Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
018382,000002: ## Copyright: Public domain.
018383,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018384,000004: ## Purpose: Part of the source code for Colossus, build 249.
018385,000005: ## It is part of the source code for the Command Module's (CM)
018386,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
018387,000007: ## Assembler: yaYUL
018388,000008: ## Reference: pp. 416-448.
018389,000009: ## Contact: Ron Burkey <info@sandroid.org>.
018390,000010: ## Website: www.ibiblio.org/apollo.
018391,000011: ## Mod history: 08/11/04 RSB Began transcribing.
018392,000012: ## 2010-10-24 JL Indentation fixes.
018393,000013: ## 2011-05-07 JL Flag SBANK= workarounds for future removal.
018394,000014: ## 2017-01-06 RSB Page numbers now agree with those on the
018395,000015: ## original harcopy, as opposed to the PDF page
018396,000016: ## numbers in 1701.pdf.
018397,000017: ## 2017-01-14 RSB Cross-diff'd comment text (not whitespace)
018398,000018: ## vs the already-proofed corresponding Colossus
018399,000019: ## 237 and Comanche 55 source-code files
018400,000020: ## and corrected errors found.
018401,000021: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
018402,000022: ##
018403,000023: ## The contents of the "Colossus249" files, in general, are transcribed
018404,000024: ## from a scanned copy of the program listing. Notations on this
018405,000025: ## document read, in part:
018406,000026: ##
018407,000027: ## Assemble revision 249 of AGC program Colossus by NASA
018408,000028: ## 2021111-041. October 28, 1968.
018409,000029: ##
018410,000030: ## This AGC program shall also be referred to as
018411,000031: ## Colossus 1A
018412,000032: ##
018413,000033: ## Prepared by
018414,000034: ## Massachusetts Institute of Technology
018415,000035: ## 75 Cambridge Parkway
018416,000036: ## Cambridge, Massachusetts
018417,000037: ## under NASA contract NAS 9-4065.
018418,000038: ##
018419,000039: ## Refer directly to the online document mentioned above for further information.
018420,000040: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
018421,000041: ##
018422,000042: ## In some cases, where the source code for Luminary 131 overlaps that of
018423,000043: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
018424,000044: ## source file, and then is proofed to incorporate any changes.
018425,000045:
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Page 416 |
018427,000047: # NAME - IMU PERFORMANCE TESTS 2
018428,000048:
018429,000049: # DATE - MARCH 20, 1967
018430,000050:
018431,000051: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
018432,000052:
018433,000053: # MODNO.- ZERO
018434,000054:
018435,000055: # FUNCTIONAL DESCRIPTION
018436,000056:
018437,000057: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018438,000058: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018439,000059: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018440,000060:
018441,000061: 33,2004 BANK 33
018442,000062: 33,2000 SETLOC IMUCAL
018443,000063: 33,2000 BANK
018444,000064: 33,2004 E5,1423 EBANK= POSITON
018445,000065:
018446,000066: 33,2004 34714 IMUTEST CA ZERO
018447,000067: 33,2005 55452 TS DRIFTT
018448,000068: 33,2006 55643 TS GEOCOMP1
018449,000069: 33,2007 32443 CAF TESTTIME
018450,000070: 33,2010 55412 TS LENGTHOT
018451,000071: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG
018452,000072: 33,2012 34734 CAF 1SECX
018453,000073: 33,2013 55644 TS 1SECXT1
018454,000074:
018455,000075: 33,2014 32441 CA OC14400
018456,000076: 33,2015 55074 TS 1/PIPADT
018457,000077:
018458,000078: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
018459,000079: 33,2017 77624 CALL
018460,000080: 33,2020 10617 LATAZCHK
018461,000081: 33,2021 57546 COS DCOMP
018462,000082: 33,2022 77752 SL1
018463,000083: 33,2023 16447 STODL WANGI
018464,000084: 33,2024 02403 LATITUDE
018465,000085: 33,2025 72556 SIN SL1
018466,000086: 33,2026 02445 STORE WANGO
018467,000087: 33,2027 77776 EXIT
018468,000088: 33,2030 04555 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018469,000089: 33,2031 16516 CADR IMUZERO
018470,000090: 33,2032 02316 TC IMUSTLLG
018471,000091: 33,2033 34714 IMUBACK CA ZERO
018472,000092: 33,2034 55421 TS NDXCTR
018473,000093: 33,2035 55450 TS TORQNDX
018474,000094: 33,2036 55451 TS TORQNDX +1
018475,000095: 33,2037 34375 NBPOSPL CA DEC17
018476,000096: 33,2040 55655 TS ZERONDX1
018477,000097: 33,2041 32445 CA XNBADR
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Page 417 |
018479,000099: 33,2042 02356 TC ZEROING
018480,000100: 33,2043 34675 CA HALF
018481,000101: 33,2044 55713 TS XNB
018482,000102: 33,2045 06006 TC INTPRET
018483,000103: 33,2046 73545 DLOAD SIN
018484,000104: 33,2047 02401 AZIMUTH
018485,000105: 33,2050 02724 STORE YNB +2
018486,000106: 33,2051 16734 STODL ZNB +4
018487,000107: 33,2052 02401 AZIMUTH
018488,000108: 33,2053 77746 COS
018489,000109: 33,2054 02726 STORE YNB +4
018490,000110: 33,2055 77676 DCOMP
018491,000111: 33,2056 02732 STORE ZNB +2
018492,000112: 33,2057 77776 EXIT
018493,000113: 33,2060 05253 TC CHECKMM
018494,000114: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018495,000115: 33,2062 12064 TCF +2 # NO
018496,000116: 33,2063 13432 TCF SETNBPOS +1 # YES
018497,000117: 33,2064 06006 TC INTPRET
018498,000118: 33,2065 77624 CALL
018499,000119: 33,2066 47244 CALCGA
018500,000120: 33,2067 77776 EXIT
018501,000121: 33,2070 04555 TC BANKCALL
018502,000122: 33,2071 16602 CADR IMUCOARS
018503,000123: 33,2072 34675 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
018504,000124: 33,2073 70077 MASK FLAGWRD3
018505,000125: 33,2074 00006 EXTEND
018506,000126: 33,2075 12077 BZF +2
018507,000127: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018508,000128: 33,2077 05447 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018509,000129: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018510,000130: 33,2101 02316 TC IMUSTLLG
018511,000131: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018512,000132: 33,2103 02131 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018513,000133: 33,2104 04555 TC BANKCALL
018514,000134: 33,2105 17012 CADR IMUFINE
018515,000135: 33,2106 02316 TC IMUSTLLG
018516,000136: 33,2107 00006 EXTEND
018517,000137: 33,2110 31657 DCA PERFDLAY
018518,000138: 33,2111 05231 TC LONGCALL
018519,000139: 33,2112 E5,1423 EBANK= POSITON
018520,000140: 33,2112 02116 66065 2CADR GOESTIMS
018521,000141:
018522,000142: 33,2114 32121 CA ESTICADR
018523,000143: 33,2115 05070 TC JOBSLEEP
018524,000144: 33,2116 32121 GOESTIMS CA ESTICADR
018525,000145: 33,2117 05074 TC JOBWAKE
018526,000146: 33,2120 05213 TC TASKOVER
018527,000147: 33,2121 66453 ESTICADR CADR ESTIMS
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Page 418 |
018529,000149: 33,2122 34714 TORQUE CA ZERO
018530,000150: 33,2123 55050 TS DSPTEM2
018531,000151: 33,2124 31514 CA DRIFTI
018532,000152: 33,2125 55051 TS DSPTEM2 +1
018533,000153: 33,2126 51423 INDEX POSITON
018534,000154: 33,2127 55430 TS SOUTHDR -1
018535,000155: 33,2130 02427 TC SHOW
018536,000156:
018537,000157: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST
018538,000158: 33,2132 02133 TC +1
018539,000159: 33,2133 02417 TC EARTHR*
018540,000160: 33,2134 34374 CA DEC57
018541,000161: 33,2135 55412 TS LENGTHOT
018542,000162: 33,2136 34712 CA ONE
018543,000163: 33,2137 55547 TS RESULTCT
018544,000164: 33,2140 34714 CA ZERO
018545,000165: 33,2141 51422 INDEX PIPINDEX
018546,000166: 33,2142 54037 TS PIPAX
018547,000167: 33,2143 55502 TS DATAPL
018548,000168: 33,2144 55506 TS DATAPL +4
018549,000169: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE
018550,000170: 33,2146 00004 INHINT
018551,000171: 33,2147 34711 CAF TWO
018552,000172: 33,2150 05130 TC TWIDDLE
018553,000173: 33,2151 E5,1671 EBANK= XSM
018554,000174: 33,2151 02153 ADRES PIPATASK
018555,000175: 33,2152 05112 TC ENDOFJOB
018556,000176:
018557,000177: 33,2153 00006 PIPATASK EXTEND
018558,000178: 33,2154 27412 DIM LENGTHOT
018559,000179: 33,2155 31412 CA LENGTHOT
018560,000180: 33,2156 00006 EXTEND
018561,000181: 33,2157 62163 BZMF STARTPIP
018562,000182: 33,2160 34701 CAF BIT10
018563,000183: 33,2161 05130 TC TWIDDLE
018564,000184: 33,2162 E5,1671 EBANK= XSM
018565,000185: 33,2162 02153 ADRES PIPATASK
018566,000186: 33,2163 34675 STARTPIP CAF PRIO20
018567,000187: 33,2164 05042 TC FINDVAC
018568,000188: 33,2165 E5,1671 EBANK= XSM
018569,000189: 33,2165 02170 66065 2CADR PIPJOBB
018570,000190:
018571,000191: 33,2167 05213 TC TASKOVER
018572,000192:
018573,000193: 33,2170 51421 PIPJOBB INDEX NDXCTR
018574,000194: 33,2171 02172 TC +1
018575,000195: 33,2172 02417 TC EARTHR*
018576,000196: 33,2173 31412 CA LENGTHOT
018577,000197: 33,2174 00006 EXTEND
018578,000198: 33,2175 62177 BZMF +2
018579,000199: 33,2176 05112 TC ENDOFJOB
018580,000200: 33,2177 34715 CA FIVE
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Page 419 |
018582,000202: 33,2200 55547 TS RESULTCT
018583,000203: 33,2201 02321 TC CHECKG
018584,000204: 33,2202 00006 EXTEND
018585,000205: 33,2203 41503 DCS DATAPL
018586,000206: 33,2204 21507 DAS DATAPL +4
018587,000207:
018588,000208: 33,2205 06006 TC INTPRET
018589,000209: 33,2206 45345 DLOAD DSU
018590,000210: 33,2207 02511 DATAPL +6
018591,000211: 33,2210 02505 DATAPL +2
018592,000212: 33,2211 45044 BPL CALL
018593,000213: 33,2212 66214 AINGOTN
018594,000214: 33,2213 66276 OVERFFIX
018595,000215: 33,2214 56325 AINGOTN PDDL DDV
018596,000216: 33,2215 02507 DATAPL +4
018597,000217: 33,2216 57212 SL4 DMPR
018598,000218: 33,2217 27111 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
018599,000219: 33,2220 77634 RTB
018600,000220: 33,2221 45541 SGNAGREE
018601,000221: 33,2222 01051 STORE DSPTEM2
018602,000222: 33,2223 77776 EXIT
018603,000223: 33,2224 11421 CCS NDXCTR
018604,000224: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
018605,000225: 33,2226 02427 TC SHOW
018606,000226: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
018607,000227: 33,2230 55412 TS LENGTHOT
018608,000228: 33,2231 51423 INDEX POSITON
018609,000229: 33,2232 41427 CS SOUTHDR -2
018610,000230: 33,2233 55452 TS DRIFTT
018611,000231: 33,2234 31675 CA XSM +4 # 0 IF POSN 4
018612,000232: 33,2235 00006 EXTEND
018613,000233: 33,2236 12244 BZF PON2
018614,000234: 33,2237 44706 PON4 CS BIT5 # OFFSET PLATFORM
018615,000235: 33,2240 27651 ADS ERCOMP1 +2
018616,000236: 33,2241 34706 CA BIT5
018617,000237: 33,2242 27647 ADS ERCOMP1
018618,000238: 33,2243 12250 TCF PONG
018619,000239: 33,2244 44706 PON2 CS BIT5
018620,000240: 33,2245 27651 ADS ERCOMP1 +2
018621,000241: 33,2246 34706 CA BIT5
018622,000242: 33,2247 27653 ADS ERCOMP1 +4
018623,000243: 33,2250 02417 PONG TC EARTHR*
018624,000244: 33,2251 34714 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018625,000245: 33,2252 55404 TS ERVECTOR
018626,000246: 33,2253 55405 TS ERVECTOR +1
018627,000247: 33,2254 34672 GUESS1 CAF POSMAX
018628,000248: 33,2255 55450 TS TORQNDX
018629,000249: 33,2256 55451 TS TORQNDX +1
018630,000250: 33,2257 30032 CA CDUX
018631,000251: 33,2260 55413 TS LOSVEC
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Page 420 |
018633,000253: 33,2261 02453 TC ESTIMS
018634,000254: 33,2262 31512 VALMIS CA DRIFTO
018635,000255: 33,2263 55051 TS DSPTEM2 +1
018636,000256: 33,2264 34714 CA ZERO
018637,000257: 33,2265 55050 TS DSPTEM2
018638,000258: 33,2266 02427 TC SHOW
018639,000259:
018640,000260: 33,2267 05447 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
018641,000261: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0
018642,000262: 33,2271 44714 CS ZERO
018643,000263: 33,2272 05246 TC NEWMODEX +3
018644,000264: 33,2273 04555 TC BANKCALL
018645,000265: 33,2274 16063 CADR MKRELEAS
018646,000266: 33,2275 05423 TC ENDEXT
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Page 421 |
018648,000268:
018649,000269: 33,2276 43215 OVERFFIX DAD DAD
018650,000270: 33,2277 15340 DPPOSMAX
018651,000271: 33,2300 27117 ONEDPP
018652,000272: 33,2301 77616 RVQ
018653,000273:
018654,000274: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
018655,000275: 33,2303 23425 QXCH QPLACE
018656,000276: 33,2304 34714 CA ZERO
018657,000277: 33,2305 55155 TS THETAD
018658,000278: 33,2306 55156 TS THETAD +1
018659,000279: 33,2307 55157 TS THETAD +2
018660,000280: 33,2310 04555 TC BANKCALL
018661,000281: 33,2311 16602 CADR IMUCOARS
018662,000282: 33,2312 04555 TC BANKCALL
018663,000283: 33,2313 17516 CADR IMUSTALL
018664,000284: 33,2314 03103 TC SOMERR2
018665,000285: 33,2315 01425 TC QPLACE
018666,000286:
018667,000287: 33,2316 00006 IMUSTLLG EXTEND
018668,000288: 33,2317 23425 QXCH QPLACE
018669,000289: 33,2320 02312 TC COAALIGN +10
018670,000290:
018671,000291: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
018672,000292: 33,2322 23425 QXCH QPLACE
018673,000293: 33,2323 02331 TC +6
018674,000294: 33,2324 00003 CHECKG1 RELINT
018675,000295: 33,2325 30067 CA NEWJOB
018676,000296: 33,2326 00006 EXTEND
018677,000297: 33,2327 62335 BZMF +6
018678,000298: 33,2330 05057 TC CHANG1
018679,000299: 33,2331 00004 INHINT
018680,000300: 33,2332 51422 INDEX PIPINDEX
018681,000301: 33,2333 40037 CS PIPAX
018682,000302: 33,2334 55655 TS ZERONDX
018683,000303: 33,2335 00004 INHINT
018684,000304: 33,2336 51422 INDEX PIPINDEX
018685,000305: 33,2337 30037 CA PIPAX
018686,000306: 33,2340 61655 AD ZERONDX
018687,000307: 33,2341 00006 EXTEND
018688,000308: 33,2342 12324 BZF CHECKG1
018689,000309: 33,2343 51422 INDEX PIPINDEX
018690,000310: 33,2344 30037 CA PIPAX
018691,000311: 33,2345 51547 INDEX RESULTCT
018692,000312: 33,2346 55502 TS DATAPL
018693,000313: 33,2347 04526 TC FINETIME
018694,000314: 33,2350 51547 INDEX RESULTCT
018695,000315: 33,2351 55503 TS DATAPL +1
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Page 422 |
018697,000317: 33,2352 51547 INDEX RESULTCT
018698,000318: 33,2353 23504 LXCH DATAPL +2
018699,000319: 33,2354 00003 RELINT
018700,000320: 33,2355 01425 ENDCHKG TC QPLACE
018701,000321:
018702,000322: 33,2356 54001 ZEROING TS L
018703,000323: 33,2357 12361 TCF +2
018704,000324: 33,2360 55655 ZEROING1 TS ZERONDX1
018705,000325: 33,2361 34714 CAF ZERO
018706,000326: 33,2362 50001 INDEX L
018707,000327: 33,2363 54000 TS 0
018708,000328: 33,2364 24001 INCR L
018709,000329: 33,2365 11655 CCS ZERONDX1
018710,000330: 33,2366 12360 TCF ZEROING1
018711,000331: 33,2367 00002 TC Q
018712,000332:
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Page 423 |
018714,000334: 32,2000 SETLOC IMUCAL3
018715,000335: 32,2000 BANK
018716,000336: 32,2000 65345 ERTHRVSE DLOAD PDDL
018717,000337: 32,2001 27112 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
018718,000338: 32,2002 02403 LATITUDE
018719,000339: 32,2003 57546 COS DCOMP
018720,000340: 32,2004 73525 PDDL SIN
018721,000341: 32,2005 02403 LATITUDE
018722,000342: 32,2006 74266 VDEF VXSC
018723,000343: 32,2007 26450 OMEG/MS
018724,000344: 32,2010 02405 STORE ERVECTOR
018725,000345: 32,2011 77634 RTB
018726,000346: 32,2012 45505 LOADTIME
018727,000347: 32,2013 26443 STOVL TMARK
018728,000348: 32,2014 27112 SCHZEROS
018729,000349: 32,2015 02650 STORE ERCOMP1
018730,000350: 32,2016 77616 RVQ
018731,000351: 33,2000 SETLOC IMUCAL
018732,000352: 33,2000 BANK
018733,000353:
018734,000354: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
018735,000355: 33,2371 00051 S2
018736,000356: 33,2372 45505 LOADTIME
018737,000357: 33,2373 02441 STORE TEMPTIME
018738,000358: 33,2374 51025 DSU BPL
018739,000359: 33,2375 02443 TMARK
018740,000360: 33,2376 66401 ERTHR
018741,000361: 33,2377 77624 CALL
018742,000362: 33,2400 66276 OVERFFIX
018743,000363: 33,2401 74261 ERTHR SL VXSC
018744,000364: 33,2402 20212 9D
018745,000365: 33,2403 02405 ERVECTOR
018746,000366: 33,2404 53321 MXV VAD
018747,000367: 33,2405 02672 XSM
018748,000368: 33,2406 02650 ERCOMP1
018749,000369: 33,2407 16650 STODL ERCOMP1
018750,000370: 33,2410 02441 TEMPTIME
018751,000371: 33,2411 02443 STORE TMARK
018752,000372: 33,2412 47170 AXT,1 RTB
018753,000373: 33,2413 02647 ECADR ERCOMP1
018754,000374: 33,2414 45650 PULSEIMU
018755,000375: 33,2415 77650 GOTO
018756,000376: 33,2416 00051 S2
018757,000377:
018758,000378: 33,2417 00006 EARTHR* EXTEND
018759,000379: 33,2420 23426 QXCH QPLACES
018760,000380: 33,2421 06006 TC INTPRET
018761,000381: 33,2422 77624 CALL
018762,000382: 33,2423 66370 EARTHR
018763,000383: 33,2424 77776 PROUT EXIT
018764,000384: 33,2425 02316 TC IMUSTLLG
018765,000385: 33,2426 01426 TC QPLACES
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Page 424 |
018767,000387:
018768,000388: 33,2427 00006 SHOW EXTEND
018769,000389: 33,2430 23425 QXCH QPLACE
018770,000390: 33,2431 31423 SHOW1 CA POSITON
018771,000391: 33,2432 55052 TS DSPTEM2 +2
018772,000392: 33,2433 32442 CA VB06N98
018773,000393: 33,2434 04555 TC BANKCALL
018774,000394: 33,2435 20624 CADR GOFLASH
018775,000395: 33,2436 02267 TC ENDTEST1 # V34
018776,000396: 33,2437 01425 TC QPLACE # V33
018777,000397: 33,2440 12431 TCF SHOW1
018778,000398:
018779,000399: 33,2441 14400 OC14400 OCT 14400
018780,000400: 33,2442 33,2447 3990DEC = OMEG/MS
018781,000401: 33,2442 01542 VB06N98 VN 0698
018782,000402: 33,2443 01602 TESTTIME OCT 01602
018783,000403: 33,2444 4375 DEC17 = ND1
018784,000404: 33,2444 02757 OGCPL ECADR OGC
018785,000405: 33,2445 4734 1SECX = 1SEC
018786,000406: 33,2445 4374 DEC57 = VD1
018787,000407: 33,2445 01713 XNBADR GENADR XNB
018788,000408: 33,2446 01671 XSMADR GENADR XSM
018789,000409: 33,2447 07623 26552 OMEG/MS 2DEC .24339048
018790,000410:
018791,000411: 33,2451 04555 P11OUT TC BANKCALL
018792,000412: 33,2452 70127 CADR MATRXJOB # RETURN TO P11
018793,000413:
018794,000414: 33,2453 COUNT 02.COMST
018795,000415:
018796,000416: 4526 BLOCK 2
018797,000417:
018798,000418: 4526 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
018799,000419: 4527 00006 EXTEND
018800,000420: 4530 00004 READ LOSCALAR
018801,000421: 4531 54001 TS L
018802,000422: 4532 00006 EXTEND
018803,000423: 4533 06004 RXOR LOSCALAR
018804,000424: 4534 00006 EXTEND
018805,000425: 4535 14541 BZF +4
018806,000426: 4536 00006 EXTEND
018807,000427: 4537 00004 READ LOSCALAR
018808,000428: 4540 54001 TS L
018809,000429: 4541 44672 +4 CS POSMAX
018810,000430: 4542 60001 AD L
018811,000431: 4543 00006 EXTEND
018812,000432: 4544 14527 BZF FINETIME +1
018813,000433: 4545 00006 EXTEND
018814,000434: 4546 00003 READ HISCALAR
018815,000435: 4547 00002 TC Q
018816,000436:
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Page 425 |
018818,000438: # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018819,000439: # DATE- NOVEMBER 2 1966
018820,000440: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018821,000441: # MOD NO 3
018822,000442:
018823,000443: # FUNCTIONAL DESCRIPTION
018824,000444:
018825,000445: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018826,000446: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018827,000447: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
018828,000448: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018829,000449: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018830,000450: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018831,000451: # FOR THE DATA TO FLASH.
018832,000452:
018833,000453: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018834,000454: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018835,000455: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018836,000456: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
018837,000457: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
018838,000458: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018839,000459: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018840,000460: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018841,000461: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018842,000462: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018843,000463: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018844,000464:
018845,000465: # COMPASS ERASABLE LOAD REQUIRED
018846,000466:
018847,000467: # 1- LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
018848,000468: # 2- LATITUDE-DP-OF LAUNCH PAD
018849,000469: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
018850,000470: # 4- IMU COMPENSATION PARAMETERS
018851,000471: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
018852,000472:
018853,000473: # TO PERFORM AS PART OF COMPASS
018854,000474:
018855,000475: # 1- OPTICAL VERIFICATION- V 65 E
018856,000476: # 2- AZIMUTH CHANGE- V 78 E
018857,000477:
018858,000478: # SUBROUTINES CALLED
018859,000479:
018860,000480: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018861,000481: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018862,000482:
018863,000483: # NORMAL EXIT
018864,000484:
018865,000485: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018866,000486: # GYROCOMPASS-MANY, SEE THE LISTING
018867,000487:
018868,000488: # ALARMS
018869,000489:
018870,000490: # 1600 OVERFLOW IN DRIFT TEST
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Page 426 |
018872,000492: # 1601 BAD IMU TORQUE ABORT
018873,000493: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
018874,000494:
018875,000495: # OUTPUT
018876,000496:
018877,000497: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018878,000498: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018879,000499: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
018880,000500: # 02 GYROCOMPASSING
018881,000501: # 03 DOING OPTICAL VERIFICATION (CSM)
018882,000502:
018883,000503: # DEBRIS
018884,000504:
018885,000505: # ALL CENTRALS, ALL OF EBANK XSM
018886,000506:
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Page 427 |
018888,000508: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018889,000509: # ON THE NEXT FEW PAGES.
018890,000510:
018891,000511: 4550 COUNT 33/P02
018892,000512:
018893,000513: 4550 E5,1671 EBANK= XSM
018894,000514: 33,2453 BANK 33
018895,000515: 33,2000 SETLOC IMUCAL
018896,000516: 33,2000 BANK
018897,000517:
018898,000518: 33,2453 05261 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
018899,000519: 33,2454 00075 OCT 00075
018900,000520: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
018901,000521:
018902,000522:
018903,000523: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
018904,000524: 33,2457 30025 CA TIME1
018905,000525: 33,2460 55645 TS GTSWTLT1
018906,000526: 33,2461 34714 CAF ZERO # ZERO THE PIPAS
018907,000527: 33,2462 54037 TS PIPAX
018908,000528: 33,2463 54040 TS PIPAY
018909,000529: 33,2464 54041 TS PIPAZ
018910,000530: 33,2465 00003 RELINT
018911,000531: 33,2466 33130 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
018912,000532: 33,2467 55655 TS ZERONDX1
018913,000533: 33,2470 33131 CA ALXXXZ
018914,000534: 33,2471 02356 TC ZEROING
018915,000535: 33,2472 06006 TC INTPRET
018916,000536: 33,2473 77735 SLOAD
018917,000537: 33,2474 27112 SCHZEROS
018918,000538: 33,2475 25477 STOVL GCOMPSW -1
018919,000539: 33,2476 27123 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
018920,000540: 33,2477 26455 STOVL ALX1S
018921,000541: 33,2500 27112 SCHZEROS
018922,000542: 33,2501 01472 STORE GCOMP
018923,000543: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
018924,000544: 33,2503 77776 EXIT
018925,000545:
018926,000546: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
018927,000547: 33,2505 02507 TC +2
018928,000548: 33,2506 02523 TC SLEEPIE +1
018929,000549: 33,2507 06006 TC INTPRET
018930,000550: 33,2510 77624 CALL
018931,000551: 33,2511 64000 ERTHRVSE
018932,000552: 33,2512 77776 EXIT
018933,000553: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
018934,000554: 33,2514 55646 TS ERECTIME
018935,000555:
018936,000556: 33,2515 05243 TC NEWMODEX
018937,000557: 33,2516 00002 MM 02 B-14
018938,000558: 33,2517 04555 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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Page 428 |
018940,000560: 33,2520 17075 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
018941,000561: 33,2521 03376 TC ANNNNNN # END OF FIRST TIME THROUGH
018942,000562:
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Page 429 |
018944,000564: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018945,000565:
018946,000566: # SET UP WAITLIST SECTION
018947,000567: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
018948,000568: 33,2523 05301 TC PHASCHNG # CHANGE PHASE
018949,000569: 33,2524 00135 OCT 00135
018950,000570: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
018951,000571: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO
018952,000572: 33,2527 03401 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
018953,000573: 33,2530 02532 TC SETGWLST
018954,000574: 33,2531 05112 TC ENDOFJOB
018955,000575:
018956,000576: 33,2532 00006 SETGWLST EXTEND
018957,000577: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018958,000578: 33,2534 00004 INHINT
018959,000579: 33,2535 40025 CS TIME1
018960,000580: 33,2536 61645 AD GTSWTLT1
018961,000581: 33,2537 00006 EXTEND
018962,000582: 33,2540 62542 BZMF +2
018963,000583: 33,2541 64674 AD NEGMAX # 10 MS ERROR OK
018964,000584: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018965,000585: 33,2543 00006 EXTEND
018966,000586: 33,2544 62550 BZMF RIGHTGTS
018967,000587: 33,2545 05130 WTGTSMPL TC TWIDDLE
018968,000588: 33,2546 E5,1540 EBANK= ALTIM
018969,000589: 33,2546 02575 ADRES ALLOOP
018970,000590: 33,2547 00154 TC MPAC
018971,000591: 33,2550 34710 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
018972,000592: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION
018973,000593:
018974,000594: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018975,000595:
018976,000596: 33,2552 00031 25DECML DEC 25 B-14
018977,000597:
018978,000598: 33,2553 32552 STOREDTA CAF 25DECML
018979,000599: 33,2554 54154 TS MPAC
018980,000600: 33,2555 50154 INDEX MPAC
018981,000601: 33,2556 31460 CAE THETAX1
018982,000602: 33,2557 50154 INDEX MPAC
018983,000603: 33,2560 55577 TS RESTARPT
018984,000604: 33,2561 10154 CCS MPAC
018985,000605: 33,2562 12554 TCF STOREDTA +1
018986,000606: 33,2563 00002 TC Q
018987,000607: 33,2564 32552 LOADSTDT CAF 25DECML
018988,000608: 33,2565 54154 TS MPAC
018989,000609: 33,2566 50154 INDEX MPAC
018990,000610: 33,2567 31577 CA RESTARPT
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Page 430 |
018992,000612: 33,2570 50154 INDEX MPAC
018993,000613: 33,2571 55460 TS THETAX1
018994,000614: 33,2572 10154 CCS MPAC
018995,000615: 33,2573 12565 TCF LOADSTDT +1
018996,000616: 33,2574 00002 TC Q
018997,000617:
018998,000618: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018999,000619:
019000,000620: 33,2575 30025 ALLOOP CAE TIME1
019001,000621: 33,2576 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
019002,000622: 33,2577 31540 ALLOOP3 CA ALTIM
019003,000623: 33,2600 55631 TS GEOSAVE1
019004,000624: 33,2601 05301 TC PHASCHNG
019005,000625: 33,2602 00115 OCT 00115
019006,000626: 33,2603 31631 ALLOOP1 CAE GEOSAVE1
019007,000627: 33,2604 55540 TS ALTIM
019008,000628: 33,2605 10000 CCS A
019009,000629: 33,2606 30000 CA A # SHOULD NEVER HIT THIS LOCATION
019010,000630: 33,2607 55541 TS ALTIMS
019011,000631: 33,2610 40000 CS A
019012,000632: 33,2611 55540 TS ALTIM
019013,000633: 33,2612 34714 CAF ZERO
019014,000634: 33,2613 56037 XCH PIPAX
019015,000635: 33,2614 55162 TS DELVX
019016,000636: 33,2615 34714 CAF ZERO
019017,000637: 33,2616 56040 XCH PIPAY
019018,000638: 33,2617 55164 TS DELVY
019019,000639: 33,2620 34714 CAF ZERO
019020,000640: 33,2621 56041 XCH PIPAZ
019021,000641: 33,2622 55166 TS DELVZ
019022,000642: 33,2623 34374 CAF 19DECML # 23 OCT
019023,000643: 33,2624 04114 TC NEWPHASE
019024,000644: 33,2625 00005 OCT 00005
019025,000645: 33,2626 34675 SPECSTS CAF PRIO20
019026,000646: 33,2627 05042 TC FINDVAC
019027,000647: 33,2630 E5,1631 EBANK= GEOSAVE1
019028,000648: 33,2630 02633 66065 2CADR ALFLT # START THE JOB
019029,000649:
019030,000650: 33,2632 05213 TC TASKOVER
019031,000651:
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Page 431 |
019033,000653: # THIS IS PART OF THE JOB DONE EVERY ITERATION
019034,000654:
019035,000655: 33,2633 02553 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
019036,000656: 33,2634 05301 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
019037,000657: 33,2635 00215 OCT 00215
019038,000658: 33,2636 12640 TCF +2
019039,000659: 33,2637 02564 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
019040,000660:
019041,000661: 33,2640 11643 CCS GEOCOMP1
019042,000662: 33,2641 02643 TC +2
019043,000663: 33,2642 02646 TC NORMLOP
019044,000664: 33,2643 03401 TC CHKCOMED # SEE IF PRELAUNCH OVER
019045,000665: 33,2644 04555 TC BANKCALL # COMPENSATION IF IN COMPASS
019046,000666: 33,2645 15262 CADR 1/PIPA
019047,000667: 33,2646 06006 NORMLOP TC INTPRET
019048,000668: 33,2647 77745 DLOAD
019049,000669: 33,2650 27121 INTVAL
019050,000670: 33,2651 24051 STOVL S1
019051,000671: 33,2652 01163 DELVX
019052,000672: 33,2653 76505 VXM VSL1
019053,000673: 33,2654 02672 XSM
019054,000674: 33,2655 57545 DLOAD DCOMP
019055,000675: 33,2656 00160 MPAC +3
019056,000676: 33,2657 16533 STODL DPIPAY
019057,000677: 33,2660 00162 MPAC +5
019058,000678: 33,2661 02537 STORE DPIPAZ
019059,000679:
019060,000680: 33,2662 76001 SETPD AXT,1
019061,000681: 33,2663 00001 0
019062,000682: 33,2664 00010 8D
019063,000683: 33,2665 57535 SLOAD DCOMP
019064,000684: 33,2666 02644 GEOCOMP1
019065,000685: 33,2667 77640 BMN
019066,000686: 33,2670 67203 ALWAYSG # DO A QUICK COMPASS
019067,000687:
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Page 432 |
019069,000689: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019070,000690:
019071,000691: 33,2671 COUNT 33/COMST
019072,000692:
019073,000693: 33,2671 50135 ALCGKK SLOAD BMN
019074,000694: 33,2672 02542 ALTIMS
019075,000695: 33,2673 66706 ALFLT3 # NO NEW GAINS NEEDED
019076,000696: 33,2674 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
019077,000697: 33,2675 00014 12D
019078,000698: 33,2676 02454 ALX1S
019079,000699: 33,2677 62143 ALKCG2 DLOAD* INCR,1
019080,000700: 33,2700 02243 ALFDK +144D,1
019081,000701: 33,2701 77775 DEC -2 B-14
019082,000702: 33,2702 12555 STORE ALDK +10D,2
019083,000703: 33,2703 66104 TIX,2 SXA,1
019084,000704: 33,2704 66677 ALKCG2
019085,000705: 33,2705 02454 ALX1S
019086,000706:
019087,000707: 33,2706 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
019088,000708: 33,2707 00010 8D # AND GAIN UPDATES
019089,000709: 33,2710 41343 DELMLP DLOAD* DMP
019090,000710: 33,2711 02543 DPIPAY +8D,1
019091,000711: 33,2712 27675 PIPASC
019092,000712: 33,2713 43661 SLR BDSU*
019093,000713: 33,2714 21212 9D
019094,000714: 33,2715 02511 INTY +8D,1
019095,000715: 33,2716 06511 STORE INTY +8D,1
019096,000716: 33,2717 40725 PDDL DMP*
019097,000717: 33,2720 27677 VELSC
019098,000718: 33,2721 02531 VLAUN +8D,1
019099,000719: 33,2722 77732 SL2R
019100,000720: 33,2723 45425 DSU STADR
019101,000721: 33,2724 71206 STORE DELM +8D,1
019102,000722: 33,2725 06573 STORE DELM +10D,1
019103,000723: 33,2726 77100 TIX,1 AXT,2
019104,000724: 33,2727 66710 DELMLP
019105,000725: 33,2730 00004 4
019106,000726: 33,2731 56743 ALILP DLOAD* DMPR*
019107,000727: 33,2732 75314 ALK +4,2
019108,000728: 33,2733 75230 ALDK +4,2
019109,000729: 33,2734 12463 STORE ALK +4,2
019110,000730: 33,2735 77104 TIX,2 AXT,2
019111,000731: 33,2736 66731 ALILP
019112,000732: 33,2737 00010 8D
019113,000733: 33,2740 66140 ALKLP LXC,1 SXA,1
019114,000734: 33,2741 02455 CMPX1
019115,000735: 33,2742 02455 CMPX1
019116,000736: 33,2743 56743 DLOAD* DMPR*
019117,000737: 33,2744 02460 ALK +1,1
019118,000738: 33,2745 75206 DELM +8D,2
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Page 433 |
019120,000740: 33,2746 77613 DAD*
019121,000741: 33,2747 75266 INTY +8D,2
019122,000742: 33,2750 12511 STORE INTY +8D,2
019123,000743: 33,2751 42743 DLOAD* DAD*
019124,000744: 33,2752 75304 ALK +12D,2
019125,000745: 33,2753 75220 ALDK +12D,2
019126,000746: 33,2754 12473 STORE ALK +12D,2
019127,000747: 33,2755 42673 DMPR* DAD*
019128,000748: 33,2756 75206 DELM +8D,2
019129,000749: 33,2757 75256 INTY +16D,2
019130,000750: 33,2760 12521 STORE INTY +16D,2
019131,000751: 33,2761 40743 DLOAD* DMP*
019132,000752: 33,2762 27702 ALSK +1,1
019133,000753: 33,2763 75206 DELM +8D,2
019134,000754: 33,2764 42772 SL1R DAD*
019135,000755: 33,2765 75246 VLAUN +8D,2
019136,000756: 33,2766 12531 STORE VLAUN +8D,2
019137,000757: 33,2767 76104 TIX,2 AXT,1
019138,000758: 33,2770 66740 ALKLP
019139,000759: 33,2771 00010 8D
019140,000760:
019141,000761: 33,2772 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019142,000762: 33,2773 02533 ACCWD +8D,1
019143,000763: 33,2774 02531 VLAUN +8D,1
019144,000764: 33,2775 55523 PDDL* VDEF
019145,000765: 33,2776 02541 POSNV +8D,1
019146,000766: 33,2777 76521 MXV VSL1
019147,000767: 33,3000 02001 TRANSM1
019148,000768: 33,3001 77745 DLOAD
019149,000769: 33,3002 00155 MPAC
019150,000770: 33,3003 06541 STORE POSNV +8D,1
019151,000771: 33,3004 77745 DLOAD
019152,000772: 33,3005 00160 MPAC +3
019153,000773: 33,3006 06531 STORE VLAUN +8D,1
019154,000774: 33,3007 77745 DLOAD
019155,000775: 33,3010 00162 MPAC +5
019156,000776: 33,3011 06533 STORE ACCWD +8D,1
019157,000777: 33,3012 77700 TIX,1
019158,000778: 33,3013 66772 LOOSE
019159,000779:
019160,000780: 33,3014 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019161,000781: 33,3015 00006 6
019162,000782: 33,3016 00002 2
019163,000783: 33,3017 57343 BOOP DLOAD* DMPR
019164,000784: 33,3020 02513 ANGX +2,1
019165,000785: 33,3021 27705 GEORGEJ
019166,000786: 33,3022 77722 SR2R
019167,000787: 33,3023 73406 PUSH SIN
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Page 434 |
019169,000789: 33,3024 56072 SL3R XAD,1
019170,000790: 33,3025 00046 X1
019171,000791: 33,3026 10021 STORE 16D,2
019172,000792: 33,3027 77745 DLOAD
019173,000793: 33,3030 77746 COS
019174,000794: 33,3031 10027 STORE 22D,2 # COSINES
019175,000795: 33,3032 77704 TIX,2
019176,000796: 33,3033 67017 BOOP
019177,000797:
019178,000798: 33,3034 77776 PERFERAS EXIT
019179,000799: 33,3035 34753 CA EBANK7
019180,000800: 33,3036 E7,1400 EBANK= LAT(SPL)
019181,000801: 33,3036 54003 TS EBANK
019182,000802: 33,3037 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
019183,000803:
019184,000804: # CAUTION
019185,000805:
019186,000806: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019187,000807: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019188,000808:
019189,000809: 33,3040 E5,1412 EBANK= LENGTHOT
019190,000810: 33,3040 11412 ONCEMORE CCS LENGTHOT
019191,000811: 33,3041 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019192,000812: 33,3042 11450 CCS TORQNDX
019193,000813: 33,3043 13045 TCF +2
019194,000814: 33,3044 03047 TC SETUPER1
019195,000815: 33,3045 30032 CA CDUX
019196,000816: 33,3046 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019197,000817:
019198,000818: 33,3047 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019199,000819: 33,3050 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019200,000820: 33,3051 02503 ANGZ
019201,000821: 33,3052 02507 ANGY
019202,000822: 33,3053 55525 PDDL VDEF
019203,000823: 33,3054 02511 ANGX
019204,000824: 33,3055 74276 VCOMP VXSC
019205,000825: 33,3056 27705 GEORGEJ
019206,000826: 33,3057 74521 MXV VSR1
019207,000827: 33,3060 02672 XSM
019208,000828: 33,3061 02760 STORE OGC
019209,000829: 33,3062 77776 EXIT
019210,000830:
019211,000831: 33,3063 05301 TORQINCH TC PHASCHNG
019212,000832: 33,3064 00005 OCT 00005
019213,000833:
019214,000834: 33,3065 32444 CA OGCPL
019215,000835: 33,3066 04555 TC BANKCALL
019216,000836: 33,3067 17125 CADR IMUPULSE
019217,000837: 33,3070 02316 TC IMUSTLLG
019218,000838: 33,3071 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019219,000839: 33,3072 02262 TC VALMIS # VERT DRIFT TEST OVER
019220,000840: 33,3073 06006 TC INTPRET
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Page 435 |
019222,000842: 33,3074 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019223,000843: 33,3075 64000 ERTHRVSE
019224,000844: 33,3076 77776 EXIT
019225,000845: 33,3077 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019226,000846:
019227,000847: 33,3100 05537 SOMEERR TC ALARM
019228,000848: 33,3101 01600 OCT 1600
019229,000849: 33,3102 03105 TC +3
019230,000850: 33,3103 05537 SOMERR2 TC ALARM
019231,000851: 33,3104 01601 OCT 1601
019232,000852: 33,3105 05301 TC PHASCHNG
019233,000853: 33,3106 00005 OCT 00005
019234,000854: 33,3107 02267 TC ENDTEST1
019235,000855:
019236,000856: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019237,000857:
019238,000858: 33,3110 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
019239,000859: 33,3111 00000 00000 SCHZEROS 2DEC .00000000
019240,000860: 33,3113 00000 00000 2DEC .00000000
019241,000861: 33,3115 00000 OCT 00000
019242,000862: 33,3116 00000 ONEDPP OCT 00000
019243,000863: 33,3117 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT
019244,000864:
019245,000865: 33,3120 00004 INTVAL OCT 4
019246,000866: 33,3121 00002 OCT 2
019247,000867: 33,3122 00220 DEC 144 B-14
019248,000868: 33,3123 77776 DEC -1 B-14
019249,000869: 33,3124 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019250,000870: 33,3126 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019251,000871:
019252,000872: 33,3130 00115 77DECML DEC 77 B-14
019253,000873: 33,3131 01453 ALXXXZ GENADR ALX1S -1
019254,000874:
019255,000875: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019256,000876:
019257,000877: 33,3132 COUNT 33/P01
019258,000878:
019259,000879: # INITIALIZATION SECTION
019260,000880:
019261,000881: 33,3132 34712 GTSCPSS CAF ONE # CALLED BY V37.
019262,000882: 33,3133 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
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Page 436 |
019264,000884: 33,3134 33424 CA 1/PIPAGT
019265,000885: 33,3135 55074 TS 1/PIPADT
019266,000886: 33,3136 34703 NXXTENN CA BIT8
019267,000887: 33,3137 55412 TS LENGTHOT
019268,000888: 33,3140 34731 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019269,000889: 33,3141 55644 TS 1SECXT1
019270,000890: 33,3142 34712 CAF ONE
019271,000891: 33,3143 55632 TS PREMTRX1
019272,000892: 33,3144 55657 TS PERFDLAY +1
019273,000893: 33,3145 34714 CAF ZERO
019274,000894: 33,3146 55656 TS PERFDLAY
019275,000895: 33,3147 00006 EXTEND
019276,000896: 33,3150 31634 DCA LUNCHAZ1
019277,000897: 33,3151 53636 DXCH NEWAZ1
019278,000898: 33,3152 00006 EXTEND
019279,000899: 33,3153 31634 DCA LUNCHAZ1
019280,000900: 33,3154 53640 DXCH OLDAZMTH
019281,000901: 33,3155 34375 SETUPGC CA DEC17
019282,000902: 33,3156 55655 TS ZERONDX1
019283,000903: 33,3157 32446 CA XSMADR
019284,000904: 33,3160 02356 TC ZEROING
019285,000905: 33,3161 03163 TC POSN17C
019286,000906: 33,3162 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019287,000907: 33,3163 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
019288,000908: 33,3164 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019289,000909: 33,3165 44675 CS HALF # ALL THIS TO INITIALIZE MATRIX
019290,000910: 33,3166 55705 TS ZSM
019291,000911: 33,3167 06006 TC INTPRET
019292,000912: 33,3170 41545 DLOAD PUSH
019293,000913: 33,3171 02636 NEWAZ1
019294,000914: 33,3172 77756 SIN
019295,000915: 33,3173 02676 STORE XSM +4
019296,000916: 33,3174 16702 STODL YSM +2
019297,000917: 33,3175 77746 COS
019298,000918: 33,3176 02704 STORE YSM +4
019299,000919: 33,3177 77676 DCOMP
019300,000920: 33,3200 02674 STORE XSM +2
019301,000921: 33,3201 77776 EXIT
019302,000922: 33,3202 01425 TC QPLACE
019303,000923:
019304,000924: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019305,000925:
019306,000926: 33,3203 COUNT 33/P02
019307,000927:
019308,000928: 33,3203 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019309,000929: 33,3204 02543 DPIPAY +8D,1
019310,000930: 33,3205 02505 FILDELV1 +8D,1
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Page 437 |
019312,000932: 33,3206 42675 DMPR DAD*
019313,000933: 33,3207 27713 GEOCONS1
019314,000934: 33,3210 02505 FILDELV1 +8D,1
019315,000935: 33,3211 06505 STORE FILDELV1 +8D,1
019316,000936: 33,3212 77613 DAD*
019317,000937: 33,3213 02507 INTVEC1 +8D,1
019318,000938: 33,3214 06507 STORE INTVEC1 +8D,1
019319,000939: 33,3215 42675 DMPR DAD*
019320,000940: 33,3216 27715 GEOCONS2
019321,000941: 33,3217 02505 FILDELV1 +8D,1
019322,000942: 33,3220 41475 DMPR PUSH
019323,000943: 33,3221 15330 GEOCONS5
019324,000944: 33,3222 67300 TIX,1 SLOAD
019325,000945: 33,3223 67203 ALWAYSG
019326,000946: 33,3224 02647 ERECTIM1
019327,000947: 33,3225 71254 BZE DLOAD
019328,000948: 33,3226 67237 COMPGS
019329,000949: 33,3227 02471 THETAN1 +2
019330,000950: 33,3230 45425 DSU STADR
019331,000951: 33,3231 61306 STODL THETAN1 +2 # ERECTION ONLY.
019332,000952: 33,3232 77621 BDSU
019333,000953: 33,3233 02473 THETAN1 +4
019334,000954: 33,3234 02473 STORE THETAN1 +4
019335,000955: 33,3235 77650 GOTO
019336,000956: 33,3236 67261 ADDINDRF
019337,000957: 33,3237 43345 COMPGS DLOAD DAD # COMPASS
019338,000958: 33,3240 02467 THETAN1
019339,000959: 33,3241 02475 FILDELV1
019340,000960: 33,3242 16467 STODL THETAN1
019341,000961: 33,3243 02475 FILDELV1
019342,000962: 33,3244 44275 DMPR BDSU
019343,000963: 33,3245 27717 GEOCONS3
019344,000964: 33,3246 02473 THETAN1 +4
019345,000965: 33,3247 16473 STODL THETAN1 +4
019346,000966: 33,3250 02501 FILDELV1 +4
019347,000967: 33,3251 44275 DMPR BDSU
019348,000968: 33,3252 27717 GEOCONS3
019349,000969: 33,3253 02471 THETAN1 +2
019350,000970: 33,3254 57325 PDDL DMPR
019351,000971: 33,3255 02503 INTVEC1 +4
019352,000972: 33,3256 27721 GEOCONS4
019353,000973: 33,3257 45421 BDSU STADR
019354,000974: 33,3260 75306 STORE THETAN1 +2
019355,000975: 33,3261 77776 ADDINDRF EXIT
019356,000976: 33,3262 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019357,000977: 33,3263 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019358,000978: 33,3264 03401 TC CHKCOMED
019359,000979: 33,3265 11304 CCS LGYRO # YES BUT ARE GYROS BUSY
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Page 438 |
019361,000981: 33,3266 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019362,000982:
019363,000983: 33,3267 06006 LASTGTS TC INTPRET
019364,000984: 33,3270 77775 VLOAD
019365,000985: 33,3271 02650 ERCOMP1
019366,000986: 33,3272 16461 STODL THETAX1
019367,000987: 33,3273 02443 TMARK
019368,000988: 33,3274 02457 STORE ALK
019369,000989: 33,3275 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019370,000990:
019371,000991: 33,3276 05301 RESTAIER TC PHASCHNG
019372,000992: 33,3277 00275 OCT 00275
019373,000993: 33,3300 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019374,000994: 33,3301 64375 VLOAD MXV
019375,000995: 33,3302 02467 THETAN1
019376,000996: 33,3303 02672 XSM
019377,000997: 33,3304 53372 VSL1 VAD
019378,000998: 33,3305 02461 THETAX1
019379,000999: 33,3306 16650 STODL ERCOMP1
019380,001000: 33,3307 02457 ALK
019381,001001: 33,3310 02443 STORE TMARK
019382,001002: 33,3311 77776 EXIT
019383,001003: 33,3312 02417 TC EARTHR* # TORQUE IT ALL IN
019384,001004: 33,3313 31646 CAE ERECTIM1
019385,001005: 33,3314 55631 TS GEOSAVE1
019386,001006: 33,3315 05301 TC PHASCHNG
019387,001007: 33,3316 00155 OCT 00155
019388,001008: 33,3317 06006 RESTEST1 TC INTPRET
019389,001009: 33,3320 77775 VLOAD
019390,001010: 33,3321 27112 SCHZEROS
019391,001011: 33,3322 02467 STORE THETAN1
019392,001012: 33,3323 77776 EXIT
019393,001013: 33,3324 11632 CCS PREMTRXC
019394,001014: 33,3325 03374 TC NOCHORLD
019395,001015: 33,3326 05301 TC PHASCHNG
019396,001016: 33,3327 00255 OCT 00255
019397,001017: 33,3330 06006 RESTEST3 TC INTPRET
019398,001018: 33,3331 77745 DLOAD
019399,001019: 33,3332 02634 LAUNCHAZ
019400,001020: 33,3333 53025 DSU BZE
019401,001021: 33,3334 02640 OLDAZMTH
019402,001022: 33,3335 67371 NOAZCHGE
019403,001023: 33,3336 00001 STORE 0D
019404,001024: 33,3337 43335 SLOAD DAD
019405,001025: 33,3340 27120 ONEDPP +1
019406,001026: 33,3341 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019407,001027: 33,3342 16633 STODL PREMTRXC
019408,001028: 33,3343 02634 LAUNCHAZ
019409,001029: 33,3344 16636 STODL NEWAZMTH
019410,001030: 33,3345 00001 0D
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Page 439 |
019412,001032: 33,3346 02654 ADERCOMP STORE ERCOMP +4
019413,001033: 33,3347 77776 EXIT
019414,001034: 33,3350 03163 TC POSN17C
019415,001035: 33,3351 05301 TC PHASCHNG
019416,001036: 33,3352 00335 OCT 00335
019417,001037: 33,3353 00006 RESCHNG EXTEND
019418,001038: 33,3354 31636 DCA NEWAZMTH
019419,001039: 33,3355 53640 DXCH OLDAZMTH
019420,001040: 33,3356 34704 CA BIT7 # SPEND 320 SEC ERECTING
019421,001041: 33,3357 55412 TS LENGTHOT
019422,001042: 33,3360 05301 TC PHASCHNG
019423,001043: 33,3361 00075 OCT 00075
019424,001044: 33,3362 33423 SPITGYRO CA ERCOMPPL
019425,001045: 33,3363 04555 TC BANKCALL
019426,001046: 33,3364 17125 CADR IMUPULSE
019427,001047: 33,3365 04555 TC BANKCALL
019428,001048: 33,3366 17516 CADR IMUSTALL
019429,001049: 33,3367 03103 TC SOMERR2
019430,001050: 33,3370 02453 TC ESTIMS # RE-INITIALIZE
019431,001051: 33,3371 77776 NOAZCHGE EXIT
019432,001052: 33,3372 34712 CA ONE
019433,001053: 33,3373 55632 TS PREMTRXC
019434,001054: 33,3374 11631 NOCHORLD CCS GEOSAVE1
019435,001055: 33,3375 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019436,001056:
019437,001057: 33,3376 34334 ANNNNNN CAF NINE
019438,001058: 33,3377 55412 TS LENGTHOT
019439,001059: 33,3400 02523 TC SLEEPIE +1
019440,001060: 33,3401 00004 CHKCOMED INHINT
019441,001061: 33,3402 44714 CS ZERO
019442,001062: 33,3403 00006 EXTEND
019443,001063: 33,3404 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019444,001064: 33,3405 74706 MASK BIT5 # LIFTOFF BIT
019445,001065: 33,3406 10000 CCS A
019446,001066: 33,3407 13416 TCF PRELTERM # LIFTOFF HAS OCCURRED
019447,001067:
019448,001068: 33,3410 34706 CA BIT5 # CHECK FOR BACKUP LIFTOFF
019449,001069: 33,3411 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019450,001070: 33,3412 10000 CCS A
019451,001071: 33,3413 13416 TCF PRELTERM # BACKUP RECEIVED
019452,001072:
019453,001073: 33,3414 00003 RELINT
019454,001074: 33,3415 00002 TC Q # CONTINUE PRELAUNCH
019455,001075: 33,3416 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
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Page 440 |
019457,001077: 33,3417 05103 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019458,001078: 33,3420 00004 INHINT
019459,001079: 33,3421 04574 TC POSTJUMP
019460,001080: 33,3422 70002 CADR P11
019461,001081: 33,3423 02647 ERCOMPPL ECADR ERCOMP
019462,001082:
019463,001083: 33,3424 26,3327 GEOCONS5 EQUALS HIDPHALF
019464,001084: 33,3424 06200 1/PIPAGT OCT 06200
019465,001085: 33,3425 4375 17DECML = ND1 # OCT 21
019466,001086: 33,3425 4374 19DECML = VD1 # OCT 23
019467,001087: 33,3425 4731 1/2SECX = .5SEC
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Page 441 |
019469,001089: 33,3425 5112 GEOSTRT4 EQUALS ENDOFJOB
019470,001090:
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Page 442 |
019472,001092: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019473,001093:
019474,001094: 33,3425 COUNT 33/P03
019475,001095:
019476,001096: 33,3425 05301 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019477,001097: 33,3426 00154 OCT 00154
019478,001098: 33,3427 05243 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019479,001099: 33,3430 00003 MM 03 B-14
019480,001100: 33,3431 02037 SETNBPOS TC NBPOSPL
019481,001101: 33,3432 04555 TC BANKCALL
019482,001102: 33,3433 16063 CADR MKRELEAS
019483,001103: 33,3434 34712 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019484,001104: 33,3435 22007 ZL # T 1, THEN TARGET 2
019485,001105: 33,3436 23427 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019486,001106: 33,3437 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019487,001107: 33,3440 00006 EXTEND
019488,001108: 33,3441 51427 INDEX RUN
019489,001109: 33,3442 31433 DCA TAZEL1
019490,001110: 33,3443 53046 DXCH DSPTEM1
019491,001111: 33,3444 33467 CAF V05N30E
019492,001112: 33,3445 04555 TC BANKCALL
019493,001113: 33,3446 20577 CADR GODSPRET
019494,001114: 33,3447 33455 CAF VN0641
019495,001115: 33,3450 04555 TC BANKCALL
019496,001116: 33,3451 20624 CADR GOFLASH
019497,001117: 33,3452 03610 TC GCOMP5
019498,001118: 33,3453 03456 TC +3
019499,001119: 33,3454 03444 TC -8D
019500,001120: 33,3455 01451 VN0641 VN 0641
019501,001121: 33,3456 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019502,001122: 33,3457 51427 INDEX RUN
019503,001123: 33,3460 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019504,001124: 33,3461 11427 CCS RUN
019505,001125: 33,3462 13466 TCF +4
019506,001126: 33,3463 34711 CAF TWO
019507,001127: 33,3464 54001 TS L
019508,001128: 33,3465 13436 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019509,001129: 33,3466 03530 TC CONTIN33
019510,001130:
019511,001131: 33,3467 01236 V05N30E VN 0530
019512,001132:
019513,001133: 33,3470 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019514,001134: 33,3471 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019515,001135: 33,3472 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019516,001136: 33,3473 00014 12D
019517,001137: 33,3474 40331 SSP SETPD
019518,001138: 33,3475 00052 S2
019519,001139: 33,3476 00006 6
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Page 443 |
019521,001141: 33,3477 00001 0
019522,001142: 33,3500 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019523,001143: 33,3501 02436 TAZEL1 +3,1
019524,001144: 33,3502 00001 STORE 0 # PD00 ELEVATION PD00
019525,001145: 33,3503 77756 SIN
019526,001146: 33,3504 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019527,001147: 33,3505 77745 DLOAD
019528,001148: 33,3506 00001 0
019529,001149: 33,3507 41546 COS PUSH # PD00 COS(EL) PD00
019530,001150: 33,3510 47133 SLOAD* RTB
019531,001151: 33,3511 02435 TAZEL1 +2,1
019532,001152: 33,3512 45510 CDULOGIC
019533,001153: 33,3513 00003 STORE 2 # PD02 AZIMUTH PD02
019534,001154: 33,3514 41356 SIN DMP
019535,001155: 33,3515 00001 0
019536,001156: 33,3516 77752 SL1
019537,001157: 33,3517 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019538,001158: 33,3520 71545 DLOAD COS
019539,001159: 33,3521 00003 2
019540,001160: 33,3522 72405 DMP SL1
019541,001161: 33,3523 76076 DCOMP AXT,1
019542,001162: 33,3524 00000 0
019543,001163: 33,3525 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019544,001164: 33,3526 43504 TIX,2 RVQ
019545,001165: 33,3527 67500 TAR1
019546,001166: 33,3530 BANK 33
019547,001167: 33,2000 SETLOC IMUCAL
019548,001168: 33,2000 BANK
019549,001169: 33,3530 COUNT* $$/P03
019550,001170:
019551,001171: 33,3530 34712 CONTIN33 CA ONE
019552,001172: 33,3531 54735 TS STARCODE
019553,001173: 33,3532 34714 CA ZERO
019554,001174: 33,3533 03625 TC TARGDRVE
019555,001175: 33,3534 06006 TC INTPRET
019556,001176: 33,3535 77624 CALL
019557,001177: 33,3536 67471 TAR/EREF
019558,001178: 33,3537 64375 NEXTBNKS VLOAD MXV
019559,001179: 33,3540 00007 6D
019560,001180: 33,3541 02672 XSM
019561,001181: 33,3542 77772 VSL1
019562,001182: 33,3543 26736 STOVL STARAD
019563,001183: 33,3544 00015 12D
019564,001184: 33,3545 76521 MXV VSL1
019565,001185: 33,3546 02672 XSM
019566,001186: 33,3547 02744 STORE STARAD +6
019567,001187: 33,3550 77624 CALL
019568,001188: 33,3551 67722 LITTLSUB
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Page 444 |
019570,001190: 33,3552 02414 STORE LOSVEC
019571,001191: 33,3553 77776 EXIT
019572,001192: 33,3554 04555 TC BANKCALL
019573,001193: 33,3555 16063 CADR MKRELEAS
019574,001194: 33,3556 34711 NEXBNKSS CAF TWO
019575,001195: 33,3557 54735 TS STARCODE
019576,001196: 33,3560 36211 CAF SIX
019577,001197: 33,3561 03625 TC TARGDRVE
019578,001198: 33,3562 06006 TC INTPRET
019579,001199: 33,3563 77624 CALL
019580,001200: 33,3564 67722 LITTLSUB
019581,001201: 33,3565 24015 STOVL 12D
019582,001202: 33,3566 02414 LOSVEC
019583,001203: 33,3567 34007 STCALL 06D
019584,001204: 33,3570 47334 AXISGEN
019585,001205: 33,3571 77624 CALL
019586,001206: 33,3572 47140 CALCGTA
019587,001207: 33,3573 77776 EXIT
019588,001208: 33,3574 33621 GCOMP4 CAF V06N93S
019589,001209: 33,3575 04555 TC BANKCALL
019590,001210: 33,3576 20624 CADR GOFLASH
019591,001211: 33,3577 03610 TC GCOMP5
019592,001212: 33,3600 13602 TCF +2
019593,001213: 33,3601 13574 TCF GCOMP4
019594,001214: 33,3602 06006 TC INTPRET
019595,001215: 33,3603 53375 VLOAD VAD
019596,001216: 33,3604 02760 OGC
019597,001217: 33,3605 02650 ERCOMP1
019598,001218: 33,3606 02650 STORE ERCOMP1
019599,001219: 33,3607 77776 EXIT
019600,001220: 33,3610 04555 GCOMP5 TC BANKCALL
019601,001221: 33,3611 16063 CADR MKRELEAS
019602,001222: 33,3612 05447 TC DOWNFLAG
019603,001223: 33,3613 00032 ADRES TRM03FLG
019604,001224:
019605,001225: 33,3614 05243 TC NEWMODEX
019606,001226: 33,3615 00002 MM 02 B-14
019607,001227: 33,3616 05301 TC PHASCHNG
019608,001228: 33,3617 00004 OCT 00004
019609,001229: 33,3620 05112 TC ENDOFJOB
019610,001230: 33,3621 01535 V06N93S VN 0693
019611,001231: 33,3622 05537 GTSOPTCS TC ALARM
019612,001232: 33,3623 01602 GTSOPTSS OCT 01602
019613,001233: 33,3624 03610 TC GCOMP5
019614,001234: 34,2002 BANK 34
019615,001235: 04,2000 SETLOC IMUCAL1
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Page 445 |
019617,001237: 04,2000 BANK
019618,001238:
019619,001239: 04,2617 COUNT 34/COMST
019620,001240:
019621,001241: 04,2617 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
019622,001242: 04,2620 02403 LATITUDE
019623,001243: 04,2621 15047 STODL DSPTEM1 +1
019624,001244: 04,2622 02401 AZIMUTH
019625,001245: 04,2623 77434 RTB EXIT
019626,001246: 04,2624 45543 1STO2S
019627,001247: 04,2625 56154 XCH MPAC
019628,001248: 04,2626 55045 TS DSPTEM1
019629,001249: 04,2627 04555 TC BANKCALL
019630,001250: 04,2630 20607 CADR CLEANDSP
019631,001251: 04,2631 32650 CAF VNG0641
019632,001252: 04,2632 04555 TC BANKCALL
019633,001253: 04,2633 20624 CADR GOFLASH
019634,001254: 04,2634 02636 TC +2 # NOT ALLOWED
019635,001255: 04,2635 02637 TC +2
019636,001256: 04,2636 02631 TC -5
019637,001257: 04,2637 06006 TC INTPRET
019638,001258: 04,2640 47135 SLOAD RTB
019639,001259: 04,2641 01046 DSPTEM1
019640,001260: 04,2642 45510 CDULOGIC
019641,001261: 04,2643 02401 STORE AZIMUTH
019642,001262: 04,2644 60535 SLOAD SR2
019643,001263: 04,2645 01047 DSPTEM1 +1
019644,001264: 04,2646 02403 STORE LATITUDE
019645,001265: 04,2647 77616 RVQ
019646,001266: 04,2650 01451 VNG0641 VN 0641
019647,001267: 33,3625 BANK 33
019648,001268: 33,2000 SETLOC IMUCAL
019649,001269: 33,2000 BANK
019650,001270: 33,3625 COUNT* $$/P03
019651,001271: 33,3625 00006 TARGDRVE EXTEND
019652,001272: 33,3626 23424 QXCH QPLAC
019653,001273: 33,3627 55431 TS TARG1/2
019654,001274: 33,3630 06006 TC INTPRET
019655,001275: 33,3631 77624 CALL
019656,001276: 33,3632 67471 TAR/EREF
019657,001277: 33,3633 76740 LXC,1 VLOAD*
019658,001278: 33,3634 02431 TARG1/2
019659,001279: 33,3635 00007 6D,1
019660,001280: 33,3636 36766 STCALL STAR
019661,001281: 33,3637 46053 SXTANG
019662,001282: 33,3640 77776 EXIT
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Page 446 |
019664,001284: 33,3641 31773 CA SAC
019665,001285: 33,3642 55161 TS DESOPTS
019666,001286: 33,3643 31775 CA PAC
019667,001287: 33,3644 55160 TS DESOPTT
019668,001288: 33,3645 34714 RETARG CAF ZERO
019669,001289: 33,3646 55303 TS OPTIND
019670,001290: 33,3647 34712 CAF ONE
019671,001291: 33,3650 04555 TC BANKCALL
019672,001292: 33,3651 16002 CADR SXTMARK
019673,001293: 33,3652 04555 TC BANKCALL
019674,001294: 33,3653 17512 CADR OPTSTALL
019675,001295: 33,3654 03622 TC GTSOPTCS
019676,001296: 33,3655 30075 CAE FLAGWRD1
019677,001297: 33,3656 74707 MASK TRM03BIT
019678,001298: 33,3657 10000 CCS A
019679,001299: 33,3660 03610 TC GCOMP5
019680,001300:
019681,001301: 33,3661 51330 INDEX MARKSTAT
019682,001302: 33,3662 30052 CA QPRET
019683,001303: 33,3663 00006 EXTEND
019684,001304: 33,3664 13666 BZF RETARG1
019685,001305: 33,3665 01424 TC QPLAC
019686,001306: 33,3666 34714 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
019687,001307: 33,3667 57330 XCH MARKSTAT
019688,001308: 33,3670 10000 CCS A
019689,001309: 33,3671 50000 INDEX A
019690,001310: 33,3672 54000 TS A
019691,001311: 33,3673 13645 TCF RETARG # GO DO SXTMARK AGAIN
019692,001312: 33,3674 BANK 33
019693,001313: 33,2000 SETLOC IMUCAL
019694,001314: 33,2000 BANK
019695,001315: 33,3674 COUNT* $$/P03
019696,001316: 33,3674 30341 22444 PIPASC 2DEC .76376833
019697,001317: 33,3676 57223 66451 VELSC 2DEC -.52223476
019698,001318: 33,3700 05427 12577 ALSK 2DEC .17329931
019699,001319: 33,3702 77567 44202 2DEC -.00835370
019700,001320: 33,3704 24276 14066 GEORGEJ 2DEC .63661977
019701,001321: 33,3706 23073 11773 GEORGEK 2DEC .59737013
019702,001322: 33,3710 00055 20267 2DEGRES 2DEC .00277778
019703,001323: 33,3712 03146 14632 GEOCONS1 2DEC .1
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Page 447 |
019705,001325: 33,3714 00121 35341 GEOCONS2 2DEC .005
019706,001326: 33,3716 01767 31666 GEOCONS3 2DEC .062
019707,001327: 33,3720 00004 35223 GEOCONS4 2DEC .0003
019708,001328:
019709,001329: 33,3722 COUNT 33/P02
019710,001330: 33,3722 77620 LITTLSUB STQ
019711,001331: 33,3723 02424 QPLAC
019712,001332: 33,3724 76740 LXC,1 VLOAD*
019713,001333: 33,3725 01330 MARKSTAT
019714,001334: 33,3726 00003 2,1
019715,001335: 33,3727 34767 STCALL CDUSPOT
019716,001336: 33,3730 46000 SXTNB
019717,001337: 33,3731 77624 CALL
019718,001338: 33,3732 47572 TRG*NBSM
019719,001339: 33,3733 77650 GOTO
019720,001340: 33,3734 02424 QPLAC
019721,001341: 33,3735 77776 EXIT
019722,001342: 33,3736 06006 AZMTHCG1 TC INTPRET
019723,001343: 33,3737 47145 DLOAD RTB
019724,001344: 33,3740 02636 NEWAZMTH
019725,001345: 33,3741 45543 1STO2S
019726,001346: 33,3742 77776 EXIT
019727,001347: 33,3743 56154 XCH MPAC
019728,001348: 33,3744 55045 TS DSPTEM1
019729,001349: 33,3745 04555 TC BANKCALL
019730,001350: 33,3746 20607 CADR CLEANDSP
019731,001351: 33,3747 33771 CAF VN0629
019732,001352: 33,3750 04555 TC BANKCALL
019733,001353: 33,3751 20624 CADR GOFLASH
019734,001354: 33,3752 13754 TCF +2
019735,001355: 33,3753 13755 TCF +2
019736,001356: 33,3754 13747 TCF -5
019737,001357: 33,3755 06006 TC INTPRET
019738,001358: 33,3756 47135 SLOAD RTB
019739,001359: 33,3757 01046 DSPTEM1
019740,001360: 33,3760 45510 CDULOGIC
019741,001361: 33,3761 02634 STORE LAUNCHAZ
019742,001362: 33,3762 77776 EXIT
019743,001363: 33,3763 34714 CA ZERO
019744,001364: 33,3764 55632 TS PREMTRXC
019745,001365: 33,3765 05301 TC PHASCHNG
019746,001366: 33,3766 00004 OCT 00004
019747,001367: 33,3767 04574 TC POSTJUMP
019748,001368: 33,3770 21176 CADR PINBRNCH
019749,001369:
019750,001370: 33,3771 01435 VN0629 VN 0629
019751,001371:
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Page 448 Empty page. |
019754,001374:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc