
018806,000689: 33,2726           06573                          STORE    DELM       +10D,1                     
018807,000690: 33,2727           77100                          TIX,1    AXT,2                                 
018808,000691: 33,2730           66711                                   DELMLP                                
018809,000692: 33,2731           00004                                   4                                     
018810,000693: 33,2732           56743        ALILP             DLOAD*   DMPR*                                 
018811,000694: 33,2733           75314                                   ALK        +4,2                       
018812,000695: 33,2734           75230                                   ALDK       +4,2                       
018813,000696: 33,2735           12463                          STORE    ALK        +4,2                       
018814,000697: 33,2736           77104                          TIX,2    AXT,2                                 
018815,000698: 33,2737           66732                                   ALILP                                 
018816,000699: 33,2740           00010                                   8D                                    
018817,000700: 33,2741           66140        ALKLP             LXC,1    SXA,1                                 
018818,000701: 33,2742           02455                                   CMPX1                                 
018819,000702: 33,2743           02455                                   CMPX1                                 
018820,000703: 33,2744           56743                          DLOAD*   DMPR*                                 
018821,000704: 33,2745           02460                                   ALK        +1,1                       
018822,000705: 33,2746           75206                                   DELM       +8D,2                      
018823,000706:                                                                                                 # # Page 431
018824,000707: 33,2747           77613                          DAD*                                           
018825,000708: 33,2750           75266                                   INTY       +8D,2                      
018826,000709: 33,2751           12511                          STORE    INTY       +8D,2                      
018827,000710: 33,2752           42743                          DLOAD*   DAD*                                  
018828,000711: 33,2753           75304                                   ALK        +12D,2                     
018829,000712: 33,2754           75220                                   ALDK       +12D,2                     
018830,000713: 33,2755           12473                          STORE    ALK        +12D,2                     
018831,000714: 33,2756           42673                          DMPR*    DAD*                                  
018832,000715: 33,2757           75206                                   DELM       +8D,2                      
018833,000716: 33,2760           75256                                   INTY       +16D,2                     
018834,000717: 33,2761           12521                          STORE    INTY       +16D,2                     
018835,000718: 33,2762           40743                          DLOAD*   DMP*                                  
018836,000719: 33,2763           27703                                   ALSK       +1,1                       
018837,000720: 33,2764           75206                                   DELM       +8D,2                      
018838,000721: 33,2765           42772                          SL1R     DAD*                                  
018839,000722: 33,2766           75246                                   VLAUN      +8D,2                      
018840,000723: 33,2767           12531                          STORE    VLAUN      +8D,2                      
018841,000724: 33,2770           76104                          TIX,2    AXT,1                                 
018842,000725: 33,2771           66741                                   ALKLP                                 
018843,000726: 33,2772           00010                                   8D                                    
018844,000727: 
018845,000728: 
018846,000729: 33,2773           64743        LOOSE             DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
018847,000730: 33,2774           02533                                   ACCWD      +8D,1                      
018848,000731: 33,2775           02531                                   VLAUN      +8D,1                      
018849,000732: 33,2776           55523                          PDDL*    VDEF                                  
018850,000733: 33,2777           02541                                   POSNV      +8D,1                      
018851,000734: 33,3000           76521                          MXV      VSL1                                  
018852,000735: 33,3001           02001                                   TRANSM1                               
018853,000736: 33,3002           77745                          DLOAD                                          
018854,000737: 33,3003           00155                                   MPAC                                  
018855,000738: 33,3004           06541                          STORE    POSNV      +8D,1                      
018856,000739: 33,3005           77745                          DLOAD                                          
018857,000740: 33,3006           00160                                   MPAC       +3                         
018858,000741: 33,3007           06531                          STORE    VLAUN      +8D,1                      
018859,000742: 33,3010           77745                          DLOAD                                          
018860,000743: 33,3011           00162                                   MPAC       +5                         
018861,000744: 33,3012           06533                          STORE    ACCWD      +8D,1                      
018862,000745: 33,3013           77700                          TIX,1                                          
018863,000746: 33,3014           66773                                   LOOSE                                 
018864,000747: 
018865,000748: 
018866,000749: 33,3015           76174                          AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
018867,000750: 33,3016           00006                                   6                                     
018868,000751: 33,3017           00002                                   2                                     
018869,000752: 33,3020           57343        BOOP              DLOAD*   DMPR                                  
018870,000753: 33,3021           02513                                   ANGX       +2,1                       
018871,000754: 33,3022           27706                                   GEORGEJ                               
018872,000755: 33,3023           77722                          SR2R                                           
018873,000756: 33,3024           73406                          PUSH     SIN                                   
018874,000757:                                                                                                 # # Page 432
018875,000758: 33,3025           56072                          SL3R     XAD,1                                 
018876,000759: 33,3026           00046                                   X1                                    
018877,000760: 33,3027           10021                          STORE    16D,2                                 
018878,000761: 33,3030           77745                          DLOAD                                          
018879,000762: 33,3031           77746                          COS                                            
018880,000763: 33,3032           10027                          STORE    22D,2                                 #   COSINES
018881,000764: 33,3033           77704                          TIX,2                                          
018882,000765: 33,3034           67020                                   BOOP                                  
018883,000766: 33,3035           77776        PERFERAS          EXIT                                           
018884,000767: 33,3036           34753                          CA       EBANK7                                
018885,000768: 33,3037  E7,1400                                 EBANK=   LAT(SPL)                              
018886,000769: 33,3037           54003                          TS       EBANK                                 
018887,000770: 33,3040           01400                          TC       LAT(SPL)                              #  GO TO ERASABLE ONLY TO RETURN
018888,000771: 
018889,000772:                                                                                                 #            CAUTION
018890,000773: 
018891,000774:                                                                                                 #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018892,000775:                                                                                                 #  BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
018893,000776: 
018894,000777: 33,3041  E5,1412                                 EBANK=   LENGTHOT                              
018895,000778: 33,3041           11412        ONCEMORE          CCS      LENGTHOT                              
018896,000779: 33,3042           02522                          TC       SLEEPIE                               #   TEST NOT OVER SET UP NEXT WAITLIST
018897,000780: 
018898,000781: 33,3043           11450                          CCS      TORQNDX                               
018899,000782: 33,3044           13046                          TCF      +2                                    
018900,000783: 33,3045           03050                          TC       SETUPER1                              
018901,000784: 33,3046           30032                          CA       CDUX                                  
018902,000785: 33,3047           55414                          TS       LOSVEC     +1                         #   FOR TROUBLESHOOTING POSNS 2$4 VD
018903,000786: 33,3050           06006        SETUPER1          TC       INTPRET                               #   DRIFT TEST OVER
018904,000787: 33,3051           65345                          DLOAD    PDDL                                  #   ANGLES FROM DRIFT TEST ONLY
018905,000788: 33,3052           02503                                   ANGZ                                  
018906,000789: 33,3053           02507                                   ANGY                                  
018907,000790: 33,3054           55525                          PDDL     VDEF                                  
018908,000791: 33,3055           02511                                   ANGX                                  
018909,000792: 33,3056           74276                          VCOMP    VXSC                                  
018910,000793: 33,3057           27706                                   GEORGEJ                               
018911,000794: 33,3060           74521                          MXV      VSR1                                  
018912,000795: 33,3061           02672                                   XSM                                   
018913,000796: 33,3062           02760                          STORE    OGC                                   
018914,000797: 33,3063           77776                          EXIT                                           
018915,000798: 
018916,000799: 33,3064           05301        TORQINCH          TC       PHASCHNG                              
018917,000800: 33,3065           00005                          OCT      00005                                 
018918,000801: 33,3066           32444                          CA       OGCPL                                 
018919,000802: 33,3067           04555                          TC       BANKCALL                              
018920,000803: 33,3070           17125                          CADR     IMUPULSE                              
018921,000804: 33,3071           02316                          TC       IMUSTLLG                              
018922,000805: 33,3072           11450                          CCS      TORQNDX                               #   + IF IN VERTICAL DRIFT TEST
018923,000806: 33,3073           02262                          TC       VALMIS                                #  VERT DRIFT TEST OVER
018924,000807: 33,3074           06006                          TC       INTPRET                               
018925,000808:                                                                                                 # # Page 433
018926,000809: 33,3075           77624                          CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
018927,000810: 33,3076           64000                                   ERTHRVSE                              
018928,000811: 33,3077           77776                          EXIT                                           
018929,000812: 33,3100           02122                          TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018930,000813: 
018931,000814: 
018932,000815: 33,3101           05537        SOMEERR           TC       ALARM                                 
018933,000816: 33,3102           01600                          OCT      1600                                  
018934,000817: 33,3103           03106                          TC       +3                                    
018935,000818: 33,3104           05537        SOMERR2           TC       ALARM                                 
018936,000819: 33,3105           01601                          OCT      1601                                  
018937,000820: 33,3106           05301                          TC       PHASCHNG                              
018938,000821: 33,3107           00005                          OCT      00005                                 
018939,000822: 33,3110           02267                          TC       ENDTEST1                              
018940,000823: 
018941,000824: 
018942,000825:                                                                                                 #   THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
018943,000826: 
018944,000827: 
018945,000828: 33,3111           02222        DEC585            OCT      02222                                 #  1170 B+14  ORDER IS NOW IMPORTANT
018946,000829: 33,3112           00000 00000  SCHZEROS          2DEC     .00000000                             
018947,000830: 33,3114           00000 00000                    2DEC     .00000000                             
018948,000831: 33,3116           00000                          OCT      00000                                 
018949,000832: 33,3117           00000        ONEDPP            OCT      00000                                 
018950,000833: 33,3120           00001                          OCT      00001                                 #            ABOVE ORDER IS IMPORTANT
018951,000834: 
018952,000835: 
018953,000836: 33,3121           00004        INTVAL            OCT      4                                     
018954,000837: 33,3122           00002                          OCT      2                                     
018955,000838: 33,3123           00220                          DEC      144        B-14                       
018956,000839: 33,3124           77776                          DEC      -1         B-14                       
018957,000840: 33,3125           35730 00035  SOUPLY            2DEC     .93505870                             #   INITIAL GAINS FOR PIP OUTPUTS
018958,000841: 33,3127           10317 17550                    2DEC     .26266423                             #   INITIAL GAINS/4 FOR ERECTION ANGLES
018959,000842: 
018960,000843: 
018961,000844: 33,3131           00115        77DECML           DEC      77         B-14                       
018962,000845: 33,3132           01453        ALXXXZ            GENADR   ALX1S      -1                         
018963,000846:                                                                                                 #   GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
018964,000847: 
018965,000848: 
018966,000849: 33,3133                                          COUNT    33/P01                                
018967,000850: 
018968,000851:                                                                                                 #   INITIALIZATION SECTION
018969,000852: 
018970,000853: 33,3133           34712        GTSCPSS           CAF      ONE                                   #  CALLED BY V37.
018971,000854: 33,3134           55643                          TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
018972,000855:                                                                                                 # # Page 434
018973,000856: 33,3135           33425                          CA       1/PIPAGT                              
018974,000857: 33,3136           55074                          TS       1/PIPADT                              
018975,000858: 33,3137           34703        NXXTBNN           CA       BIT8                                  
018976,000859: 33,3140           55412                          TS       LENGTHOT                              
018977,000860: 33,3141           34731                          CAF      1/2SECX                               #   COMPASS IS A .5 SEC LOOP
018978,000861: 33,3142           55644                          TS       1SECXT1                               
018979,000862: 33,3143           34712                          CAF      ONE                                   
018980,000863: 33,3144           55632                          TS       PREMTRX1                              
018981,000864: 33,3145           55657                          TS       PERFDLAY   +1                         
018982,000865: 33,3146           34714                          CAF      ZERO                                  
018983,000866: 33,3147           55656                          TS       PERFDLAY                              
018984,000867: 33,3150           00006                          EXTEND                                         
018985,000868: 33,3151           31634                          DCA      LUNCHAZ1                              
018986,000869: 33,3152           53636                          DXCH     NEWAZ1                                
018987,000870: 33,3153           00006                          EXTEND                                         
018988,000871: 33,3154           31634                          DCA      LUNCHAZ1                              
018989,000872: 33,3155           53640                          DXCH     OLDAZMTH                              
018990,000873: 33,3156           34375        SETUPGC           CA       DEC17                                 
018991,000874: 33,3157           55655                          TS       ZERONDX1                              
018992,000875: 33,3160           32446                          CA       XSMADR                                
018993,000876: 33,3161           02356                          TC       ZEROING                               
018994,000877: 33,3162           03164                          TC       POSN17C                               
018995,000878: 33,3163           02030                          TC       GEOIMUTT                              #   GO TO IMU2 FOR FURTHER INITIALIZATION
018996,000879: 
018997,000880: 
018998,000881: 33,3164           00006        POSN17C           EXTEND                                         #   COMPASS POSITION Z DOWN,X DOWNRANGE
018999,000882: 33,3165           23425                          QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019000,000883: 33,3166           44675                          CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019001,000884: 33,3167           55705                          TS       ZSM                                   
019002,000885: 33,3170           06006                          TC       INTPRET                               
019003,000886: 33,3171           41545                          DLOAD    PUSH                                  
019004,000887: 33,3172           02636                                   NEWAZ1                                
019005,000888: 33,3173           77756                          SIN                                            
019006,000889: 33,3174           02676                          STORE    XSM        +4                         
019007,000890: 33,3175           16702                          STODL    YSM        +2                         
019008,000891: 33,3176           77746                          COS                                            
019009,000892: 33,3177           02704                          STORE    YSM        +4                         
019010,000893: 33,3200           77676                          DCOMP                                          
019011,000894: 33,3201           02674                          STORE    XSM        +2                         
019012,000895: 33,3202           77776                          EXIT                                           
019013,000896: 33,3203           01425                          TC       QPLACE                                
019014,000897: 
019015,000898: 
019016,000899:                                                                                                 #   JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019017,000900: 
019018,000901: 33,3204                                          COUNT    33/P02                                
019019,000902: 
019020,000903: 33,3204           44743        ALWAYSG           DLOAD*   DSU*                                  #  COMPASS AND ERECT
019021,000904: 33,3205           02543                                   DPIPAY     +8D,1                      
019022,000905: 33,3206           02505                                   FILDELV1   +8D,1                      
019023,000906:                                                                                                 # # Page 435
019024,000907: 33,3207           42675                          DMPR     DAD*                                  
019025,000908: 33,3210           27714                                   GEOCONS1                              
019026,000909: 33,3211           02505                                   FILDELV1   +8D,1                      
019027,000910: 33,3212           06505                          STORE    FILDELV1   +8D,1                      
019028,000911: 33,3213           77613                          DAD*                                           
019029,000912: 33,3214           02507                                   INTVEC1    +8D,1                      
019030,000913: 33,3215           06507                          STORE    INTVEC1    +8D,1                      
019031,000914: 33,3216           42675                          DMPR     DAD*                                  
019032,000915: 33,3217           27716                                   GEOCONS2                              
019033,000916: 33,3220           02505                                   FILDELV1   +8D,1                      
019034,000917: 33,3221           41475                          DMPR     PUSH                                  
019035,000918: 33,3222           15330                                   GEOCONS5                              
019036,000919: 33,3223           67300                          TIX,1    SLOAD                                 
019037,000920: 33,3224           67204                                   ALWAYSG                               
019038,000921: 33,3225           02647                                   ERECTIM1                              
019039,000922: 33,3226           71254                          BZE      DLOAD                                 
019040,000923: 33,3227           67240                                   COMPGS                                
019041,000924: 33,3230           02471                                   THETAN1    +2                         
019042,000925: 33,3231           45425                          DSU      STADR                                 
019043,000926: 33,3232           61306                          STODL    THETAN1    +2                         #  ERECTION ONLY.
019044,000927: 33,3233           77621                          BDSU                                           
019045,000928: 33,3234           02473                                   THETAN1    +4                         
019046,000929: 33,3235           02473                          STORE    THETAN1    +4                         
019047,000930: 33,3236           77650                          GOTO                                           
019048,000931: 33,3237           67262                                   ADDINDRF                              
019049,000932: 33,3240           43345        COMPGS            DLOAD    DAD                                   #  COMPASS
019050,000933: 33,3241           02467                                   THETAN1                               
019051,000934: 33,3242           02475                                   FILDELV1                              
019052,000935: 33,3243           16467                          STODL    THETAN1                               
019053,000936: 33,3244           02475                                   FILDELV1                              
019054,000937: 33,3245           44275                          DMPR     BDSU                                  
019055,000938: 33,3246           27720                                   GEOCONS3                              
019056,000939: 33,3247           02473                                   THETAN1    +4                         
019057,000940: 33,3250           16473                          STODL    THETAN1    +4                         
019058,000941: 33,3251           02501                                   FILDELV1   +4                         
019059,000942: 33,3252           44275                          DMPR     BDSU                                  
019060,000943: 33,3253           27720                                   GEOCONS3                              
019061,000944: 33,3254           02471                                   THETAN1    +2                         
019062,000945: 33,3255           57325                          PDDL     DMPR                                  
019063,000946: 33,3256           02503                                   INTVEC1    +4                         
019064,000947: 33,3257           27722                                   GEOCONS4                              
019065,000948: 33,3260           45421                          BDSU     STADR                                 
019066,000949: 33,3261           75306                          STORE    THETAN1    +2                         
019067,000950: 33,3262           77776        ADDINDRF          EXIT                                           
019068,000951: 
019069,000952: 
019070,000953: 33,3263           11412        ENDGTSAL          CCS      LENGTHOT                              #   IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019071,000954: 33,3264           02522                          TC       SLEEPIE                               #   NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019072,000955: 33,3265           03402                          TC       CHKCOMED                              
019073,000956: 33,3266           11304                          CCS      LGYRO                                 #   YES BUT ARE GYROS BUSY
019074,000957:                                                                                                 # # Page 436
019075,000958: 33,3267           12523                          TCF      SLEEPIE    +1                         #   BUSY-GET THEM .5 SECONDS FROM NOW
019076,000959: 
019077,000960: 33,3270           06006        LASTGTS           TC       INTPRET                               
019078,000961: 33,3271           77775                          VLOAD                                          
019079,000962: 33,3272           02650                                   ERCOMP1                               
019080,000963: 33,3273           16461                          STODL    THETAX1                               
019081,000964: 33,3274           02443                                   TMARK                                 
019082,000965: 33,3275           02457                          STORE    ALK                                   
019083,000966: 33,3276           77776                          EXIT                                           #   PREVIOUS SECTION WAS FOR RESTARTS
019084,000967: 
019085,000968: 33,3277           05301        RESTAIER          TC       PHASCHNG                              
019086,000969: 33,3300           00275                          OCT      00275                                 
019087,000970: 33,3301           06006                          TC       INTPRET                               #   ADD COMPASS COMMANDS INTO ERATE
019088,000971: 33,3302           64375                          VLOAD    MXV                                   
019089,000972: 33,3303           02467                                   THETAN1                               
019090,000973: 33,3304           02672                                   XSM                                   
019091,000974: 33,3305           53372                          VSL1     VAD                                   
019092,000975: 33,3306           02461                                   THETAX1                               
019093,000976: 33,3307           16650                          STODL    ERCOMP1                               
019094,000977: 33,3310           02457                                   ALK                                   
019095,000978: 33,3311           02443                          STORE    TMARK                                 
019096,000979: 33,3312           77776                          EXIT                                           
019097,000980: 33,3313           02417                          TC       EARTHR*                               #  TORQUE IT ALL IN
019098,000981: 33,3314           31646                          CAE      ERECTIM1                              
019099,000982: 33,3315           55631                          TS       GEOSAVE1                              
019100,000983: 33,3316           05301                          TC       PHASCHNG                              
019101,000984: 33,3317           00155                          OCT      00155                                 
019102,000985: 33,3320           06006        RESTEST1          TC       INTPRET                               
019103,000986: 33,3321           77775                          VLOAD                                          
019104,000987: 33,3322           27113                                   SCHZEROS                              
019105,000988: 33,3323           02467                          STORE    THETAN1                               
019106,000989: 33,3324           77776                          EXIT                                           
019107,000990: 33,3325           11632                          CCS      PREMTRXC                              
019108,000991: 33,3326           03375                          TC       NOCHORLD                              
019109,000992: 33,3327           05301                          TC       PHASCHNG                              
019110,000993: 33,3330           00255                          OCT      00255                                 
019111,000994: 33,3331           06006        RESTEST3          TC       INTPRET                               
019112,000995: 33,3332           77745                          DLOAD                                          
019113,000996: 33,3333           02634                                   LAUNCHAZ                              
019114,000997: 33,3334           53025                          DSU      BZE                                   
019115,000998: 33,3335           02640                                   OLDAZMTH                              
019116,000999: 33,3336           67372                                   NOAZCHGE                              
019117,001000: 33,3337           00001                          STORE    0D                                    
019118,001001: 33,3340           43335                          SLOAD    DAD                                   
019119,001002: 33,3341           27121                                   ONEDPP     +1                         
019120,001003: 33,3342           02633                                   PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019121,001004: 33,3343           16633                          STODL    PREMTRXC                              
019122,001005: 33,3344           02634                                   LAUNCHAZ                              
019123,001006: 33,3345           16636                          STODL    NEWAZMTH                              
019124,001007: 33,3346           00001                                   0D                                    
019125,001008:                                                                                                 # # Page 437
019126,001009: 33,3347           02654        ADERCOMP          STORE    ERCOMP     +4                         
019127,001010: 33,3350           77776                          EXIT                                           
019128,001011: 33,3351           03164                          TC       POSN17C                               
019129,001012: 33,3352           05301                          TC       PHASCHNG                              
019130,001013: 33,3353           00335                          OCT      00335                                 
019131,001014: 33,3354           00006        RESCHNG           EXTEND                                         
019132,001015: 33,3355           31636                          DCA      NEWAZMTH                              
019133,001016: 33,3356           53640                          DXCH     OLDAZMTH                              
019134,001017: 33,3357           34704                          CA       BIT7                                  #   SPEND 320 SEC ERECTING
019135,001018: 33,3360           55412                          TS       LENGTHOT                              
019136,001019: 33,3361           05301                          TC       PHASCHNG                              
019137,001020: 33,3362           00075                          OCT      00075                                 
019138,001021: 33,3363           33424        SPITGYRO          CA       ERCOMPPL                              
019139,001022: 33,3364           04555                          TC       BANKCALL                              
019140,001023: 33,3365           17125                          CADR     IMUPULSE                              
019141,001024: 33,3366           04555                          TC       BANKCALL                              
019142,001025: 33,3367           17516                          CADR     IMUSTALL                              
019143,001026: 33,3370           03104                          TC       SOMERR2                               
019144,001027: 33,3371           02453                          TC       ESTIMS                                #   RE-INITIALIZE
019145,001028: 
019146,001029: 
019147,001030: 33,3372           77776        NOAZCHGE          EXIT                                           
019148,001031: 33,3373           34712                          CA       ONE                                   
019149,001032: 33,3374           55632                          TS       PREMTRXC                              
019150,001033: 33,3375           11631        NOCHORLD          CCS      GEOSAVE1                              
019151,001034: 33,3376           55646                          TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019152,001035: 
019153,001036: 33,3377           34334        ANNNNNN           CAF      NINE                                  
019154,001037: 33,3400           55412                          TS       LENGTHOT                              
019155,001038: 33,3401           02523                          TC       SLEEPIE    +1                         
019156,001039: 
019157,001040: 
019158,001041: 33,3402           00004        CHKCOMED          INHINT                                         
019159,001042: 33,3403           44714                          CS       ZERO                                  
019160,001043: 33,3404           00006                          EXTEND                                         
019161,001044: 33,3405           06030                          RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019162,001045: 33,3406           74706                          MASK     BIT5                                  #  LIFTOFF BIT
019163,001046: 33,3407           10000                          CCS      A                                     
019164,001047: 33,3410           13417                          TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019165,001048: 
019166,001049: 33,3411           34706                          CA       BIT5                                  #  CHECK FOR BACKUP LIFTOFF
019167,001050: 33,3412           70101                          MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019168,001051: 33,3413           10000                          CCS      A                                     
019169,001052: 33,3414           13417                          TCF      PRELTERM                              #  BACKUP RECEIVED
019170,001053: 
019171,001054: 33,3415           00003                          RELINT                                         
019172,001055: 33,3416           00002                          TC       Q                                     #  CONTINUE PRELAUNCH
019173,001056: 
019174,001057: 
019175,001058: 33,3417           37657        PRELTERM          CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
019176,001059:                                                                                                 # # Page 438
019177,001060: 33,3420           05103                          TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019178,001061: 33,3421           00004                          INHINT                                         
019179,001062: 33,3422           04574                          TC       POSTJUMP                              
019180,001063: 33,3423           70002                          CADR     P11                                   
019181,001064: 
019182,001065: 
019183,001066: 33,3424           02647        ERCOMPPL          ECADR    ERCOMP                                
019184,001067: 
019185,001068: 33,3425  26,3327               GEOCONS5          EQUALS   HIDPHALF                              
019186,001069: 33,3425           06200        1/PIPAGT          OCT      06200                                 
019187,001070: 33,3426     4375               17DECML           =        ND1                                   #  OCT 21
019188,001071: 33,3426     4374               19DECML           =        VD1                                   #  OCT 23
019189,001072: 33,3426     4731               1/2SECX           =        .5SEC                                 
019190,001073: 
019191,001074:                                                                                                 # # Page 439
019192,001075: 33,3426     5112               GEOSTRT4          EQUALS   ENDOFJOB                              
019193,001076: 
019194,001077:                                                                                                 # # Page 440
019195,001078:                                                                                                 #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019196,001079: 
019197,001080: 33,3426                                          COUNT    33/P03                                
019198,001081: 
019199,001082: 33,3426           05301        GCOMPVER          TC       PHASCHNG                              #   OPTICAL VERIFICATION ROUTINE
019200,001083: 33,3427           00154                          OCT      00154                                 
019201,001084: 33,3430           05243                          TC       NEWMODEX                              #    ENTERED BY VERB 65 ENTER
019202,001085: 33,3431           00003                          MM       03         B-14                       
019203,001086: 33,3432           02037        SETNBPOS          TC       NBPOSPL                               
019204,001087: 33,3433           04555                          TC       BANKCALL                              
019205,001088: 33,3434           16063                          CADR     MKRELEAS                              
019206,001089: 33,3435           34712        OPTDATA           CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019207,001090: 33,3436           22007                          ZL                                             #  T 1,THEN TARGET 2
019208,001091: 33,3437           23427                          LXCH     RUN                                   #  AZIMUTH CLOCKWISE FROM NORTH TO TARGET
019209,001092: 33,3440           55047                          TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019210,001093: 33,3441           00006                          EXTEND                                         
019211,001094: 33,3442           51427                          INDEX    RUN                                   
019212,001095: 33,3443           31433                          DCA      TAZEL1                                
019213,001096: 33,3444           53046                          DXCH     DSPTEM1                               
019214,001097: 33,3445           33470                          CAF      V05N30E                               
019215,001098: 33,3446           04555                          TC       BANKCALL                              
019216,001099: 33,3447           20577                          CADR     GODSPRET                              
019217,001100: 33,3450           33456                          CAF      VN0641                                
019218,001101: 33,3451           04555                          TC       BANKCALL                              
019219,001102: 33,3452           20624                          CADR     GOFLASH                               
019220,001103: 33,3453           03611                          TC       GCOMP5                                
019221,001104: 33,3454           03457                          TC       +3                                    
019222,001105: 33,3455           03445                          TC       -8D                                   
019223,001106: 33,3456           01451        VN0641            VN       0641                                  
019224,001107: 33,3457           53046                          DXCH     DSPTEM1                               #  TAZEL1  TARGET 1 AZIMUTH
019225,001108: 33,3460           51427                          INDEX    RUN                                   
019226,001109: 33,3461           53433                          DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019227,001110: 33,3462           11427                          CCS      RUN                                   
019228,001111: 33,3463           13467                          TCF      +4                                    
019229,001112: 33,3464           34711                          CAF      TWO                                   
019230,001113: 33,3465           54001                          TS       L                                     
019231,001114: 33,3466           13437                          TCF      OPTDATA    +2                         #  MPAC     1ST PASS=0  2ND PASS=2
019232,001115: 
019233,001116: 
019234,001117: 33,3467           03531                          TC       CONTIN33                              
019235,001118: 
019236,001119: 33,3470           01236        V05N30E           VN       0530                                  
019237,001120: 
019238,001121: 33,3471           06006                          TC       INTPRET                               #   UNDYNAMIC ASSEMBLER
019239,001122: 33,3472           77170        TAR/EREF          AXT,1    AXT,2                                 #  TARGET VECTOR
019240,001123: 33,3473           00002                                   2                                     #  SIN(EL)  -COS(AZ)COS(EL)   SIN(AZ)COS(EL)
019241,001124: 33,3474           00014                                   12D                                   
019242,001125: 33,3475           40331                          SSP      SETPD                                 
019243,001126: 33,3476           00052                                   S2                                    
019244,001127: 33,3477           00006                                   6                                     
019245,001128:                                                                                                 # # Page 441
019246,001129: 33,3500           00001                                   0                                     
019247,001130: 33,3501           60533        TAR1              SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019248,001131: 33,3502           02436                                   TAZEL1     +3,1                       
019249,001132: 33,3503           00001                          STORE    0                                     #  PD00    ELEVATION    PD00
019250,001133: 33,3504           77756                          SIN                                            
019251,001134: 33,3505           10023                          STORE    18D,2                                 #  PD06 ***    SIN(EL)   ***PD12
019252,001135: 33,3506           77745                          DLOAD                                          
019253,001136: 33,3507           00001                                   0                                     
019254,001137: 33,3510           41546                          COS      PUSH                                  #  PD00     COS(EL)   PD00
019255,001138: 33,3511           47133                          SLOAD*   RTB                                   
019256,001139: 33,3512           02435                                   TAZEL1     +2,1                       
019257,001140: 33,3513           45510                                   CDULOGIC                              
019258,001141: 33,3514           00003                          STORE    2                                     #  PD02        AZIMUTH   PD02
019259,001142: 33,3515           41356                          SIN      DMP                                   
019260,001143: 33,3516           00001                                   0                                     
019261,001144: 33,3517           77752                          SL1                                            
019262,001145: 33,3520           10027                          STORE    22D,2                                 #  PD10  *** SIN(AZ)COS(EL)  ***PD16
019263,001146: 33,3521           71545                          DLOAD    COS                                   
019264,001147: 33,3522           00003                                   2                                     
019265,001148: 33,3523           72405                          DMP      SL1                                   
019266,001149: 33,3524           76076                          DCOMP    AXT,1                                 
019267,001150: 33,3525           00000                                   0                                     
019268,001151: 33,3526           10025                          STORE    20D,2                                 #  PD08 ***   -COS(AZ)COS(EL)  ***PD14
019269,001152: 33,3527           43504                          TIX,2    RVQ                                   
019270,001153: 33,3530           67501                                   TAR1                                  
019271,001154: 
019272,001155: 
019273,001156: 33,3531                                          BANK     33                                    
019274,001157: 33,2000                                          SETLOC   IMUCAL                                
019275,001158: 33,2000                                          BANK                                           
019276,001159: 33,3531                                          COUNT*   $$/P03                                
019277,001160: 
019278,001161: 33,3531           34712        CONTIN33          CA       ONE                                   
019279,001162: 33,3532           54735                          TS       STARCODE                              
019280,001163: 33,3533           34714                          CA       ZERO                                  
019281,001164: 33,3534           03626                          TC       TARGDRVE                              
019282,001165: 33,3535           06006                          TC       INTPRET                               
019283,001166: 33,3536           77624                          CALL                                           
019284,001167: 33,3537           67472                                   TAR/EREF                              
019285,001168: 33,3540           64375        NEXTBNKS          VLOAD    MXV                                   
019286,001169: 33,3541           00007                                   6D                                    
019287,001170: 33,3542           02672                                   XSM                                   
019288,001171: 33,3543           77772                          VSL1                                           
019289,001172: 33,3544           26736                          STOVL    STARAD                                
019290,001173: 33,3545           00015                                   12D                                   
019291,001174: 33,3546           76521                          MXV      VSL1                                  
019292,001175: 33,3547           02672                                   XSM                                   
019293,001176: 33,3550           02744                          STORE    STARAD     +6                         
019294,001177: 33,3551           77624                          CALL                                           
019295,001178: 33,3552           67723                                   LITTLSUB                              
019296,001179:                                                                                                 # # Page 442
019297,001180: 33,3553           02414                          STORE    LOSVEC                                
019298,001181: 33,3554           77776                          EXIT                                           
019299,001182: 33,3555           04555                          TC       BANKCALL                              
019300,001183: 33,3556           16063                          CADR     MKRELEAS                              
019301,001184: 
019302,001185: 
019303,001186: 33,3557           34711        NEXBNKSS          CAF      TWO                                   
019304,001187: 33,3560           54735                          TS       STARCODE                              
019305,001188: 33,3561           36211                          CAF      SIX                                   
019306,001189: 33,3562           03626                          TC       TARGDRVE                              
019307,001190: 33,3563           06006                          TC       INTPRET                               
019308,001191: 33,3564           77624                          CALL                                           
019309,001192: 33,3565           67723                                   LITTLSUB                              
019310,001193: 33,3566           24015                          STOVL    12D                                   
019311,001194: 33,3567           02414                                   LOSVEC                                
019312,001195: 33,3570           34007                          STCALL   06D                                   
019313,001196: 33,3571           47334                                   AXISGEN                               
019314,001197: 33,3572           77624                          CALL                                           
019315,001198: 33,3573           47140                                   CALCGTA                               
019316,001199: 33,3574           77776                          EXIT                                           
019317,001200: 33,3575           33622        GCOMP4            CAF      V06N93S                               
019318,001201: 33,3576           04555                          TC       BANKCALL                              
019319,001202: 33,3577           20624                          CADR     GOFLASH                               
019320,001203: 33,3600           03611                          TC       GCOMP5                                
019321,001204: 33,3601           13603                          TCF      +2                                    
019322,001205: 33,3602           13575                          TCF      GCOMP4                                
019323,001206: 33,3603           06006                          TC       INTPRET                               
019324,001207: 33,3604           53375                          VLOAD    VAD                                   
019325,001208: 33,3605           02760                                   OGC                                   
019326,001209: 33,3606           02650                                   ERCOMP1                               
019327,001210: 33,3607           02650                          STORE    ERCOMP1                               
019328,001211: 33,3610           77776                          EXIT                                           
019329,001212: 33,3611           04555        GCOMP5            TC       BANKCALL                              
019330,001213: 33,3612           16063                          CADR     MKRELEAS                              
019331,001214: 33,3613           05447                          TC       DOWNFLAG                              
019332,001215: 33,3614           00032                          ADRES    TRM03FLG                              
019333,001216: 
019334,001217: 33,3615           05243                          TC       NEWMODEX                              
019335,001218: 33,3616           00002                          MM       02         B-14                       
019336,001219: 33,3617           05301                          TC       PHASCHNG                              
019337,001220: 33,3620           00004                          OCT      00004                                 
019338,001221: 33,3621           05112                          TC       ENDOFJOB                              
019339,001222: 33,3622           01535        V06N93S           VN       0693                                  
019340,001223: 33,3623           05537        GTSOPTCS          TC       ALARM                                 
019341,001224: 33,3624           01602        GTSOPTSS          OCT      01602                                 
019342,001225: 33,3625           03611                          TC       GCOMP5                                
019343,001226: 
019344,001227: 
019345,001228: 34,2002                                          BANK     34                                    
019346,001229: 04,2000                                          SETLOC   IMUCAL1                               
019347,001230:                                                                                                 # # Page 443
019348,001231: 04,2000                                          BANK                                           
019349,001232: 
019350,001233: 04,2617                                          COUNT    34/COMST                              
019351,001234: 
019352,001235: 04,2617           62545        LATAZCHK          DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019353,001236: 04,2620           02403                                   LATITUDE                              
019354,001237: 04,2621           15047                          STODL    DSPTEM1    +1                         
019355,001238: 04,2622           02401                                   AZIMUTH                               
019356,001239: 04,2623           77434                          RTB      EXIT                                  
019357,001240: 04,2624           45543                                   1STO2S                                
019358,001241: 04,2625           56154                          XCH      MPAC                                  
019359,001242: 04,2626           55045                          TS       DSPTEM1                               
019360,001243: 04,2627           04555                          TC       BANKCALL                              
019361,001244: 04,2630           20607                          CADR     CLEANDSP                              
019362,001245: 04,2631           32650                          CAF      VNG0641                               
019363,001246: 04,2632           04555                          TC       BANKCALL                              
019364,001247: 04,2633           20624                          CADR     GOFLASH                               
019365,001248: 04,2634           02636                          TC       +2                                    #   NOT ALLOWED
019366,001249: 04,2635           02637                          TC       +2                                    
019367,001250: 04,2636           02631                          TC       -5                                    
019368,001251: 04,2637           06006                          TC       INTPRET                               
019369,001252: 04,2640           47135                          SLOAD    RTB                                   
019370,001253: 04,2641           01046                                   DSPTEM1                               
019371,001254: 04,2642           45510                                   CDULOGIC                              
019372,001255: 04,2643           02401                          STORE    AZIMUTH                               
019373,001256: 04,2644           60535                          SLOAD    SR2                                   
019374,001257: 04,2645           01047                                   DSPTEM1    +1                         
019375,001258: 04,2646           02403                          STORE    LATITUDE                              
019376,001259: 04,2647           77616                          RVQ                                            
019377,001260: 
019378,001261: 
019379,001262: 04,2650           01451        VNG0641           VN       0641                                  
019380,001263: 33,3626                                          BANK     33                                    
019381,001264: 33,2000                                          SETLOC   IMUCAL                                
019382,001265: 33,2000                                          BANK                                           
019383,001266: 
019384,001267: 
019385,001268: 33,3626                                          COUNT*   $$/P03                                
019386,001269: 33,3626           00006        TARGDRVE          EXTEND                                         
019387,001270: 33,3627           23424                          QXCH     QPLAC                                 
019388,001271: 33,3630           55431                          TS       TARG1/2                               
019389,001272: 33,3631           06006                          TC       INTPRET                               
019390,001273: 33,3632           77624                          CALL                                           
019391,001274: 33,3633           67472                                   TAR/EREF                              
019392,001275: 33,3634           76740                          LXC,1    VLOAD*                                
019393,001276: 33,3635           02431                                   TARG1/2                               
019394,001277: 33,3636           00007                                   6D,1                                  
019395,001278: 33,3637           36766                          STCALL   STAR                                  
019396,001279: 33,3640           46053                                   SXTANG                                
019397,001280: 33,3641           77776                          EXIT                                           
019398,001281:                                                                                                 # # Page 444
019399,001282: 33,3642           31773                          CA       SAC                                   
019400,001283: 33,3643           55161                          TS       DESOPTS                               
019401,001284: 33,3644           31775                          CA       PAC                                   
019402,001285: 33,3645           55160                          TS       DESOPTT                               
019403,001286: 33,3646           34714        RETARG            CAF      ZERO                                  
019404,001287: 33,3647           55303                          TS       OPTIND                                
019405,001288: 33,3650           34712                          CAF      ONE                                   
019406,001289: 33,3651           04555                          TC       BANKCALL                              
019407,001290: 33,3652           16002                          CADR     SXTMARK                               
019408,001291: 33,3653           04555                          TC       BANKCALL                              
019409,001292: 33,3654           17512                          CADR     OPTSTALL                              
019410,001293: 33,3655           03623                          TC       GTSOPTCS                              
019411,001294: 33,3656           30075                          CAE      FLAGWRD1                              
019412,001295: 33,3657           74707                          MASK     TRM03BIT                              
019413,001296: 33,3660           10000                          CCS      A                                     
019414,001297: 33,3661           03611                          TC       GCOMP5                                
019415,001298: 
019416,001299: 33,3662           51330                          INDEX    MARKSTAT                              
019417,001300: 33,3663           30052                          CA       QPRET                                 
019418,001301: 33,3664           00006                          EXTEND                                         
019419,001302: 33,3665           13667                          BZF      RETARG1                               
019420,001303: 33,3666           01424                          TC       QPLAC                                 
019421,001304: 
019422,001305: 
019423,001306: 33,3667           34714        RETARG1           CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019424,001307: 33,3670           57330                          XCH      MARKSTAT                              
019425,001308: 33,3671           10000                          CCS      A                                     
019426,001309: 33,3672           50000                          INDEX    A                                     
019427,001310: 33,3673           54000                          TS       A                                     
019428,001311: 33,3674           13646                          TCF      RETARG                                #  GO DO SXTMARK AGAIN
019429,001312: 33,3675                                          BANK     33                                    
019430,001313: 33,2000                                          SETLOC   IMUCAL                                
019431,001314: 33,2000                                          BANK                                           
019432,001315: 33,3675                                          COUNT*   $$/P03                                
019433,001316: 33,3675           30341 22444  PIPASC            2DEC     .76376833                             
019434,001317: 33,3677           57223 66451  VELSC             2DEC     -.52223476                            
019435,001318: 33,3701           05427 12577  ALSK              2DEC     .17329931                             
019436,001319: 33,3703           77567 44202                    2DEC     -.00835370                            
019437,001320: 33,3705           24276 14066  GEORGEJ           2DEC     .63661977                             
019438,001321: 33,3707           23073 11773  GEORGEK           2DEC     .59737013                             
019439,001322: 33,3711           00055 20267  2DEGRES           2DEC     .00277778                             
019440,001323: 33,3713           03146 14632  GEOCONS1          2DEC     .1                                    
019441,001324:                                                                                                 # # Page 445
019442,001325: 33,3715           00121 35341  GEOCONS2          2DEC     .005                                  
019443,001326: 33,3717           01767 31666  GEOCONS3          2DEC     .062                                  
019444,001327: 33,3721           00004 35223  GEOCONS4          2DEC     .0003                                 
019445,001328: 33,3723                                          COUNT    33/P02                                
019446,001329: 33,3723           77620        LITTLSUB          STQ                                            
019447,001330: 33,3724           02424                                   QPLAC                                 
019448,001331: 33,3725           76740                          LXC,1    VLOAD*                                
019449,001332: 33,3726           01330                                   MARKSTAT                              
019450,001333: 33,3727           00003                                   2,1                                   
019451,001334: 33,3730           34767                          STCALL   CDUSPOT                               
019452,001335: 33,3731           46000                                   SXTNB                                 
019453,001336: 33,3732           77624                          CALL                                           
019454,001337: 33,3733           47572                                   TRG*NBSM                              
019455,001338: 33,3734           77650                          GOTO                                           
019456,001339: 33,3735           02424                                   QPLAC                                 
019457,001340: 
019458,001341: 
019459,001342: 33,3736           77776                          EXIT                                           
019460,001343: 33,3737           06006        AZMTHCG1          TC       INTPRET                               
019461,001344: 33,3740           47145                          DLOAD    RTB                                   
019462,001345: 33,3741           02636                                   NEWAZMTH                              
019463,001346: 33,3742           45543                                   1STO2S                                
019464,001347: 33,3743           77776                          EXIT                                           
019465,001348: 33,3744           56154                          XCH      MPAC                                  
019466,001349: 33,3745           55045                          TS       DSPTEM1                               
019467,001350: 33,3746           04555                          TC       BANKCALL                              
019468,001351: 33,3747           20607                          CADR     CLEANDSP                              
019469,001352: 33,3750           33772                          CAF      VN0629                                
019470,001353: 33,3751           04555                          TC       BANKCALL                              
019471,001354: 33,3752           20624                          CADR     GOFLASH                               
019472,001355: 33,3753           13755                          TCF      +2                                    
019473,001356: 33,3754           13756                          TCF      +2                                    
019474,001357: 33,3755           13750                          TCF      -5                                    
019475,001358: 33,3756           06006                          TC       INTPRET                               
019476,001359: 33,3757           47135                          SLOAD    RTB                                   
019477,001360: 33,3760           01046                                   DSPTEM1                               
019478,001361: 33,3761           45510                                   CDULOGIC                              
019479,001362: 33,3762           02634                          STORE    LAUNCHAZ                              
019480,001363: 33,3763           77776                          EXIT                                           
019481,001364: 33,3764           34714                          CA       ZERO                                  
019482,001365: 33,3765           55632                          TS       PREMTRXC                              
019483,001366: 33,3766           05301                          TC       PHASCHNG                              
019484,001367: 33,3767           00004                          OCT      00004                                 
019485,001368: 33,3770           04574                          TC       POSTJUMP                              
019486,001369: 33,3771           21176                          CADR     PINBRNCH                              
019487,001370: 
019488,001371: 33,3772           01435        VN0629            VN       0629                                  
019489,001372: 
019490,001373:                                                                                                 # # Page 446

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