Source Code
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YAYUL: ASSEMBLE REVISION 6 OF PROGRAM BOREALIS BY MSTEWART JUN. 28,2017This is a modern AGC system self-test program, though based on the Apollo-era AURORA 12 program, and was not written by the original AGC developers, but rather by Mike Stewart. All of the original AURORA 12 DAP code added by the DAP Group has been removed, and extensive new system test code has been added in its place. This allows more in-depth testing of CPU behavior, both in AGC software simulations and hardware simulations. |
020460,000002: ## Copyright: Public domain.
020461,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
020462,000004: ## Purpose: This program is designed to extensively test the Apollo Guidance Computer
020463,000005: ## (specifically the LM instantiation of it). It is built on top of a heavily
020464,000006: ## stripped-down Aurora 12, with all code ostensibly added by the DAP Group
020465,000007: ## removed. Instead Borealis expands upon the tests provided by Aurora,
020466,000008: ## including corrected tests from Retread 44 and tests from Ron Burkey's
020467,000009: ## Validation.
020468,000010: ## Assembler: yaYUL
020469,000011: ## Contact: Mike Stewart <mastewar1@gmail.com>.
020470,000012: ## Website: www.ibiblio.org/apollo/index.html
020471,000013: ## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
020472,000014:
020473,000015: 17,2000 BANK 17
020474,000016: 17,2000 E5,1400 EBANK= XSM
020475,000017:
020476,000018:
020477,000019:
020478,000020: 17,2000 37675 IMUTEST CA ZERO
020479,000021: 17,2001 55576 TS DRIFTT
020480,000022: 17,2002 55742 TS GEOCOMPS
020481,000023: 17,2003 33626 CAF 1SECX
020482,000024: 17,2004 55744 TS 1SECXT
020483,000025: 17,2005 06000 GEOIMUTT TC INTPRET # OPTIMUM COMPASS COMES IN HERE
020484,000026: 17,2006 77624 CALL
020485,000027: 17,2007 30530 LATAZCHK
020486,000028: 17,2010 77776 EXIT
020487,000029: 17,2011 37671 CA ONE
020488,000030: 17,2012 55544 TS POSITON
020489,000031:
020490,000032: 17,2013 54340 TS DSPTEM2 +2
020491,000033: 17,2014 54400 TS THETAD
020492,000034: 17,2015 54401 TS THETAD +1
020493,000035: 17,2016 54402 TS THETAD +2
020494,000036: 17,2017 04065 TC BANKCALL
020495,000037: 17,2020 26000 CADR IMUZERO
020496,000038: 17,2021 04065 TC BANKCALL
020497,000039: 17,2022 26716 CADR IMUSTALL
020498,000040: 17,2023 12243 TCF ENDTEST1
020499,000041: 17,2024 37675 IMUBACK CA ZERO
020500,000042: 17,2025 54337 TS DSPTEM2 +1
020501,000043: 17,2026 55537 TS NDXCTR
020502,000044: 17,2027 55574 TS TORQNDX
020503,000045: 17,2030 55575 TS TORQNDX +1
020504,000046: 17,2031 33660 CAF TESTTIME
020505,000047: 17,2032 54336 TS DSPTEM2
020506,000048: 17,2033 04065 TC BANKCALL # ISS RETURNS IN COARSE ALIGN MODE TO
020507,000049: 17,2034 26055 CADR IMUCOARS # ENABLE OPERATOR TO DECIDE WHAT TO DO
020508,000050: # ABOUT GIMBAL LOCK
020509,000051: 17,2035 03567 TC SHOWLD
020510,000052: 17,2036 03576 TC SHOW
020511,000053:
020512,000054:
020513,000055:
020514,000056: 17,2037 04065 TC BANKCALL
020515,000057: 17,2040 26716 CADR IMUSTALL
020516,000058: 17,2041 02243 TC ENDTEST1
020517,000059: 17,2042 03344 TC NBPOSPL
020518,000060: 17,2043 03077 TC POSGMBL
020519,000061: 17,2044 02106 TC PIPACHK # IF MGA IS 60DEG+ PROG WILL STAY IN COARS
020520,000062: # ALIGN AND MEASURE VERITCAL PIPA RATE
020521,000063: 17,2045 03124 TC FALNE
020522,000064: 17,2046 04065 TC BANKCALL
020523,000065:
020524,000066: 17,2047 26716 CADR IMUSTALL
020525,000067: 17,2050 12243 TCF ENDTEST1
020526,000068: 17,2051 11742 CCS GEOCOMPS
020527,000069: 17,2052 02072 TC JUMPLOAD
020528,000070: 17,2053 06000 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
020529,000071: 17,2054 71545 DLOAD COS # FOR ESTIMATE
020530,000072: 17,2055 02511 LATITUDE
020531,000073: 17,2056 72476 DCOMP SL1
020532,000074: 17,2057 16573 STODL WANGI
020533,000075: 17,2060 02511 LATITUDE
020534,000076: 17,2061 72556 SIN SL1
020535,000077: 17,2062 26571 STOVL WANGO # LOAD TRANSITION MATRIX INTO ERASABLE
020536,000078: 17,2063 37630 GEORGED
020537,000079: 17,2064 26721 STOVL TRANSM1
020538,000080: 17,2065 37636 GEORGEC
020539,000081: 17,2066 26727 STOVL TRANSM1 +6
020540,000082: 17,2067 37644 GEORGEB
020541,000083: 17,2070 02735 STORE TRANSM1 +12D
020542,000084: 17,2071 77776 EXIT
020543,000085: 17,2072 03612 JUMPLOAD TC LOADGTSM
020544,000086: 17,2073 04065 TC BANKCALL
020545,000087: 17,2074 42000 CADR ESTIMS
020546,000088: 17,2075 04575 TORQUE TC PHASCHNG # FILTER TORQUES PLTFM AND SETS UP ERATE
020547,000089: 17,2076 00000 OCT 00000
020548,000090: 17,2077 37675 CA ZERO
020549,000091: 17,2100 54336 TS DSPTEM2
020550,000092: 17,2101 31640 CA DRIFTI
020551,000093: 17,2102 54337 TS DSPTEM2 +1
020552,000094: 17,2103 51544 INDEX POSITON
020553,000095: 17,2104 55551 TS SOUTHDR -1
020554,000096: 17,2105 03576 TC SHOW
020555,000097:
020556,000098: 17,2106 51537 PIPACHK INDEX NDXCTR # TORQUE PLATFORM TO CORRECT LEVELING ERR
020557,000099: 17,2107 02110 TC +1 # IN PREPARATION TO MEASURING VERTICAL
020558,000100: 17,2110 04065 TC BANKCALL # PIPA OUTPUT PULSE RATE
020559,000101: 17,2111 30422 CADR EARTHR
020560,000102:
020561,000103: 17,2112 33663 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
020562,000104: 17,2113 55632 TS DATAPL +4
020563,000105: 17,2114 37660 CA BIT10 # IN THE ALLOTED TIME INTERVAL
020564,000106: 17,2115 55527 TS LENGTHOT
020565,000107: 17,2116 37671 CA ONE
020566,000108: 17,2117 55673 TS RESULTCT
020567,000109: 17,2120 37675 CA ZERO # ZERO PIPA COUNTER INITIALLY
020568,000110: 17,2121 51541 INDEX PIPINDEX
020569,000111: 17,2122 54037 TS PIPAX
020570,000112: 17,2123 55626 TS DATAPL
020571,000113: 17,2124 33675 CA DEC56 # LOOP 56 TIMES 5.12 SEC "ACH. EACH INCR.
020572,000114: 17,2125 03205 TC WAITLOOP # WILL ALSO CORRECT EARTH RATE
020573,000115: 17,2126 00004 INHINT
020574,000116:
020575,000117: 17,2127 02771 TC CHECKG
020576,000118: 17,2130 00003 RELINT
020577,000119: 17,2131 03065 TC DATALD
020578,000120: 17,2132 37674 CA FIVE
020579,000121: 17,2133 55673 TS RESULTCT
020580,000122: 17,2134 51537 INDEX NDXCTR
020581,000123: 17,2135 02136 TC +1
020582,000124: 17,2136 04065 TC BANKCALL
020583,000125: 17,2137 30422 CADR EARTHR
020584,000126: 17,2140 11676 CCS COUNTPL
020585,000127: 17,2141 03227 TC WAITLP2
020586,000128: 17,2142 11627 CCS DATAPL +1
020587,000129: 17,2143 02147 TC +4
020588,000130: 17,2144 05456 TC CCSHOLE
020589,000131: 17,2145 41632 CS DATAPL +4
020590,000132: 17,2146 55632 TS DATAPL +4
020591,000133: 17,2147 00006 EXTEND
020592,000134: 17,2150 41627 DCS DATAPL
020593,000135: 17,2151 21633 DAS DATAPL +4
020594,000136:
020595,000137: 17,2152 06000 TC INTPRET
020596,000138: 17,2153 45345 DLOAD DSU
020597,000139: 17,2154 02635 DATAPL +6
020598,000140: 17,2155 02631 DATAPL +2
020599,000141: 17,2156 56325 PDDL DDV
020600,000142: 17,2157 02633 DATAPL +4
020601,000143: 17,2160 41325 PDDL DMP
020602,000144: 17,2161 37665 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
020603,000145: 17,2162 77634 RTB
020604,000146: 17,2163 33406 SGNAGREE
020605,000147: 17,2164 00337 STORE DSPTEM2
020606,000148: 17,2165 77776 EXIT
020607,000149: 17,2166 03576 TC SHOW
020608,000150: 17,2167 33656 VERTDRFT CA 3990DEC # NUMBER OF SECONDS TO SPEND ESTIMATING
020609,000151: 17,2170 55527 TS LENGTHOT
020610,000152: 17,2171 04065 TC BANKCALL # THIS WILL CORRECT FOR EARTH RATE DURING
020611,000153: 17,2172 30422 CADR EARTHR # TIME SPENT IN SHOW ABOVE*
020612,000154: 17,2173 30032 CA CDUX # STOORE AXIS FOR LAB CALC OF DRIFT
020613,000155: 17,2174 55530 TS LOSVEC
020614,000156: 17,2175 51544 INDEX POSITON
020615,000157: 17,2176 41550 CS SOUTHDR -2
020616,000158: 17,2177 55576 TS DRIFTT
020617,000159: 17,2200 03612 TC LOADGTSM
020618,000160: 17,2201 37675 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
020619,000161: 17,2202 55400 TS XSM
020620,000162: 17,2203 55401 TS XSM +1
020621,000163: 17,2204 55404 TS XSM +4
020622,000164: 17,2205 55405 TS XSM +5
020623,000165: 17,2206 55406 TS YSM
020624,000166: 17,2207 55407 TS YSM +1
020625,000167:
020626,000168: 17,2210 55412 TS YSM +4
020627,000169: 17,2211 55413 TS YSM +5
020628,000170: 17,2212 55414 TS ZSM
020629,000171: 17,2213 55415 TS ZSM +1
020630,000172: 17,2214 55420 TS ZSM +4
020631,000173: 17,2215 55421 TS ZSM +5
020632,000174: 17,2216 37651 GUESS1 CAF POSMAX
020633,000175: 17,2217 55574 TS TORQNDX
020634,000176: 17,2220 55575 TS TORQNDX +1
020635,000177: 17,2221 04065 TC BANKCALL
020636,000178: 17,2222 42000 CADR ESTIMS
020637,000179: 17,2223 04575 VALMIS TC PHASCHNG
020638,000180: 17,2224 00000 OCT 00000
020639,000181: 17,2225 31636 CA DRIFTO
020640,000182: 17,2226 54337 TS DSPTEM2 +1
020641,000183: 17,2227 30032 CA CDUX # STORE OG ANGLE FOR LAB CALC OF DRIFT**
020642,000184: 17,2230 55531 TS LOSVEC +1
020643,000185: 17,2231 37675 CA ZERO
020644,000186: 17,2232 54336 TS DSPTEM2
020645,000187: 17,2233 03576 TC SHOW
020646,000188:
020647,000189:
020648,000190:
020649,000191: 17,2234 37671 FINISH CA ONE
020650,000192: 17,2235 61544 AD POSITON
020651,000193: 17,2236 54340 TS DSPTEM2 +2
020652,000194: 17,2237 37670 CA TWO
020653,000195: 17,2240 55546 TS QPLACE
020654,000196: 17,2241 04065 TC BANKCALL
020655,000197: 17,2242 22343 CADR TSELECT -6
020656,000198: 17,2243 04065 ENDTEST1 TC BANKCALL
020657,000199: 17,2244 30745 CADR ENDTEST
020658,000200:
020659,000201: 17,2245 33666 OPCHK CAF DELYOFF # AUTOMATIC TEST FOR SYSTEM OPERATION
020660,000202: 17,2246 00006 EXTEND
020661,000203: 17,2247 02030 RAND 30 # CHECK TO SEE IF IMU IS ON
020662,000204: 17,2250 10000 CCS A
020663,000205: 17,2251 02440 TC ALARMS
020664,000206: 17,2252 33661 CAF V16N20S
020665,000207: 17,2253 05324 TC NVSBWAIT
020666,000208:
020667,000209: 17,2254 05373 TC FREEDSP
020668,000210: 17,2255 04065 TC BANKCALL
020669,000211: 17,2256 26000 CADR IMUZERO
020670,000212: 17,2257 04065 TC BANKCALL
020671,000213: 17,2260 26716 CADR IMUSTALL
020672,000214:
020673,000215: 17,2261 12243 TCF ENDTEST1
020674,000216: 17,2262 37662 CA BIT8 # ZERO ALL ERASEABLE USED IN TEST
020675,000217: 17,2263 55776 TS ZERONDX
020676,000218: 17,2264 33671 CA GENPLAD
020677,000219: 17,2265 03236 TC ZEROING
020678,000220: 17,2266 03344 TC NBPOSPL # ALIGN ANGLE COMPUTATION
020679,000221:
020680,000222: 17,2267 03077 TC POSGMBL # COARSE ALIGN THOSE GIMBALS NOW
020681,000223:
020682,000224: 17,2270 12245 TCF OPCHK
020683,000225: 17,2271 03124 TC FALNE # FINE ALIGN PLATFORM BY TORQUING GYROS
020684,000226:
020685,000227: 17,2272 04065 TC BANKCALL
020686,000228: 17,2273 26716 CADR IMUSTALL
020687,000229: 17,2274 12243 TCF ENDTEST1
020688,000230: 17,2275 37670 CA TWO
020689,000231: 17,2276 55672 CDUCHECK TS CDUNDX # THIS LOOP CHECKS FOR NO ERROR BETWEEN
020690,000232: 17,2277 51672 INDEX CDUNDX # DESIRED CDU ANGLES AND THE ACTUAL ANGLES
020691,000233: 17,2300 40400 CS THETAD
020692,000234: 17,2301 51672 INDEX CDUNDX
020693,000235: 17,2302 60032 AD CDUX
020694,000236: 17,2303 55551 TS STOREPL
020695,000237: 17,2304 11551 CCS STOREPL
020696,000238: 17,2305 02313 TC ERRMASK
020697,000239: 17,2306 02310 TC NOERR
020698,000240: 17,2307 02313 TC ERRMASK
020699,000241: 17,2310 11672 NOERR CCS CDUNDX
020700,000242: 17,2311 02276 TC CDUCHECK
020701,000243: 17,2312 02317 TC LOADIC
020702,000244: 17,2313 73674 ERRMASK MASK LOWFOUR # ALLOW FIVE BIT ERRORS
020703,000245: 17,2314 10000 CCS A
020704,000246: 17,2315 02440 TC ALARMS
020705,000247: 17,2316 02310 TC NOERR
020706,000248: 17,2317 37671 LOADIC CA ONE
020707,000249: 17,2320 55673 TS RESULTCT
020708,000250: 17,2321 47671 CS ONE
020709,000251:
020710,000252: 17,2322 55670 TS MASKREG # SETS UP AZIMUTH AND VERTICAL VECTORS FOR
020711,000253:
020712,000254: 17,2323 37675 CA ZERO
020713,000255: 17,2324 54037 TS PIPAX
020714,000256: 17,2325 54040 TS PIPAY
020715,000257: 17,2326 54041 TS PIPAZ
020716,000258:
020717,000259: 17,2327 37657 CA BIT11
020718,000260: 17,2330 55527 TS LENGTHOT # VECTOR IN PIPA COUNTERS
020719,000261: 17,2331 37671 CA ONE
020720,000262: 17,2332 03205 TC WAITLOOP
020721,000263: 17,2333 11676 CCS COUNTPL
020722,000264: 17,2334 03227 TC WAITLP2
020723,000265: 17,2335 33675 CA DEC56
020724,000266: 17,2336 03205 TC WAITLOOP
020725,000267: 17,2337 37670 OPCHK1 CA TWO
020726,000268: 17,2340 55541 OPCHK2 TS PIPINDEX
020727,000269: 17,2341 00004 INHINT
020728,000270: 17,2342 02771 TC CHECKG
020729,000271: 17,2343 00003 RELINT
020730,000272: 17,2344 37675 CA ZERO
020731,000273: 17,2345 51541 INDEX PIPINDEX
020732,000274: 17,2346 54037 TS PIPAX
020733,000275: 17,2347 03065 TC DATALD # LOAD PIPA DATA AND TIME IN DATAPL
020734,000276: 17,2350 57673 XCH RESULTCT
020735,000277: 17,2351 67667 AD FOUR
020736,000278: 17,2352 55673 TS RESULTCT
020737,000279: 17,2353 11541 CCS PIPINDEX
020738,000280: 17,2354 02340 TC OPCHK2
020739,000281: 17,2355 47667 READOUT CS FOUR
020740,000282: 17,2356 61673 AD RESULTCT
020741,000283: 17,2357 55673 TS RESULTCT
020742,000284: 17,2360 22007 ZL
020743,000285: 17,2361 51673 INDEX RESULTCT
020744,000286: 17,2362 31626 CA DATAPL
020745,000287: 17,2363 22000 LXCH A
020746,000288: 17,2364 51673 INDEX RESULTCT
020747,000289: 17,2365 21572 DAS GENPL +1
020748,000290: 17,2366 31673 CA RESULTCT
020749,000291: 17,2367 71670 MASK MASKREG
020750,000292: 17,2370 10000 CCS A
020751,000293: 17,2371 02355 TC READOUT
020752,000294: 17,2372 35234 CA TEN
020753,000295: 17,2373 66176 AD THREE
020754,000296: 17,2374 55673 TS RESULTCT
020755,000297: 17,2375 40000 CS A
020756,000298: 17,2376 55670 TS MASKREG
020757,000299: 17,2377 11676 CCS COUNTPL
020758,000300: 17,2400 03227 TC WAITLP2
020759,000301: 17,2401 03250 TC COMPUT
020760,000302:
020761,000303: 17,2402 33662 RADCK CA V16N40S
020762,000304: 17,2403 05324 TC NVSBWAIT # OPERATOR WILL CHECK RADAR STATUS.IN LAB.
020763,000305: 17,2404 05266 TC FLASHON # SET RADAR OFF THEN PUT RESOLVER STANDARD
020764,000306: 17,2405 05132 TC ENDIDLE # ON TRUNNION AND SET TO +45 DEG.SHAFT WIL
020765,000307: 17,2406 02243 TC ENDTEST1
020766,000308: 17,2407 02410 TC +1 # AFTER SETTING RES STANDARD DO A V33
020767,000309: 17,2410 37675 CA ZERO
020768,000310: 17,2411 54424 TS TANG +1
020769,000311: 17,2412 33676 CA 45DEG
020770,000312: 17,2413 54423 TS TANG
020771,000313: 17,2414 04065 DRIVRAD TC BANKCALL # IN SC WHEN RAD PRESENT DO V33 RIGHT AWAY
020772,000314: 17,2415 20247 CADR RRZERO # LGC WILL ATTEMPT TO DRIVE 45 DEG TRUNN.
020773,000315: 17,2416 04065 TC BANKCALL # TO MATCH STANDARD, AFTER ZEROING CDUS
020774,000316: 17,2417 26712 CADR RADSTALL
020775,000317: 17,2420 02243 TC ENDTEST1
020776,000318: 17,2421 06000 TC INTPRET
020777,000319: 17,2422 77624 CALL
020778,000320: 17,2423 20363 RRDESNB
020779,000321: 17,2424 04065 TC BANKCALL
020780,000322: 17,2425 26712 CADR RADSTALL # IF CDU FAILS TO AGREE WITH COMMAND TO
020781,000323: 17,2426 02440 TC ALARMS # 1 DEG GET ALARM HERE
020782,000324:
020783,000325: 17,2427 05266 TC FLASHON # OPERATOR WILL CHECK STATUS OF RADAR
020784,000326: 17,2430 05132 TC ENDIDLE # IN S/C DO V33 TO CONTINUE WITH SHAFT
020785,000327: 17,2431 02243 TC ENDTEST1 # TEST
020786,000328: 17,2432 02433 TC +1 # IN LAB TURN RADAR OFF CHANGE RES STANDAR
020787,000329: 17,2433 37675 CA ZERO # TO SHAFT AND SET FOR -45DEG.
020788,000330: 17,2434 54423 TS TANG # THEN DO A V33 IF WANT TO REPEAT CHECK
020789,000331: 17,2435 43676 CS 45DEG # DO A V34 TO TERMINATE
020790,000332: 17,2436 54424 TS TANG +1
020791,000333: 17,2437 02414 TC DRIVRAD
020792,000334: 17,2440 56002 ALARMS XCH Q
020793,000335: 17,2441 55546 TS QPLACE
020794,000336: 17,2442 05405 TC ALARM
020795,000337: 17,2443 01411 OCT 1411
020796,000338: 17,2444 01546 TC QPLACE
020797,000339:
020798,000340: 17,2445 06000 GYRSFTST TC INTPRET # START ADRESS FOR IRIG SF TEST
020799,000341: 17,2446 77624 CALL
020800,000342: 17,2447 30530 LATAZCHK # LOAD AZ AND LAT
020801,000343: 17,2450 77776 EXIT
020802,000344: 17,2451 33651 TESTCALL CAF V21N30E
020803,000345: 17,2452 05324 TC NVSBWAIT # LOAD + OR - 1 FOR + OR - X TEST (+00001)
020804,000346: 17,2453 05132 TC ENDIDLE # LOAD + OR - 2 FOR + OR - Y TEST
020805,000347: 17,2454 12243 TCF ENDTEST1 # LOAD + OR - 3 FOR + OR - Z TEST
020806,000348: 17,2455 02451 TC TESTCALL
020807,000349: 17,2456 56333 XCH DSPTEM1
020808,000350: 17,2457 55614 TS CALCDIR
020809,000351: 17,2460 00006 EXTEND # THIS ROUTINE LOOKS AT THE SIZE OF THE
020810,000352: 17,2461 62466 BZMF NEGSIZ # ENTRY MADE BY THE OPERATOR, IF HE DID NO
020811,000353: 17,2462 77702 SIZLOOK MASK NEG3 # T ENTER TEST NO THAT IS W/I PERMISSIBLE
020812,000354: 17,2463 00006 EXTEND # RANGE- HE WILL BE ASKED TO LOAD AGAIN.
020813,000355: 17,2464 12470 BZF GUDENTRY # THIS IS CONSIDERED NECESSARY BECAUSE
020814,000356: 17,2465 02451 TC TESTCALL # OF FOLLOWING INDEXED TC WHICH COULD
020815,000357:
020816,000358: 17,2466 40000 NEGSIZ COM # SEND THE COMPUTER OFF INTO THE BOONDOCKS
020817,000359: 17,2467 02462 TC SIZLOOK # TO PLAY WITH ITSELF IF THE OPERATOR
020818,000360: 17,2470 31614 GUDENTRY CA CALCDIR # MAKES ABAD ENTRY******
020819,000361: 17,2471 67667 AD FOUR
020820,000362: 17,2472 50000 INDEX A
020821,000363: 17,2473 02474 TC +1
020822,000364: 17,2474 02451 TC TESTCALL
020823,000365: 17,2475 02503 TC +6 # C(A)=+00001 FOR -Z
020824,000366: 17,2476 02502 TC +4 # C(A)=+00002 FOR -Y
020825,000367: 17,2477 02501 TC +2 # C(A)=+00003 FOR -X
020826,000368: 17,2500 02474 TC -4 # C(A)=+00004 ERROR
020827,000369: 17,2501 02504 TC +3 # C(A)=+00005 FOR +X
020828,000370: 17,2502 02510 TC +6
020829,000371: 17,2503 02513 TC +10
020830,000372: 17,2504 37667 CAF FOUR
020831,000373: 17,2505 55544 TS POSITON # 4 IS FOR A.L. POSN 4 USED FOR X SF TEST
020832,000374: 17,2506 02515 TC +7
020833,000375: 17,2507 02515 TC +6
020834,000376: 17,2510 37670 CAF TWO
020835,000377: 17,2511 55544 TS POSITON # +2 IS A.L. POS 2 USED FOR Y SF TEST
020836,000378: 17,2512 02515 TC +3
020837,000379: 17,2513 37671 CAF ONE
020838,000380: 17,2514 55544 TS POSITON # +1 IS A.L. POS 1 USED FOR Z SF TEST
020839,000381: 17,2515 55617 TS OPTNREG # C(K) = (4,2,1) FOR X,Y,Z
020840,000382: 17,2516 55621 TS SAVE +1
020841,000383: 17,2517 05373 TC FREEDSP
020842,000384: 17,2520 37675 CAF ZERO
020843,000385: 17,2521 55536 TS NBPOS # SET UP NB COORD TO Z NORTH, X UP
020844,000386: 17,2522 55622 TS SAVE +2 # INITIALIZE FOR EARTHR DESIGNATE USAGE
020845,000387: 17,2523 55563 TS TESTNO # INITIALIZE FOR TEST ABORT ROUTINE
020846,000388: 17,2524 55615 TS CDUFLAG # ZEROS FOR STRTWACH USE
020847,000389: 17,2525 33653 CAF SFCONST
020848,000390:
020849,000391: 17,2526 55623 TS SFCONST1 # FOR DIVISION DURING CALCFSE
020850,000392:
020851,000393: 17,2527 04065 TC BANKCALL
020852,000394: 17,2530 26000 CADR IMUZERO
020853,000395: 17,2531 04065 TC BANKCALL
020854,000396: 17,2532 26716 CADR IMUSTALL
020855,000397: 17,2533 12243 TCF ENDTEST1
020856,000398: 17,2534 03344 TC NBPOSPL
020857,000399: 17,2535 03077 TC POSGMBL
020858,000400: 17,2536 12243 TCF ENDTEST1
020859,000401: 17,2537 03124 TC FALNE
020860,000402: 17,2540 04065 TC BANKCALL
020861,000403: 17,2541 31703 CADR REDYTORK
020862,000404: 17,2542 55552 WAITFIVE TS SOUTHDR
020863,000405: 17,2543 37664 CAF BIT6 # THIS SECTION CALLS FOR 2-32 MSEC WAITS
020864,000406: 17,2544 02557 TC DIRECTN -5
020865,000407: 17,2545 37664 ENABLE CAF BIT6
020866,000408: 17,2546 00006 EXTEND # ENABLE GYRO TORQUING LOOP BY TURNING
020867,000409: 17,2547 05014 WOR 14C # ON CAL MODULE RELAY
020868,000410:
020869,000411: 17,2550 00004 INHINT
020870,000412: 17,2551 47670 CS TWO # SETS UP EXEC SWITCH SO IMUPULSE WILL
020871,000413: 17,2552 70370 MASK IMODES33 # NOT TURN OFF GYRO TORQ ENABLE RELAY
020872,000414: 17,2553 67670 AD TWO
020873,000415: 17,2554 54370 TS IMODES33
020874,000416: 17,2555 37670 CAF TWO
020875,000417: 17,2556 55552 TS SOUTHDR
020876,000418: 17,2557 55527 TS LENGTHOT # 20 MSEC DELAY FOR GYRO LOOP STABILIZAT.
020877,000419: 17,2560 37671 CA ONE
020878,000420: 17,2561 03205 TC WAITLOOP
020879,000421: 17,2562 11676 CCS COUNTPL
020880,000422: 17,2563 03227 TC WAITLP2
020881,000423: 17,2564 04065 DIRECTN TC BANKCALL # TORQUING ROUTINE IN IMU PERFORMANCE
020882,000424: 17,2565 34520 CADR SILVER # BANK 3
020883,000425: 17,2566 11552 CCS SOUTHDR # A ONE FIRST TIME THROUGH, THEN ZERO
020884,000426: 17,2567 02542 TC WAITFIVE
020885,000427:
020886,000428: 17,2570 11615 STRTWACH CCS CDUFLAG # RETURNS HERE VIA QPLACE FROM SILVER
020887,000429: 17,2571 02652 TC CDUZOTST # BEEN CAUGHT AND CDU THROUGH ZERO IS
020888,000430: 17,2572 11621 CCS SAVE +1
020889,000431: 17,2573 02612 TC LOOKCDUP -4
020890,000432: 17,2574 02616 TC LOOKCDUP
020891,000433: 17,2575 37675 CORRECT CAF ZERO
020892,000434: 17,2576 54357 TS LGYRO # RELEASES GYROS FOR IMUPULSE USAGE
020893,000435: 17,2577 04065 TC BANKCALL # EARTHRATE CORRECTION TO GYROS NOT EAST
020894,000436: 17,2600 30422 CADR EARTHR # OR WEST
020895,000437: 17,2601 37671 CAF ONE
020896,000438: 17,2602 54357 TS LGYRO # RESERVES GYROS FOR S.F. TEST TORQUING
020897,000439: 17,2603 55622 TS SAVE +2 # INITIALIZES TO INSURE 5.6 DEG OF TORQ)
020898,000440: 17,2604 27563 ADS TESTNO # INCR THE BURST COUNTER, WHICH IS USED TO
020899,000441:
020900,000442: 17,2605 41563 CS TESTNO # COUNT THE NO. OF ITMES THE GYRO COUNTER
020901,000443: 17,2606 77674 MASK FIVE # IS LOADED, IF A TENTH LOAD IS REQUESTED
020902,000444: 17,2607 00006 EXTEND # THE SFE IS TOO LARGE TO BE MEANINGFULL
020903,000445: 17,2610 12760 BZF STOPTEST # OR THE CDU,S ARE NOT WORKING.
020904,000446: 17,2611 02564 TC DIRECTN
020905,000447:
020906,000448: 17,2612 37675 CAF ZERO # ZEROS CDU REG WHICH WILL BE USED TO
020907,000449: 17,2613 55621 TS SAVE +1
020908,000450: 17,2614 51672 INDEX CDUNDX # MEASURE ANGLE.
020909,000451: 17,2615 54032 TS CDUX
020910,000452: 17,2616 00004 LOOKCDUP INHINT
020911,000453: 17,2617 37665 CAF BIT5
020912,000454: 17,2620 55624 STILLOOK TS TIMER
020913,000455: 17,2621 51672 INDEX CDUNDX # LOOKS FOR FIRST CDU PULSE AFTER TORQUING
020914,000456: 17,2622 10032 CCS CDUX # STARTS
020915,000457: 17,2623 02635 TC OUTPLUS # HERE IS PLUS PULSE
020916,000458: 17,2624 02627 TC TIMEWACH
020917,000459: 17,2625 02440 TC ALARMS # TTELL OPERATOR FIRST CDU PULSE WAS MISSD
020918,000460: 17,2626 02646 TC OUTNEG # HERE IS MINUS PULSE
020919,000461: 17,2627 11624 TIMEWACH CCS TIMER # WATCHES TIME IN INHINT SO COPS WILL NOT
020920,000462: 17,2630 02620 TC STILLOOK # CATCH US
020921,000463: 17,2631 00003 RELINT
020922,000464:
020923,000465: 17,2632 10067 CCS NEWJOB
020924,000466: 17,2633 04365 TC CHANG1
020925,000467: 17,2634 02616 TC LOOKCDUP # KEEP WATCHING IF THE PULSE IS NOT HERE
020926,000468:
020927,000469: 17,2635 43652 OUTPLUS CS DESANGLE # -2047 CDU PULSES ADDED TO CDU REG SO
020928,000470: 17,2636 51672 INDEX CDUNDX # ZERO CROSSOVER CAN BE DETECTED
020929,000471: 17,2637 54032 TS CDUX
020930,000472: 17,2640 37671 LOADFLAG CAF ONE
020931,000473: 17,2641 55615 TS CDUFLAG
020932,000474: 17,2642 30047 CA GYROCTR # GYRO TORQ CMDS LEFT OUT OF FIRST 5.625
020933,000475: 17,2643 55620 TS SAVE # DEG COMMANDED WHEN CDU PULSE ARRIVED
020934,000476: 17,2644 00003 RELINT
020935,000477: 17,2645 02652 TC CDUZOTST
020936,000478:
020937,000479: 17,2646 33652 OUTNEG CA DESANGLE
020938,000480: 17,2647 51672 INDEX CDUNDX
020939,000481: 17,2650 54032 TS CDUX
020940,000482: 17,2651 02640 TC LOADFLAG
020941,000483:
020942,000484: 17,2652 51672 CDUZOTST INDEX CDUNDX
020943,000485: 17,2653 10032 CCS CDUX
020944,000486: 17,2654 02660 TC +4
020945,000487: 17,2655 02675 TC ENDWATCH
020946,000488: 17,2656 02660 TC +2
020947,000489: 17,2657 02675 TC ENDWATCH
020948,000490: 17,2660 37660 CAF BIT10 # RAND WITH BIT 10 TO SEE IF STILL TORQ.
020949,000491: 17,2661 00006 EXTEND
020950,000492:
020951,000493: 17,2662 02014 RAND 14C
020952,000494: 17,2663 10000 CCS A
020953,000495: 17,2664 02672 TC +6
020954,000496:
020955,000497: 17,2665 11622 CCS SAVE +2 # SEE IF 2.8DEG OR 5.6 DEG SINCE LAST
020956,000498: 17,2666 02670 TC +2 # EEARTHR USE, IF 2.8 DEG, DO 2.8 MORE
020957,000499: 17,2667 02575 TC CORRECT # THEN GO TO CORRECT
020958,000500: 17,2670 55622 TS SAVE +2
020959,000501: 17,2671 02564 TC DIRECTN
020960,000502: 17,2672 10067 CCS NEWJOB
020961,000503: 17,2673 04365 TC CHANG1
020962,000504: 17,2674 02652 TC CDUZOTST
020963,000505:
020964,000506: 17,2675 00004 ENDWATCH INHINT # WWILL STOR GYROCTR AT END OF 2048 CDU
020965,000507: 17,2676 37675 CAF ZERO # PULSES AND STOP TORQ BY ZEROING REQUESTS
020966,000508: 17,2677 54357 TS LGYRO # RELEASE GYROS FOR OTHERS USAGE
020967,000509: 17,2700 56047 XCH GYROCTR
020968,000510: 17,2701 55621 TS SAVE +1 # AND STOPS TORQUING BY ZEROING TORQ
020969,000511: 17,2702 47670 CS TWO
020970,000512: 17,2703 70370 MASK IMODES33 # THIS TURNS OFF EXEC SWITCH SO THE GYRO
020971,000513: 17,2704 54370 TS IMODES33 # TORQ. ENABLE RELAY CAN BE TURNED OFF.
020972,000514: 17,2705 00003 RELINT
020973,000515: 17,2706 31620 CALCSFE CA SAVE # GYROCTR AT TEST START
020974,000516: 17,2707 00006 EXTEND
020975,000517: 17,2710 61621 SU SAVE +1 # GYROCTR AT TEST END
020976,000518: 17,2711 55622 TS SAVE +2
020977,000519: 17,2712 00006 EXTEND
020978,000520: 17,2713 62732 BZMF ARITH # SEE IF IT IS NEG OR ZERO,IF NEG,SFE IS +
020979,000521: 17,2714 73654 MASK SIZCHK
020980,000522: 17,2715 00006 EXTEND # THIS ROUTINE TESTS SAVE-(SAVE+1) TO SEE
020981,000523: 17,2716 12724 BZF NEGSFE # IF THE RESULT IS WITHIN PERMISSIBLE SIZE
020982,000524: 17,2717 41622 CS SAVE +2 # AND DETERMINES POLARITY OF SFE USING THE
020983,000525: 17,2720 73654 MASK SIZCHK # PRESENCE OR ABSENCE OF BITS 12,13,14.
020984,000526: 17,2721 00006 EXTEND # IF BITS ARE PRESENT IN POSITIVE SAVE +2
020985,000527: 17,2722 12726 BZF POSSFE # THEN THE SFE MUST BE POS. IF DIFFERENCE
020986,000528: 17,2723 02760 TC STOPTEST # IS GREATER THAN 2047 PULSES FROM THE
020987,000529: 17,2724 31622 NEGSFE CAE SAVE +2 # IDEAL NO OF PULSES, THE SFE EXCEEDS
020988,000530: 17,2725 02732 TC ARITH # 15600 PPM, THE TEST IS NOT VALID AND
020989,000531:
020990,000532: # THEREFORE ABORTS AND TURNS ON PROGRAM ALARM
020991,000533: 17,2726 37651 POSSFE CAF POSMAX # POS SFE DEFINITION = IRIG SF IN SEC OF
020992,000534: 17,2727 00006 EXTEND # ARC PER PULSE IS GREATER THAN
020993,000535: 17,2730 61622 SU SAVE +2 # .61798095703125 SEC OF ARC/ PULSE
020994,000536: 17,2731 02733 TC ARITH +1
020995,000537:
020996,000538: 17,2732 40000 ARITH COM
020997,000539: 17,2733 22007 ZL
020998,000540: 17,2734 00006 EXTEND
020999,000541: 17,2735 11623 DV SFCONST1
021000,000542: 17,2736 54336 LOADIT TS DSPTEM2
021001,000543:
021002,000544: 17,2737 02740 TC DATADSP
021003,000545:
021004,000546: 17,2740 05276 DATADSP TC GRABDSP
021005,000547: 17,2741 05304 TC PREGBSY
021006,000548: 17,2742 31614 CA CALCDIR
021007,000549: 17,2743 54340 TS DSPTEM2 +2 # DISPLAYS TEST NO JUST PERFORMED
021008,000550: 17,2744 33657 CAF VB06N66 # R3 = TEST NO JUST PERFORMED
021009,000551: 17,2745 05324 TC NVSBWAIT
021010,000552: 17,2746 05266 TC FLASHON
021011,000553: 17,2747 05132 TC ENDIDLE # TO END TEST DO V34E
021012,000554: 17,2750 02752 TC +2
021013,000555: 17,2751 02451 TC TESTCALL # TO CONTINUE TEST DO V33E
021014,000556: 17,2752 04065 TC BANKCALL
021015,000557: 17,2753 26000 CADR IMUZERO
021016,000558: 17,2754 04065 TC BANKCALL
021017,000559: 17,2755 26716 CADR IMUSTALL
021018,000560: 17,2756 12243 TCF ENDTEST1
021019,000561: 17,2757 12243 TCF ENDTEST1
021020,000562:
021021,000563: 17,2760 04065 STOPTEST TC BANKCALL
021022,000564: 17,2761 26000 CADR IMUZERO
021023,000565: 17,2762 04065 TC BANKCALL # CORRECT CDUCTRS AND TURN ON PROG ALARM
021024,000566: 17,2763 26716 CADR IMUSTALL # TO TELL OPERATOR LAST CDU PULSE WAS
021025,000567: 17,2764 12243 TCF ENDTEST1 # MISSED OR GYRO TORQ LOOP WAY OUT OF
021026,000568: 17,2765 37675 CAF ZERO # ALLOWABLE LIMITS.........
021027,000569: 17,2766 54357 TS LGYRO # **** RELEASE GYROS FOR OTHERS USAGE*****
021028,000570: 17,2767 02440 TC ALARMS
021029,000571: 17,2770 12243 TCF ENDTEST1
021030,000572:
021031,000573: 17,2771 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
021032,000574: 17,2772 23546 QXCH QPLACE # RECORDS TIME AT OCCURRENCE OF A DELTA V
021033,000575: 17,2773 00003 CHECKG1 RELINT # KEEPS CONTENT OF PIPA REG INTACT
021034,000576: 17,2774 10067 CCS NEWJOB
021035,000577: 17,2775 04365 TC CHANG1
021036,000578: 17,2776 00004 INHINT
021037,000579: 17,2777 37675 CAF ZERO
021038,000580: 17,3000 51541 INDEX PIPINDEX
021039,000581: 17,3001 56037 XCH PIPAX
021040,000582: 17,3002 55551 TS STOREPL
021041,000583: 17,3003 11551 CCS STOREPL
021042,000584: 17,3004 03010 TC CHECKP
021043,000585: 17,3005 03063 TC RESTOREA
021044,000586: 17,3006 03023 TC CHECKM
021045,000587: 17,3007 03063 TC RESTOREA
021046,000588: 17,3010 37664 CHECKP CAF BIT6 # LOOKS FOR ONE MORE PLUS PULSE
021047,000589: 17,3011 55540 TS PIPANO
021048,000590: 17,3012 51541 INDEX PIPINDEX
021049,000591: 17,3013 10037 CCS PIPAX
021050,000592: 17,3014 03036 TC CHECKG3
021051,000593: 17,3015 03020 TC +3
021052,000594: 17,3016 03063 TC RESTOREA
021053,000595: 17,3017 03020 TC +1
021054,000596: 17,3020 11540 CCS PIPANO
021055,000597: 17,3021 03011 TC CHECKP +1
021056,000598: 17,3022 03063 TC RESTOREA
021057,000599: 17,3023 37664 CHECKM CAF BIT6 # LOOKS FOR ONE MORE MINUS PULSE
021058,000600: 17,3024 55540 TS PIPANO
021059,000601: 17,3025 51541 INDEX PIPINDEX
021060,000602: 17,3026 10037 CCS PIPAX
021061,000603: 17,3027 03063 TC RESTOREA
021062,000604: 17,3030 03033 TC +3
021063,000605: 17,3031 03036 TC CHECKG3
021064,000606: 17,3032 03033 TC +1
021065,000607: 17,3033 11540 CCS PIPANO
021066,000608: 17,3034 03024 TC CHECKM +1
021067,000609: 17,3035 03063 TC RESTOREA
021068,000610: 17,3036 05462 CHECKG3 TC FINETIME # TIME IN DOUBLE PRECISION LEFT IN MPAC
021069,000611:
021070,000612: 17,3037 52141 DXCH MPAC
021071,000613: 17,3040 37666 CAF BIT4
021072,000614: 17,3041 55540 CHECKG5 TS PIPANO
021073,000615: 17,3042 51541 INDEX PIPINDEX
021074,000616: 17,3043 10037 CCS PIPAX
021075,000617: 17,3044 03050 TC +4
021076,000618: 17,3045 03063 TC RESTOREA
021077,000619: 17,3046 03050 TC +2
021078,000620: 17,3047 03063 TC RESTOREA
021079,000621: 17,3050 11540 CCS PIPANO
021080,000622: 17,3051 03041 TC CHECKG5
021081,000623:
021082,000624: 17,3052 03055 NREAD TC RESTORE
021083,000625: 17,3053 55551 TS STOREPL
021084,000626: 17,3054 01546 TC QPLACE
021085,000627: 17,3055 57551 RESTORE XCH STOREPL # A WILL CONTAIN PREVIOUS PIPA CNTR CONTEN
021086,000628: 17,3056 51541 INDEX PIPINDEX # STOREPL WILL CONTAIN ZERO
021087,000629: 17,3057 60037 AD PIPAX
021088,000630: 17,3060 51541 INDEX PIPINDEX
021089,000631: 17,3061 54037 TS PIPAX
021090,000632: 17,3062 00002 TC Q
021091,000633:
021092,000634: 17,3063 03055 RESTOREA TC RESTORE
021093,000635: 17,3064 02773 TC CHECKG1
021094,000636: 17,3065 31551 DATALD CA STOREPL
021095,000637: 17,3066 51673 INDEX RESULTCT
021096,000638: 17,3067 55626 TS DATAPL
021097,000639: 17,3070 30140 CA MPAC
021098,000640: 17,3071 51673 INDEX RESULTCT
021099,000641: 17,3072 55627 TS DATAPL +1
021100,000642: 17,3073 30141 CA MPAC +1
021101,000643: 17,3074 51673 INDEX RESULTCT
021102,000644: 17,3075 55630 TS DATAPL +2
021103,000645: 17,3076 00002 TC Q
021104,000646:
021105,000647:
021106,000648:
021107,000649:
021108,000650:
021109,000651: 17,3077 00006 POSGMBL EXTEND # COARSE ALIGNING SUBROUTINE
021110,000652: 17,3100 23546 QXCH QPLACE
021111,000653:
021112,000654: 17,3101 06000 TC INTPRET
021113,000655: 17,3102 77624 CALL
021114,000656: 17,3103 32615 CALCGA
021115,000657: 17,3104 77776 EXIT
021116,000658:
021117,000659: 17,3105 04065 TC BANKCALL
021118,000660: 17,3106 26055 CADR IMUCOARS
021119,000661: 17,3107 33123 CA GMLOCKCK # IF FAILREG CONTAINS 401 WILL RETURN TO
021120,000662: 17,3110 71363 MASK FAILREG
021121,000663: 17,3111 10000 CCS A # L +1, OTHERWISE TO L +2.
021122,000664: 17,3112 03115 TC LOCK
021123,000665: 17,3113 25546 INCR QPLACE
021124,000666: 17,3114 03117 TC +3
021125,000667: 17,3115 37670 LOCK CA TWO
021126,000668: 17,3116 55537 TS NDXCTR
021127,000669: 17,3117 04065 TC BANKCALL
021128,000670: 17,3120 26716 CADR IMUSTALL
021129,000671: 17,3121 12243 TCF ENDTEST1
021130,000672: 17,3122 01546 TC QPLACE
021131,000673: 17,3123 00401 GMLOCKCK OCT 00401
021132,000674:
021133,000675: 17,3124 00006 FALNE EXTEND # TORQUES GYROS TO NULL OVT DIFFERENCE
021134,000676: 17,3125 23546 QXCH QPLACE # BETWEEN DESIRED SM ORIENTATION WITH RESP
021135,000677: 17,3126 04065 TC BANKCALL # TO NBASE AND ACTUAL
021136,000678: 17,3127 26000 CADR IMUZERO
021137,000679: 17,3130 04065 TC BANKCALL
021138,000680: 17,3131 26716 CADR IMUSTALL
021139,000681: 17,3132 12243 TCF ENDTEST1
021140,000682: 17,3133 04065 TC BANKCALL
021141,000683: 17,3134 26227 CADR IMUFINE
021142,000684: 17,3135 04065 TC BANKCALL
021143,000685: 17,3136 26716 CADR IMUSTALL
021144,000686: 17,3137 12243 TCF ENDTEST1
021145,000687: 17,3140 30032 FALNE1 CA CDUX
021146,000688: 17,3141 50104 INDEX FIXLOC
021147,000689: 17,3142 54024 TS 24
021148,000690: 17,3143 30033 CA CDUY
021149,000691: 17,3144 50104 INDEX FIXLOC
021150,000692: 17,3145 54020 TS 20
021151,000693: 17,3146 30034 CA CDUZ
021152,000694: 17,3147 50104 INDEX FIXLOC
021153,000695: 17,3150 54022 TS 22
021154,000696: 17,3151 37665 CA BIT5
021155,000697: 17,3152 60104 AD FIXLOC
021156,000698: 17,3153 50104 INDEX FIXLOC
021157,000699: 17,3154 54050 TS S1
021158,000700: 17,3155 06000 TC INTPRET
021159,000701: 17,3156 64375 VLOAD MXV
021160,000702: 17,3157 02401 XSM
021161,000703: 17,3160 02445 STARAD
021162,000704: 17,3161 77772 VSL1
021163,000705: 17,3162 34041 STCALL 32D
021164,000706: 17,3163 32517 NBSM
021165,000707: 17,3164 26423 STOVL XDC
021166,000708: 17,3165 02407 YSM
021167,000709: 17,3166 76521 MXV VSL1
021168,000710: 17,3167 02445 STARAD
021169,000711: 17,3170 34041 STCALL 32D
021170,000712: 17,3171 32517 NBSM
021171,000713: 17,3172 26431 STOVL YDC
021172,000714: 17,3173 02423 XDC
021173,000715: 17,3174 76435 VXV VSL1
021174,000716: 17,3175 02431 YDC
021175,000717: 17,3176 36437 STCALL ZDC
021176,000718: 17,3177 32367 CALCGTA
021177,000719: 17,3200 77776 EXIT
021178,000720: 17,3201 33673 CA OGCPL
021179,000721: 17,3202 04065 TC BANKCALL
021180,000722: 17,3203 26317 CADR IMUPULSE
021181,000723: 17,3204 01546 TC QPLACE
021182,000724:
021183,000725: 17,3205 00006 WAITLOOP EXTEND # LOOPS IN X SEC INCREMENTS FOR NUMBER OF
021184,000726: 17,3206 23545 QXCH QPLAC
021185,000727: 17,3207 55676 TS COUNTPL # NUMBER PUT INTO LENGTHOT
021186,000728: 17,3210 11676 WAITLP1 CCS COUNTPL
021187,000729: 17,3211 03215 TC +4
021188,000730: 17,3212 01545 TC QPLAC
021189,000731: 17,3213 03215 TC +2
021190,000732: 17,3214 03207 TC WAITLP1 -1
021191,000733: 17,3215 00004 INHINT
021192,000734: 17,3216 31527 CAE LENGTHOT
021193,000735: 17,3217 04517 TC WAITLIST
021194,000736: 17,3220 03233 36005 2CADR WAITLP3
021195,000737: 17,3222 00003 RELINT
021196,000738: 17,3223 11676 CCS COUNTPL
021197,000739: 17,3224 01545 TC QPLAC
021198,000740: 17,3225 01545 TC QPLAC
021199,000741: 17,3226 13227 NOOP
021200,000742: 17,3227 55676 WAITLP2 TS COUNTPL # ENTER HERE AFTER DOING CALLING JOB
021201,000743: 17,3230 33232 CAF WTLPCADR
021202,000744: 17,3231 04400 TC JOBSLEEP
021203,000745: 17,3232 37210 WTLPCADR CADR WAITLP1
021204,000746: 17,3233 33232 WAITLP3 CAF WTLPCADR
021205,000747: 17,3234 04404 TC JOBWAKE
021206,000748: 17,3235 04563 TC TASKOVER
021207,000749:
021208,000750:
021209,000751:
021210,000752:
021211,000753:
021212,000754: 17,3236 54001 ZEROING TS L
021213,000755: 17,3237 13241 TCF +2
021214,000756: 17,3240 55776 ZEROING1 TS ZERONDX
021215,000757: 17,3241 37675 CAF ZERO
021216,000758: 17,3242 50001 INDEX L
021217,000759: 17,3243 54000 TS 0
021218,000760: 17,3244 24001 INCR L
021219,000761: 17,3245 11776 CCS ZERONDX
021220,000762: 17,3246 13240 TCF ZEROING1
021221,000763: 17,3247 00002 TC Q
021222,000764: 17,3250 06000 COMPUT TC INTPRET # CALCULATE LENGTH OF GRAVITY VECTOR AS
021223,000765: 17,3251 77170 AXT,1 AXT,2 # MEASURED BY ACCELEROMETERS
021224,000766: 17,3252 00026 22D
021225,000767: 17,3253 00012 10D
021226,000768: 17,3254 77731 SSP
021227,000769: 17,3255 00051 S1
021228,000770: 17,3256 00004 4
021229,000771: 17,3257 77731 SSP
021230,000772: 17,3260 00052 S2
021231,000773: 17,3261 00004 4
021232,000774:
021233,000775: 17,3262 44743 LOPDELOP DLOAD* DSU*
021234,000776: 17,3263 75120 DATAPL +24D,2
021235,000777: 17,3264 02657 DATAPL +24D,1
021236,000778: 17,3265 41323 PDDL* DMP
021237,000779: 17,3266 75156 GENPL +24D,2
021238,000780: 17,3267 37665 DEC585
021239,000781: 17,3270 77671 DDV
021240,000782: 17,3271 55504 TIX,2 VDEF
021241,000783: 17,3272 37277 NEXT
021242,000784: 17,3273 47046 ABVAL RTB
021243,000785: 17,3274 33406 SGNAGREE
021244,000786: 17,3275 34337 STCALL DSPTEM2
021245,000787: 17,3276 37301 KODU
021246,000788: 17,3277 60006 NEXT PUSH TIX,1
021247,000789: 17,3300 37262 LOPDELOP
021248,000790: 17,3301 77776 KODU EXIT
021249,000791: 17,3302 05311 TC GRABWAIT
021250,000792: 17,3303 03576 TC SHOW
021251,000793: 17,3304 06000 TC INTPRET
021252,000794: 17,3305 41535 SLOAD PUSH
021253,000795: 17,3306 02630 DATAPL +1
021254,000796: 17,3307 41535 SLOAD PUSH
021255,000797: 17,3310 02634 DATAPL +5
021256,000798: 17,3311 55535 SLOAD VDEF
021257,000799: 17,3312 02640 DATAPL +11
021258,000800: 17,3313 76456 UNIT VSL1
021259,000801: 17,3314 77606 PUSH
021260,000802: 17,3315 41535 SLOAD PUSH
021261,000803: 17,3316 02644 DATAPL +15
021262,000804: 17,3317 41535 SLOAD PUSH
021263,000805: 17,3320 02650 DATAPL +21
021264,000806: 17,3321 55535 SLOAD VDEF
021265,000807: 17,3322 02654 DATAPL +25
021266,000808: 17,3323 76456 UNIT VSL1
021267,000809: 17,3324 45325 PDDL DSU
021268,000810: 17,3325 02655 DATAPL +26
021269,000811: 17,3326 02641 DATAPL +12
021270,000812: 17,3327 77612 SL4
021271,000813: 17,3330 77652 SL3
021272,000814: 17,3331 26530 STOVL LENGTHOT
021273,000815: 17,3332 51435 VXV ABVAL
021274,000816: 17,3333 56205 DMP DDV
021275,000817: 17,3334 37670 ERUNITS
021276,000818: 17,3335 02530 LENGTHOT
021277,000819: 17,3336 77634 RTB
021278,000820: 17,3337 33406 SGNAGREE
021279,000821: 17,3340 00337 STORE DSPTEM2
021280,000822: 17,3341 77776 EXIT
021281,000823: 17,3342 03576 TC SHOW
021282,000824: 17,3343 12402 TCF RADCK
021283,000825:
021284,000826: 17,3344 00006 NBPOSPL EXTEND # SETS UP AZIMUTH AND VERTICAL VECTORS FOR
021285,000827: 17,3345 23546 QXCH QPLACE # AXISGEN,RESULTS TO BE USED IN CALCGA TO
021286,000828: 17,3346 06000 TC INTPRET
021287,000829: 17,3347 54160 AXC,1 XSU,1 # AZIMUTH IN NB COORDS
021288,000830: 17,3350 37704 SCNBAZ
021289,000831: 17,3351 02536 NBPOS
021290,000832: 17,3352 77773 VLOAD*
021291,000833: 17,3353 00001 0,1
021292,000834: 17,3354 02445 STORE STARAD
021293,000835:
021294,000836: 17,3355 54160 AXC,1 XSU,1 # VERITCAL IN NB COORDS
021295,000837: 17,3356 37716 SCNBVER
021296,000838: 17,3357 02536 NBPOS
021297,000839: 17,3360 77773 VLOAD*
021298,000840: 17,3361 00001 0,1
021299,000841: 17,3362 16453 STODL STARAD +6
021300,000842: 17,3363 33042 ZERODP
021301,000843: 17,3364 14007 STODL 6D
021302,000844: 17,3365 02507 AZIMUTH
021303,000845: 17,3366 57546 COS DCOMP
021304,000846: 17,3367 14011 STODL 8D
021305,000847: 17,3370 02507 AZIMUTH
021306,000848: 17,3371 77756 SIN
021307,000849: 17,3372 00013 STORE 10D # VERTICAL IN CER
021308,000850: 17,3373 77775 VLOAD
021309,000851: 17,3374 37717 SCNBVER
021310,000852: 17,3375 34015 STCALL 12D
021311,000853: 17,3376 32677 AXISGEN
021312,000854: 17,3377 77776 EXIT
021313,000855:
021314,000856: 17,3400 33663 SELPOSN CA DEC17
021315,000857: 17,3401 55776 TS ZERONDX
021316,000858: 17,3402 33703 CA XSMADR
021317,000859: 17,3403 03236 TC ZEROING
021318,000860:
021319,000861: 17,3404 51544 INDEX POSITON
021320,000862: 17,3405 03406 TC +1
021321,000863: 17,3406 03524 TC OPCHKPOS # OPCHK WILL PUT ZERO IN POSITON
021322,000864: 17,3407 03422 TC POSN1
021323,000865: 17,3410 03431 TC POSN2
021324,000866: 17,3411 03436 TC POSN3
021325,000867: 17,3412 03450 TC POSN4
021326,000868: 17,3413 03460 TC POSN5
021327,000869: 17,3414 03470 TC POSN6
021328,000870: 17,3415 03500 TC POSN7
021329,000871: 17,3416 03513 TC POSN8
021330,000872: 17,3417 03542 TC POSN9
021331,000873: 17,3420 03553 TC POSN10
021332,000874:
021333,000875: 17,3421 03564 TC POSN11 # COMPASS POSITION
021334,000876:
021335,000877: # WE WILL DENOTE THE FLASHING DISPLAY OF A HORIZONTAL TEST BY DH
021336,000878: # (XXX.XX MERU) AND A VERTICAL TEST BY DV (XXX.XX MERU) EACH POSITION TELL
021337,000879: # HOW THE DISPLAYS ARE RELATED TO TTHE DRIFT COEFFICIENTS BEING MEASURED.
021338,000880: # NOTE THAT IT IS ILLEGAL TO RUN VERTICAL IN POS 6,4, OR 2 WITHOUT FIRST
021339,000881: # RUNNING HORIZONTAL OF POS 5,3, OR1. THIS IS BECAUSE THE HORIZ DRIFT CALC
021340,000882: # IN 1,3, OR 5 IS USED AS EAST DRIFFFT FOR VERTICAL TEST. THIS IS DONE BY
021341,000883: # THE MACHINE AUTOMATICALLY EXCEPT FOR VERTICAL POSITION 6 WHICH THE
021342,000884: # OPERATOR MUST DO. (SEE POSITION 6 BELOW)
021343,000885: 17,3422 37654 POSN1 CA HALF # X UP, Y SOUTH, Z EAST
021344,000886: 17,3423 55400 TS XSM
021345,000887: 17,3424 55410 TS YSM +2 # NBDY = DH
021346,000888: 17,3425 55420 TS ZSM +4
021347,000889: 17,3426 37675 NGUBGH CA ZERO
021348,000890: 17,3427 55541 TS PIPINDEX
021349,000891: 17,3430 01546 TC QPLACE
021350,000892:
021351,000893:
021352,000894:
021353,000895: 17,3431 47654 POSN2 CS HALF # X DOWN, Y WEST, Z NORTH
021354,000896: 17,3432 55400 TS XSM
021355,000897: 17,3433 55412 TS YSM +4 # NBDZ =DH ,NBDX -ADIAX= -DV
021356,000898: 17,3434 55416 TS ZSM +2
021357,000899: 17,3435 03426 TC NGUBGH
021358,000900:
021359,000901:
021360,000902:
021361,000903: 17,3436 37654 POSN3 CA HALF # Z UP, Y WEST ,X NORTH
021362,000904: 17,3437 55414 TS ZSM
021363,000905: 17,3440 40000 COM # NBDX = -DH
021364,000906: 17,3441 55402 TS XSM +2
021365,000907: 17,3442 55412 TS YSM +4
021366,000908: 17,3443 37670 NSFLAGD CA TWO
021367,000909: 17,3444 55541 TS PIPINDEX
021368,000910: 17,3445 37675 NSBUGD CA ZERO
021369,000911: 17,3446 55576 TS DRIFTT
021370,000912: 17,3447 01546 TC QPLACE
021371,000913:
021372,000914:
021373,000915:
021374,000916: 17,3450 47654 POSN4 CS HALF # Y SOUTH, X EAST, Z DOWN
021375,000917: 17,3451 55414 TS ZSM # NBDY +ADSRAY=DH
021376,000918: 17,3452 40000 COM # NBDZ +ADIAZ =DV
021377,000919: 17,3453 55410 TS YSM +2
021378,000920: 17,3454 55404 TS XSM +4
021379,000921: 17,3455 37670 CA TWO
021380,000922: 17,3456 55541 TS PIPINDEX
021381,000923: 17,3457 01546 TC QPLACE
021382,000924:
021383,000925: 17,3460 37654 POSN5 CA HALF # Y UP, Z NORTH, X WEST
021384,000926: 17,3461 55406 TS YSM
021385,000927: 17,3462 40000 COM # NBDZ-ADSRAZ =DH
021386,000928: 17,3463 55404 TS XSM +4
021387,000929: 17,3464 55416 TS ZSM +2
021388,000930: 17,3465 37671 CA ONE
021389,000931: 17,3466 55541 TS PIPINDEX
021390,000932: 17,3467 03445 TC NSBUGD
021391,000933:
021392,000934:
021393,000935:
021394,000936: # TO RUN POSITION 6 VERTICAL AFTER PIP TEST POS 6 IS DISPLAYED THE OPERATR
021395,000937: # MUST CALCULATE FROM 2.5 -NBDZ-ADSRAZ (XXX.XX)MERU. WHEN PI
021396,000938: # IP DATA FLASHES DO VERB 33 ENTER. THIS STARTS VERTICAL TEST. THEN THE
021397,000939: # DATA XXX.XX MERU AS CALCULATED MUST BE ENTERED INTO DRIFTT. IE VERB 21
021398,000940: # ENTER NOUN 01 ENTER LOCATION OF DRIFTT ENTER + (OR -) XXXXX ENTER
021399,000941: 17,3470 37654 POSN6 CA HALF # Y DOWN, Z EAST, X SOUTH
021400,000942: 17,3471 55402 TS XSM +2
021401,000943: 17,3472 55420 TS ZSM +4
021402,000944: 17,3473 40000 COM # NBDX +ADSRAX = DH, NBDY -ADIAY = -DV
021403,000945: 17,3474 55406 TS YSM
021404,000946: 17,3475 37671 CA ONE
021405,000947: 17,3476 55541 TS PIPINDEX
021406,000948: 17,3477 01546 TC QPLACE
021407,000949:
021408,000950:
021409,000951:
021410,000952: 17,3500 47654 POSN7 CS HALF # Z UP-EAST,Y UP-WEST,X NORTH.THIS POSITON
021411,000953: 17,3501 55402 TS XSM +2
021412,000954: 17,3502 33677 CA ROOT1/2
021413,000955: 17,3503 55406 TS YSM # NBDX - .707 ADSRAX = -DH
021414,000956: 17,3504 55414 TS ZSM
021415,000957: 17,3505 55420 TS ZSM +4
021416,000958: 17,3506 40000 COM
021417,000959: 17,3507 55412 TS YSM +4
021418,000960: 17,3510 37675 GEORGES CA ZERO
021419,000961: 17,3511 55363 TS FAILREG
021420,000962: 17,3512 03445 TC NSBUGD
021421,000963:
021422,000964:
021423,000965:
021424,000966: 17,3513 37654 POSN8 CA HALF # Z UP-SOUTH,Y UP-NORTH,X EAST.THIS POSITN
021425,000967: 17,3514 55404 TS XSM +4
021426,000968: 17,3515 33677 CA ROOT1/2 # .707(-NBDZ-NBDY) +.5(ADIAZ-ADIAY)
021427,000969: 17,3516 55406 TS YSM # +.5(ADSRAY +ADSRAZ)=DH
021428,000970: 17,3517 55416 TS ZSM +2
021429,000971: 17,3520 55414 TS ZSM
021430,000972: 17,3521 40000 COM
021431,000973: 17,3522 55410 TS YSM +2
021432,000974: 17,3523 03445 TC NSBUGD
021433,000975:
021434,000976: 17,3524 33700 OPCHKPOS CA ROOT1SQ # OG=+45DEG,IG=-45DEG,MG=+45DEG.
021435,000977: 17,3525 55400 TS XSM
021436,000978: 17,3526 55410 TS YSM +2
021437,000979: 17,3527 55412 TS YSM +4
021438,000980: 17,3530 55414 TS ZSM
021439,000981: 17,3531 33677 CA ROOT1/2
021440,000982: 17,3532 55406 TS YSM
021441,000983: 17,3533 33702 CA ROOT3SQ
021442,000984: 17,3534 55402 TS XSM +2
021443,000985: 17,3535 55420 TS ZSM +4
021444,000986: 17,3536 43701 CS ROOT2SQ
021445,000987: 17,3537 55404 TS XSM +4
021446,000988: 17,3540 55416 TS ZSM +2
021447,000989: 17,3541 01546 TC QPLACE
021448,000990:
021449,000991: 17,3542 37654 POSN9 CA HALF # X UP EAST,Y UP WEST,Z SOUTH.THIS POSITON
021450,000992: 17,3543 55416 TS ZSM +2
021451,000993: 17,3544 33677 CA ROOT1/2 # -NBDZ +.707 SRAZ =DH
021452,000994: 17,3545 55400 TS XSM
021453,000995: 17,3546 55404 TS XSM +4
021454,000996: 17,3547 55406 TS YSM
021455,000997: 17,3550 40000 COM
021456,000998: 17,3551 55412 TS YSM +4
021457,000999: 17,3552 03445 TC NSBUGD
021458,001000:
021459,001001:
021460,001002:
021461,001003: 17,3553 37654 POSN10 CA HALF # X UP NORTH, Y UP SOUTH,Z EAST.THIS POSITN
021462,001004: 17,3554 55420 TS ZSM +4
021463,001005: 17,3555 33677 CA ROOT1/2 # .707(NBDY -NBDX) +.5(ADIAY -ADIAX)
021464,001006: 17,3556 55400 TS XSM # +.5(ADSRAX) = DH
021465,001007: 17,3557 55406 TS YSM
021466,001008: 17,3560 55410 TS YSM +2
021467,001009: 17,3561 40000 COM
021468,001010: 17,3562 55402 TS XSM +2
021469,001011: 17,3563 03445 TC NSBUGD
021470,001012:
021471,001013:
021472,001014:
021473,001015: 17,3564 04065 POSN11 TC BANKCALL # COMPASS POSITION
021474,001016: 17,3565 43107 CADR LOADXSM
021475,001017: 17,3566 01546 TC QPLACE
021476,001018:
021477,001019:
021478,001020:
021479,001021: 17,3567 30336 SHOWLD CA DSPTEM2
021480,001022: 17,3570 55527 TS LENGTHOT
021481,001023: 17,3571 30337 CA DSPTEM2 +1
021482,001024: 17,3572 55536 TS NBPOS
021483,001025: 17,3573 30340 CA DSPTEM2 +2
021484,001026:
021485,001027: 17,3574 55544 TS POSITON
021486,001028: 17,3575 00002 TC Q
021487,001029:
021488,001030: 17,3576 00006 SHOW EXTEND
021489,001031: 17,3577 23546 QXCH QPLACE
021490,001032: 17,3600 31544 SHOW1 CA POSITON
021491,001033: 17,3601 54340 TS DSPTEM2 +2
021492,001034: 17,3602 33657 CA VB06N66
021493,001035: 17,3603 05324 TC NVSBWAIT
021494,001036: 17,3604 05266 TC FLASHON
021495,001037: 17,3605 05132 TC ENDIDLE
021496,001038: 17,3606 02234 TC FINISH
021497,001039: 17,3607 01546 TC QPLACE
021498,001040: 17,3610 03567 TC SHOWLD
021499,001041: 17,3611 13600 TCF SHOW1
021500,001042:
021501,001043:
021502,001044:
021503,001045: 17,3612 00006 LOADGTSM EXTEND # THIS LOADS XSM INTO GEOMATRX
021504,001046: 17,3613 23546 QXCH QPLACE
021505,001047: 17,3614 06000 TC INTPRET
021506,001048: 17,3615 77775 VLOAD
021507,001049: 17,3616 02401 XSM
021508,001050: 17,3617 26750 STOVL GEOMTRX
021509,001051: 17,3620 02407 YSM
021510,001052: 17,3621 26756 STOVL GEOMTRX +6
021511,001053: 17,3622 02415 ZSM
021512,001054: 17,3623 02764 STORE GEOMTRX +12D
021513,001055: 17,3624 77776 EXIT
021514,001056: 17,3625 01546 TC QPLACE
021515,001057:
021516,001058: 17,3626 00144 1SECX DEC 100 B-14
021517,001059: 17,3627 17127 16705 GEORGED 2DEC .47408845
021518,001060: 17,3631 07314 36223 2DEC .23125894
021519,001061: 17,3633 04521 31140 2DEC .14561689
021520,001062: 17,3635 75755 73521 GEORGEC 2DEC -.06360691
021521,001063: 17,3637 72476 54176 2DEC -.16806746
021522,001064: 17,3641 04771 03365 2DEC .15582939
021523,001065: 17,3643 75644 70661 GEORGEB 2DEC -.06806784
021524,001066: 17,3645 47762 75077 2DEC -.75079894
021525,001067: 17,3647 70023 73740 2DEC -.24878704
021526,001068: 17,3651 14C EQUALS 0014
021527,001069: 17,3651 02130 V21N30E OCT 02130
021528,001070: 17,3652 04000 DESANGLE DEC 2048 B-14
021529,001071: 17,3653 04143 SFCONST DEC .13107
021530,001072: 17,3654 34000 SIZCHK OCT 34000
021531,001073: 17,3655 00264 180DEC DEC 180 B-14
021532,001074: 17,3656 07626 3990DEC DEC 3990 B-14
021533,001075: 17,3657 00666 VB06N66 OCT 00666
021534,001076: 17,3660 01130 TESTTIME DEC 600 B-14
021535,001077: 17,3661 01620 V16N20S OCT 01620
021536,001078: 17,3662 01640 V16N40S OCT 01640
021537,001079: 17,3663 00021 DEC17 DEC 17 B-14
021538,001080: 17,3664 06200 00000 DEC585 2DEC 3200 B+14
021539,001081: 17,3666 00400 DELYOFF OCT 00400
021540,001082: 17,3667 00024 35474 ERUNITS 2DEC 342844 B-28
021541,001083: 17,3671 01506 GENPLAD GENADR AZIMUTH
021542,001084: 17,3672 02521 GYRODPL ECADR GYROD
021543,001085: 17,3673 02500 OGCPL ECADR OGC
021544,001086: 17,3674 77760 LOWFOUR OCT 77760
021545,001087: 17,3675 00070 DEC56 DEC 56 B-14
021546,001088: 17,3676 10000 45DEG OCT 10000
021547,001089: 17,3677 13241 ROOT1/2 DEC .353553
021548,001090: 17,3700 10000 ROOT1SQ DEC .250000
021549,001091: 17,3701 15520 ROOT2SQ DEC .426776
021550,001092: 17,3702 02260 ROOT3SQ DEC .073223
021551,001093: 17,3703 01400 XSMADR GENADR XSM
021552,001094:
021553,001095: 17,3704 00000 00000 SCNBAZ 2DEC 0 B-28
021554,001096: 17,3706 00000 00000 2DEC 0 B-28
021555,001097: 17,3710 20000 00000 LABNBAZ 2DEC .5
021556,001098: 17,3712 00000 00000 2DEC 0 B-28
021557,001099: 17,3714 00000 00000 2DEC 0 B-28
021558,001100: 17,3716 20000 00000 SCNBVER 2DEC .5
021559,001101: 17,3720 00000 00000 2DEC 0 B-28
021560,001102: 17,3722 00000 00000 LABNBVER 2DEC 0 B-28
021561,001103: 17,3724 00000 00000 2DEC 0 B-28
021562,001104: 17,3726 57777 77777 2DEC -.5
021563,001105: 17,3730 ENDIMUS2 =
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc