Source Code
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YAYUL: ASSEMBLE REVISION 5 OF PROGRAM BOREALIS BY MSTEWART MAR. 27,2017This 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. |
020379,000002: ## Copyright: Public domain.
020380,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
020381,000004: ## Purpose: This program is designed to extensively test the Apollo Guidance Computer
020382,000005: ## (specifically the LM instantiation of it). It is built on top of a heavily
020383,000006: ## stripped-down Aurora 12, with all code ostensibly added by the DAP Group
020384,000007: ## removed. Instead Borealis expands upon the tests provided by Aurora,
020385,000008: ## including corrected tests from Retread 44 and tests from Ron Burkey's
020386,000009: ## Validation.
020387,000010: ## Assembler: yaYUL
020388,000011: ## Contact: Mike Stewart <mastewar1@gmail.com>.
020389,000012: ## Website: www.ibiblio.org/apollo/index.html
020390,000013: ## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
020391,000014:
020392,000015: 17,2000 BANK 17
020393,000016: 17,2000 E5,1400 EBANK= XSM
020394,000017:
020395,000018:
020396,000019:
020397,000020: 17,2000 37665 IMUTEST CA ZERO
020398,000021: 17,2001 55576 TS DRIFTT
020399,000022: 17,2002 55742 TS GEOCOMPS
020400,000023: 17,2003 33626 CAF 1SECX
020401,000024: 17,2004 55744 TS 1SECXT
020402,000025: 17,2005 06000 GEOIMUTT TC INTPRET # OPTIMUM COMPASS COMES IN HERE
020403,000026: 17,2006 77634 CALL
020404,000027: 17,2007 30530 LATAZCHK
020405,000028: 17,2010 77776 EXIT
020406,000029: 17,2011 37657 CA ONE
020407,000030: 17,2012 55544 TS POSITON
020408,000031:
020409,000032: 17,2013 54340 TS DSPTEM2 +2
020410,000033: 17,2014 54400 TS THETAD
020411,000034: 17,2015 54401 TS THETAD +1
020412,000035: 17,2016 54402 TS THETAD +2
020413,000036: 17,2017 04065 TC BANKCALL
020414,000037: 17,2020 26000 CADR IMUZERO
020415,000038: 17,2021 04065 TC BANKCALL
020416,000039: 17,2022 26716 CADR IMUSTALL
020417,000040: 17,2023 12243 TCF ENDTEST1
020418,000041: 17,2024 37665 IMUBACK CA ZERO
020419,000042: 17,2025 54337 TS DSPTEM2 +1
020420,000043: 17,2026 55537 TS NDXCTR
020421,000044: 17,2027 55574 TS TORQNDX
020422,000045: 17,2030 55575 TS TORQNDX +1
020423,000046: 17,2031 33660 CAF TESTTIME
020424,000047: 17,2032 54336 TS DSPTEM2
020425,000048: 17,2033 04065 TC BANKCALL # ISS RETURNS IN COARSE ALIGN MODE TO
020426,000049: 17,2034 26055 CADR IMUCOARS # ENABLE OPERATOR TO DECIDE WHAT TO DO
020427,000050: # ABOUT GIMBAL LOCK
020428,000051: 17,2035 03567 TC SHOWLD
020429,000052: 17,2036 03576 TC SHOW
020430,000053:
020431,000054:
020432,000055:
020433,000056: 17,2037 04065 TC BANKCALL
020434,000057: 17,2040 26716 CADR IMUSTALL
020435,000058: 17,2041 02243 TC ENDTEST1
020436,000059: 17,2042 03344 TC NBPOSPL
020437,000060: 17,2043 03077 TC POSGMBL
020438,000061: 17,2044 02106 TC PIPACHK # IF MGA IS 60DEG+ PROG WILL STAY IN COARS
020439,000062: # ALIGN AND MEASURE VERITCAL PIPA RATE
020440,000063: 17,2045 03124 TC FALNE
020441,000064: 17,2046 04065 TC BANKCALL
020442,000065:
020443,000066: 17,2047 26716 CADR IMUSTALL
020444,000067: 17,2050 12243 TCF ENDTEST1
020445,000068: 17,2051 11742 CCS GEOCOMPS
020446,000069: 17,2052 02072 TC JUMPLOAD
020447,000070: 17,2053 06000 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
020448,000071: 17,2054 71545 DLOAD COS # FOR ESTIMATE
020449,000072: 17,2055 01511 LATITUDE
020450,000073: 17,2056 72476 DCOMP SL1
020451,000074: 17,2057 07573 STODL WANGI
020452,000075: 17,2060 01511 LATITUDE
020453,000076: 17,2061 72556 SIN SL1
020454,000077: 17,2062 23571 STOVL WANGO # LOAD TRANSITION MATRIX INTO ERASABLE
020455,000078: 17,2063 37630 GEORGED
020456,000079: 17,2064 23721 STOVL TRANSM1
020457,000080: 17,2065 37636 GEORGEC
020458,000081: 17,2066 23727 STOVL TRANSM1 +6
020459,000082: 17,2067 37644 GEORGEB
020460,000083: 17,2070 01735 STORE TRANSM1 +12D
020461,000084: 17,2071 77776 EXIT
020462,000085: 17,2072 03612 JUMPLOAD TC LOADGTSM
020463,000086: 17,2073 04065 TC BANKCALL
020464,000087: 17,2074 42000 CADR ESTIMS
020465,000088: 17,2075 04575 TORQUE TC PHASCHNG # FILTER TORQUES PLTFM AND SETS UP ERATE
020466,000089: 17,2076 00000 OCT 00000
020467,000090: 17,2077 37665 CA ZERO
020468,000091: 17,2100 54336 TS DSPTEM2
020469,000092: 17,2101 31640 CA DRIFTI
020470,000093: 17,2102 54337 TS DSPTEM2 +1
020471,000094: 17,2103 51544 INDEX POSITON
020472,000095: 17,2104 55551 TS SOUTHDR -1
020473,000096: 17,2105 03576 TC SHOW
020474,000097:
020475,000098: 17,2106 51537 PIPACHK INDEX NDXCTR # TORQUE PLATFORM TO CORRECT LEVELING ERR
020476,000099: 17,2107 02110 TC +1 # IN PREPARATION TO MEASURING VERTICAL
020477,000100: 17,2110 04065 TC BANKCALL # PIPA OUTPUT PULSE RATE
020478,000101: 17,2111 30422 CADR EARTHR
020479,000102:
020480,000103: 17,2112 33663 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
020481,000104: 17,2113 55632 TS DATAPL +4
020482,000105: 17,2114 37646 CA BIT10 # IN THE ALLOTED TIME INTERVAL
020483,000106: 17,2115 55527 TS LENGTHOT
020484,000107: 17,2116 37657 CA ONE
020485,000108: 17,2117 55673 TS RESULTCT
020486,000109: 17,2120 37665 CA ZERO # ZERO PIPA COUNTER INITIALLY
020487,000110: 17,2121 51541 INDEX PIPINDEX
020488,000111: 17,2122 54037 TS PIPAX
020489,000112: 17,2123 55626 TS DATAPL
020490,000113: 17,2124 33675 CA DEC56 # LOOP 56 TIMES 5.12 SEC "ACH. EACH INCR.
020491,000114: 17,2125 03205 TC WAITLOOP # WILL ALSO CORRECT EARTH RATE
020492,000115: 17,2126 00004 INHINT
020493,000116:
020494,000117: 17,2127 02771 TC CHECKG
020495,000118: 17,2130 00003 RELINT
020496,000119: 17,2131 03065 TC DATALD
020497,000120: 17,2132 37664 CA FIVE
020498,000121: 17,2133 55673 TS RESULTCT
020499,000122: 17,2134 51537 INDEX NDXCTR
020500,000123: 17,2135 02136 TC +1
020501,000124: 17,2136 04065 TC BANKCALL
020502,000125: 17,2137 30422 CADR EARTHR
020503,000126: 17,2140 11676 CCS COUNTPL
020504,000127: 17,2141 03227 TC WAITLP2
020505,000128: 17,2142 11627 CCS DATAPL +1
020506,000129: 17,2143 02147 TC +4
020507,000130: 17,2144 05456 TC CCSHOLE
020508,000131: 17,2145 41632 CS DATAPL +4
020509,000132: 17,2146 55632 TS DATAPL +4
020510,000133: 17,2147 00006 EXTEND
020511,000134: 17,2150 41627 DCS DATAPL
020512,000135: 17,2151 21633 DAS DATAPL +4
020513,000136:
020514,000137: 17,2152 06000 TC INTPRET
020515,000138: 17,2153 45345 DLOAD DSU
020516,000139: 17,2154 01635 DATAPL +6
020517,000140: 17,2155 01631 DATAPL +2
020518,000141: 17,2156 56325 PDDL DDV
020519,000142: 17,2157 01633 DATAPL +4
020520,000143: 17,2160 41325 PDDL DMP
020521,000144: 17,2161 37665 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
020522,000145: 17,2162 77624 RTB
020523,000146: 17,2163 33406 SGNAGREE
020524,000147: 17,2164 00337 STORE DSPTEM2
020525,000148: 17,2165 77776 EXIT
020526,000149: 17,2166 03576 TC SHOW
020527,000150: 17,2167 33656 VERTDRFT CA 3990DEC # NUMBER OF SECONDS TO SPEND ESTIMATING
020528,000151: 17,2170 55527 TS LENGTHOT
020529,000152: 17,2171 04065 TC BANKCALL # THIS WILL CORRECT FOR EARTH RATE DURING
020530,000153: 17,2172 30422 CADR EARTHR # TIME SPENT IN SHOW ABOVE*
020531,000154: 17,2173 30032 CA CDUX # STOORE AXIS FOR LAB CALC OF DRIFT
020532,000155: 17,2174 55530 TS LOSVEC
020533,000156: 17,2175 51544 INDEX POSITON
020534,000157: 17,2176 41550 CS SOUTHDR -2
020535,000158: 17,2177 55576 TS DRIFTT
020536,000159: 17,2200 03612 TC LOADGTSM
020537,000160: 17,2201 37665 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
020538,000161: 17,2202 55400 TS XSM
020539,000162: 17,2203 55401 TS XSM +1
020540,000163: 17,2204 55404 TS XSM +4
020541,000164: 17,2205 55405 TS XSM +5
020542,000165: 17,2206 55406 TS YSM
020543,000166: 17,2207 55407 TS YSM +1
020544,000167:
020545,000168: 17,2210 55412 TS YSM +4
020546,000169: 17,2211 55413 TS YSM +5
020547,000170: 17,2212 55414 TS ZSM
020548,000171: 17,2213 55415 TS ZSM +1
020549,000172: 17,2214 55420 TS ZSM +4
020550,000173: 17,2215 55421 TS ZSM +5
020551,000174: 17,2216 37637 GUESS1 CAF POSMAX
020552,000175: 17,2217 55574 TS TORQNDX
020553,000176: 17,2220 55575 TS TORQNDX +1
020554,000177: 17,2221 04065 TC BANKCALL
020555,000178: 17,2222 42000 CADR ESTIMS
020556,000179: 17,2223 04575 VALMIS TC PHASCHNG
020557,000180: 17,2224 00000 OCT 00000
020558,000181: 17,2225 31636 CA DRIFTO
020559,000182: 17,2226 54337 TS DSPTEM2 +1
020560,000183: 17,2227 30032 CA CDUX # STORE OG ANGLE FOR LAB CALC OF DRIFT**
020561,000184: 17,2230 55531 TS LOSVEC +1
020562,000185: 17,2231 37665 CA ZERO
020563,000186: 17,2232 54336 TS DSPTEM2
020564,000187: 17,2233 03576 TC SHOW
020565,000188:
020566,000189:
020567,000190:
020568,000191: 17,2234 37657 FINISH CA ONE
020569,000192: 17,2235 61544 AD POSITON
020570,000193: 17,2236 54340 TS DSPTEM2 +2
020571,000194: 17,2237 37656 CA TWO
020572,000195: 17,2240 55546 TS QPLACE
020573,000196: 17,2241 04065 TC BANKCALL
020574,000197: 17,2242 22343 CADR TSELECT -6
020575,000198: 17,2243 04065 ENDTEST1 TC BANKCALL
020576,000199: 17,2244 30745 CADR ENDTEST
020577,000200:
020578,000201: 17,2245 33666 OPCHK CAF DELYOFF # AUTOMATIC TEST FOR SYSTEM OPERATION
020579,000202: 17,2246 00006 EXTEND
020580,000203: 17,2247 02030 RAND 30 # CHECK TO SEE IF IMU IS ON
020581,000204: 17,2250 10000 CCS A
020582,000205: 17,2251 02440 TC ALARMS
020583,000206: 17,2252 33661 CAF V16N20S
020584,000207: 17,2253 05324 TC NVSBWAIT
020585,000208:
020586,000209: 17,2254 05373 TC FREEDSP
020587,000210: 17,2255 04065 TC BANKCALL
020588,000211: 17,2256 26000 CADR IMUZERO
020589,000212: 17,2257 04065 TC BANKCALL
020590,000213: 17,2260 26716 CADR IMUSTALL
020591,000214:
020592,000215: 17,2261 12243 TCF ENDTEST1
020593,000216: 17,2262 37650 CA BIT8 # ZERO ALL ERASEABLE USED IN TEST
020594,000217: 17,2263 55776 TS ZERONDX
020595,000218: 17,2264 33671 CA GENPLAD
020596,000219: 17,2265 03236 TC ZEROING
020597,000220: 17,2266 03344 TC NBPOSPL # ALIGN ANGLE COMPUTATION
020598,000221:
020599,000222: 17,2267 03077 TC POSGMBL # COARSE ALIGN THOSE GIMBALS NOW
020600,000223:
020601,000224: 17,2270 12245 TCF OPCHK
020602,000225: 17,2271 03124 TC FALNE # FINE ALIGN PLATFORM BY TORQUING GYROS
020603,000226:
020604,000227: 17,2272 04065 TC BANKCALL
020605,000228: 17,2273 26716 CADR IMUSTALL
020606,000229: 17,2274 12243 TCF ENDTEST1
020607,000230: 17,2275 37656 CA TWO
020608,000231: 17,2276 55672 CDUCHECK TS CDUNDX # THIS LOOP CHECKS FOR NO ERROR BETWEEN
020609,000232: 17,2277 51672 INDEX CDUNDX # DESIRED CDU ANGLES AND THE ACTUAL ANGLES
020610,000233: 17,2300 40400 CS THETAD
020611,000234: 17,2301 51672 INDEX CDUNDX
020612,000235: 17,2302 60032 AD CDUX
020613,000236: 17,2303 55551 TS STOREPL
020614,000237: 17,2304 11551 CCS STOREPL
020615,000238: 17,2305 02313 TC ERRMASK
020616,000239: 17,2306 02310 TC NOERR
020617,000240: 17,2307 02313 TC ERRMASK
020618,000241: 17,2310 11672 NOERR CCS CDUNDX
020619,000242: 17,2311 02276 TC CDUCHECK
020620,000243: 17,2312 02317 TC LOADIC
020621,000244: 17,2313 73674 ERRMASK MASK LOWFOUR # ALLOW FIVE BIT ERRORS
020622,000245: 17,2314 10000 CCS A
020623,000246: 17,2315 02440 TC ALARMS
020624,000247: 17,2316 02310 TC NOERR
020625,000248: 17,2317 37657 LOADIC CA ONE
020626,000249: 17,2320 55673 TS RESULTCT
020627,000250: 17,2321 47657 CS ONE
020628,000251:
020629,000252: 17,2322 55670 TS MASKREG # SETS UP AZIMUTH AND VERTICAL VECTORS FOR
020630,000253:
020631,000254: 17,2323 37665 CA ZERO
020632,000255: 17,2324 54037 TS PIPAX
020633,000256: 17,2325 54040 TS PIPAY
020634,000257: 17,2326 54041 TS PIPAZ
020635,000258:
020636,000259: 17,2327 37645 CA BIT11
020637,000260: 17,2330 55527 TS LENGTHOT # VECTOR IN PIPA COUNTERS
020638,000261: 17,2331 37657 CA ONE
020639,000262: 17,2332 03205 TC WAITLOOP
020640,000263: 17,2333 11676 CCS COUNTPL
020641,000264: 17,2334 03227 TC WAITLP2
020642,000265: 17,2335 33675 CA DEC56
020643,000266: 17,2336 03205 TC WAITLOOP
020644,000267: 17,2337 37656 OPCHK1 CA TWO
020645,000268: 17,2340 55541 OPCHK2 TS PIPINDEX
020646,000269: 17,2341 00004 INHINT
020647,000270: 17,2342 02771 TC CHECKG
020648,000271: 17,2343 00003 RELINT
020649,000272: 17,2344 37665 CA ZERO
020650,000273: 17,2345 51541 INDEX PIPINDEX
020651,000274: 17,2346 54037 TS PIPAX
020652,000275: 17,2347 03065 TC DATALD # LOAD PIPA DATA AND TIME IN DATAPL
020653,000276: 17,2350 57673 XCH RESULTCT
020654,000277: 17,2351 67655 AD FOUR
020655,000278: 17,2352 55673 TS RESULTCT
020656,000279: 17,2353 11541 CCS PIPINDEX
020657,000280: 17,2354 02340 TC OPCHK2
020658,000281: 17,2355 47655 READOUT CS FOUR
020659,000282: 17,2356 61673 AD RESULTCT
020660,000283: 17,2357 55673 TS RESULTCT
020661,000284: 17,2360 22007 ZL
020662,000285: 17,2361 51673 INDEX RESULTCT
020663,000286: 17,2362 31626 CA DATAPL
020664,000287: 17,2363 22000 LXCH A
020665,000288: 17,2364 51673 INDEX RESULTCT
020666,000289: 17,2365 21572 DAS GENPL +1
020667,000290: 17,2366 31673 CA RESULTCT
020668,000291: 17,2367 71670 MASK MASKREG
020669,000292: 17,2370 10000 CCS A
020670,000293: 17,2371 02355 TC READOUT
020671,000294: 17,2372 37661 CA TEN
020672,000295: 17,2373 66165 AD THREE
020673,000296: 17,2374 55673 TS RESULTCT
020674,000297: 17,2375 40000 CS A
020675,000298: 17,2376 55670 TS MASKREG
020676,000299: 17,2377 11676 CCS COUNTPL
020677,000300: 17,2400 03227 TC WAITLP2
020678,000301: 17,2401 03250 TC COMPUT
020679,000302:
020680,000303: 17,2402 33662 RADCK CA V16N40S
020681,000304: 17,2403 05324 TC NVSBWAIT # OPERATOR WILL CHECK RADAR STATUS.IN LAB.
020682,000305: 17,2404 05266 TC FLASHON # SET RADAR OFF THEN PUT RESOLVER STANDARD
020683,000306: 17,2405 05132 TC ENDIDLE # ON TRUNNION AND SET TO +45 DEG.SHAFT WIL
020684,000307: 17,2406 02243 TC ENDTEST1
020685,000308: 17,2407 02410 TC +1 # AFTER SETTING RES STANDARD DO A V33
020686,000309: 17,2410 37665 CA ZERO
020687,000310: 17,2411 54424 TS TANG +1
020688,000311: 17,2412 33676 CA 45DEG
020689,000312: 17,2413 54423 TS TANG
020690,000313: 17,2414 04065 DRIVRAD TC BANKCALL # IN SC WHEN RAD PRESENT DO V33 RIGHT AWAY
020691,000314: 17,2415 20247 CADR RRZERO # LGC WILL ATTEMPT TO DRIVE 45 DEG TRUNN.
020692,000315: 17,2416 04065 TC BANKCALL # TO MATCH STANDARD, AFTER ZEROING CDUS
020693,000316: 17,2417 26712 CADR RADSTALL
020694,000317: 17,2420 02243 TC ENDTEST1
020695,000318: 17,2421 06000 TC INTPRET
020696,000319: 17,2422 77634 CALL
020697,000320: 17,2423 20363 RRDESNB
020698,000321: 17,2424 04065 TC BANKCALL
020699,000322: 17,2425 26712 CADR RADSTALL # IF CDU FAILS TO AGREE WITH COMMAND TO
020700,000323: 17,2426 02440 TC ALARMS # 1 DEG GET ALARM HERE
020701,000324:
020702,000325: 17,2427 05266 TC FLASHON # OPERATOR WILL CHECK STATUS OF RADAR
020703,000326: 17,2430 05132 TC ENDIDLE # IN S/C DO V33 TO CONTINUE WITH SHAFT
020704,000327: 17,2431 02243 TC ENDTEST1 # TEST
020705,000328: 17,2432 02433 TC +1 # IN LAB TURN RADAR OFF CHANGE RES STANDAR
020706,000329: 17,2433 37665 CA ZERO # TO SHAFT AND SET FOR -45DEG.
020707,000330: 17,2434 54423 TS TANG # THEN DO A V33 IF WANT TO REPEAT CHECK
020708,000331: 17,2435 43676 CS 45DEG # DO A V34 TO TERMINATE
020709,000332: 17,2436 54424 TS TANG +1
020710,000333: 17,2437 02414 TC DRIVRAD
020711,000334: 17,2440 56002 ALARMS XCH Q
020712,000335: 17,2441 55546 TS QPLACE
020713,000336: 17,2442 05405 TC ALARM
020714,000337: 17,2443 01411 OCT 1411
020715,000338: 17,2444 01546 TC QPLACE
020716,000339:
020717,000340: 17,2445 06000 GYRSFTST TC INTPRET # START ADRESS FOR IRIG SF TEST
020718,000341: 17,2446 77634 CALL
020719,000342: 17,2447 30530 LATAZCHK # LOAD AZ AND LAT
020720,000343: 17,2450 77776 EXIT
020721,000344: 17,2451 33651 TESTCALL CAF V21N30E
020722,000345: 17,2452 05324 TC NVSBWAIT # LOAD + OR - 1 FOR + OR - X TEST (+00001)
020723,000346: 17,2453 05132 TC ENDIDLE # LOAD + OR - 2 FOR + OR - Y TEST
020724,000347: 17,2454 12243 TCF ENDTEST1 # LOAD + OR - 3 FOR + OR - Z TEST
020725,000348: 17,2455 02451 TC TESTCALL
020726,000349: 17,2456 56333 XCH DSPTEM1
020727,000350: 17,2457 55614 TS CALCDIR
020728,000351: 17,2460 00006 EXTEND # THIS ROUTINE LOOKS AT THE SIZE OF THE
020729,000352: 17,2461 62466 BZMF NEGSIZ # ENTRY MADE BY THE OPERATOR, IF HE DID NO
020730,000353: 17,2462 77671 SIZLOOK MASK NEG3 # T ENTER TEST NO THAT IS W/I PERMISSIBLE
020731,000354: 17,2463 00006 EXTEND # RANGE- HE WILL BE ASKED TO LOAD AGAIN.
020732,000355: 17,2464 12470 BZF GUDENTRY # THIS IS CONSIDERED NECESSARY BECAUSE
020733,000356: 17,2465 02451 TC TESTCALL # OF FOLLOWING INDEXED TC WHICH COULD
020734,000357:
020735,000358: 17,2466 40000 NEGSIZ COM # SEND THE COMPUTER OFF INTO THE BOONDOCKS
020736,000359: 17,2467 02462 TC SIZLOOK # TO PLAY WITH ITSELF IF THE OPERATOR
020737,000360: 17,2470 31614 GUDENTRY CA CALCDIR # MAKES ABAD ENTRY******
020738,000361: 17,2471 67655 AD FOUR
020739,000362: 17,2472 50000 INDEX A
020740,000363: 17,2473 02474 TC +1
020741,000364: 17,2474 02451 TC TESTCALL
020742,000365: 17,2475 02503 TC +6 # C(A)=+00001 FOR -Z
020743,000366: 17,2476 02502 TC +4 # C(A)=+00002 FOR -Y
020744,000367: 17,2477 02501 TC +2 # C(A)=+00003 FOR -X
020745,000368: 17,2500 02474 TC -4 # C(A)=+00004 ERROR
020746,000369: 17,2501 02504 TC +3 # C(A)=+00005 FOR +X
020747,000370: 17,2502 02510 TC +6
020748,000371: 17,2503 02513 TC +10
020749,000372: 17,2504 37655 CAF FOUR
020750,000373: 17,2505 55544 TS POSITON # 4 IS FOR A.L. POSN 4 USED FOR X SF TEST
020751,000374: 17,2506 02515 TC +7
020752,000375: 17,2507 02515 TC +6
020753,000376: 17,2510 37656 CAF TWO
020754,000377: 17,2511 55544 TS POSITON # +2 IS A.L. POS 2 USED FOR Y SF TEST
020755,000378: 17,2512 02515 TC +3
020756,000379: 17,2513 37657 CAF ONE
020757,000380: 17,2514 55544 TS POSITON # +1 IS A.L. POS 1 USED FOR Z SF TEST
020758,000381: 17,2515 55617 TS OPTNREG # C(K) = (4,2,1) FOR X,Y,Z
020759,000382: 17,2516 55621 TS SAVE +1
020760,000383: 17,2517 05373 TC FREEDSP
020761,000384: 17,2520 37665 CAF ZERO
020762,000385: 17,2521 55536 TS NBPOS # SET UP NB COORD TO Z NORTH, X UP
020763,000386: 17,2522 55622 TS SAVE +2 # INITIALIZE FOR EARTHR DESIGNATE USAGE
020764,000387: 17,2523 55563 TS TESTNO # INITIALIZE FOR TEST ABORT ROUTINE
020765,000388: 17,2524 55615 TS CDUFLAG # ZEROS FOR STRTWACH USE
020766,000389: 17,2525 33653 CAF SFCONST
020767,000390:
020768,000391: 17,2526 55623 TS SFCONST1 # FOR DIVISION DURING CALCFSE
020769,000392:
020770,000393: 17,2527 04065 TC BANKCALL
020771,000394: 17,2530 26000 CADR IMUZERO
020772,000395: 17,2531 04065 TC BANKCALL
020773,000396: 17,2532 26716 CADR IMUSTALL
020774,000397: 17,2533 12243 TCF ENDTEST1
020775,000398: 17,2534 03344 TC NBPOSPL
020776,000399: 17,2535 03077 TC POSGMBL
020777,000400: 17,2536 12243 TCF ENDTEST1
020778,000401: 17,2537 03124 TC FALNE
020779,000402: 17,2540 04065 TC BANKCALL
020780,000403: 17,2541 31703 CADR REDYTORK
020781,000404: 17,2542 55552 WAITFIVE TS SOUTHDR
020782,000405: 17,2543 37652 CAF BIT6 # THIS SECTION CALLS FOR 2-32 MSEC WAITS
020783,000406: 17,2544 02557 TC DIRECTN -5
020784,000407: 17,2545 37652 ENABLE CAF BIT6
020785,000408: 17,2546 00006 EXTEND # ENABLE GYRO TORQUING LOOP BY TURNING
020786,000409: 17,2547 05014 WOR 14C # ON CAL MODULE RELAY
020787,000410:
020788,000411: 17,2550 00004 INHINT
020789,000412: 17,2551 47656 CS TWO # SETS UP EXEC SWITCH SO IMUPULSE WILL
020790,000413: 17,2552 70370 MASK IMODES33 # NOT TURN OFF GYRO TORQ ENABLE RELAY
020791,000414: 17,2553 67656 AD TWO
020792,000415: 17,2554 54370 TS IMODES33
020793,000416: 17,2555 37656 CAF TWO
020794,000417: 17,2556 55552 TS SOUTHDR
020795,000418: 17,2557 55527 TS LENGTHOT # 20 MSEC DELAY FOR GYRO LOOP STABILIZAT.
020796,000419: 17,2560 37657 CA ONE
020797,000420: 17,2561 03205 TC WAITLOOP
020798,000421: 17,2562 11676 CCS COUNTPL
020799,000422: 17,2563 03227 TC WAITLP2
020800,000423: 17,2564 04065 DIRECTN TC BANKCALL # TORQUING ROUTINE IN IMU PERFORMANCE
020801,000424: 17,2565 34520 CADR SILVER # BANK 3
020802,000425: 17,2566 11552 CCS SOUTHDR # A ONE FIRST TIME THROUGH, THEN ZERO
020803,000426: 17,2567 02542 TC WAITFIVE
020804,000427:
020805,000428: 17,2570 11615 STRTWACH CCS CDUFLAG # RETURNS HERE VIA QPLACE FROM SILVER
020806,000429: 17,2571 02652 TC CDUZOTST # BEEN CAUGHT AND CDU THROUGH ZERO IS
020807,000430: 17,2572 11621 CCS SAVE +1
020808,000431: 17,2573 02612 TC LOOKCDUP -4
020809,000432: 17,2574 02616 TC LOOKCDUP
020810,000433: 17,2575 37665 CORRECT CAF ZERO
020811,000434: 17,2576 54357 TS LGYRO # RELEASES GYROS FOR IMUPULSE USAGE
020812,000435: 17,2577 04065 TC BANKCALL # EARTHRATE CORRECTION TO GYROS NOT EAST
020813,000436: 17,2600 30422 CADR EARTHR # OR WEST
020814,000437: 17,2601 37657 CAF ONE
020815,000438: 17,2602 54357 TS LGYRO # RESERVES GYROS FOR S.F. TEST TORQUING
020816,000439: 17,2603 55622 TS SAVE +2 # INITIALIZES TO INSURE 5.6 DEG OF TORQ)
020817,000440: 17,2604 27563 ADS TESTNO # INCR THE BURST COUNTER, WHICH IS USED TO
020818,000441:
020819,000442: 17,2605 41563 CS TESTNO # COUNT THE NO. OF ITMES THE GYRO COUNTER
020820,000443: 17,2606 77664 MASK FIVE # IS LOADED, IF A TENTH LOAD IS REQUESTED
020821,000444: 17,2607 00006 EXTEND # THE SFE IS TOO LARGE TO BE MEANINGFULL
020822,000445: 17,2610 12760 BZF STOPTEST # OR THE CDU,S ARE NOT WORKING.
020823,000446: 17,2611 02564 TC DIRECTN
020824,000447:
020825,000448: 17,2612 37665 CAF ZERO # ZEROS CDU REG WHICH WILL BE USED TO
020826,000449: 17,2613 55621 TS SAVE +1
020827,000450: 17,2614 51672 INDEX CDUNDX # MEASURE ANGLE.
020828,000451: 17,2615 54032 TS CDUX
020829,000452: 17,2616 00004 LOOKCDUP INHINT
020830,000453: 17,2617 37653 CAF BIT5
020831,000454: 17,2620 55624 STILLOOK TS TIMER
020832,000455: 17,2621 51672 INDEX CDUNDX # LOOKS FOR FIRST CDU PULSE AFTER TORQUING
020833,000456: 17,2622 10032 CCS CDUX # STARTS
020834,000457: 17,2623 02635 TC OUTPLUS # HERE IS PLUS PULSE
020835,000458: 17,2624 02627 TC TIMEWACH
020836,000459: 17,2625 02440 TC ALARMS # TTELL OPERATOR FIRST CDU PULSE WAS MISSD
020837,000460: 17,2626 02646 TC OUTNEG # HERE IS MINUS PULSE
020838,000461: 17,2627 11624 TIMEWACH CCS TIMER # WATCHES TIME IN INHINT SO COPS WILL NOT
020839,000462: 17,2630 02620 TC STILLOOK # CATCH US
020840,000463: 17,2631 00003 RELINT
020841,000464:
020842,000465: 17,2632 10067 CCS NEWJOB
020843,000466: 17,2633 04365 TC CHANG1
020844,000467: 17,2634 02616 TC LOOKCDUP # KEEP WATCHING IF THE PULSE IS NOT HERE
020845,000468:
020846,000469: 17,2635 43652 OUTPLUS CS DESANGLE # -2047 CDU PULSES ADDED TO CDU REG SO
020847,000470: 17,2636 51672 INDEX CDUNDX # ZERO CROSSOVER CAN BE DETECTED
020848,000471: 17,2637 54032 TS CDUX
020849,000472: 17,2640 37657 LOADFLAG CAF ONE
020850,000473: 17,2641 55615 TS CDUFLAG
020851,000474: 17,2642 30047 CA GYROCTR # GYRO TORQ CMDS LEFT OUT OF FIRST 5.625
020852,000475: 17,2643 55620 TS SAVE # DEG COMMANDED WHEN CDU PULSE ARRIVED
020853,000476: 17,2644 00003 RELINT
020854,000477: 17,2645 02652 TC CDUZOTST
020855,000478:
020856,000479: 17,2646 33652 OUTNEG CA DESANGLE
020857,000480: 17,2647 51672 INDEX CDUNDX
020858,000481: 17,2650 54032 TS CDUX
020859,000482: 17,2651 02640 TC LOADFLAG
020860,000483:
020861,000484: 17,2652 51672 CDUZOTST INDEX CDUNDX
020862,000485: 17,2653 10032 CCS CDUX
020863,000486: 17,2654 02660 TC +4
020864,000487: 17,2655 02675 TC ENDWATCH
020865,000488: 17,2656 02660 TC +2
020866,000489: 17,2657 02675 TC ENDWATCH
020867,000490: 17,2660 37646 CAF BIT10 # RAND WITH BIT 10 TO SEE IF STILL TORQ.
020868,000491: 17,2661 00006 EXTEND
020869,000492:
020870,000493: 17,2662 02014 RAND 14C
020871,000494: 17,2663 10000 CCS A
020872,000495: 17,2664 02672 TC +6
020873,000496:
020874,000497: 17,2665 11622 CCS SAVE +2 # SEE IF 2.8DEG OR 5.6 DEG SINCE LAST
020875,000498: 17,2666 02670 TC +2 # EEARTHR USE, IF 2.8 DEG, DO 2.8 MORE
020876,000499: 17,2667 02575 TC CORRECT # THEN GO TO CORRECT
020877,000500: 17,2670 55622 TS SAVE +2
020878,000501: 17,2671 02564 TC DIRECTN
020879,000502: 17,2672 10067 CCS NEWJOB
020880,000503: 17,2673 04365 TC CHANG1
020881,000504: 17,2674 02652 TC CDUZOTST
020882,000505:
020883,000506: 17,2675 00004 ENDWATCH INHINT # WWILL STOR GYROCTR AT END OF 2048 CDU
020884,000507: 17,2676 37665 CAF ZERO # PULSES AND STOP TORQ BY ZEROING REQUESTS
020885,000508: 17,2677 54357 TS LGYRO # RELEASE GYROS FOR OTHERS USAGE
020886,000509: 17,2700 56047 XCH GYROCTR
020887,000510: 17,2701 55621 TS SAVE +1 # AND STOPS TORQUING BY ZEROING TORQ
020888,000511: 17,2702 47656 CS TWO
020889,000512: 17,2703 70370 MASK IMODES33 # THIS TURNS OFF EXEC SWITCH SO THE GYRO
020890,000513: 17,2704 54370 TS IMODES33 # TORQ. ENABLE RELAY CAN BE TURNED OFF.
020891,000514: 17,2705 00003 RELINT
020892,000515: 17,2706 31620 CALCSFE CA SAVE # GYROCTR AT TEST START
020893,000516: 17,2707 00006 EXTEND
020894,000517: 17,2710 61621 SU SAVE +1 # GYROCTR AT TEST END
020895,000518: 17,2711 55622 TS SAVE +2
020896,000519: 17,2712 00006 EXTEND
020897,000520: 17,2713 62732 BZMF ARITH # SEE IF IT IS NEG OR ZERO,IF NEG,SFE IS +
020898,000521: 17,2714 73654 MASK SIZCHK
020899,000522: 17,2715 00006 EXTEND # THIS ROUTINE TESTS SAVE-(SAVE+1) TO SEE
020900,000523: 17,2716 12724 BZF NEGSFE # IF THE RESULT IS WITHIN PERMISSIBLE SIZE
020901,000524: 17,2717 41622 CS SAVE +2 # AND DETERMINES POLARITY OF SFE USING THE
020902,000525: 17,2720 73654 MASK SIZCHK # PRESENCE OR ABSENCE OF BITS 12,13,14.
020903,000526: 17,2721 00006 EXTEND # IF BITS ARE PRESENT IN POSITIVE SAVE +2
020904,000527: 17,2722 12726 BZF POSSFE # THEN THE SFE MUST BE POS. IF DIFFERENCE
020905,000528: 17,2723 02760 TC STOPTEST # IS GREATER THAN 2047 PULSES FROM THE
020906,000529: 17,2724 31622 NEGSFE CAE SAVE +2 # IDEAL NO OF PULSES, THE SFE EXCEEDS
020907,000530: 17,2725 02732 TC ARITH # 15600 PPM, THE TEST IS NOT VALID AND
020908,000531:
020909,000532: # THEREFORE ABORTS AND TURNS ON PROGRAM ALARM
020910,000533: 17,2726 37637 POSSFE CAF POSMAX # POS SFE DEFINITION = IRIG SF IN SEC OF
020911,000534: 17,2727 00006 EXTEND # ARC PER PULSE IS GREATER THAN
020912,000535: 17,2730 61622 SU SAVE +2 # .61798095703125 SEC OF ARC/ PULSE
020913,000536: 17,2731 02733 TC ARITH +1
020914,000537:
020915,000538: 17,2732 40000 ARITH COM
020916,000539: 17,2733 22007 ZL
020917,000540: 17,2734 00006 EXTEND
020918,000541: 17,2735 11623 DV SFCONST1
020919,000542: 17,2736 54336 LOADIT TS DSPTEM2
020920,000543:
020921,000544: 17,2737 02740 TC DATADSP
020922,000545:
020923,000546: 17,2740 05276 DATADSP TC GRABDSP
020924,000547: 17,2741 05304 TC PREGBSY
020925,000548: 17,2742 31614 CA CALCDIR
020926,000549: 17,2743 54340 TS DSPTEM2 +2 # DISPLAYS TEST NO JUST PERFORMED
020927,000550: 17,2744 33657 CAF VB06N66 # R3 = TEST NO JUST PERFORMED
020928,000551: 17,2745 05324 TC NVSBWAIT
020929,000552: 17,2746 05266 TC FLASHON
020930,000553: 17,2747 05132 TC ENDIDLE # TO END TEST DO V34E
020931,000554: 17,2750 02752 TC +2
020932,000555: 17,2751 02451 TC TESTCALL # TO CONTINUE TEST DO V33E
020933,000556: 17,2752 04065 TC BANKCALL
020934,000557: 17,2753 26000 CADR IMUZERO
020935,000558: 17,2754 04065 TC BANKCALL
020936,000559: 17,2755 26716 CADR IMUSTALL
020937,000560: 17,2756 12243 TCF ENDTEST1
020938,000561: 17,2757 12243 TCF ENDTEST1
020939,000562:
020940,000563: 17,2760 04065 STOPTEST TC BANKCALL
020941,000564: 17,2761 26000 CADR IMUZERO
020942,000565: 17,2762 04065 TC BANKCALL # CORRECT CDUCTRS AND TURN ON PROG ALARM
020943,000566: 17,2763 26716 CADR IMUSTALL # TO TELL OPERATOR LAST CDU PULSE WAS
020944,000567: 17,2764 12243 TCF ENDTEST1 # MISSED OR GYRO TORQ LOOP WAY OUT OF
020945,000568: 17,2765 37665 CAF ZERO # ALLOWABLE LIMITS.........
020946,000569: 17,2766 54357 TS LGYRO # **** RELEASE GYROS FOR OTHERS USAGE*****
020947,000570: 17,2767 02440 TC ALARMS
020948,000571: 17,2770 12243 TCF ENDTEST1
020949,000572:
020950,000573: 17,2771 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
020951,000574: 17,2772 23546 QXCH QPLACE # RECORDS TIME AT OCCURRENCE OF A DELTA V
020952,000575: 17,2773 00003 CHECKG1 RELINT # KEEPS CONTENT OF PIPA REG INTACT
020953,000576: 17,2774 10067 CCS NEWJOB
020954,000577: 17,2775 04365 TC CHANG1
020955,000578: 17,2776 00004 INHINT
020956,000579: 17,2777 37665 CAF ZERO
020957,000580: 17,3000 51541 INDEX PIPINDEX
020958,000581: 17,3001 56037 XCH PIPAX
020959,000582: 17,3002 55551 TS STOREPL
020960,000583: 17,3003 11551 CCS STOREPL
020961,000584: 17,3004 03010 TC CHECKP
020962,000585: 17,3005 03063 TC RESTOREA
020963,000586: 17,3006 03023 TC CHECKM
020964,000587: 17,3007 03063 TC RESTOREA
020965,000588: 17,3010 37652 CHECKP CAF BIT6 # LOOKS FOR ONE MORE PLUS PULSE
020966,000589: 17,3011 55540 TS PIPANO
020967,000590: 17,3012 51541 INDEX PIPINDEX
020968,000591: 17,3013 10037 CCS PIPAX
020969,000592: 17,3014 03036 TC CHECKG3
020970,000593: 17,3015 03020 TC +3
020971,000594: 17,3016 03063 TC RESTOREA
020972,000595: 17,3017 03020 TC +1
020973,000596: 17,3020 11540 CCS PIPANO
020974,000597: 17,3021 03011 TC CHECKP +1
020975,000598: 17,3022 03063 TC RESTOREA
020976,000599: 17,3023 37652 CHECKM CAF BIT6 # LOOKS FOR ONE MORE MINUS PULSE
020977,000600: 17,3024 55540 TS PIPANO
020978,000601: 17,3025 51541 INDEX PIPINDEX
020979,000602: 17,3026 10037 CCS PIPAX
020980,000603: 17,3027 03063 TC RESTOREA
020981,000604: 17,3030 03033 TC +3
020982,000605: 17,3031 03036 TC CHECKG3
020983,000606: 17,3032 03033 TC +1
020984,000607: 17,3033 11540 CCS PIPANO
020985,000608: 17,3034 03024 TC CHECKM +1
020986,000609: 17,3035 03063 TC RESTOREA
020987,000610: 17,3036 05462 CHECKG3 TC FINETIME # TIME IN DOUBLE PRECISION LEFT IN MPAC
020988,000611:
020989,000612: 17,3037 52141 DXCH MPAC
020990,000613: 17,3040 37654 CAF BIT4
020991,000614: 17,3041 55540 CHECKG5 TS PIPANO
020992,000615: 17,3042 51541 INDEX PIPINDEX
020993,000616: 17,3043 10037 CCS PIPAX
020994,000617: 17,3044 03050 TC +4
020995,000618: 17,3045 03063 TC RESTOREA
020996,000619: 17,3046 03050 TC +2
020997,000620: 17,3047 03063 TC RESTOREA
020998,000621: 17,3050 11540 CCS PIPANO
020999,000622: 17,3051 03041 TC CHECKG5
021000,000623:
021001,000624: 17,3052 03055 NREAD TC RESTORE
021002,000625: 17,3053 55551 TS STOREPL
021003,000626: 17,3054 01546 TC QPLACE
021004,000627: 17,3055 57551 RESTORE XCH STOREPL # A WILL CONTAIN PREVIOUS PIPA CNTR CONTEN
021005,000628: 17,3056 51541 INDEX PIPINDEX # STOREPL WILL CONTAIN ZERO
021006,000629: 17,3057 60037 AD PIPAX
021007,000630: 17,3060 51541 INDEX PIPINDEX
021008,000631: 17,3061 54037 TS PIPAX
021009,000632: 17,3062 00002 TC Q
021010,000633:
021011,000634: 17,3063 03055 RESTOREA TC RESTORE
021012,000635: 17,3064 02773 TC CHECKG1
021013,000636: 17,3065 31551 DATALD CA STOREPL
021014,000637: 17,3066 51673 INDEX RESULTCT
021015,000638: 17,3067 55626 TS DATAPL
021016,000639: 17,3070 30140 CA MPAC
021017,000640: 17,3071 51673 INDEX RESULTCT
021018,000641: 17,3072 55627 TS DATAPL +1
021019,000642: 17,3073 30141 CA MPAC +1
021020,000643: 17,3074 51673 INDEX RESULTCT
021021,000644: 17,3075 55630 TS DATAPL +2
021022,000645: 17,3076 00002 TC Q
021023,000646:
021024,000647:
021025,000648:
021026,000649:
021027,000650:
021028,000651: 17,3077 00006 POSGMBL EXTEND # COARSE ALIGNING SUBROUTINE
021029,000652: 17,3100 23546 QXCH QPLACE
021030,000653:
021031,000654: 17,3101 06000 TC INTPRET
021032,000655: 17,3102 77634 CALL
021033,000656: 17,3103 32615 CALCGA
021034,000657: 17,3104 77776 EXIT
021035,000658:
021036,000659: 17,3105 04065 TC BANKCALL
021037,000660: 17,3106 26055 CADR IMUCOARS
021038,000661: 17,3107 33123 CA GMLOCKCK # IF FAILREG CONTAINS 401 WILL RETURN TO
021039,000662: 17,3110 71363 MASK FAILREG
021040,000663: 17,3111 10000 CCS A # L +1, OTHERWISE TO L +2.
021041,000664: 17,3112 03115 TC LOCK
021042,000665: 17,3113 25546 INCR QPLACE
021043,000666: 17,3114 03117 TC +3
021044,000667: 17,3115 37656 LOCK CA TWO
021045,000668: 17,3116 55537 TS NDXCTR
021046,000669: 17,3117 04065 TC BANKCALL
021047,000670: 17,3120 26716 CADR IMUSTALL
021048,000671: 17,3121 12243 TCF ENDTEST1
021049,000672: 17,3122 01546 TC QPLACE
021050,000673: 17,3123 00401 GMLOCKCK OCT 00401
021051,000674:
021052,000675: 17,3124 00006 FALNE EXTEND # TORQUES GYROS TO NULL OVT DIFFERENCE
021053,000676: 17,3125 23546 QXCH QPLACE # BETWEEN DESIRED SM ORIENTATION WITH RESP
021054,000677: 17,3126 04065 TC BANKCALL # TO NBASE AND ACTUAL
021055,000678: 17,3127 26000 CADR IMUZERO
021056,000679: 17,3130 04065 TC BANKCALL
021057,000680: 17,3131 26716 CADR IMUSTALL
021058,000681: 17,3132 12243 TCF ENDTEST1
021059,000682: 17,3133 04065 TC BANKCALL
021060,000683: 17,3134 26227 CADR IMUFINE
021061,000684: 17,3135 04065 TC BANKCALL
021062,000685: 17,3136 26716 CADR IMUSTALL
021063,000686: 17,3137 12243 TCF ENDTEST1
021064,000687: 17,3140 30032 FALNE1 CA CDUX
021065,000688: 17,3141 50104 INDEX FIXLOC
021066,000689: 17,3142 54024 TS 24
021067,000690: 17,3143 30033 CA CDUY
021068,000691: 17,3144 50104 INDEX FIXLOC
021069,000692: 17,3145 54020 TS 20
021070,000693: 17,3146 30034 CA CDUZ
021071,000694: 17,3147 50104 INDEX FIXLOC
021072,000695: 17,3150 54022 TS 22
021073,000696: 17,3151 37653 CA BIT5
021074,000697: 17,3152 60104 AD FIXLOC
021075,000698: 17,3153 50104 INDEX FIXLOC
021076,000699: 17,3154 54050 TS S1
021077,000700: 17,3155 06000 TC INTPRET
021078,000701: 17,3156 64375 VLOAD MXV
021079,000702: 17,3157 01401 XSM
021080,000703: 17,3160 01445 STARAD
021081,000704: 17,3161 77772 VSL1
021082,000705: 17,3162 36041 STCALL 32D
021083,000706: 17,3163 32517 NBSM
021084,000707: 17,3164 23423 STOVL XDC
021085,000708: 17,3165 01407 YSM
021086,000709: 17,3166 76521 MXV VSL1
021087,000710: 17,3167 01445 STARAD
021088,000711: 17,3170 36041 STCALL 32D
021089,000712: 17,3171 32517 NBSM
021090,000713: 17,3172 23431 STOVL YDC
021091,000714: 17,3173 01423 XDC
021092,000715: 17,3174 76435 VXV VSL1
021093,000716: 17,3175 01431 YDC
021094,000717: 17,3176 37437 STCALL ZDC
021095,000718: 17,3177 32367 CALCGTA
021096,000719: 17,3200 77776 EXIT
021097,000720: 17,3201 33673 CA OGCPL
021098,000721: 17,3202 04065 TC BANKCALL
021099,000722: 17,3203 26317 CADR IMUPULSE
021100,000723: 17,3204 01546 TC QPLACE
021101,000724:
021102,000725: 17,3205 00006 WAITLOOP EXTEND # LOOPS IN X SEC INCREMENTS FOR NUMBER OF
021103,000726: 17,3206 23545 QXCH QPLAC
021104,000727: 17,3207 55676 TS COUNTPL # NUMBER PUT INTO LENGTHOT
021105,000728: 17,3210 11676 WAITLP1 CCS COUNTPL
021106,000729: 17,3211 03215 TC +4
021107,000730: 17,3212 01545 TC QPLAC
021108,000731: 17,3213 03215 TC +2
021109,000732: 17,3214 03207 TC WAITLP1 -1
021110,000733: 17,3215 00004 INHINT
021111,000734: 17,3216 31527 CAE LENGTHOT
021112,000735: 17,3217 04517 TC WAITLIST
021113,000736: 17,3220 03233 36005 2CADR WAITLP3
021114,000737: 17,3222 00003 RELINT
021115,000738: 17,3223 11676 CCS COUNTPL
021116,000739: 17,3224 01545 TC QPLAC
021117,000740: 17,3225 01545 TC QPLAC
021118,000741: 17,3226 13227 NOOP
021119,000742: 17,3227 55676 WAITLP2 TS COUNTPL # ENTER HERE AFTER DOING CALLING JOB
021120,000743: 17,3230 33232 CAF WTLPCADR
021121,000744: 17,3231 04377 TC JOBSLEEP
021122,000745: 17,3232 37210 WTLPCADR CADR WAITLP1
021123,000746: 17,3233 33232 WAITLP3 CAF WTLPCADR
021124,000747: 17,3234 04403 TC JOBWAKE
021125,000748: 17,3235 04563 TC TASKOVER
021126,000749:
021127,000750:
021128,000751:
021129,000752:
021130,000753:
021131,000754: 17,3236 54001 ZEROING TS L
021132,000755: 17,3237 13241 TCF +2
021133,000756: 17,3240 55776 ZEROING1 TS ZERONDX
021134,000757: 17,3241 37665 CAF ZERO
021135,000758: 17,3242 50001 INDEX L
021136,000759: 17,3243 54000 TS 0
021137,000760: 17,3244 24001 INCR L
021138,000761: 17,3245 11776 CCS ZERONDX
021139,000762: 17,3246 13240 TCF ZEROING1
021140,000763: 17,3247 00002 TC Q
021141,000764: 17,3250 06000 COMPUT TC INTPRET # CALCULATE LENGTH OF GRAVITY VECTOR AS
021142,000765: 17,3251 77170 AXT,1 AXT,2 # MEASURED BY ACCELEROMETERS
021143,000766: 17,3252 00026 22D
021144,000767: 17,3253 00012 10D
021145,000768: 17,3254 77731 SSP
021146,000769: 17,3255 00051 S1
021147,000770: 17,3256 00004 4
021148,000771: 17,3257 77731 SSP
021149,000772: 17,3260 00052 S2
021150,000773: 17,3261 00004 4
021151,000774:
021152,000775: 17,3262 44743 LOPDELOP DLOAD* DSU*
021153,000776: 17,3263 76120 DATAPL +24D,2
021154,000777: 17,3264 01657 DATAPL +24D,1
021155,000778: 17,3265 41323 PDDL* DMP
021156,000779: 17,3266 76156 GENPL +24D,2
021157,000780: 17,3267 37665 DEC585
021158,000781: 17,3270 77671 DDV
021159,000782: 17,3271 55504 TIX,2 VDEF
021160,000783: 17,3272 37277 NEXT
021161,000784: 17,3273 45046 ABVAL RTB
021162,000785: 17,3274 33406 SGNAGREE
021163,000786: 17,3275 36337 STCALL DSPTEM2
021164,000787: 17,3276 37301 KODU
021165,000788: 17,3277 60006 NEXT PUSH TIX,1
021166,000789: 17,3300 37262 LOPDELOP
021167,000790: 17,3301 77776 KODU EXIT
021168,000791: 17,3302 05311 TC GRABWAIT
021169,000792: 17,3303 03576 TC SHOW
021170,000793: 17,3304 06000 TC INTPRET
021171,000794: 17,3305 41535 SLOAD PUSH
021172,000795: 17,3306 01630 DATAPL +1
021173,000796: 17,3307 41535 SLOAD PUSH
021174,000797: 17,3310 01634 DATAPL +5
021175,000798: 17,3311 55535 SLOAD VDEF
021176,000799: 17,3312 01640 DATAPL +11
021177,000800: 17,3313 76456 UNIT VSL1
021178,000801: 17,3314 77606 PUSH
021179,000802: 17,3315 41535 SLOAD PUSH
021180,000803: 17,3316 01644 DATAPL +15
021181,000804: 17,3317 41535 SLOAD PUSH
021182,000805: 17,3320 01650 DATAPL +21
021183,000806: 17,3321 55535 SLOAD VDEF
021184,000807: 17,3322 01654 DATAPL +25
021185,000808: 17,3323 76456 UNIT VSL1
021186,000809: 17,3324 45325 PDDL DSU
021187,000810: 17,3325 01655 DATAPL +26
021188,000811: 17,3326 01641 DATAPL +12
021189,000812: 17,3327 77612 SL4
021190,000813: 17,3330 77652 SL3
021191,000814: 17,3331 23530 STOVL LENGTHOT
021192,000815: 17,3332 51435 VXV ABVAL
021193,000816: 17,3333 56205 DMP DDV
021194,000817: 17,3334 37670 ERUNITS
021195,000818: 17,3335 01530 LENGTHOT
021196,000819: 17,3336 77624 RTB
021197,000820: 17,3337 33406 SGNAGREE
021198,000821: 17,3340 00337 STORE DSPTEM2
021199,000822: 17,3341 77776 EXIT
021200,000823: 17,3342 03576 TC SHOW
021201,000824: 17,3343 12402 TCF RADCK
021202,000825:
021203,000826: 17,3344 00006 NBPOSPL EXTEND # SETS UP AZIMUTH AND VERTICAL VECTORS FOR
021204,000827: 17,3345 23546 QXCH QPLACE # AXISGEN,RESULTS TO BE USED IN CALCGA TO
021205,000828: 17,3346 06000 TC INTPRET
021206,000829: 17,3347 54160 AXC,1 XSU,1 # AZIMUTH IN NB COORDS
021207,000830: 17,3350 37704 SCNBAZ
021208,000831: 17,3351 01536 NBPOS
021209,000832: 17,3352 77773 VLOAD*
021210,000833: 17,3353 00001 0,1
021211,000834: 17,3354 01445 STORE STARAD
021212,000835:
021213,000836: 17,3355 54160 AXC,1 XSU,1 # VERITCAL IN NB COORDS
021214,000837: 17,3356 37716 SCNBVER
021215,000838: 17,3357 01536 NBPOS
021216,000839: 17,3360 77773 VLOAD*
021217,000840: 17,3361 00001 0,1
021218,000841: 17,3362 07453 STODL STARAD +6
021219,000842: 17,3363 33042 ZERODP
021220,000843: 17,3364 06007 STODL 6D
021221,000844: 17,3365 01507 AZIMUTH
021222,000845: 17,3366 57546 COS DCOMP
021223,000846: 17,3367 06011 STODL 8D
021224,000847: 17,3370 01507 AZIMUTH
021225,000848: 17,3371 77756 SIN
021226,000849: 17,3372 00013 STORE 10D # VERTICAL IN CER
021227,000850: 17,3373 77775 VLOAD
021228,000851: 17,3374 37717 SCNBVER
021229,000852: 17,3375 36015 STCALL 12D
021230,000853: 17,3376 32677 AXISGEN
021231,000854: 17,3377 77776 EXIT
021232,000855:
021233,000856: 17,3400 33663 SELPOSN CA DEC17
021234,000857: 17,3401 55776 TS ZERONDX
021235,000858: 17,3402 33703 CA XSMADR
021236,000859: 17,3403 03236 TC ZEROING
021237,000860:
021238,000861: 17,3404 51544 INDEX POSITON
021239,000862: 17,3405 03406 TC +1
021240,000863: 17,3406 03524 TC OPCHKPOS # OPCHK WILL PUT ZERO IN POSITON
021241,000864: 17,3407 03422 TC POSN1
021242,000865: 17,3410 03431 TC POSN2
021243,000866: 17,3411 03436 TC POSN3
021244,000867: 17,3412 03450 TC POSN4
021245,000868: 17,3413 03460 TC POSN5
021246,000869: 17,3414 03470 TC POSN6
021247,000870: 17,3415 03500 TC POSN7
021248,000871: 17,3416 03513 TC POSN8
021249,000872: 17,3417 03542 TC POSN9
021250,000873: 17,3420 03553 TC POSN10
021251,000874:
021252,000875: 17,3421 03564 TC POSN11 # COMPASS POSITION
021253,000876:
021254,000877: # WE WILL DENOTE THE FLASHING DISPLAY OF A HORIZONTAL TEST BY DH
021255,000878: # (XXX.XX MERU) AND A VERTICAL TEST BY DV (XXX.XX MERU) EACH POSITION TELL
021256,000879: # HOW THE DISPLAYS ARE RELATED TO TTHE DRIFT COEFFICIENTS BEING MEASURED.
021257,000880: # NOTE THAT IT IS ILLEGAL TO RUN VERTICAL IN POS 6,4, OR 2 WITHOUT FIRST
021258,000881: # RUNNING HORIZONTAL OF POS 5,3, OR1. THIS IS BECAUSE THE HORIZ DRIFT CALC
021259,000882: # IN 1,3, OR 5 IS USED AS EAST DRIFFFT FOR VERTICAL TEST. THIS IS DONE BY
021260,000883: # THE MACHINE AUTOMATICALLY EXCEPT FOR VERTICAL POSITION 6 WHICH THE
021261,000884: # OPERATOR MUST DO. (SEE POSITION 6 BELOW)
021262,000885: 17,3422 37642 POSN1 CA HALF # X UP, Y SOUTH, Z EAST
021263,000886: 17,3423 55400 TS XSM
021264,000887: 17,3424 55410 TS YSM +2 # NBDY = DH
021265,000888: 17,3425 55420 TS ZSM +4
021266,000889: 17,3426 37665 NGUBGH CA ZERO
021267,000890: 17,3427 55541 TS PIPINDEX
021268,000891: 17,3430 01546 TC QPLACE
021269,000892:
021270,000893:
021271,000894:
021272,000895: 17,3431 47642 POSN2 CS HALF # X DOWN, Y WEST, Z NORTH
021273,000896: 17,3432 55400 TS XSM
021274,000897: 17,3433 55412 TS YSM +4 # NBDZ =DH ,NBDX -ADIAX= -DV
021275,000898: 17,3434 55416 TS ZSM +2
021276,000899: 17,3435 03426 TC NGUBGH
021277,000900:
021278,000901:
021279,000902:
021280,000903: 17,3436 37642 POSN3 CA HALF # Z UP, Y WEST ,X NORTH
021281,000904: 17,3437 55414 TS ZSM
021282,000905: 17,3440 40000 COM # NBDX = -DH
021283,000906: 17,3441 55402 TS XSM +2
021284,000907: 17,3442 55412 TS YSM +4
021285,000908: 17,3443 37656 NSFLAGD CA TWO
021286,000909: 17,3444 55541 TS PIPINDEX
021287,000910: 17,3445 37665 NSBUGD CA ZERO
021288,000911: 17,3446 55576 TS DRIFTT
021289,000912: 17,3447 01546 TC QPLACE
021290,000913:
021291,000914:
021292,000915:
021293,000916: 17,3450 47642 POSN4 CS HALF # Y SOUTH, X EAST, Z DOWN
021294,000917: 17,3451 55414 TS ZSM # NBDY +ADSRAY=DH
021295,000918: 17,3452 40000 COM # NBDZ +ADIAZ =DV
021296,000919: 17,3453 55410 TS YSM +2
021297,000920: 17,3454 55404 TS XSM +4
021298,000921: 17,3455 37656 CA TWO
021299,000922: 17,3456 55541 TS PIPINDEX
021300,000923: 17,3457 01546 TC QPLACE
021301,000924:
021302,000925: 17,3460 37642 POSN5 CA HALF # Y UP, Z NORTH, X WEST
021303,000926: 17,3461 55406 TS YSM
021304,000927: 17,3462 40000 COM # NBDZ-ADSRAZ =DH
021305,000928: 17,3463 55404 TS XSM +4
021306,000929: 17,3464 55416 TS ZSM +2
021307,000930: 17,3465 37657 CA ONE
021308,000931: 17,3466 55541 TS PIPINDEX
021309,000932: 17,3467 03445 TC NSBUGD
021310,000933:
021311,000934:
021312,000935:
021313,000936: # TO RUN POSITION 6 VERTICAL AFTER PIP TEST POS 6 IS DISPLAYED THE OPERATR
021314,000937: # MUST CALCULATE FROM 2.5 -NBDZ-ADSRAZ (XXX.XX)MERU. WHEN PI
021315,000938: # IP DATA FLASHES DO VERB 33 ENTER. THIS STARTS VERTICAL TEST. THEN THE
021316,000939: # DATA XXX.XX MERU AS CALCULATED MUST BE ENTERED INTO DRIFTT. IE VERB 21
021317,000940: # ENTER NOUN 01 ENTER LOCATION OF DRIFTT ENTER + (OR -) XXXXX ENTER
021318,000941: 17,3470 37642 POSN6 CA HALF # Y DOWN, Z EAST, X SOUTH
021319,000942: 17,3471 55402 TS XSM +2
021320,000943: 17,3472 55420 TS ZSM +4
021321,000944: 17,3473 40000 COM # NBDX +ADSRAX = DH, NBDY -ADIAY = -DV
021322,000945: 17,3474 55406 TS YSM
021323,000946: 17,3475 37657 CA ONE
021324,000947: 17,3476 55541 TS PIPINDEX
021325,000948: 17,3477 01546 TC QPLACE
021326,000949:
021327,000950:
021328,000951:
021329,000952: 17,3500 47642 POSN7 CS HALF # Z UP-EAST,Y UP-WEST,X NORTH.THIS POSITON
021330,000953: 17,3501 55402 TS XSM +2
021331,000954: 17,3502 33677 CA ROOT1/2
021332,000955: 17,3503 55406 TS YSM # NBDX - .707 ADSRAX = -DH
021333,000956: 17,3504 55414 TS ZSM
021334,000957: 17,3505 55420 TS ZSM +4
021335,000958: 17,3506 40000 COM
021336,000959: 17,3507 55412 TS YSM +4
021337,000960: 17,3510 37665 GEORGES CA ZERO
021338,000961: 17,3511 55363 TS FAILREG
021339,000962: 17,3512 03445 TC NSBUGD
021340,000963:
021341,000964:
021342,000965:
021343,000966: 17,3513 37642 POSN8 CA HALF # Z UP-SOUTH,Y UP-NORTH,X EAST.THIS POSITN
021344,000967: 17,3514 55404 TS XSM +4
021345,000968: 17,3515 33677 CA ROOT1/2 # .707(-NBDZ-NBDY) +.5(ADIAZ-ADIAY)
021346,000969: 17,3516 55406 TS YSM # +.5(ADSRAY +ADSRAZ)=DH
021347,000970: 17,3517 55416 TS ZSM +2
021348,000971: 17,3520 55414 TS ZSM
021349,000972: 17,3521 40000 COM
021350,000973: 17,3522 55410 TS YSM +2
021351,000974: 17,3523 03445 TC NSBUGD
021352,000975:
021353,000976: 17,3524 33700 OPCHKPOS CA ROOT1SQ # OG=+45DEG,IG=-45DEG,MG=+45DEG.
021354,000977: 17,3525 55400 TS XSM
021355,000978: 17,3526 55410 TS YSM +2
021356,000979: 17,3527 55412 TS YSM +4
021357,000980: 17,3530 55414 TS ZSM
021358,000981: 17,3531 33677 CA ROOT1/2
021359,000982: 17,3532 55406 TS YSM
021360,000983: 17,3533 33702 CA ROOT3SQ
021361,000984: 17,3534 55402 TS XSM +2
021362,000985: 17,3535 55420 TS ZSM +4
021363,000986: 17,3536 43701 CS ROOT2SQ
021364,000987: 17,3537 55404 TS XSM +4
021365,000988: 17,3540 55416 TS ZSM +2
021366,000989: 17,3541 01546 TC QPLACE
021367,000990:
021368,000991: 17,3542 37642 POSN9 CA HALF # X UP EAST,Y UP WEST,Z SOUTH.THIS POSITON
021369,000992: 17,3543 55416 TS ZSM +2
021370,000993: 17,3544 33677 CA ROOT1/2 # -NBDZ +.707 SRAZ =DH
021371,000994: 17,3545 55400 TS XSM
021372,000995: 17,3546 55404 TS XSM +4
021373,000996: 17,3547 55406 TS YSM
021374,000997: 17,3550 40000 COM
021375,000998: 17,3551 55412 TS YSM +4
021376,000999: 17,3552 03445 TC NSBUGD
021377,001000:
021378,001001:
021379,001002:
021380,001003: 17,3553 37642 POSN10 CA HALF # X UP NORTH, Y UP SOUTH,Z EAST.THIS POSITN
021381,001004: 17,3554 55420 TS ZSM +4
021382,001005: 17,3555 33677 CA ROOT1/2 # .707(NBDY -NBDX) +.5(ADIAY -ADIAX)
021383,001006: 17,3556 55400 TS XSM # +.5(ADSRAX) = DH
021384,001007: 17,3557 55406 TS YSM
021385,001008: 17,3560 55410 TS YSM +2
021386,001009: 17,3561 40000 COM
021387,001010: 17,3562 55402 TS XSM +2
021388,001011: 17,3563 03445 TC NSBUGD
021389,001012:
021390,001013:
021391,001014:
021392,001015: 17,3564 04065 POSN11 TC BANKCALL # COMPASS POSITION
021393,001016: 17,3565 43107 CADR LOADXSM
021394,001017: 17,3566 01546 TC QPLACE
021395,001018:
021396,001019:
021397,001020:
021398,001021: 17,3567 30336 SHOWLD CA DSPTEM2
021399,001022: 17,3570 55527 TS LENGTHOT
021400,001023: 17,3571 30337 CA DSPTEM2 +1
021401,001024: 17,3572 55536 TS NBPOS
021402,001025: 17,3573 30340 CA DSPTEM2 +2
021403,001026:
021404,001027: 17,3574 55544 TS POSITON
021405,001028: 17,3575 00002 TC Q
021406,001029:
021407,001030: 17,3576 00006 SHOW EXTEND
021408,001031: 17,3577 23546 QXCH QPLACE
021409,001032: 17,3600 31544 SHOW1 CA POSITON
021410,001033: 17,3601 54340 TS DSPTEM2 +2
021411,001034: 17,3602 33657 CA VB06N66
021412,001035: 17,3603 05324 TC NVSBWAIT
021413,001036: 17,3604 05266 TC FLASHON
021414,001037: 17,3605 05132 TC ENDIDLE
021415,001038: 17,3606 02234 TC FINISH
021416,001039: 17,3607 01546 TC QPLACE
021417,001040: 17,3610 03567 TC SHOWLD
021418,001041: 17,3611 13600 TCF SHOW1
021419,001042:
021420,001043:
021421,001044:
021422,001045: 17,3612 00006 LOADGTSM EXTEND # THIS LOADS XSM INTO GEOMATRX
021423,001046: 17,3613 23546 QXCH QPLACE
021424,001047: 17,3614 06000 TC INTPRET
021425,001048: 17,3615 77775 VLOAD
021426,001049: 17,3616 01401 XSM
021427,001050: 17,3617 23750 STOVL GEOMTRX
021428,001051: 17,3620 01407 YSM
021429,001052: 17,3621 23756 STOVL GEOMTRX +6
021430,001053: 17,3622 01415 ZSM
021431,001054: 17,3623 01764 STORE GEOMTRX +12D
021432,001055: 17,3624 77776 EXIT
021433,001056: 17,3625 01546 TC QPLACE
021434,001057:
021435,001058: 17,3626 00144 1SECX DEC 100 B-14
021436,001059: 17,3627 17127 16705 GEORGED 2DEC .47408845
021437,001060: 17,3631 07314 36223 2DEC .23125894
021438,001061: 17,3633 04521 31140 2DEC .14561689
021439,001062: 17,3635 75755 73521 GEORGEC 2DEC -.06360691
021440,001063: 17,3637 72476 54176 2DEC -.16806746
021441,001064: 17,3641 04771 03365 2DEC .15582939
021442,001065: 17,3643 75644 70661 GEORGEB 2DEC -.06806784
021443,001066: 17,3645 47762 75077 2DEC -.75079894
021444,001067: 17,3647 70023 73740 2DEC -.24878704
021445,001068: 17,3651 14C EQUALS 0014
021446,001069: 17,3651 02130 V21N30E OCT 02130
021447,001070: 17,3652 04000 DESANGLE DEC 2048 B-14
021448,001071: 17,3653 04143 SFCONST DEC .13107
021449,001072: 17,3654 34000 SIZCHK OCT 34000
021450,001073: 17,3655 00264 180DEC DEC 180 B-14
021451,001074: 17,3656 07626 3990DEC DEC 3990 B-14
021452,001075: 17,3657 00666 VB06N66 OCT 00666
021453,001076: 17,3660 01130 TESTTIME DEC 600 B-14
021454,001077: 17,3661 01620 V16N20S OCT 01620
021455,001078: 17,3662 01640 V16N40S OCT 01640
021456,001079: 17,3663 00021 DEC17 DEC 17 B-14
021457,001080: 17,3664 06200 00000 DEC585 2DEC 3200 B+14
021458,001081: 17,3666 00400 DELYOFF OCT 00400
021459,001082: 17,3667 00024 35474 ERUNITS 2DEC 342844 B-28
021460,001083: 17,3671 01506 GENPLAD GENADR AZIMUTH
021461,001084: 17,3672 02521 GYRODPL ECADR GYROD
021462,001085: 17,3673 02500 OGCPL ECADR OGC
021463,001086: 17,3674 77760 LOWFOUR OCT 77760
021464,001087: 17,3675 00070 DEC56 DEC 56 B-14
021465,001088: 17,3676 10000 45DEG OCT 10000
021466,001089: 17,3677 13241 ROOT1/2 DEC .353553
021467,001090: 17,3700 10000 ROOT1SQ DEC .250000
021468,001091: 17,3701 15520 ROOT2SQ DEC .426776
021469,001092: 17,3702 02260 ROOT3SQ DEC .073223
021470,001093: 17,3703 01400 XSMADR GENADR XSM
021471,001094:
021472,001095: 17,3704 00000 00000 SCNBAZ 2DEC 0 B-28
021473,001096: 17,3706 00000 00000 2DEC 0 B-28
021474,001097: 17,3710 20000 00000 LABNBAZ 2DEC .5
021475,001098: 17,3712 00000 00000 2DEC 0 B-28
021476,001099: 17,3714 00000 00000 2DEC 0 B-28
021477,001100: 17,3716 20000 00000 SCNBVER 2DEC .5
021478,001101: 17,3720 00000 00000 2DEC 0 B-28
021479,001102: 17,3722 00000 00000 LABNBVER 2DEC 0 B-28
021480,001103: 17,3724 00000 00000 2DEC 0 B-28
021481,001104: 17,3726 57777 77777 2DEC -.5
021482,001105: 17,3730 ENDIMUS2 =
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc