Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

015663,000002:                                                                                                  ## Copyright:   Public domain.
015664,000003:                                                                                                  ## Filename:    IMU_PERFORMANCE_TESTS_1.agc
015665,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
015666,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
015667,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
015668,000007:                                                                                                  ## Assembler:   yaYUL
015669,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
015670,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
015671,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
015672,000011:                                                                                                  ##              2016-10-18 RSB  Corrected against AURORA 12 version.  (Mostly
015673,000012:                                                                                                  ##                              identical, but there was a small amount of code
015674,000013:                                                                                                  ##                              added.
015675,000014:                                                                                                  ##              2016-10-31 RSB  Typos.
015676,000015:                                                                                                  ##              2016-12-05 RSB  Comment-proofing with octopus/ProoferComments
015677,000016:                                                                                                  ##                              completed, changes made.
015678,000017: 

Page 380

015680,000019: 14,2000                                           BANK     14                                    
015681,000020: 14,2000  E5,1400                                  EBANK=   XSM                                   
015682,000021: 
015683,000022: 
015684,000023: 
015685,000024: 14,2000           37763        AOTNBIMU           CAF      ONE                                   #  AOT-NB-IMU FINE ALIGNMENT TEST
015686,000025: 14,2001           55512                           TS       EROPTN                                #  ... TEST CAPABILITY ...
015687,000026: 
015688,000027: 14,2002           05206                           TC       BANKCALL                              
015689,000028: 14,2003           26000                           CADR     IMUZERO                               #  IMU ZERO ENCODER MODE
015690,000029: 14,2004           06112                           TC       INTPRET                               
015691,000030: 14,2005           77624                           CALL                                           
015692,000031: 14,2006           30553                                    LATAZCHK                              #  TO LOAD AZIMUTH (SM) AND LATITUDE
015693,000032: 14,2007           77624                           CALL                                           
015694,000033: 14,2010           30325                                    MAKEXSMD                              #  TO SET UP A STABLE MEMBER DESIRED MATRIX
015695,000034: 14,2011           45014                           SET      CALL                                  
015696,000035: 14,2012           00065                                    COAROFIN                              #  FOR COARSE OR FINE ALIGN MARKS
015697,000036: 14,2013           30407                                    ERTHRVSE                              #  TO CALCULATE EARTH RATE VECTOR
015698,000037: 14,2014           77776                           EXIT                                           
015699,000038: 
015700,000039: 14,2015           33700        POSLOAD            CAF      V24N30E                               #  R1  0000X ENTER     POSITION 1,2, OR 3
015701,000040: 14,2016           04657                           TC       NVSBWAIT                              #  R2  00000 ENTER     00001 FOR LAB OPTION
015702,000041: 14,2017           04475                           TC       ENDIDLE                               
015703,000042: 14,2020           12770                           TCF      ENDTEST                               
015704,000043: 14,2021           12015                           TCF      -4                                    
015705,000044: 14,2022           56337                           XCH      DSPTEM1                               #  DO NOT USE POSITION 3 WITH NAV BASE AT
015706,000045: 14,2023           55544                           TS       POSITON                               #     ZERO DEGREE TILT ANGLE. (GIMBAL LOCK)
015707,000046: 
015708,000047: 14,2024           10340                           CCS      DSPTEM1    +1                         
015709,000048: 14,2025           13003                           TCF      LEMLAB                                #  SPECIAL LAB TEST TO BYPASS MARKS
015710,000049: 
015711,000050: 14,2026           02621                           TC       POSNJUMP                              #  SET UP STABLE MEMBER DESIRED COORDINATES
015712,000051: 
015713,000052: 14,2027           02524                           TC       OPTDATA                               #  TARGETS 1,2 AZIMUTH AND ELEVATION
015714,000053: 
015715,000054: 14,2030           02135                           TC       FINDNAVB                              #  COARSE ALIGN MARKS
015716,000055: 
015717,000056: 14,2031           05206                           TC       BANKCALL                              
015718,000057: 14,2032           26751                           CADR     IMUSTALL                              #  INSURE IMUZERO COMPLETION
015719,000058: 14,2033           12770                           TCF      ENDTEST                               
015720,000059: 
015721,000060: 14,2034           02247                           TC       PUTPOSX                               #  TO COARSE ALIGN STABLE MEMBER
015722,000061: 
015723,000062: 14,2035           02762                           TC       GMLCKCHK                              #  CHECK FOR GIMBAL LOCK BEFORE FINE ALIGN
015724,000063: 14,2036           02752                           TC       OGCZERO                               #  FOR EARTH RATE COMPENSATION
015725,000064: 
015726,000065: 14,2037           05206                           TC       BANKCALL                              
015727,000066: 14,2040           26252                           CADR     IMUFINE                               #  FINE ALIGN MODE
015728,000067: 14,2041           05206                           TC       BANKCALL                              
015729,000068: 14,2042           26751                           CADR     IMUSTALL                              

Page 381

015731,000070: 14,2043           12770                           TCF      ENDTEST                               
015732,000071: 
015733,000072: 14,2044           02135                           TC       FINDNAVB                              #  FINE ALIGN MARKS
015734,000073: 
015735,000074: 14,2045           04724                           TC       FREEDSP                               #  FREE DISPLAY SYSTEM
015736,000075: 
015737,000076: 14,2046           02263                           TC       SMDCALC                               #  TO FINE ALIGN STABLE MEMBER
015738,000077: 
015739,000078: 14,2047           05206        ERFINAL            TC       BANKCALL                              #  LAST EARTH RATE SHOT
015740,000079: 14,2050           30424                           CADR     EARTHR                                
015741,000080: 14,2051           11512                           CCS      EROPTN                                #  IF DESIRED TO COMPENSATE CONTINUALLY
015742,000081: 14,2052           12065                           TCF      MONSTART                              #      CHANGE BY V21 N02 E XXXXX E 00000 E
015743,000082: 14,2053           12047                           TCF      ERFINAL                               
015744,000083: 14,2054           12770                           TCF      ENDTEST                               
015745,000084: 14,2055           55512                           TS       EROPTN                                
015746,000085: 14,2056           00004                           INHINT                                         
015747,000086: 14,2057           35644                           CAF      PRIO21                                #  PRIORITY 1 HIGHER THAN SXTNBIMU
015748,000087: 14,2060           05516                           TC       FINDVAC                               
015749,000088: 14,2061           03105 30065                     2CADR    RDR37511                              
015750,000089: 14,2063           00003                           RELINT                                         
015751,000090: 14,2064           02047                           TC       ERFINAL                               
015752,000091: 
015753,000092: 14,2065           05026        MONSTART           TC       FINETIME                              #  TIME AT INITIAL MISALIGNMENT
015754,000093: 14,2066           52145                           DXCH     MPAC                                  
015755,000094: 14,2067           00003                           RELINT                                         
015756,000095: 14,2070           37767                           CAF      ZERO                                  #  ZERO PIPA COUNTERS
015757,000096: 14,2071           54037                           TS       PIPAX                                 
015758,000097: 14,2072           54040                           TS       PIPAY                                 
015759,000098: 14,2073           54041                           TS       PIPAZ                                 
015760,000099: 14,2074           55551                           TS       STOREPL                               
015761,000100: 14,2075           55537                           TS       NDXCTR                                
015762,000101: 14,2076           02477                           TC       STORRSLT                              #  STORE T(INITIAL) AND PIPAI = 0
015763,000102: 
015764,000103: 14,2077           00004                           INHINT                                         
015765,000104: 14,2100           33711                           CAF      60SEC                                 #  INSURE PIPAI VARIES IN ONE DIRECTION
015766,000105: 14,2101           05663                           TC       WAITLIST                              
015767,000106: 14,2102  E5,1400                                  EBANK=   XSM                                   
015768,000107: 14,2102           02106 30065                     2CADR    PIP1                                  
015769,000108: 
015770,000109: 14,2104           32134                           CAF      PIP2ADR                               
015771,000110: 14,2105           05545                           TC       JOBSLEEP                              
015772,000111: 
015773,000112: 14,2106           32134        PIP1               CAF      PIP2ADR                               
015774,000113: 14,2107           05551                           TC       JOBWAKE                               
015775,000114: 14,2110           05727                           TC       TASKOVER                              
015776,000115: 
015777,000116: 14,2111           31542        PIP2               CAE      PIPNDX                                
015778,000117: 14,2112           55541                           TS       PIPINDEX                              #  POS1 PIPAY     POS2 PIPAX     POS3 PIPAX

Page 382

015780,000119: 14,2113           05206                           TC       BANKCALL                              
015781,000120: 14,2114           51737                           CADR     DOCHECKG                              #  SYNC ON PIPA PULSE
015782,000121: 
015783,000122: 14,2115           00003                           RELINT                                         
015784,000123: 14,2116           02477                           TC       STORRSLT                              #  STORE TIME ANP PIPAI
015785,000124: 
015786,000125: 14,2117           31543                           CAE      PIPNDX     +1                         
015787,000126: 14,2120           55541                           TS       PIPINDEX                              #  POS1 PIPAZ    POS2 PIPAY    POS3 PIPAZ
015788,000127: 14,2121           05206                           TC       BANKCALL                              
015789,000128: 14,2122           51737                           CADR     DOCHECKG                              #  SYNC ON PIPA PULSE
015790,000129: 
015791,000130: 14,2123           00003                           RELINT                                         
015792,000131: 14,2124           02477                           TC       STORRSLT                              #  STORE TIME AND PIPAI
015793,000132: 
015794,000133: 14,2125           00004                           INHINT                                         
015795,000134: 14,2126           33710                           CAF      30SEC                                 #  MONITOR PIPAS AT 30 SECOND INTERVALS
015796,000135: 14,2127           05663                           TC       WAITLIST                              
015797,000136: 14,2130  E5,1400                                  EBANK=   XSM                                   
015798,000137: 14,2130           02106 30065                     2CADR    PIP1                                  
015799,000138: 
015800,000139: 14,2132           32134                           CAF      PIP2ADR                               
015801,000140: 14,2133           05545                           TC       JOBSLEEP                              
015802,000141: 14,2134           30111        PIP2ADR            CADR     PIP2                                  
015803,000142: 

Page 383

015805,000144: 14,2135           00006        FINDNAVB           EXTEND                                         #  MARKS * CALC NB OR SM WRT EARTH REF
015806,000145: 14,2136           23546                           QXCH     QPLACE                                
015807,000146: 
015808,000147: 14,2137           05206                           TC       BANKCALL                              
015809,000148: 14,2140           27046                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
015810,000149: 14,2141           37763                           CAF      ONE                                   
015811,000150: 14,2142           54337                           TS       DSPTEM1                               
015812,000151: 14,2143           33674                           CAF      V01N30E                               #  DISPLAY 00001 IN R1
015813,000152: 14,2144           04657                           TC       NVSBWAIT                              
015814,000153: 14,2145           37767                           CAF      ZERO                                  #  TO INDICATE GROUND MARKS
015815,000154: 14,2146           05206                           TC       BANKCALL                              
015816,000155: 14,2147           27005                           CADR     AOTMARK                               #  MARK ON TARGET 1
015817,000156: 
015818,000157: 14,2150           05206                           TC       BANKCALL                              
015819,000158: 14,2151           26747                           CADR     OPTSTALL                              #  INSURE SUCCESSFUL MARK
015820,000159: 14,2152           12770                           TCF      ENDTEST                               
015821,000160: 14,2153           00006                           EXTEND                                         
015822,000161: 14,2154           50373                           INDEX    MARKSTAT                              
015823,000162: 14,2155           30001                           DCA      0                                     
015824,000163: 14,2156           53565                           DXCH     TMARK                                 #  TIME(PRES) FOR EARTH RATE COMPENSATION
015825,000164: 
015826,000165: 14,2157           02242                           TC       GIMANGS1                              
015827,000166: 
015828,000167: 14,2160           06112                           TC       INTPRET                               
015829,000168: 14,2161           45140                           LXC,1    CALL                                  
015830,000169: 14,2162           00373                                    MARKSTAT                              #  BASE ADDRESS VAC AREA FOR AOTNB
015831,000170: 14,2163           33114                                    AOTNB                                 #  OPTICS TO NAV BASE COORDINATE FRAME
015832,000171: 14,2164           45014                           BON      CALL                                  
015833,000172: 14,2165           00305                                    COAROFIN                              #  COARSE MARKS = 0    FINE MARKS = 1
015834,000173: 14,2166           30170                                    +2                                    
015835,000174: 14,2167           32555                                    NBSM                                  #  NAV BASE DIRECT TO STABLE MEMBER
015836,000175: 14,2170           02445                           STORE    STARAD                                #  TARGET 1 WRT NAV BASE OR STABLE MEMBER
015837,000176: 14,2171           02601                           STORE    LOS1                                  #  ...FOR K...
015838,000177: 14,2172           77776                           EXIT                                           
015839,000178: 
015840,000179: 14,2173           05206                           TC       BANKCALL                              
015841,000180: 14,2174           27046                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
015842,000181: 14,2175           37762                           CAF      TWO                                   
015843,000182: 14,2176           54337                           TS       DSPTEM1                               
015844,000183: 14,2177           33674                           CAF      V01N30E                               #  DISPLAY 00002 IN R1
015845,000184: 14,2200           04657                           TC       NVSBWAIT                              
015846,000185: 14,2201           37767                           CAF      ZERO                                  #  TO INDICATE GROUND MARKS
015847,000186: 14,2202           05206                           TC       BANKCALL                              
015848,000187: 14,2203           27005                           CADR     AOTMARK                               #  MARK ON TARGET 2
015849,000188: 
015850,000189: 14,2204           37752                           CAF      BIT10                                 
015851,000190: 14,2205           70074                           MASK     STATE                                 #  BIT10 = COAROFIN
015852,000191: 14,2206           10000                           CCS      A                                     
015853,000192: 14,2207           12215                           TCF      EARRTCOM   +5                         #  IF COARSE ALIGN MARKS
015854,000193: 

Page 384

015856,000195: 14,2210           05206        EARRTCOM           TC       BANKCALL                              #  EARTH RATE COMPENSATION BETWEEN MARKS
015857,000196: 14,2211           30424                           CADR     EARTHR                                
015858,000197: 14,2212           10370                           CCS      OPTCADR                               #  +0 IF MARK BUTTON NOT DEPRESSED
015859,000198: 14,2213           12216                           TCF      +3                                    
015860,000199: 14,2214           12210                           TCF      EARRTCOM                              #  CONTINUE TO COMPENSATE FOR EARTH RATE
015861,000200: 14,2215           12216                           TCF      +1                                    
015862,000201: 14,2216           05206                           TC       BANKCALL                              
015863,000202: 14,2217           26747                           CADR     OPTSTALL                              #  INSURE SUCCESSFUL MARK
015864,000203: 14,2220           12770                           TCF      ENDTEST                               
015865,000204: 
015866,000205: 14,2221           02242                           TC       GIMANGS1                              
015867,000206: 
015868,000207: 14,2222           06112                           TC       INTPRET                               
015869,000208: 14,2223           45140                           LXC,1    CALL                                  
015870,000209: 14,2224           00373                                    MARKSTAT                              #  BASE ADDRESS VAC AREA FOR AOTNB
015871,000210: 14,2225           33114                                    AOTNB                                 #  OPTICS TO NAV BASE COORDINATE FRAME
015872,000211: 14,2226           45014                           BONCLR   CALL                                  #  SET TO ZERO FOR FINE ALIGN MARKS
015873,000212: 14,2227           00205                                    COAROFIN                              #  COARSE MARKS = 0    FINE MARKS = 1
015874,000213: 14,2230           30232                                    +2                                    
015875,000214: 14,2231           32555                                    NBSM                                  #  NAV BASE DIRECT TO STABLE MEMBER
015876,000215: 14,2232           02453                           STORE    STARAD     +6                         #  TARGET 2 WRT NAV BASE OR STABLE MEMBER
015877,000216: 14,2233           02607                           STORE    LOS2                                  #  ...FOR K...
015878,000217: 
015879,000218: 14,2234           77624        MAXDET             CALL                                           
015880,000219: 14,2235           30350                                    TAR/EREF                              #  TARGETS 1,2 WRT EARTH REF FRAME
015881,000220: 14,2236           77624                           CALL                                           
015882,000221: 14,2237           32741                                    AXISGEN                               #  NAV BASE OR SM WRT EARTH REF FRAME
015883,000222: 14,2240           77776                           EXIT                                           
015884,000223: 14,2241           01546                           TC       QPLACE                                
015885,000224: 
015886,000225: 
015887,000226: 
015888,000227: 14,2242           37762        GIMANGS1           CAF      TWO                                   #  BASE ADDRESS GIMBAL ANGLES FOR NBSM
015889,000228: 14,2243           60373                           AD       MARKSTAT                              
015890,000229: 14,2244           50110                           INDEX    FIXLOC                                
015891,000230: 14,2245           54050                           TS       S1                                    
015892,000231: 14,2246           00002                           TC       Q                                     
015893,000232: 

Page 385

015895,000234: 14,2247           00006        PUTPOSX            EXTEND                                         #  COARSE ALIGNS STABLE MEMBER
015896,000235: 14,2250           23546                           QXCH     QPLACE                                
015897,000236: 
015898,000237: 14,2251           06112                           TC       INTPRET                               
015899,000238: 14,2252           77624                           CALL                                           
015900,000239: 14,2253           32655                                    CALCGA                                #  CALCULATE COARSE ALIGN GIMBAL ANGLES
015901,000240: 14,2254           77776                           EXIT                                           
015902,000241: 
015903,000242: 14,2255           05206                           TC       BANKCALL                              
015904,000243: 14,2256           26065                           CADR     IMUCOARS                              #  COARSE ALIGN MODE
015905,000244: 14,2257           05206                           TC       BANKCALL                              
015906,000245: 14,2260           26751                           CADR     IMUSTALL                              
015907,000246: 14,2261           12770                           TCF      ENDTEST                               
015908,000247: 14,2262           01546                           TC       QPLACE                                
015909,000248: 
015910,000249: 
015911,000250: 
015912,000251: 
015913,000252: 14,2263           00006        SMDCALC            EXTEND                                         #  FINE ALIGNS STABLE MEMBER
015914,000253: 14,2264           23546                           QXCH     QPLACE                                
015915,000254: 
015916,000255: 14,2265           06112                           TC       INTPRET                               
015917,000256: 14,2266           64375                           VLOAD    MXV                                   
015918,000257: 14,2267           02401                                    XSM                                   #  XSM DESIRED WRT EARTH REF FRAME
015919,000258: 14,2270           02445                                    STARAD                                #  THEN TO SM PRESENT OR NAV BASE FRAME
015920,000259: 14,2271           43172                           VSL1     BOFF                                  
015921,000260: 14,2272           00345                                    COAROFIN                              #  BIT10 FOR LEMLAB TEST
015922,000261: 14,2273           30276                                    +3                                    
015923,000262: 14,2274           34041                           STCALL   32D                                   
015924,000263: 14,2275           32555                                    NBSM                                  #  THEN TO SM PRESENT FRAME
015925,000264: 14,2276           26423                           STOVL    XDC                                   
015926,000265: 14,2277           02407                                    YSM                                   #  YSM DESIRED WRT EARTH REF FRAME
015927,000266: 
015928,000267: 14,2300           76521                           MXV      VSL1                                  
015929,000268: 14,2301           02445                                    STARAD                                #  THEN TO SM PRESENT OR NAV BASE FRAME
015930,000269: 14,2302           77614                           BOFF                                           
015931,000270: 14,2303           00345                                    COAROFIN                              #  BIT10 FOR LEMLAB TEST
015932,000271: 14,2304           30307                                    +3                                    
015933,000272: 14,2305           34041                           STCALL   32D                                   
015934,000273: 14,2306           32555                                    NBSM                                  #  THEN TO SM PRESENT FRAME
015935,000274: 14,2307           26431                           STOVL    YDC                                   
015936,000275: 14,2310           02423                                    XDC                                   
015937,000276: 
015938,000277: 14,2311           76435                           VXV      VSL1                                  
015939,000278: 14,2312           02431                                    YDC                                   
015940,000279: 14,2313           36437                           STCALL   ZDC                                   #  ZSM DESIRED WRT SM PRESENT FRAME
015941,000280: 14,2314           32425                                    CALCGTA                               #  CALCULATE FINE ALIGN TORQUING ANGLES
015942,000281: 
015943,000282: 14,2315           47170                           AXT,1    RTB                                   
015944,000283: 

Page 386

015946,000285: 14,2316           02500                           ECADR    OGC                                   #  X1 = BASE ADDRESS OF TORQUING ANGLES
015947,000286: 14,2317           33627                                    PULSEIMU                              #  TO PUT OUT GYRO TORQUING PULSES
015948,000287: 14,2320           77776                           EXIT                                           
015949,000288: 
015950,000289: 14,2321           05206                           TC       BANKCALL                              
015951,000290: 14,2322           26751                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
015952,000291: 14,2323           12770                           TCF      ENDTEST                               
015953,000292: 14,2324           01546                           TC       QPLACE                                
015954,000293: 

Page 387

015956,000295: 14,2325           77776        MAKEXSMD           EXIT                                           #  XSM V   YSM SW   ZSM SE
015957,000296: 
015958,000297: 14,2326           33703                           CAF      17DEC                                 #  ZERO XSM, YSM, AND ZSM
015959,000298: 14,2327           55777                           TS       ZERONDX                               
015960,000299: 14,2330           33721                           CAF      XSMADRX                               
015961,000300: 14,2331           05206                           TC       BANKCALL                              
015962,000301: 14,2332           51245                           CADR     ZEROING                               #          VERT       SOUTH      EAST
015963,000302: 
015964,000303: 14,2333           37746                           CAF      HALF                                  #  XSM    * +1          0          0     *
015965,000304: 14,2334           55400                           TS       XSM                                   #         *                              *
015966,000305: 14,2335           06112                           TC       INTPRET                               #         *                              *
015967,000306: 14,2336           73545                           DLOAD    SIN                                   #  YSM    *  0      +SIN(AZ)    +COS(AZ) *
015968,000307: 14,2337           02507                                    AZIMUTH                               #         *                              *
015969,000308: 14,2340           02411                           STORE    XSM        +8D                        #         *                              *
015970,000309: 14,2341           16421                           STODL    XSM        +16D                       #  ZSM    *  0      -COS(AZ)    +SIN(AZ) *
015971,000310: 14,2342           02507                                    AZIMUTH                               
015972,000311: 14,2343           77746                           COS                                            
015973,000312: 14,2344           02413                           STORE    XSM        +10D                       
015974,000313: 14,2345           77676                           DCOMP                                          
015975,000314: 14,2346           02417                           STORE    XSM        +14D                       
015976,000315: 14,2347           77616                           RVQ                                            
015977,000316: 
015978,000317: 
015979,000318: 
015980,000319: 14,2350           77170        TAR/EREF           AXT,1    AXT,2                                 #                TARGET VECTOR
015981,000320: 14,2351           00002                                    2                                     #  SIN(EL)  -COS(AZ)COS(EL)  SIN(AZ)COS(EL)
015982,000321: 14,2352           00014                                    12D                                   
015983,000322: 14,2353           77731                           SSP                                            
015984,000323: 14,2354           00052                                    S2                                    
015985,000324: 14,2355           00006                                    6                                     #  TARGET 1                        TARGET 2
015986,000325: 
015987,000326: 14,2356           60533        TAR1               SLOAD*   SR2                                   #  X1=2  X2=12  S2=6 . X1=0  X2=6  S2=6
015988,000327: 14,2357           02557                                    TAZEL1     +3,1                       
015989,000328: 14,2360           00001                           STORE    0                                     #  PD00           ELEVATION            PD00
015990,000329: 14,2361           77756                           SIN                                            
015991,000330: 14,2362           10023                           STORE    18D,2                                 #  PD06  ***       SIN(EL)        ***  PD12
015992,000331: 14,2363           77745                           DLOAD                                          
015993,000332: 14,2364           00001                                    0                                     
015994,000333: 14,2365           41546                           COS      PUSH                                  #  PDOO            COS(EL)             PD00
015995,000334: 14,2366           47133                           SLOAD*   RTB                                   
015996,000335: 14,2367           02556                                    TAZEL1     +2,1                       
015997,000336: 14,2370           33457                                    CDULOGIC                              
015998,000337: 14,2371           00003                           STORE    2                                     #  PD02            AZIMUTH             PD02
015999,000338: 14,2372           41356                           SIN      DMP                                   
016000,000339: 14,2373           00001                                    0                                     
016001,000340: 14,2374           77752                           SL1                                            
016002,000341: 14,2375           10027                           STORE    22D,2                                 #  PD10  ***   +SIN(AZ)COS(EL)    ***  PD16
016003,000342: 14,2376           77745                           DLOAD                                          
016004,000343: 14,2377           00003                                    2                                     
016005,000344: 14,2400           41346                           COS      DMP                                   

Page 388

016007,000346: 14,2401           57552                           SL1      DCOMP                                 
016008,000347: 14,2402           10025                           STORE    20D,2                                 #  PD08  ***   -COS(AZ)COS(EL)    ***  PD14
016009,000348: 
016010,000349: 14,2403           61170                           AXT,1    TIX,2                                 
016011,000350: 14,2404           00000                                    0                                     
016012,000351: 14,2405           30356                                    TAR1                                  
016013,000352: 14,2406           77616                           RVQ                                            
016014,000353: 

Page 389

016016,000355: 14,2407           65345        ERTHRVSE           DLOAD    PDDL                                  
016017,000356: 14,2410           33105                                    ZERODP                                #  PD24 = (SIN -COS  0)(OMEG/MS)
016018,000357: 14,2411           02511                                    LATITUDE                              
016019,000358: 14,2412           57546                           COS      DCOMP                                 
016020,000359: 14,2413           73525                           PDDL     SIN                                   
016021,000360: 14,2414           02511                                    LATITUDE                              #  EARTH RATE = .1504 ARCSEC / 10 MSEC
016022,000361: 14,2415           74266                           VDEF     VXSC                                  #  1.618 GYRO PULSES = 1 ARCSEC
016023,000362: 14,2416           31725                                    OMEG/MS                               #  OMEG/MS = .243... GYRO PULSES / 10 MSEC
016024,000363: 14,2417           02514                           STORE    ERVECTOR                              
016025,000364: 
016026,000365: 14,2420           77634                           RTB                                            
016027,000366: 14,2421           33454                                    LOADTIME                              
016028,000367: 14,2422           02565                           STORE    TMARK                                 #  TIME FOR GYRO DRIFT - PIPA SCALE FACTOR
016029,000368: 14,2423           77616                           RVQ                                            
016030,000369: 
016031,000370: 
016032,000371: 
016033,000372: 14,2424           05235        EARTHR             TC       MAKECADR                              #  CALCULATES AND COMPENSATES EARTH RATE
016034,000373: 14,2425           55547                           TS       QPLACES                               
016035,000374: 
016036,000375: 14,2426           04133                           TC       CHECKMM                               #  TEST FOR MAJOR MODE 4
016037,000376: 14,2427           00004                           OCT      4                                     #  IS PRELAUNCH OVER ?
016038,000377: 14,2430           12440                           TCF      GETPLTIM                              #  NO
016039,000378: 14,2431           00004                           INHINT                                         #  YES,
016040,000379: 14,2432           37763                           CA       BIT1                                  #  SET UP MP2TASK NOW
016041,000380: 14,2433           05663                           TC       WAITLIST                              
016042,000381: 14,2434  E3,1736                                  EBANK=   TGRR                                  
016043,000382: 14,2434           02003 56063                     2CADR    MP2TASK                               
016044,000383: 
016045,000384: 14,2436           32476                           CA       3.27CADR                              #  SET UP RETURN TO BYPASS PRELAUNCH
016046,000385: 14,2437           55547                           TS       QPLACES                               
016047,000386: 
016048,000387: 14,2440           00006        GETPLTIM           EXTEND                                         #  GET CURRENT TIME
016049,000388: 14,2441           30025                           DCA      TIME2                                 
016050,000389: 14,2442           52145                           DXCH     MPAC                                  
016051,000390: 14,2443           00006                           EXTEND                                         
016052,000391: 14,2444           30145                           DCA      MPAC                                  
016053,000392: 14,2445           53562                           DXCH     TEMPTIME                              #  STORE IN TEMPTIME BEFORE RELINT
016054,000393: 14,2446           00003                           RELINT                                         
016055,000394: 
016056,000395: 14,2447           37767                           CAF      ZERO                                  #  DECLARE DP MODE.
016057,000396: 14,2450           54153                           TS       MODE                                  
016058,000397: 14,2451           06112                           TC       INTPRET                               
016059,000398: 14,2452           54225                           DSU      SL                                    
016060,000399: 14,2453           02565                                    TMARK                                 #  T(PRES) - T(PREV) = DT    SCALED 10 MSEC
016061,000400: 14,2454           20212                                    9D                                    #  2 TO 21ST POWER = 1 REVOLUTION
016062,000401: 14,2455           64361                           VXSC     MXV                                   
016063,000402: 14,2456           02514                                    ERVECTOR                              #  VT = (SIN  -COS  0)(OMEG/MS)(DT)

Page 390

016065,000404: 14,2457           02401                                    XSM                                   #  (XSM)(VT) = EARTH RATE COMPENSATION
016066,000405: 14,2460           77655                           VAD                                            
016067,000406: 14,2461           02772                                    ERCOMP                                
016068,000407: 14,2462           16772                           STODL    ERCOMP                                
016069,000408: 14,2463           02562                                    TEMPTIME                              
016070,000409: 14,2464           02565                           STORE    TMARK                                 #  T(PREVIOUS)
016071,000410: 
016072,000411: 14,2465           47170                           AXT,1    RTB                                   
016073,000412: 14,2466           02771                           ECADR    ERCOMP                                
016074,000413: 14,2467           33627                                    PULSEIMU                              #  TO PUT OUT GYRO TORQUING PULSES
016075,000414: 14,2470           77776                           EXIT                                           
016076,000415: 
016077,000416: 14,2471           05206                           TC       BANKCALL                              
016078,000417: 14,2472           26751                           CADR     IMUSTALL                              #  WAIT FOR PULSES TO GET OUT
016079,000418: 14,2473           12770                           TCF      ENDTEST                               
016080,000419: 14,2474           31547                           CAE      QPLACES                               
016081,000420: 14,2475           15230                           TCF      BANKJUMP                              
016082,000421: 
016083,000422: 14,2476           72651        3.27CADR           CADR     REDO3.27                              
016084,000423: 
016085,000424: 
016086,000425: 14,2477           00006        STORRSLT           EXTEND                                         
016087,000426: 14,2500           23546                           QXCH     QPLACE                                
016088,000427: 
016089,000428: 14,2501           06112                           TC       INTPRET                               #  DP TIME IN MPAC SCALED .312(5) MSEC
016090,000429: 14,2502           54340                           LXC,1    SL                                    
016091,000430: 14,2503           02537                                    NDXCTR                                
016092,000431: 14,2504           20204                                    3                                     
016093,000432: 14,2505           47005                           DMP      RTB                                   
016094,000433: 14,2506           31723                                    SCALFTR                               
016095,000434: 14,2507           33520                                    SGNAGREE                              
016096,000435: 14,2510           06571                           STORE    GENPL,1                               #  STORE DP TIME
016097,000436: 14,2511           77776                           EXIT                                           
016098,000437: 
016099,000438: 14,2512           57551                           XCH      STOREPL                               #  CONTAINS C(PIPAI)
016100,000439: 14,2513           51537                           INDEX    NDXCTR                                
016101,000440: 14,2514           55572                           TS       GENPL      +2                         #  STORE PIPA COUNTER READING
016102,000441: 14,2515           41537                           CS       NDXCTR                                
016103,000442: 14,2516           63707                           AD       72DEC                                 
016104,000443: 14,2517           00006                           EXTEND                                         
016105,000444: 14,2520           63146                           BZMF     MISALIGN                              #  TO CALCULATE MISALIGNMENT
016106,000445: 14,2521           36311                           CAF      THREE                                 
016107,000446: 14,2522           27537                           ADS      NDXCTR                                
016108,000447: 14,2523           01546                           TC       QPLACE                                
016109,000448: 
016110,000449: 14,2524           00006        OPTDATA            EXTEND                                         #  CALLS FOR AZIMUTH AND ELEVATION OF
016111,000450: 14,2525           23546                           QXCH     QPLACE                                #     TARGET 1, THEN TARGET 2
016112,000451: 
016113,000452: 14,2526           37763                           CAF      BIT1                                  #  AZIMUTH CLOCKWISE FROM NORTH TO TARGET

Page 391

016115,000454: 14,2527           22007                           ZL                                             #  ELEVATION MEASURED FROM HORIZONTAL
016116,000455: 14,2530           23550                           LXCH     RUN                                   
016117,000456: 14,2531           54341                           TS       DSPTEM1    +2                         
016118,000457: 14,2532           33675                           CAF      V05N30E                               #  DISPLAY TARGET NUMBER IN R3
016119,000458: 14,2533           04657                           TC       NVSBWAIT                              
016120,000459: 14,2534           51550                           INDEX    RUN                                   
016121,000460: 14,2535           53554                           DXCH     TAZEL1                                
016122,000461: 14,2536           52340                           DXCH     DSPTEM1                               
016123,000462: 
016124,000463: 14,2537           02577                           TC       CHECKLD                               #  R1  +- XXX.XX    AZIMUTH IN DEGREES
016125,000464: 14,2540           00661                           OCT      00661                                 #  R2  +- XX.XXX    ELEVATION IN DEGREES
016126,000465: 14,2541           12770                           TCF      ENDTEST                               #  R3      0000X    TARGET NUMBER 1 OR 2
016127,000466: 
016128,000467: 14,2542           52340                           DXCH     DSPTEM1                               #  TAZEL1        TARGET 1 AZIMUTH
016129,000468: 14,2543           51550                           INDEX    RUN                                   
016130,000469: 14,2544           53554                           DXCH     TAZEL1                                #  TAZEL1 +2     TARGET 2 AZIMUTH
016131,000470: 14,2545           11550                           CCS      RUN                                   
016132,000471: 14,2546           12552                           TCF      +4                                    
016133,000472: 14,2547           37762        OPTRDRIN           CAF      TWO                                   #  SPECIAL ENTRY FOR RDR37511
016134,000473: 14,2550           54001                           TS       L                                     
016135,000474: 14,2551           12530                           TCF      OPTDATA    +4                         #  MPAC    1ST PASS = 0    2ND PASS = 2
016136,000475: 14,2552           01546                           TC       QPLACE                                
016137,000476: 

Page 392

016139,000478: 14,2553           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH (SM) AND LATITUDE
016140,000479: 14,2554           02511                                    LATITUDE                              
016141,000480: 14,2555           14341                           STODL    DSPTEM1    +1                         
016142,000481: 14,2556           02507                                    AZIMUTH                               #  ...NOT REALLY...
016143,000482: 
016144,000483: 14,2557           77434                           RTB      EXIT                                  
016145,000484: 14,2560           33522                                    1STO2S                                #  FRACTION OF REVOLUTION TO 2S COMPLEMENT
016146,000485: 
016147,000486: 14,2561           56144                           XCH      MPAC                                  #  AZIMUTH MUST BE 135 DEGREES R1 = .13500
016148,000487: 14,2562           54337                           TS       DSPTEM1                               #     FOR SXT-NB-IMU FINE ALIGNMENT TEST
016149,000488: 14,2563           02577                           TC       CHECKLD                               #  R1  +- XXX.XX    AZIMUTH IN DEGREES (SM)
016150,000489: 14,2564           00661                           OCT      00661                                 #  R2  +- XX.XXX    LATITUDE IN DEGREES
016151,000490: 14,2565           12770                           TCF      ENDTEST                               #  R3               NOT USED
016152,000491: 
016153,000492: 14,2566           06112                           TC       INTPRET                               
016154,000493: 14,2567           47135                           SLOAD    RTB                                   
016155,000494: 14,2570           00340                                    DSPTEM1                               
016156,000495: 14,2571           33457                                    CDULOGIC                              #  BACK TO FRACTION OF REVOLUTION
016157,000496: 14,2572           02507                           STORE    AZIMUTH                               
016158,000497: 
016159,000498: 14,2573           60535                           SLOAD    SR2                                   
016160,000499: 14,2574           00341                                    DSPTEM1    +1                         
016161,000500: 14,2575           02511                           STORE    LATITUDE                              
016162,000501: 14,2576           77616                           RVQ                                            
016163,000502: 
016164,000503: 
016165,000504: 14,2577           00006        CHECKLD            EXTEND                                         
016166,000505: 14,2600           23545                           QXCH     QPLAC                                 
016167,000506: 
016168,000507: 14,2601           51545                           INDEX    QPLAC                                 
016169,000508: 14,2602           30000                           CA       A                                     
016170,000509: 14,2603           04444                           TC       NVSUB                                 
016171,000510: 14,2604           12616                           TCF      CHECKLD1                              
016172,000511: 
016173,000512: 14,2605           04622                           TC       FLASHON                               
016174,000513: 
016175,000514: 14,2606           04475                           TC       ENDIDLE                               #  CHANGE R1  V21 N61 E  +- XXX.XX E
016176,000515: 14,2607           12612                           TCF      +3                                    #  CHANGE R2  V22 N61 E  +- XX.XXX E
016177,000516: 14,2610           12614                           TCF      +4                                    #  VERIFY, THEN PROCEED WITH VERB 33 ENTER
016178,000517: 14,2611           12601                           TCF      CHECKLD    +2                         
016179,000518: 14,2612           51545                           INDEX    QPLAC                                 
016180,000519: 14,2613           00001                           TC       1                                     
016181,000520: 14,2614           51545                           INDEX    QPLAC                                 
016182,000521: 14,2615           00002                           TC       2                                     
016183,000522: 
016184,000523: 14,2616           32620        CHECKLD1           CAF      CHECKLD2                              
016185,000524: 14,2617           04654                           TC       NVSUBUSY                              
016186,000525: 14,2620           30601        CHECKLD2           CADR     CHECKLD    +2                         
016187,000526: 

Page 393

016189,000528: 14,2621           00006        POSNJUMP           EXTEND                                         #  POSITIONS FOR SXTNBIMU
016190,000529: 14,2622           23546                           QXCH     QPLACE                                
016191,000530: 
016192,000531: 14,2623           51544                           INDEX    POSITON                               
016193,000532: 14,2624           12625                           TCF      +1                                    
016194,000533: 14,2625           12770                           TCF      ENDTEST                               
016195,000534: 14,2626           12633                           TCF      POS1                                  
016196,000535: 14,2627           12640                           TCF      POS2                                  
016197,000536: 14,2630           12656                           TCF      POS3                                  
016198,000537: 14,2631           12677                           TCF      POS4                                  
016199,000538: 14,2632           12731                           TCF      POS5                                  
016200,000539: 
016201,000540: 
016202,000541: 
016203,000542: 14,2633           37763        POS1               CAF      ONE                                   #  XSM = V    YSM = SW    ZSM = SE
016204,000543: 14,2634           55542                           TS       PIPNDX                                
016205,000544: 14,2635           37762                           CAF      TWO                                   
016206,000545: 14,2636           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAY AND PIPAZ
016207,000546: 14,2637           01546                           TC       QPLACE                                
016208,000547: 
016209,000548: 
016210,000549: 
016211,000550: 14,2640           06112        POS2               TC       INTPRET                               #  XSM = SE   YSM = SW    ZSM = -V
016212,000551: 14,2641           57575                           VLOAD    VCOMP                                 
016213,000552: 14,2642           02401                                    XSM                                   
016214,000553: 14,2643           77715                           PDVL                                           
016215,000554: 14,2644           02415                                    ZSM                                   
016216,000555: 14,2645           26401                           STOVL    XSM                                   
016217,000556: 14,2646           77626                           STADR                                          
016218,000557: 14,2647           75362                           STORE    ZSM                                   
016219,000558: 14,2650           77776                           EXIT                                           
016220,000559: 14,2651           37767                           CAF      ZERO                                  
016221,000560: 14,2652           55542                           TS       PIPNDX                                
016222,000561: 14,2653           37763                           CAF      ONE                                   
016223,000562: 14,2654           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAX AND PIPAY
016224,000563: 14,2655           01546                           TC       QPLACE                                
016225,000564: 
016226,000565: 
016227,000566: 
016228,000567: 14,2656           06112        POS3               TC       INTPRET                               #  XSM = SE    YSM = V    ZSM = SW
016229,000568: 14,2657           63375                           VLOAD    PDVL                                  
016230,000569: 14,2660           02401                                    XSM                                   
016231,000570: 14,2661           02407                                    YSM                                   
016232,000571: 14,2662           77715                           PDVL                                           
016233,000572: 14,2663           02415                                    ZSM                                   
016234,000573: 14,2664           26401                           STOVL    XSM                                   
016235,000574: 
016236,000575: 14,2665           77626                           STADR                                          
016237,000576: 14,2666           51362                           STOVL    ZSM                                   
016238,000577: 

Page 394

016240,000579: 14,2667           77626                           STADR                                          
016241,000580: 14,2670           75370                           STORE    YSM                                   
016242,000581: 14,2671           77776                           EXIT                                           
016243,000582: 14,2672           37767                           CAF      ZERO                                  
016244,000583: 14,2673           55542                           TS       PIPNDX                                
016245,000584: 14,2674           37762                           CAF      TWO                                   
016246,000585: 14,2675           55543                           TS       PIPNDX     +1                         #  MONITOR PIPAX AND PIPAZ
016247,000586: 14,2676           01546                           TC       QPLACE                                
016248,000587: 
016249,000588: 
016250,000589: 
016251,000590: 14,2677           37757        POS4               CAF      BIT5                                  #  OPTION TO ALIGN SM TO SPECIFIED ANGLES
016252,000591: 14,2700           60110                           AD       FIXLOC                                
016253,000592: 14,2701           50110                           INDEX    FIXLOC                                
016254,000593: 14,2702           54050                           TS       S1                                    #  BASE ADDRESS GIMBAL ANGLES
016255,000594: 14,2703           33701                           CAF      V25N22E                               #  R1  +- XXX.XX   OUTER GIMBAL ANGLE
016256,000595: 14,2704           04657                           TC       NVSBWAIT                              #  R2  +- XXX.XX   INNER GIMBAL ANGLE
016257,000596: 14,2705           04475                           TC       ENDIDLE                               #  R3  +- XXX.XX   MIDDLE GIMBAL ANGLE
016258,000597: 14,2706           12770                           TCF      ENDTEST                               
016259,000598: 14,2707           12703                           TCF      -4                                    
016260,000599: 14,2710           30400                           CA       THETAD                                #  SET UP ANGLES FOR SMNB
016261,000600: 14,2711           50110                           INDEX    FIXLOC                                
016262,000601: 14,2712           54024                           TS       24                                    
016263,000602: 14,2713           30401                           CA       THETAD     +1                         
016264,000603: 14,2714           50110                           INDEX    FIXLOC                                
016265,000604: 14,2715           54020                           TS       20                                    
016266,000605: 14,2716           30402                           CA       THETAD     +2                         
016267,000606: 14,2717           50110                           INDEX    FIXLOC                                
016268,000607: 14,2720           54022                           TS       22                                    
016269,000608: 
016270,000609: 14,2721           06112                           TC       INTPRET                               
016271,000610: 14,2722           45034                           RTB      CALL                                  
016272,000611: 14,2723           33031                                    TRANSPSE                              #  EARTH REF WRT NAV BASE
016273,000612: 14,2724           33043                                    SMD/EREF                              #  STABLE MEMBER DESIRED WRT EARTH REF
016274,000613: 14,2725           77634                           RTB                                            
016275,000614: 14,2726           33031                                    TRANSPSE                              #  BACK TO NAV BASE WRT TO EARTH REF
016276,000615: 14,2727           77776                           EXIT                                           
016277,000616: 14,2730           01546                           TC       QPLACE                                
016278,000617: 

Page 395

016280,000619: 14,2731           31546        POS5               CA       QPLACE                                #  OPTION TO ALIGN SM TO ANY ORIENTATION
016281,000620: 14,2732           55551                           TS       STOREPL                               #    WRT EARTH REFERENCE FRAME
016282,000621: 
016283,000622: 14,2733           02524                           TC       OPTDATA                               #  LOAD YSM AND ZSM AZIMUTH AND ELEVATION
016284,000623: 
016285,000624: 14,2734           06112                           TC       INTPRET                               
016286,000625: 14,2735           77624                           CALL                                           
016287,000626: 14,2736           30350                                    TAR/EREF                              #  CALC YSM AND ZSM WRT EARTH REF. FRAME
016288,000627: 14,2737           41575                           VLOAD    PUSH                                  
016289,000628: 14,2740           00007                                    6D                                    
016290,000629: 14,2741           02407                           STORE    YSM                                   
016291,000630: 14,2742           76435                           VXV      VSL1                                  
016292,000631: 14,2743           00015                                    12D                                   
016293,000632: 14,2744           02401                           STORE    XSM                                   #  XSM = (YSM) X (ZSM)
016294,000633: 14,2745           76435                           VXV      VSL1                                  
016295,000634: 14,2746           77626                           STADR                                          
016296,000635: 14,2747           75362                           STORE    ZSM                                   #  ZSM = (XSM) X (YSM)
016297,000636: 14,2750           77776                           EXIT                                           
016298,000637: 
016299,000638: 14,2751           01551                           TC       STOREPL                               

Page 396

016301,000640: 14,2752           00006        OGCZERO            EXTEND                                         #  ZERO EARTH RATE TORQUING ANGLES
016302,000641: 14,2753           23546                           QXCH     QPLACE                                
016303,000642: 
016304,000643: 14,2754           06112                           TC       INTPRET                               
016305,000644: 14,2755           77775                           VLOAD                                          
016306,000645: 14,2756           33105                                    ZERODP                                #  VECTOR IN THIS CASE
016307,000646: 14,2757           02772                           STORE    ERCOMP                                
016308,000647: 14,2760           77776                           EXIT                                           
016309,000648: 14,2761           01546                           TC       QPLACE                                
016310,000649: 
016311,000650: 
016312,000651: 
016313,000652: 14,2762           37756        GMLCKCHK           CAF      BIT6                                  #  CHECK FOR GIMBAL LOCK  (MGA GREATER 70)
016314,000653: 14,2763           70326                           MASK     DSPTAB     +11D                       
016315,000654: 14,2764           00006                           EXTEND                                         
016316,000655: 14,2765           12767                           BZF      +2                                    
016317,000656: 14,2766           12770                           TCF      ENDTEST                               
016318,000657: 14,2767           00002                           TC       Q                                     
016319,000658: 
016320,000659: 
016321,000660: 
016322,000661: 14,2770           37754        ENDTEST            CA       IMUSEFLG                              #  BIT8
016323,000662: 14,2771           67755                           AD       RRUSEFLG                              #  BIT7
016324,000663: 14,2772           40000                           CS       A                                     
016325,000664: 14,2773           00004                           INHINT                                         
016326,000665: 14,2774           70074                           MASK     STATE                                 
016327,000666: 14,2775           54074                           TS       STATE                                 
016328,000667: 
016329,000668: 14,2776           04117                           TC       NEWMODEX                              
016330,000669: 14,2777           00000                           OCT      00000                                 
016331,000670: 
016332,000671: 14,3000           05206                           TC       BANKCALL                              
016333,000672: 14,3001           27046                           CADR     MKRELEAS                              #  RELEASE MARK SYSTEM
016334,000673: 14,3002           05566                           TC       EJFREE                                
016335,000674: 

Page 397

016337,000676: 14,3003           06112        LEMLAB             TC       INTPRET                               
016338,000677: 14,3004           57575                           VLOAD    VCOMP                                 
016339,000678: 14,3005           33101                                    YUNIT                                 
016340,000679: 
016341,000680: 14,3006           02437                           STORE    ZNB                                   #  XNB MATRIX USED IN CALCGA
016342,000681: 14,3007           26461                           STOVL    STARAD     +12D                       #  STARAD MATRIX USED IN AXISGEN * SMDCALC
016343,000682: 14,3010           33103                                    XUNIT                                 
016344,000683: 
016345,000684: 14,3011           02423                           STORE    XNB                                   #  *XNB*   *1    0    0* *V*
016346,000685: 14,3012           26445                           STOVL    STARAD                                #  *   *   *           * * *
016347,000686: 14,3013           33077                                    ZUNIT                                 #  *YNB* = *0    0    1* *S*
016348,000687: 14,3014           02431                           STORE    YNB                                   #  *   *   *           * * *
016349,000688: 14,3015           02453                           STORE    STARAD     +6                         #  *ZNB*   *0   -1    0* *E*
016350,000689: 14,3016           77776                           EXIT                                           
016351,000690: 
016352,000691: 14,3017           41544                           CS       POSITON                               
016353,000692: 14,3020           66311                           AD       THREE                                 
016354,000693: 14,3021           00006                           EXTEND                                         
016355,000694: 14,3022           13024                           BZF      +2                                    
016356,000695: 14,3023           13037                           TCF      LEMLAB1                               
016357,000696: 
016358,000697: 14,3024           06112                           TC       INTPRET                               
016359,000698: 14,3025           57575                           VLOAD    VCOMP                                 
016360,000699: 14,3026           02423                                    XNB                                   
016361,000700: 14,3027           77715                           PDVL                                           #  *XNB*   * 0   -1    0* *V*
016362,000701: 14,3030           02437                                    ZNB                                   #  *   *   *            * * *
016363,000702: 14,3031           02423                           STORE    XNB                                   #  *YNB* = * 0    0    1* *S*
016364,000703: 14,3032           26445                           STOVL    STARAD                                #  *   *   *            * * *
016365,000704: 14,3033           77626                           STADR                                          #  *ZNB*   *-1    0    0* * *
016366,000705: 14,3034           75340                           STORE    ZNB                                   
016367,000706: 14,3035           02461                           STORE    STARAD     +12D                       
016368,000707: 14,3036           77776                           EXIT                                           
016369,000708: 
016370,000709: 14,3037           05206        LEMLAB1            TC       BANKCALL                              
016371,000710: 14,3040           26751                           CADR     IMUSTALL                              #  INSURE IMUZERO COMPLETION
016372,000711: 
016373,000712: 14,3041           12770                           TCF      ENDTEST                               
016374,000713: 
016375,000714: 14,3042           02621                           TC       POSNJUMP                              #  SET UP STABLE MEMBER DESIRED COORDINATES
016376,000715: 14,3043           04724                           TC       FREEDSP                               #  FREE DISPLAY SYSTEM
016377,000716: 14,3044           02247                           TC       PUTPOSX                               #  TO COARSE ALIGN STABLE MEMBER
016378,000717: 
016379,000718: 14,3045           02762                           TC       GMLCKCHK                              
016380,000719: 
016381,000720: 14,3046           05206                           TC       BANKCALL                              
016382,000721: 14,3047           26252                           CADR     IMUFINE                               #  FINE ALIGN MODE
016383,000722: 14,3050           05206                           TC       BANKCALL                              
016384,000723: 14,3051           26751                           CADR     IMUSTALL                              
016385,000724: 14,3052           12770                           TCF      ENDTEST                               
016386,000725: 

Page 398

016388,000727: 14,3053           30032                           CA       CDUX                                  
016389,000728: 14,3054           50110                           INDEX    FIXLOC                                
016390,000729: 14,3055           54024                           TS       24                                    
016391,000730: 14,3056           30033                           CA       CDUY                                  
016392,000731: 14,3057           50110                           INDEX    FIXLOC                                
016393,000732: 14,3060           54020                           TS       20                                    
016394,000733: 14,3061           30034                           CA       CDUZ                                  
016395,000734: 14,3062           50110                           INDEX    FIXLOC                                
016396,000735: 14,3063           54022                           TS       22                                    
016397,000736: 
016398,000737: 14,3064           37757                           CAF      BIT5                                  
016399,000738: 14,3065           60110                           AD       FIXLOC                                
016400,000739: 14,3066           50110                           INDEX    FIXLOC                                
016401,000740: 14,3067           54050                           TS       S1                                    
016402,000741: 
016403,000742: 14,3070           02263                           TC       SMDCALC                               #  TO FINE ALIGN STABLE MEMBER
016404,000743: 
016405,000744: 14,3071           06112                           TC       INTPRET                               #  IF EARTH RATE COMPENSATION DESIRED
016406,000745: 14,3072           77634                           RTB                                            
016407,000746: 14,3073           33454                                    LOADTIME                              
016408,000747: 14,3074           02565                           STORE    TMARK                                 
016409,000748: 14,3075           77776                           EXIT                                           
016410,000749: 
016411,000750: 14,3076           41512                           CS       EROPTN                                
016412,000751: 14,3077           67762                           AD       TWO                                   
016413,000752: 14,3100           00006                           EXTEND                                         
016414,000753: 14,3101           13103                           BZF      +2                                    
016415,000754: 
016416,000755: 14,3102           12051                           TCF      ERFINAL    +2                         
016417,000756: 
016418,000757: 14,3103           05206                           TC       BANKCALL                              
016419,000758: 14,3104           47236                           CADR     SAMODRTN                              #  RETURN TO SEMI-AUTOMATIC MODING TEST
016420,000759: 

Page 399

016422,000761: 14,3105           33717        RDR37511           CAF      RDRRETN                               #  RENDEZVOUS RADAR AND ANTENNA TRACKING
016423,000762: 14,3106           55546                           TS       QPLACE                                #  TO RETURN FROM OPTDATA
016424,000763: 
016425,000764: 14,3107           05206                           TC       BANKCALL                              
016426,000765: 14,3110           20250                           CADR     RRZERO                                
016427,000766: 
016428,000767: 14,3111           05206                           TC       BANKCALL                              
016429,000768: 14,3112           22760                           CADR     AURLOKON                              #  OPERATOR DECISION TO LOCK ON OR NOT
016430,000769: 
016431,000770: 14,3113           12547        RDR1               TCF      OPTRDRIN                              #  CALL FOR AZIMUTH AND ELEVATION
016432,000771: 
016433,000772: 14,3114           05206                           TC       BANKCALL                              
016434,000773: 14,3115           26745                           CADR     RADSTALL                              
016435,000774: 14,3116           15567                           TCF      ENDOFJOB                              
016436,000775: 
016437,000776: 14,3117           06112                           TC       INTPRET                               
016438,000777: 14,3120           77170                           AXT,1    AXT,2                                 #  SET UP X1 AND X2 FOR TAR/EREF
016439,000778: 14,3121           00000                                    0                                     
016440,000779: 14,3122           00006                                    6                                     
016441,000780: 14,3123           77624                           CALL                                           
016442,000781: 14,3124           30353                                    TAR/EREF   +3                         #  LINE-OF-SIGHT WRT EARTH REF FRAME
016443,000782: 14,3125           64375                           VLOAD    MXV                                   
016444,000783: 14,3126           00015                                    12D                                   #  LINE-OF-SIGHT WRT EARTH REF FRAME
016445,000784: 14,3127           02401                                    XSM                                   #  TO STABLE MEMBER PRESENT FRAME
016446,000785: 14,3130           77772                           VSL1                                           
016447,000786: 14,3131           34415                           STCALL   RRTARGET                              
016448,000787: 14,3132           20307                                    RRDESSM                               
016449,000788: 
016450,000789: 14,3133           13140                           TCF      37511ALM                              
016451,000790: 14,3134           05206                           TC       BANKCALL                              
016452,000791: 14,3135           26745                           CADR     RADSTALL                              
016453,000792: 14,3136           15567                           TCF      ENDOFJOB                              
016454,000793: 14,3137           15567                           TCF      ENDOFJOB                              
016455,000794: 
016456,000795: 
016457,000796: 
016458,000797: 14,3140           04755        37511ALM           TC       ALARM                                 
016459,000798: 14,3141           00524                           OCT      524                                   
016460,000799: 14,3142           15567                           TCF      ENDOFJOB                              
016461,000800: 
016462,000801: 
016463,000802: 
016464,000803: 14,3143           47767        RDRINIT            CS       ZERO                                  
016465,000804: 14,3144           55512                           TS       EROPTN                                
016466,000805: 14,3145           12002                           TCF      AOTNBIMU   +2                         
016467,000806: 

Page 400

016469,000808: 14,3146           04644        MISALIGN           TC       GRABWAIT                              #  DISPLAY SYSTEM WAS FREED
016470,000809: 14,3147           37767                           CAF      ZERO                                  
016471,000810: 14,3150           55537                           TS       NDXCTR                                
016472,000811: 14,3151           51537        BBBB               INDEX    NDXCTR                                
016473,000812: 14,3152           41674                           CS       GENPL      +68D                       
016474,000813: 14,3153           51537                           INDEX    NDXCTR                                
016475,000814: 14,3154           27702                           ADS      GENPL      +74D                       
016476,000815: 14,3155           33705                           CAF      63DEC                                 
016477,000816: 14,3156           61537                           AD       NDXCTR                                
016478,000817: 14,3157           10000                           CCS      A                                     
016479,000818: 14,3160           46311                           CS       THREE                                 
016480,000819: 14,3161           27537                           ADS      NDXCTR                                
016481,000820: 14,3162           13151                           TCF      BBBB                                  
016482,000821: 14,3163           55537                           TS       NDXCTR                                
016483,000822: 
016484,000823: 
016485,000824: 
016486,000825: 14,3164           06112        CCCC               TC       INTPRET                               
016487,000826: 14,3165           70750                           LXA,1    DLOAD*                                
016488,000827: 14,3166           02537                                    NDXCTR                                
016489,000828: 14,3167           02701                                    GENPL      +72D,1                     
016490,000829: 14,3170           77625                           DSU                                            
016491,000830: 14,3171           02571                                    GENPL                                 
016492,000831: 14,3172           06701                           STORE    GENPL      +72D,1                     
016493,000832: 14,3173           77776                           EXIT                                           
016494,000833: 14,3174           41537                           CS       NDXCTR                                
016495,000834: 14,3175           63706                           AD       69DEC                                 
016496,000835: 14,3176           10000                           CCS      A                                     
016497,000836: 14,3177           36311                           CAF      THREE                                 
016498,000837: 14,3200           27537                           ADS      NDXCTR                                
016499,000838: 14,3201           13164                           TCF      CCCC                                  
016500,000839: 14,3202           55550                           TS       RUN                                   
016501,000840: 14,3203           36311                           CAF      THREE                                 
016502,000841: 14,3204           55537                           TS       NDXCTR                                
016503,000842: 
016504,000843: 
016505,000844: 
016506,000845: 14,3205           06112        DDDD               TC       INTPRET                               
016507,000846: 14,3206           77775                           VLOAD                                          
016508,000847: 14,3207           33105                                    ZERODP                                
016509,000848: 14,3210           00031                           STORE    24D                                   
016510,000849: 14,3211           00037                           STORE    30D                                   
016511,000850: 14,3212           77735                           SLOAD                                          
016512,000851: 14,3213           31703                                    11DEC                                 
016513,000852: 14,3214           00041                           STORE    32D                                   
016514,000853: 14,3215           77776                           EXIT                                           
016515,000854: 
016516,000855: 14,3216           06112        DDDD1              TC       INTPRET                               
016517,000856: 14,3217           70750                           LXA,1    DLOAD*                                
016518,000857: 14,3220           02537                                    NDXCTR                                
016519,000858: 

Page 401

016521,000860: 14,3221           02701                                    GENPL      +72D,1                     
016522,000861: 14,3222           41423                           DSU*     PUSH                                  
016523,000862: 14,3223           02673                                    GENPL      +66D,1                     
016524,000863: 14,3224           42742                           SR1      DAD*                                  
016525,000864: 14,3225           02673                                    GENPL      +66D,1                     
016526,000865: 14,3226           06701                           STORE    GENPL      +72D,1                     
016527,000866: 
016528,000867: 14,3227           43312                           SL2      DAD                                   
016529,000868: 14,3230           00031                                    24D                                   
016530,000869: 14,3231           20031                           STODL*   24D                                   
016531,000870: 14,3232           02701                                    GENPL      +72D,1                     
016532,000871: 14,3233           63412                           SL4      DSQ                                   
016533,000872: 14,3234           77615                           DAD                                            
016534,000873: 14,3235           00033                                    26D                                   
016535,000874: 14,3236           00033                           STORE    26D                                   
016536,000875: 14,3237           77776                           EXIT                                           
016537,000876: 14,3240           31550                           CAE      RUN                                   
016538,000877: 14,3241           61537                           AD       NDXCTR                                
016539,000878: 14,3242           40000                           COM                                            
016540,000879: 14,3243           63705                           AD       63DEC                                 
016541,000880: 14,3244           10000                           CCS      A                                     
016542,000881: 14,3245           36306                           CAF      SIX                                   
016543,000882: 14,3246           27537                           ADS      NDXCTR                                
016544,000883: 14,3247           13216                           TCF      DDDD1                                 
016545,000884: 14,3250           61550                           AD       RUN                                   
016546,000885: 14,3251           55537                           TS       NDXCTR                                
016547,000886: 
016548,000887: 
016549,000888: 
016550,000889: 14,3252           06112        EEEE               TC       INTPRET                               
016551,000890: 14,3253           66740                           LXC,1    SLOAD*                                
016552,000891: 14,3254           02537                                    NDXCTR                                
016553,000892: 14,3255           02604                                    GENPL      +11D,1                     
016554,000893: 14,3256           00043                           STORE    34D                                   
016555,000894: 14,3257           77745                           DLOAD                                          
016556,000895: 14,3260           54206                           PUSH     SL                                    
016557,000896: 14,3261           20211                                    8D                                    
016558,000897: 14,3262           43265                           BDDV     DAD                                   
016559,000898: 14,3263           00043                                    34D                                   
016560,000899: 14,3264           00035                                    28D                                   
016561,000900: 14,3265           14035                           STODL    28D                                   
016562,000901: 14,3266           55261                           SL       BDDV                                  
016563,000902: 14,3267           20207                                    6                                     
016564,000903: 14,3270           00043                                    34D                                   
016565,000904: 14,3271           42523                           PDDL*    SL4                                   
016566,000905: 14,3272           02602                                    GENPL      +9D,1                      
016567,000906: 14,3273           77605                           DMP                                            
016568,000907: 14,3274           77615                           DAD                                            
016569,000908: 14,3275           00037                                    30D                                   
016570,000909: 14,3276           00037                           STORE    30D                                   
016571,000910: 

Page 402

016573,000912: 14,3277           77776                           EXIT                                           
016574,000913: 14,3300           41537                           CS       NDXCTR                                
016575,000914: 14,3301           63704                           AD       60DEC                                 
016576,000915: 14,3302           61550                           AD       RUN                                   
016577,000916: 14,3303           10000                           CCS      A                                     
016578,000917: 14,3304           36306                           CAF      SIX                                   
016579,000918: 14,3305           27537                           ADS      NDXCTR                                
016580,000919: 14,3306           13252                           TCF      EEEE                                  
016581,000920: 
016582,000921: 
016583,000922: 
016584,000923: 14,3307           06112                           TC       INTPRET                               
016585,000924: 14,3310           41345                           DLOAD    DMP                                   
016586,000925: 14,3311           00031                                    24D                                   
016587,000926: 14,3312           00037                                    30D                                   
016588,000927: 14,3313           41325                           PDDL     DMP                                   
016589,000928: 14,3314           00033                                    26D                                   
016590,000929: 14,3315           00035                                    28D                                   
016591,000930: 14,3316           77625                           DSU                                            
016592,000931: 14,3317           63525                           PDDL     DSQ                                   
016593,000932: 14,3320           00031                                    24D                                   
016594,000933: 14,3321           65342                           SR1      PDDL                                  
016595,000934: 14,3322           00041                                    32D                                   
016596,000935: 14,3323           41261                           SL       DMP                                   
016597,000936: 14,3324           20212                                    11                                    
016598,000937: 14,3325           00033                                    26D                                   
016599,000938: 14,3326           55225                           DSU      BDDV                                  
016600,000939: 14,3327           54205                           DMP      SL                                    
016601,000940: 14,3330           31716                                    KKKK                                  
016602,000941: 14,3331           20204                                    3                                     
016603,000942: 14,3332           00343                           STORE    DSPTEM2                               
016604,000943: 14,3333           77776                           EXIT                                           
016605,000944: 
016606,000945: 14,3334           31544                           CA       POSITON                               
016607,000946: 14,3335           54344                           TS       DSPTEM2    +2                         
016608,000947: 
016609,000948: 14,3336           33677                           CAF      V06N66E                               
016610,000949: 14,3337           04657                           TC       NVSBWAIT                              
016611,000950: 14,3340           04622                           TC       FLASHON                               
016612,000951: 14,3341           04475                           TC       ENDIDLE                               
016613,000952: 14,3342           12770                           TCF      ENDTEST                               
016614,000953: 14,3343           36311                           CAF      THREE                                 
016615,000954: 14,3344           55550                           TS       RUN                                   
016616,000955: 14,3345           37767                           CAF      ZERO                                  
016617,000956: 14,3346           13204                           TCF      DDDD       -1                         
016618,000957: 

Page 403

016620,000959:                                                                                                  #  THIS REVISION REFLECTS CHANGES AS OF
016621,000960:                                                                                                  #   1/31/66
016622,000961:                                                                                                  #  ENGINE ON/OFF NOW IN CHANNEL ELEVEN.  THE BITS FOR EACH CHANNEL GET TURNED ON ALL AT ONCE.  THEY STAY ON UNTIL
016623,000962:                                                                                                  #   :ENTER:IS PUSHED.  THEN THEY ALL GO OUT AND THE NEXT CHANNEL:S BITS ARE TURNED ON.
016624,000963:                                                                                                  #  CHANNEL 5  BITS 1-8
016625,000964:                                                                                                  #  CHANNEL 6  BITS 1-8
016626,000965:                                                                                                  #  CHANNEL 11 BITS  13,14
016627,000966:                                                                                                  #  CHANNEL 12 BITS 9-14
016628,000967:                                                                                                  #  FOLLOWING THE CHANNEL 12 TESTS ENTER IS PRESSED.  CHANNEL 12 IS SET TO ZERO AND THE NEXT TEST BEGUN. LOW9
016629,000968:                                                                                                  #  GOES IN LOCATION (COUNTER) 55.
016630,000969:                                                                                                  #  INCREASE THROTTLE RATE DESCENT ENGINE
016631,000970:                                                                                                  #  :ENTER: NOW CAUSES THE CONTENTS OF 55 TO BE MADE NEGATIVE
016632,000971:                                                                                                  #  DECREASE THROTTLE RATE DESCENT ENGINE
016633,000972:                                                                                                  #  THE NEXT :ENTER: ZEROS THE REGISTER AND SENDS A PULSE TRAIN (HERE ALTERN
016634,000973:                                                                                                  #  ZEROS FOR CLARITY) TO THE ALTITUDE METER.
016635,000974:                                                                                                  #  THE NEXT :ENTER: WILL ADVANCE THE TEST TO THE ALTITUDE RATE METER TEST.
016636,000975:                                                                                                  #  THE NEXT :ENTER : WILL TERMINATE THE TEST.
016637,000976: 
016638,000977: 
016639,000978: 
016640,000979: 14,3347           37743        SAUTOIFS           CA       POSMAX                                
016641,000980: 14,3350           55576                           TS       NOBITS                                
016642,000981: 14,3351           37767                           CA       ZERO                                  
016643,000982: 14,3352           55577                           TS       CHAN                                  
016644,000983: 14,3353           55575                           TS       TEMP                                  
016645,000984: 14,3354           03356                           TC       DINO                                  
016646,000985: 14,3355           25577        BACK1              INCR     CHAN                                  
016647,000986: 
016648,000987: 14,3356           51577        DINO               INDEX    CHAN                                  
016649,000988: 14,3357           33361                           CA       SAUTLOCS                              
016650,000989: 14,3360           15212                           TCF      SWCALL                                
016651,000990: 14,3361           31375        SAUTLOCS           CADR     CHAN5D                                
016652,000991: 14,3362           31413                           CADR     CHAN6D                                
016653,000992: 14,3363           31421                           CADR     CHAN11D                               
016654,000993: 14,3364           31433                           CADR     CHAN12D                               
016655,000994: 14,3365           31445                           CADR     PTITRDE                               
016656,000995: 14,3366           31472                           CADR     PTDTRDE                               
016657,000996: 14,3367           31547                           CADR     ALTMET                                
016658,000997: 14,3370           31574                           CADR     ALTRMET                               
016659,000998: 14,3371           30770                           CADR     ENDTEST                               
016660,000999: 14,3372           31477        THROTADD           CADR     PTDTRDE    +5                         
016661,001000: 14,3373           31552        METERADD           CADR     ALTMET     +3                         
016662,001001: 14,3374           31577        MRATEADD           CADR     ALTRMET    +3                         
016663,001002: 14,3375           37766        CHAN5D             CA       FIVE                                  
016664,001003: 14,3376           54337                           TS       DSPTEM1                               
016665,001004: 14,3377           34564        2ENTRY             CA       LOW8                                  #  CHANNEL 6 RETURNS HERE
016666,001005: 14,3400           54340                           TS       DSPTEM1    +1                         
016667,001006: 14,3401           00006                           EXTEND                                         
016668,001007: 14,3402           51575                           INDEX    TEMP                                  
016669,001008: 14,3403           01005                           WRITE    5                                     
016670,001009: 

Page 404

016672,001011: 14,3404           33666        3ENTRY             CA       V04N30D                               #  CH11,12 RETURN HERE TO USE THE DISPLAY
016673,001012: 14,3405           04657                           TC       NVSBWAIT                              
016674,001013: 14,3406           33673        4ENTRY             CAF      WAITER                                #  WAITER IS 03300
016675,001014: 14,3407           04657                           TC       NVSBWAIT                              
016676,001015: 14,3410           04475                           TC       ENDIDLE                               
016677,001016: 14,3411           02770                           TC       ENDTEST                               
016678,001017: 14,3412           03355                           TC       BACK1                                 
016679,001018: 
016680,001019: 14,3413           25575        CHAN6D             INCR     TEMP                                  
016681,001020: 14,3414           24337                           INCR     DSPTEM1                               
016682,001021: 14,3415           37767                           CAF      ZERO                                  
016683,001022: 14,3416           00006                           EXTEND                                         
016684,001023: 14,3417           01005                           WRITE    5                                     #  GET RID OF CHANNEL 5 BITS
016685,001024: 14,3420           03377                           TC       2ENTRY                                
016686,001025: 14,3421           34530        CHAN11D            CA       OCT11                                 
016687,001026: 14,3422           54337                           TS       DSPTEM1                               
016688,001027: 14,3423           35210                           CA       BIT13-14                              
016689,001028: 14,3424           54340                           TS       DSPTEM1    +1                         
016690,001029: 14,3425           00006                           EXTEND                                         
016691,001030: 14,3426           05011                           WOR      11                                    #  WOR IS NON EXCLUSIVE OR
016692,001031: 14,3427           37767                           CAF      ZERO                                  
016693,001032: 14,3430           00006                           EXTEND                                         
016694,001033: 14,3431           01006                           WRITE    6                                     
016695,001034: 14,3432           03404                           TC       3ENTRY                                
016696,001035: 14,3433           34570        CHAN12D            CA       OCT12                                 
016697,001036: 14,3434           54337                           TS       DSPTEM1                               
016698,001037: 14,3435           45210                           CS       BIT13-14                              
016699,001038: 14,3436           00006                           EXTEND                                         
016700,001039: 14,3437           03011                           WAND     11                                    
016701,001040: 14,3440           33671                           CA       CH12BITS                              
016702,001041: 14,3441           54340                           TS       DSPTEM1    +1                         
016703,001042: 14,3442           00006                           EXTEND                                         
016704,001043: 14,3443           05012                           WOR      12                                    
016705,001044: 14,3444           03404                           TC       3ENTRY                                
016706,001045: 14,3445           43671        PTITRDE            CS       CH12BITS                              
016707,001046: 14,3446           00006                           EXTEND                                         
016708,001047: 14,3447           03012                           WAND     12                                    
016709,001048: 14,3450           37767                           CA       ZERO                                  
016710,001049: 14,3451           54337                           TS       DSPTEM1                               
016711,001050: 14,3452           54340                           TS       DSPTEM1    +1                         
016712,001051: 14,3453           55575                           TS       TEMP                                  
016713,001052: 14,3454           37763                           CA       BIT1                                  
016714,001053: 14,3455           55576                           TS       NOBITS                                
016715,001054: 14,3456           00004        PIT                INHINT                                         
016716,001055: 14,3457           05663                           TC       WAITLIST                              
016717,001056: 14,3460  E5,1400                                  EBANK=   XSM                                   
016718,001057: 14,3460           03503 30065                     2CADR    THROTASK                              
016719,001058: 
016720,001059: 14,3462           00003                           RELINT                                         
016721,001060: 14,3463           33673                           CA       WAITER                                

Page 405

016723,001062: 14,3464           04657                           TC       NVSBWAIT                              
016724,001063: 
016725,001064: 14,3465           04475                           TC       ENDIDLE                               
016726,001065: 14,3466           02770                           TC       ENDTEST                               
016727,001066: 14,3467           37767                           CA       ZERO                                  
016728,001067: 14,3470           55576                           TS       NOBITS                                
016729,001068: 14,3471           03355                           TC       BACK1                                 
016730,001069: 
016731,001070: 14,3472           37767        PTDTRDE            CA       ZERO                                  
016732,001071: 14,3473           54055                           TS       THRUST                                
016733,001072: 14,3474           33372                           CA       THROTADD                              
016734,001073: 14,3475           55574                           TS       TEMPADD                               
016735,001074: 14,3476           05545                           TC       JOBSLEEP                              #  THIS INHIBITS THE NEXT TASK UNTIL
016736,001075:                                                                                                  #  CURRENT TASK HAS BEEN COMPLETED
016737,001076: 14,3477           37743                           CA       POSMAX                                
016738,001077: 14,3500           55575                           TS       TEMP                                  
016739,001078: 14,3501           37755                           CA       BIT7                                  
016740,001079: 14,3502           03456                           TC       PIT                                   
016741,001080: 14,3503           11576        THROTASK           CCS      NOBITS                                #  IS THIS TASK STILL REQ
016742,001081: 14,3504           03511                           TC       +5                                    #  YES
016743,001082: 14,3505           31574                           CA       TEMPADD                               #  NO
016744,001083: 14,3506           55576                           TS       NOBITS                                
016745,001084: 14,3507           05551                           TC       JOBWAKE                               
016746,001085: 14,3510           05727                           TC       TASKOVER                              
016747,001086: 14,3511           11575                           CCS      TEMP                                  
016748,001087: 14,3512           03525                           TC       SOMETIME                              
016749,001088: 14,3513           34563                           CA       LOW11                                 
016750,001089: 14,3514           54055        ALWAYS             TS       THRUST                                
016751,001090: 14,3515           37760                           CA       BIT4                                  
016752,001091: 14,3516           00006                           EXTEND                                         #  A SMERZH FIX.
016753,001092: 14,3517           05014                           WOR      14                                    
016754,001093: 14,3520           37756                           CA       BIT6                                  #  320 MS.DELAY
016755,001094: 14,3521           05663                           TC       WAITLIST                              
016756,001095: 14,3522           03503 30065                     2CADR    THROTASK                              
016757,001096: 
016758,001097: 14,3524           05727                           TC       TASKOVER                              
016759,001098: 14,3525           44563        SOMETIME           CS       LOW11                                 
016760,001099: 14,3526           03514                           TC       ALWAYS                                
016761,001100: 14,3527           11576        ALTASK             CCS      NOBITS                                #  IS TASK STILL REQ
016762,001101: 14,3530           03535                           TC       +5                                    
016763,001102: 14,3531           31574                           CA       TEMPADD                               #  NO
016764,001103: 14,3532           55576                           TS       NOBITS                                #  ENABLES NEXT TASK
016765,001104: 14,3533           05551                           TC       JOBWAKE                               
016766,001105: 14,3534           05727                           TC       TASKOVER                              
016767,001106: 14,3535           33667                           CA       ALBITS                                #  ACTUAL TASK STARTS HERE
016768,001107: 14,3536           54060                           TS       ALTM                                  
016769,001108: 14,3537           37761                           CA       BIT3                                  
016770,001109: 14,3540           00006                           EXTEND                                         
016771,001110: 14,3541           05014                           WOR      14                                    
016772,001111: 14,3542           37756                           CA       BIT6                                  #  320 MS. DELAY

Page 406

016774,001113: 14,3543           05663                           TC       WAITLIST                              
016775,001114: 14,3544  E5,1400                                  EBANK=   XSM                                   
016776,001115: 14,3544           03527 30065                     2CADR    ALTASK                                
016777,001116: 
016778,001117: 14,3546           05727                           TC       TASKOVER                              
016779,001118: 14,3547           33373        ALTMET             CA       METERADD                              
016780,001119: 14,3550           55574                           TS       TEMPADD                               
016781,001120: 14,3551           05545                           TC       JOBSLEEP                              
016782,001121: 14,3552           37767                           CA       ZERO                                  
016783,001122: 14,3553           55575                           TS       TEMP                                  
016784,001123: 14,3554           47760                           CS       BIT4                                  
016785,001124: 14,3555           00006                           EXTEND                                         
016786,001125: 14,3556           03014                           WAND     14                                    
016787,001126: 14,3557           00004                           INHINT                                         
016788,001127: 14,3560           37763                           CA       ONE                                   
016789,001128: 14,3561           05663                           TC       WAITLIST                              
016790,001129: 14,3562  E5,1400                                  EBANK=   XSM                                   
016791,001130: 14,3562           03527 30065                     2CADR    ALTASK                                
016792,001131: 
016793,001132: 14,3564           00003                           RELINT                                         
016794,001133: 14,3565           33673                           CA       WAITER                                
016795,001134: 14,3566           04657                           TC       NVSBWAIT                              
016796,001135: 14,3567           04475                           TC       ENDIDLE                               
016797,001136: 14,3570           02770                           TC       ENDTEST                               
016798,001137: 14,3571           37767                           CA       ZERO                                  
016799,001138: 14,3572           55576                           TS       NOBITS                                
016800,001139: 14,3573           03355                           TC       BACK1                                 
016801,001140: 
016802,001141: 14,3574           33374        ALTRMET            CA       MRATEADD                              
016803,001142: 14,3575           55574                           TS       TEMPADD                               
016804,001143: 14,3576           05545                           TC       JOBSLEEP                              
016805,001144: 14,3577           37763                           CA       ONE                                   
016806,001145: 14,3600           55575                           TS       TEMP                                  #  TEMP WILL BE INDEXED TO ACQUIRE BIT2 INS
016807,001146:                                                                                                  #  TEAD OF BIT3
016808,001147: 14,3601           37762                           CA       BIT2                                  
016809,001148: 14,3602           00006                           EXTEND                                         
016810,001149: 14,3603           05014                           WOR      14                                    
016811,001150: 14,3604           03557                           TC       ALTMET     +8D                        
016812,001151: 

Page 407

016814,001153:                                                                                                  #       THE AOT ANGLE CHECKING PROGRAM PROVIDES A SIMPLE VERIFICATION OF THE ACCURACY OF THE AOT,  THE IDEA IS TO
016815,001154:                                                                                                  #  COMPUTE THE ANGLE BETWEEN TWO LINES OF SIGHT AS INDICATED BY THE AOT, WHICH IS WHAT THIS PROGRAM DOES.
016816,001155:                                                                                                  #  INDEPENDENT KNOWLEDGE OF THE INCLUDED ANGLE PROVIDES A COMPARISON AND THUS A MEASURE OF THE AOT ACCURACY.
016817,001156:                                                                                                  #        THE ISS NEED NOT BE ON TO RUN THIS PROGRAM.
016818,001157: 
016819,001158: 
016820,001159: 14,3605           06112        AOTANGCK           TC       INTPRET                               
016821,001160: 14,3606           77414                           SET      EXIT                                  #  IN CASE THE ISS IS OFF.
016822,001161: 14,3607           00065                                    COAROFIN                              
016823,001162: 14,3610           02135                           TC       FINDNAVB                              #  FOR LOS1 AND LOS2.
016824,001163: 14,3611           06112                           TC       INTPRET                               
016825,001164: 14,3612           47375                           VLOAD    VXV                                   
016826,001165: 14,3613           02601                                    LOS1                                  
016827,001166: 14,3614           02607                                    LOS2                                  
016828,001167: 14,3615           77646                           ABVAL                                          
016829,001168: 14,3616           24023                           STOVL    SINTH                                 #  SINTH = ABVAL (VXV ).
016830,001169: 14,3617           02601                                    LOS1                                  
016831,001170: 14,3620           77641                           DOT                                            
016832,001171: 14,3621           02607                                    LOS2                                  
016833,001172: 14,3622           34021                           STCALL   COSTH                                 #  COSTH = V.V
016834,001173: 14,3623           32476                                    ARCTRIG                               
016835,001174: 14,3624           77634                           RTB                                            
016836,001175: 14,3625           33522                                    1STO2S                                #  DP 1S COMP TO SP 2S COMP.
016837,001176: 14,3626           00025                           STORE    THETA                                 
016838,001177: 14,3627           77776                           EXIT                                           
016839,001178: 14,3630           33720                           CAF      THETAADR                              
016840,001179: 14,3631           60110                           AD       FIXLOC                                
016841,001180: 14,3632           54146                           TS       MPAC       +2                         
016842,001181: 14,3633           33676                           CAF      V06N03E                               #  XXX.XX DEGREES IN R1.
016843,001182: 14,3634           04657                           TC       NVSBWAIT                              
016844,001183: 14,3635           12770                           TCF      ENDTEST                               
016845,001184: 

Page 408

016847,001186: 14,3636  E3,1400                                  EBANK=   1400                                  
016848,001187: 14,3636           00004        ZEROERAS           INHINT                                         #  PROGRAM BY MUNTZ TO ZERO ERASEABLE
016849,001188: 14,3637           37767                           CAF      ZERO                                  
016850,001189: 14,3640           54026                           TS       TIME3                                 
016851,001190: 14,3641           33665                           CAF      OCT27                                 
016852,001191: 14,3642           54003                           TS       EBANK                                 
016853,001192: 14,3643           22007        ZEROLP             ZL                                             
016854,001193: 14,3644           50000                           INDEX    A                                     
016855,001194: 14,3645           23401                           LXCH     1401                                  
016856,001195: 14,3646           67762                           AD       TWO                                   
016857,001196: 14,3647           26003                           ADS      EBANK                                 
016858,001197: 14,3650           74564                           MASK     LOW8                                  
016859,001198: 14,3651           10000                           CCS      A                                     
016860,001199: 14,3652           13643                           TCF      ZEROLP                                
016861,001200: 14,3653           10003                           CCS      EBANK                                 
016862,001201: 14,3654           13657                           TCF      ZEROLP1                               
016863,001202: 14,3655           05225                           TC       POSTJUMP                              
016864,001203: 14,3656           02000                           CADR     SLAP1                                 
016865,001204: 14,3657           00003        ZEROLP1            RELINT                                         
016866,001205: 14,3660           37767                           CAF      ZERO                                  #  KEEP T4RUPT GOING, BUT NOT CYCLING.
016867,001206: 14,3661           54347                           TS       DSRUPTSW                              
016868,001207: 14,3662           00004                           INHINT                                         
016869,001208: 14,3663           47763                           CS       ONE                                   
016870,001209: 14,3664           13643                           TCF      ZEROLP                                
016871,001210: 14,3665           00027        OCT27              OCT      27                                    
016872,001211: 

Page 409

016874,001213: 14,3666  E5,1500                                  EBANK=   OGC                                   
016875,001214: 14,3666           00430        V04N30D            OCT      00430                                 
016876,001215: 14,3667           52525        ALBITS             OCT      52525                                 
016877,001216: 14,3670           70707        THRSBITS           OCT      70707                                 
016878,001217: 14,3671     4570               OCT12              =        TEN                                   
016879,001218: 14,3671     4530               OCT11              =        NINE                                  
016880,001219: 14,3671           37400        CH12BITS           OCT      37400                                 
016881,001220: 14,3672           00130        V01N30D            OCT      00130                                 
016882,001221: 14,3673           03300        WAITER             OCT      03300                                 
016883,001222: 
016884,001223: 
016885,001224: 14,3674           00130        V01N30E            OCT      00130                                 #  FOR FINDNAVB
016886,001225: 14,3675           00530        V05N30E            OCT      00530                                 #  FOR OPTDATA
016887,001226: 14,3676           00603        V06N03E            OCT      00603                                 
016888,001227: 14,3677           00666        V06N66E            OCT      00666                                 
016889,001228: 14,3700           02430        V24N30E            OCT      02430                                 #  FOR POSITION LOAD
016890,001229: 14,3701           02522        V25N22E            OCT      02522                                 #  FOR POS4
016891,001230: 
016892,001231: 14,3702           00013        11DEC              DEC      11         B-14                       
016893,001232: 14,3703           00021        17DEC              DEC      17         B-14                       
016894,001233: 14,3704           00074        60DEC              DEC      60         B-14                       
016895,001234: 14,3705           00077        63DEC              DEC      63         B-14                       
016896,001235: 14,3706           00105        69DEC              DEC      69         B-14                       #  FOR MISALIGN
016897,001236: 14,3707           00110        72DEC              DEC      72         B-14                       #  FOR STORRSLT
016898,001237: 
016899,001238: 14,3710           05670        30SEC              DEC      3000       B-14                       #  3000 X 10 MSEC
016900,001239: 14,3711           13560        60SEC              DEC      6000       B-14                       #  6000 X 10 MSEC
016901,001240: 
016902,001241: 14,3712           01500        OGCADR             ADRES    OGC                                   #  FOR ZEROING
016903,001242: 14,3713           01570        GENPLAD1           ADRES    GENPL                                 
016904,001243: 14,3714           02570        GENPLADR           ECADR    GENPL                                 #  FOR POS4
016905,001244: 14,3715           00322 14366  KKKK               2DEC     210.39     B-14                       #  1230 B-14 FOR CSM
016906,001245: 
016907,001246: 14,3717           03114        RDRRETN            ADRES    RDR1       +1                         #  FOR RDR37511
016908,001247: 14,3720           00024        THETAADR           ECADR    THETA                                 
016909,001248: 14,3721           01400        XSMADRX            ADRES    XSM                                   #  FOR MAKEXSMD
016910,001249: 
016911,001250: 14,3722           24365 30244  SCALFTR            2DEC     .64                                   #  FOR STORRSLT
016912,001251: 
016913,001252: 14,3724           07623 26552  OMEG/MS            2DEC     .24339048                             #  GYRO PULSES / 10 MSEC
016914,001253: 

Page 410

016916,001255:                                                                                                  #           THE FOLLOWING ROUTINE READS THE CLOCK AND SCALAR (CHANNELS 3 AND 4) INTO A AND L, INSURING THAT THE
016917,001256:                                                                                                  #  DATA WAS NOT IN TRANSITION WHEN IT WAS READ.
016918,001257: 
016919,001258:    5026                                           BLOCK    02                                    
016920,001259:    5026           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED.
016921,001260:    5027           00006                           EXTEND                                         
016922,001261:    5030           00004                           READ     LOSCALAR                              
016923,001262:    5031           54001                           TS       L                                     
016924,001263: 
016925,001264:    5032           00006                           EXTEND                                         #  SEE IF 2 READINGS AGREE. IF NOT, READ
016926,001265:    5033           06004                           RXOR     LOSCALAR                              #  LOSCALAR AGAIN.
016927,001266:    5034           00006                           EXTEND                                         
016928,001267:    5035           15041                           BZF      +4                                    
016929,001268: 
016930,001269:    5036           00006                           EXTEND                                         #  IF CLOCK RIPPLED BEFORE, IT WONT NOW.
016931,001270:    5037           00004                           READ     LOSCALAR                              
016932,001271:    5040           54001                           TS       L                                     
016933,001272: 
016934,001273:    5041           47743                 +4        CS       POSMAX                                #  IF LOW PART CONTAINS SOMETHING LESS THAN
016935,001274:    5042           60001                           AD       L                                     #  POSMAX, THE HIGH PART CAN BE READ SAFELY
016936,001275:    5043           00006                           EXTEND                                         
016937,001276:    5044           15027                           BZF      FINETIME   +1                         #  TRY AGAIN - CONDITION WILL DISAPPEAR.
016938,001277: 
016939,001278:    5045           00006                           EXTEND                                         
016940,001279:    5046           00003                           READ     HISCALAR                              
016941,001280:    5047           00002                           TC       Q                                     
016942,001281: 
016943,001282: 14,3726                                           SETLOC   OMEG/MS    +2                         
016944,001283: 14,3726           05206        REDYTORK           TC       BANKCALL                              
016945,001284: 14,3727           26751                           CADR     IMUSTALL                              
016946,001285: 14,3730           12770                           TCF      ENDTEST                               
016947,001286: 
016948,001287: 14,3731           02752                           TC       OGCZERO                               
016949,001288: 
016950,001289: 14,3732           06112                           TC       INTPRET                               
016951,001290: 14,3733           77624                           CALL                                           
016952,001291: 14,3734           30407                                    ERTHRVSE                              #  SETS UP EARTHRATE ANGLES AND TIME
016953,001292: 14,3735           77776                           EXIT                                           
016954,001293: 14,3736           31617                           CA       OPTNREG                               #  INITIALIZE CDUNDX FOR PULSE CATCHING
016955,001294: 14,3737           65336                           AD       NEG2                                  #  C(K) WAS 4 2 1 NOW C(A) IS 2 0 -1
016956,001295: 14,3740           55616                           TS       GYTOBETQ                              #  C(K) = 2,0,-1 FOR  X,Y,Z.
016957,001296: 14,3741           00006                           EXTEND                                         
016958,001297: 14,3742           13745                           BZF      +3                                    
016959,001298: 14,3743           37762                           CAF      TWO                                   
016960,001299: 14,3744           03746                           TC       +2                                    
016961,001300: 14,3745           37763                           CAF      ONE                                   
016962,001301: 14,3746           55672                           TS       CDUNDX                                #  C(K) = 1 FOR Y, 2 FOR Z CDU SELECT
016963,001302: 14,3747           05206                           TC       BANKCALL                              
016964,001303: 14,3750           50551                           CADR     ENABLE                                
016965,001304: 14,3751           37777        CHKSUM14           OCT      37777                                 

End of include-file IMU_PERFORMANCE_TESTS_1.agc.  Parent file is MAIN.agc