Source Code

These source-code files are part of a reconstructed copy of Comanche 44, the initial release (though not the final mission release) of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 44, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 51 (separately previously reconstructed from an Apollo-era listing of Comanche 55, flown on Apollo 11). Comanche 51 source code was then modified by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed Comanche 44 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code match those on the Comanche 55 printout, although the source code would likely have different page numbers in a contemporary Comanche 44 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the explanatory annotations, there is also a step-by-step commentary about the reconstruction process.

Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

018322,000002:                                                                                                  ## Copyright:   Public domain.
018323,000003:                                                                                                  ## Filename:    IMU_CALIBRATION_AND_ALIGNMENT.agc
018324,000004:                                                                                                  ## Purpose:     A section of Comanche revision 044.
018325,000005:                                                                                                  ##              It is part of the reconstructed source code for the
018326,000006:                                                                                                  ##              original release of the flight software for the Command
018327,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
018328,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
018329,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
018330,000010:                                                                                                  ##              exactly match those specified for Comanche 44 in NASA drawing
018331,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
018332,000012:                                                                                                  ##              reconstruction is correct.
018333,000013:                                                                                                  ## Assembler:   yaYUL
018334,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
018335,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
018336,000016:                                                                                                  ## Mod history: 2020-12-03 MAS  Created from Comanche 51.
018337,000017:                                                                                                  ##              2021-05-30 ABS  Single instance of $$/P03 -> $$/PO3 to match Comanche 55.
018338,000018: 

Page 423

018340,000020:                                                                                                  #  NAME-         IMU PERFORMANCE TESTS 2
018341,000021: 
018342,000022:                                                                                                  #  DATE-         MARCH 20, 1967
018343,000023: 
018344,000024:                                                                                                  #  BY-           SYSTEM TEST GROUP 864-6900 EXT. 1274
018345,000025: 
018346,000026:                                                                                                  #  MODNO.-       ZERO
018347,000027: 
018348,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
018349,000029: 
018350,000030:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018351,000031:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018352,000032:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018353,000033: 
018354,000034: 33,2004                                           BANK     33                                    
018355,000035: 33,2000                                           SETLOC   IMUCAL                                
018356,000036: 33,2000                                           BANK                                           
018357,000037: 
018358,000038: 33,2004  E5,1423                                  EBANK=   POSITON                               
018359,000039: 33,2004           35021        IMUTEST            CA       ZERO                                  
018360,000040: 33,2005           55452                           TS       DRIFTT                                
018361,000041: 33,2006           55643                           TS       GEOCOMP1                              
018362,000042: 33,2007           32443                           CAF      TESTTIME                              
018363,000043: 33,2010           55412                           TS       LENGTHOT                              
018364,000044: 33,2011           02302                           TC       COAALIGN                              #  TAKE CARE OF DRIFT FLAG
018365,000045: 33,2012           35041                           CAF      1SECX                                 
018366,000046: 33,2013           55644                           TS       1SECXT1                               
018367,000047: 
018368,000048: 33,2014           32441                           CA       OC14400                               
018369,000049: 33,2015           55074                           TS       1/PIPADT                              
018370,000050: 33,2016           06006        GUESS              TC       INTPRET                               #  CALCULATE -COS LATITUDE AND SIN LATITUDE
018371,000051: 33,2017           77624                           CALL                                           
018372,000052: 33,2020           10613                                    LATAZCHK                              
018373,000053: 33,2021           57546                           COS      DCOMP                                 
018374,000054: 33,2022           77752                           SL1                                            
018375,000055: 33,2023           16447                           STODL    WANGI                                 
018376,000056: 33,2024           02403                                    LATITUDE                              
018377,000057: 33,2025           72556                           SIN      SL1                                   
018378,000058: 33,2026           02445                           STORE    WANGO                                 
018379,000059: 33,2027           77776                           EXIT                                           
018380,000060: 33,2030           04662        GEOIMUTT           TC       BANKCALL                              #  GYROCOMPASS COMES IN HERE
018381,000061: 33,2031           16577                           CADR     IMUZERO                               
018382,000062: 33,2032           02316                           TC       IMUSTLLG                              
018383,000063: 33,2033           35021        IMUBACK            CA       ZERO                                  
018384,000064: 33,2034           55421                           TS       NDXCTR                                
018385,000065: 33,2035           55450                           TS       TORQNDX                               
018386,000066: 33,2036           55451                           TS       TORQNDX    +1                         
018387,000067: 33,2037           34375        NBPOSPL            CA       DEC17                                 
018388,000068: 33,2040           55655                           TS       ZERONDX1                              
018389,000069: 33,2041           32445                           CA       XNBADR                                

Page 424

018391,000071: 33,2042           02356                           TC       ZEROING                               
018392,000072: 33,2043           35002                           CA       HALF                                  
018393,000073: 33,2044           55713                           TS       XNB                                   
018394,000074: 33,2045           06006                           TC       INTPRET                               
018395,000075: 33,2046           73545                           DLOAD    SIN                                   
018396,000076: 33,2047           02401                                    AZIMUTH                               
018397,000077: 33,2050           02724                           STORE    YNB        +2                         
018398,000078: 33,2051           16734                           STODL    ZNB        +4                         
018399,000079: 33,2052           02401                                    AZIMUTH                               
018400,000080: 33,2053           77746                           COS                                            
018401,000081: 33,2054           02726                           STORE    YNB        +4                         
018402,000082: 33,2055           77676                           DCOMP                                          
018403,000083: 33,2056           02732                           STORE    ZNB        +2                         
018404,000084: 33,2057           77776                           EXIT                                           
018405,000085: 33,2060           05364                           TC       CHECKMM                               
018406,000086: 33,2061           00003                           MM       03         B-14                       #  SEE IF IN OPTICAL VERIFICATION
018407,000087: 33,2062           12064                           TCF      +2                                    #  NO
018408,000088: 33,2063           13443                           TCF      SETNBPOS   +1                         #  YES
018409,000089: 33,2064           06006                           TC       INTPRET                               
018410,000090: 33,2065           77624                           CALL                                           
018411,000091: 33,2066           47311                                    CALCGA                                
018412,000092: 33,2067           77776                           EXIT                                           
018413,000093: 33,2070           04662                           TC       BANKCALL                              
018414,000094: 33,2071           16663                           CADR     IMUCOARS                              
018415,000095: 33,2072           35002                           CAF      GLOKFBIT                              #  IF GLOKFAIL SET, GIMBAL LOCK
018416,000096: 33,2073           70077                           MASK     FLAGWRD3                              
018417,000097: 33,2074           00006                           EXTEND                                         
018418,000098: 33,2075           12077                           BZF      +2                                    
018419,000099: 33,2076           25421                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
018420,000100: 33,2077           05560                           TC       DOWNFLAG                              #  RESET GIMBAL LOCK FLAG
018421,000101: 33,2100           00056                           ADRES    GLOKFAIL                              #  BIT 14 FLAG 3
018422,000102: 33,2101           02316                           TC       IMUSTLLG                              
018423,000103: 33,2102           11421                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
018424,000104: 33,2103           02131                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
018425,000105: 33,2104           04662                           TC       BANKCALL                              
018426,000106: 33,2105           17073                           CADR     IMUFINE                               
018427,000107: 33,2106           02316                           TC       IMUSTLLG                              
018428,000108: 33,2107           00006                           EXTEND                                         
018429,000109: 33,2110           31657                           DCA      PERFDLAY                              
018430,000110: 33,2111           05342                           TC       LONGCALL                              
018431,000111: 33,2112  E5,1423                                  EBANK=   POSITON                               
018432,000112: 33,2112           02116 66065                     2CADR    GOESTIMS                              
018433,000113: 
018434,000114: 33,2114           32121                           CA       ESTICADR                              
018435,000115: 33,2115           05175                           TC       JOBSLEEP                              
018436,000116: 33,2116           32121        GOESTIMS           CA       ESTICADR                              
018437,000117: 33,2117           05201                           TC       JOBWAKE                               
018438,000118: 33,2120           05324                           TC       TASKOVER                              
018439,000119: 33,2121           66453        ESTICADR           CADR     ESTIMS                                

Page 425

018441,000121: 33,2122           35021        TORQUE             CA       ZERO                                  
018442,000122: 33,2123           55050                           TS       DSPTEM2                               
018443,000123: 33,2124           31514                           CA       DRIFTI                                
018444,000124: 33,2125           55051                           TS       DSPTEM2    +1                         
018445,000125: 33,2126           51423                           INDEX    POSITON                               
018446,000126: 33,2127           55430                           TS       SOUTHDR    -1                         
018447,000127: 33,2130           02427                           TC       SHOW                                  
018448,000128: 
018449,000129: 33,2131           51421        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
018450,000130: 33,2132           02133                           TC       +1                                    
018451,000131: 33,2133           02417                           TC       EARTHR*                               
018452,000132: 33,2134           34374                           CA       DEC57                                 
018453,000133: 33,2135           55412                           TS       LENGTHOT                              
018454,000134: 33,2136           35017                           CA       ONE                                   
018455,000135: 33,2137           55547                           TS       RESULTCT                              
018456,000136: 33,2140           35021                           CA       ZERO                                  
018457,000137: 33,2141           51422                           INDEX    PIPINDEX                              
018458,000138: 33,2142           54037                           TS       PIPAX                                 
018459,000139: 33,2143           55502                           TS       DATAPL                                
018460,000140: 33,2144           55506                           TS       DATAPL     +4                         
018461,000141: 33,2145           02321                           TC       CHECKG                                #  PIP PULSE CATCHING ROUTINE
018462,000142: 33,2146           00004                           INHINT                                         
018463,000143: 33,2147           35016                           CAF      TWO                                   
018464,000144: 33,2150           05235                           TC       TWIDDLE                               
018465,000145: 33,2151  E5,1671                                  EBANK=   XSM                                   
018466,000146: 33,2151           02153                           ADRES    PIPATASK                              
018467,000147: 33,2152           05217                           TC       ENDOFJOB                              
018468,000148: 33,2153           00006        PIPATASK           EXTEND                                         
018469,000149: 33,2154           27412                           DIM      LENGTHOT                              
018470,000150: 33,2155           31412                           CA       LENGTHOT                              
018471,000151: 33,2156           00006                           EXTEND                                         
018472,000152: 33,2157           62163                           BZMF     STARTPIP                              
018473,000153: 33,2160           35006                           CAF      BIT10                                 
018474,000154: 33,2161           05235                           TC       TWIDDLE                               
018475,000155: 33,2162  E5,1671                                  EBANK=   XSM                                   
018476,000156: 33,2162           02153                           ADRES    PIPATASK                              
018477,000157: 33,2163           35002        STARTPIP           CAF      PRIO20                                
018478,000158: 33,2164           05147                           TC       FINDVAC                               
018479,000159: 33,2165  E5,1671                                  EBANK=   XSM                                   
018480,000160: 33,2165           02170 66065                     2CADR    PIPJOBB                               
018481,000161: 
018482,000162: 33,2167           05324                           TC       TASKOVER                              
018483,000163: 
018484,000164: 33,2170           51421        PIPJOBB            INDEX    NDXCTR                                
018485,000165: 33,2171           02172                           TC       +1                                    
018486,000166: 33,2172           02417                           TC       EARTHR*                               
018487,000167: 33,2173           31412                           CA       LENGTHOT                              
018488,000168: 33,2174           00006                           EXTEND                                         
018489,000169: 33,2175           62177                           BZMF     +2                                    
018490,000170: 33,2176           05217                           TC       ENDOFJOB                              
018491,000171: 33,2177           35022                           CA       FIVE                                  

Page 426

018493,000173: 33,2200           55547                           TS       RESULTCT                              
018494,000174: 33,2201           02321                           TC       CHECKG                                
018495,000175: 33,2202           00006                           EXTEND                                         
018496,000176: 33,2203           41503                           DCS      DATAPL                                
018497,000177: 33,2204           21507                           DAS      DATAPL     +4                         
018498,000178: 
018499,000179: 33,2205           06006                           TC       INTPRET                               
018500,000180: 33,2206           45345                           DLOAD    DSU                                   
018501,000181: 33,2207           02511                                    DATAPL     +6                         
018502,000182: 33,2210           02505                                    DATAPL     +2                         
018503,000183: 33,2211           45044                           BPL      CALL                                  
018504,000184: 33,2212           66214                                    AINGOTN                               
018505,000185: 33,2213           66276                                    OVERFFIX                              
018506,000186: 33,2214           56325        AINGOTN            PDDL     DDV                                   
018507,000187: 33,2215           02507                                    DATAPL     +4                         
018508,000188: 33,2216           57212                           SL4      DMPR                                  
018509,000189: 33,2217           27110                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
018510,000190: 33,2220           77634                           RTB                                            
018511,000191: 33,2221           45544                                    SGNAGREE                              
018512,000192: 33,2222           01051                           STORE    DSPTEM2                               
018513,000193: 33,2223           77776                           EXIT                                           
018514,000194: 33,2224           11421                           CCS      NDXCTR                                
018515,000195: 33,2225           02302                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
018516,000196: 33,2226           02427                           TC       SHOW                                  
018517,000197: 33,2227           32447        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
018518,000198: 33,2230           55412                           TS       LENGTHOT                              
018519,000199: 33,2231           51423                           INDEX    POSITON                               
018520,000200: 33,2232           41427                           CS       SOUTHDR    -2                         
018521,000201: 33,2233           55452                           TS       DRIFTT                                
018522,000202: 33,2234           31675                           CA       XSM        +4                         #  0 IF POSN 4
018523,000203: 33,2235           00006                           EXTEND                                         
018524,000204: 33,2236           12244                           BZF      PON2                                  
018525,000205: 33,2237           45013        PON4               CS       BIT5                                  #  OFFSET PLATFORM
018526,000206: 33,2240           27651                           ADS      ERCOMP1    +2                         
018527,000207: 33,2241           35013                           CA       BIT5                                  
018528,000208: 33,2242           27647                           ADS      ERCOMP1                               
018529,000209: 33,2243           12250                           TCF      PONG                                  
018530,000210: 33,2244           45013        PON2               CS       BIT5                                  
018531,000211: 33,2245           27651                           ADS      ERCOMP1    +2                         
018532,000212: 33,2246           35013                           CA       BIT5                                  
018533,000213: 33,2247           27653                           ADS      ERCOMP1    +4                         
018534,000214: 33,2250           02417        PONG               TC       EARTHR*                               
018535,000215: 33,2251           35021                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018536,000216: 33,2252           55404                           TS       ERVECTOR                              
018537,000217: 33,2253           55405                           TS       ERVECTOR   +1                         
018538,000218: 33,2254           34777        GUESS1             CAF      POSMAX                                
018539,000219: 33,2255           55450                           TS       TORQNDX                               
018540,000220: 33,2256           55451                           TS       TORQNDX    +1                         
018541,000221: 33,2257           30032                           CA       CDUX                                  
018542,000222: 33,2260           55413                           TS       LOSVEC                                

Page 427

018544,000224: 33,2261           02453                           TC       ESTIMS                                
018545,000225: 33,2262           31512        VALMIS             CA       DRIFTO                                
018546,000226: 33,2263           55051                           TS       DSPTEM2    +1                         
018547,000227: 33,2264           35021                           CA       ZERO                                  
018548,000228: 33,2265           55050                           TS       DSPTEM2                               
018549,000229: 33,2266           02427                           TC       SHOW                                  
018550,000230: 
018551,000231: 33,2267           05560        ENDTEST1           TC       DOWNFLAG                              #  IMU NOT IN USE
018552,000232: 33,2270           00007                           ADRES    IMUSE                                 #  BIT 8 FLAG 0
018553,000233: 33,2271           45021                           CS       ZERO                                  
018554,000234: 33,2272           05357                           TC       NEWMODEX   +3                         
018555,000235: 33,2273           04662                           TC       BANKCALL                              
018556,000236: 33,2274           16063                           CADR     MKRELEAS                              
018557,000237: 33,2275           05534                           TC       ENDEXT                                

Page 428

018559,000239: 
018560,000240: 33,2276           43215        OVERFFIX           DAD      DAD                                   
018561,000241: 33,2277           15343                                    DPPOSMAX                              
018562,000242: 33,2300           27116                                    ONEDPP                                
018563,000243: 33,2301           77616                           RVQ                                            
018564,000244: 
018565,000245: 33,2302           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
018566,000246: 33,2303           23425                           QXCH     QPLACE                                
018567,000247: 33,2304           35021                           CA       ZERO                                  
018568,000248: 33,2305           55155                           TS       THETAD                                
018569,000249: 33,2306           55156                           TS       THETAD     +1                         
018570,000250: 33,2307           55157                           TS       THETAD     +2                         
018571,000251: 33,2310           04662                           TC       BANKCALL                              
018572,000252: 33,2311           16663                           CADR     IMUCOARS                              
018573,000253: 33,2312           04662                           TC       BANKCALL                              
018574,000254: 33,2313           17577                           CADR     IMUSTALL                              
018575,000255: 33,2314           03102                           TC       SOMERR2                               
018576,000256: 33,2315           01425                           TC       QPLACE                                
018577,000257: 
018578,000258: 33,2316           00006        IMUSTLLG           EXTEND                                         
018579,000259: 33,2317           23425                           QXCH     QPLACE                                
018580,000260: 33,2320           02312                           TC       COAALIGN   +10                        
018581,000261: 
018582,000262: 33,2321           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
018583,000263: 33,2322           23425                           QXCH     QPLACE                                
018584,000264: 33,2323           02331                           TC       +6                                    
018585,000265: 33,2324           00003        CHECKG1            RELINT                                         
018586,000266: 33,2325           30067                           CA       NEWJOB                                
018587,000267: 33,2326           00006                           EXTEND                                         
018588,000268: 33,2327           62335                           BZMF     +6                                    
018589,000269: 33,2330           05164                           TC       CHANG1                                
018590,000270: 33,2331           00004                           INHINT                                         
018591,000271: 33,2332           51422                           INDEX    PIPINDEX                              
018592,000272: 33,2333           40037                           CS       PIPAX                                 
018593,000273: 33,2334           55655                           TS       ZERONDX                               
018594,000274: 33,2335           00004                           INHINT                                         
018595,000275: 33,2336           51422                           INDEX    PIPINDEX                              
018596,000276: 33,2337           30037                           CA       PIPAX                                 
018597,000277: 33,2340           61655                           AD       ZERONDX                               
018598,000278: 33,2341           00006                           EXTEND                                         
018599,000279: 33,2342           12324                           BZF      CHECKG1                               
018600,000280: 33,2343           51422                           INDEX    PIPINDEX                              
018601,000281: 33,2344           30037                           CA       PIPAX                                 
018602,000282: 33,2345           51547                           INDEX    RESULTCT                              
018603,000283: 33,2346           55502                           TS       DATAPL                                
018604,000284: 33,2347           04553                           TC       FINETIME                              
018605,000285: 33,2350           51547                           INDEX    RESULTCT                              
018606,000286: 33,2351           55503                           TS       DATAPL     +1                         

Page 429

018608,000288: 33,2352           51547                           INDEX    RESULTCT                              
018609,000289: 33,2353           23504                           LXCH     DATAPL     +2                         
018610,000290: 33,2354           00003                           RELINT                                         
018611,000291: 33,2355           01425        ENDCHKG            TC       QPLACE                                
018612,000292: 
018613,000293: 33,2356           54001        ZEROING            TS       L                                     
018614,000294: 33,2357           12361                           TCF      +2                                    
018615,000295: 33,2360           55655        ZEROING1           TS       ZERONDX1                              
018616,000296: 33,2361           35021                           CAF      ZERO                                  
018617,000297: 33,2362           50001                           INDEX    L                                     
018618,000298: 33,2363           54000                           TS       0                                     
018619,000299: 33,2364           24001                           INCR     L                                     
018620,000300: 33,2365           11655                           CCS      ZERONDX1                              
018621,000301: 33,2366           12360                           TCF      ZEROING1                              
018622,000302: 33,2367           00002                           TC       Q                                     
018623,000303: 

Page 430

018625,000305: 32,2000                                           SETLOC   IMUCAL3                               
018626,000306: 32,2000                                           BANK                                           
018627,000307: 32,2000           65345        ERTHRVSE           DLOAD    PDDL                                  
018628,000308: 32,2001           27111                                    SCHZEROS                              #  PD24 = (SIN          -COS     0)(OMEG/MS)
018629,000309: 32,2002           02403                                    LATITUDE                              
018630,000310: 32,2003           57546                           COS      DCOMP                                 
018631,000311: 32,2004           73525                           PDDL     SIN                                   
018632,000312: 32,2005           02403                                    LATITUDE                              
018633,000313: 32,2006           74266                           VDEF     VXSC                                  
018634,000314: 32,2007           26450                                    OMEG/MS                               
018635,000315: 32,2010           02405                           STORE    ERVECTOR                              
018636,000316: 32,2011           77634                           RTB                                            
018637,000317: 32,2012           45510                                    LOADTIME                              
018638,000318: 32,2013           26443                           STOVL    TMARK                                 
018639,000319: 32,2014           27111                                    SCHZEROS                              
018640,000320: 32,2015           02650                           STORE    ERCOMP1                               
018641,000321: 32,2016           77616                           RVQ                                            
018642,000322: 33,2000                                           SETLOC   IMUCAL                                
018643,000323: 33,2000                                           BANK                                           
018644,000324: 33,2370           47020        EARTHR             ITA      RTB                                   #  CALCULATES AND COMPENSATES EARTH RATE
018645,000325: 33,2371           00051                                    S2                                    
018646,000326: 33,2372           45510                                    LOADTIME                              
018647,000327: 33,2373           02441                           STORE    TEMPTIME                              
018648,000328: 33,2374           51025                           DSU      BPL                                   
018649,000329: 33,2375           02443                                    TMARK                                 
018650,000330: 33,2376           66401                                    ERTHR                                 
018651,000331: 33,2377           77624                           CALL                                           
018652,000332: 33,2400           66276                                    OVERFFIX                              
018653,000333: 33,2401           74261        ERTHR              SL       VXSC                                  
018654,000334: 33,2402           20212                                    9D                                    
018655,000335: 33,2403           02405                                    ERVECTOR                              
018656,000336: 33,2404           53321                           MXV      VAD                                   
018657,000337: 33,2405           02672                                    XSM                                   
018658,000338: 33,2406           02650                                    ERCOMP1                               
018659,000339: 33,2407           16650                           STODL    ERCOMP1                               
018660,000340: 33,2410           02441                                    TEMPTIME                              
018661,000341: 33,2411           02443                           STORE    TMARK                                 
018662,000342: 33,2412           47170                           AXT,1    RTB                                   
018663,000343: 33,2413           02647                           ECADR    ERCOMP1                               
018664,000344: 33,2414           45653                                    PULSEIMU                              
018665,000345: 33,2415           77650                           GOTO                                           
018666,000346: 33,2416           00051                                    S2                                    
018667,000347: 
018668,000348: 33,2417           00006        EARTHR*            EXTEND                                         
018669,000349: 33,2420           23426                           QXCH     QPLACES                               
018670,000350: 33,2421           06006                           TC       INTPRET                               
018671,000351: 33,2422           77624                           CALL                                           
018672,000352: 33,2423           66370                                    EARTHR                                
018673,000353: 33,2424           77776        PROUT              EXIT                                           
018674,000354: 33,2425           02316                           TC       IMUSTLLG                              
018675,000355: 33,2426           01426                           TC       QPLACES                               

Page 431

018677,000357: 
018678,000358: 33,2427           00006        SHOW               EXTEND                                         
018679,000359: 33,2430           23425                           QXCH     QPLACE                                
018680,000360: 33,2431           31423        SHOW1              CA       POSITON                               
018681,000361: 33,2432           55052                           TS       DSPTEM2    +2                         
018682,000362: 33,2433           32442                           CA       VB06N98                               
018683,000363: 33,2434           04662                           TC       BANKCALL                              
018684,000364: 33,2435           20720                           CADR     GOFLASH                               
018685,000365: 33,2436           02267                           TC       ENDTEST1                              #  V34
018686,000366: 33,2437           01425                           TC       QPLACE                                #  V33
018687,000367: 33,2440           12431                           TCF      SHOW1                                 
018688,000368: 
018689,000369: 33,2441           14400        OC14400            OCT      14400                                 
018690,000370: 33,2442  33,2447               3990DEC            =        OMEG/MS                               
018691,000371: 33,2442           01542        VB06N98            VN       0698                                  
018692,000372: 33,2443           01602        TESTTIME           OCT      01602                                 
018693,000373: 33,2444     4375               DEC17              =        ND1                                   
018694,000374: 33,2444           02757        OGCPL              ECADR    OGC                                   
018695,000375: 33,2445     5041               1SECX              =        1SEC                                  
018696,000376: 33,2445     4374               DEC57              =        VD1                                   
018697,000377: 33,2445           01713        XNBADR             GENADR   XNB                                   
018698,000378: 33,2446           01671        XSMADR             GENADR   XSM                                   
018699,000379: 33,2447           07623 26552  OMEG/MS            2DEC     .24339048                             
018700,000380: 
018701,000381: 33,2451           04662        P11OUT             TC       BANKCALL                              
018702,000382: 33,2452           70133                           CADR     MATRXJOB                              #  RETURN TO P11
018703,000383: 
018704,000384: 33,2453                                           COUNT    02/COMST                              
018705,000385: 
018706,000386:    4553                                           BLOCK    2                                     
018707,000387:    4553           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
018708,000388:    4554           00006                           EXTEND                                         
018709,000389:    4555           00004                           READ     LOSCALAR                              
018710,000390:    4556           54001                           TS       L                                     
018711,000391:    4557           00006                           EXTEND                                         
018712,000392:    4560           06004                           RXOR     LOSCALAR                              
018713,000393:    4561           00006                           EXTEND                                         
018714,000394:    4562           14566                           BZF      +4                                    
018715,000395:    4563           00006                           EXTEND                                         
018716,000396:    4564           00004                           READ     LOSCALAR                              
018717,000397:    4565           54001                           TS       L                                     
018718,000398:    4566           44777                 +4        CS       POSMAX                                
018719,000399:    4567           60001                           AD       L                                     
018720,000400:    4570           00006                           EXTEND                                         
018721,000401:    4571           14554                           BZF      FINETIME   +1                         
018722,000402:    4572           00006                           EXTEND                                         
018723,000403:    4573           00003                           READ     HISCALAR                              
018724,000404:    4574           00002                           TC       Q                                     
018725,000405: 

Page 432

018727,000407:                                                                                                  #  PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018728,000408:                                                                                                  #  DATE-  NOVEMBER 2 1966
018729,000409:                                                                                                  #  BY-  GEORGE SCHMIDT IL 7-146 EXT. 126
018730,000410:                                                                                                  #  MOD NO 3
018731,000411: 
018732,000412:                                                                                                  #  FUNCTIONAL DESCRIPTION
018733,000413: 
018734,000414:                                                                                                  #  THIS     SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018735,000415:                                                                                                  #  INTEGRATED TOGETHER TO SAVE WORDS.  COMPASS IS COMPLETELY RESTART
018736,000416:                                                                                                  #  PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO.  PERFORMANCE TESTS OF
018737,000417:                                                                                                  #  THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018738,000418:                                                                                                  #  IF A RESTART OCCURS THE DATA WILL STILL BE GOOD.  GOOD PRACTICE TO RECYCL
018739,000419:                                                                                                  #  WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018740,000420:                                                                                                  #  FOR THE DATA TO FLASH.
018741,000421: 
018742,000422:                                                                                                  #  A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018743,000423:                                                                                                  #  THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018744,000424:                                                                                                  #  EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018745,000425:                                                                                                  #  HAVE BEEN USED.  THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE 
018746,000426:                                                                                                  #  OPTIMUM STATISTICAL FILTER.  FOR A DESCRIPTION SEE E-1973.  BOTH OF THESE
018747,000427:                                                                                                  #  ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES.  THE INITIALIZATION
018748,000428:                                                                                                  #  PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S.  THE INITIALIZATION METHOD
018749,000429:                                                                                                  #  FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018750,000430:                                                                                                  #  THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018751,000431:                                                                                                  #  CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018752,000432:                                                                                                  #  COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018753,000433: 
018754,000434:                                                                                                  #  COMPASS ERASABLE LOAD REQUIRED
018755,000435: 
018756,000436:                                                                                                  #        1-      LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED    (NOM=.2)
018757,000437:                                                                                                  #        2-      LATITUDE-DP-OF LAUNCH PAD
018758,000438:                                                                                                  #        3-      AZIMUTH-DP-OF ZNB OF VEHICLE
018759,000439:                                                                                                  #        4-      IMU COMPENSATION PARAMETERS
018760,000440:                                                                                                  #        5-      AZ AND ELEVATION OF TARGETS 1,2         ****OPTIONAL****
018761,000441: 
018762,000442:                                                                                                  #  TO PERFORM AS PART OF COMPASS
018763,000443: 
018764,000444:                                                                                                  #        1-      OPTICAL VERIFICATION- V 65 E
018765,000445:                                                                                                  #        2-      AZIMUTH CHANGE- V 78 E
018766,000446: 
018767,000447:                                                                                                  #  SUBROUTINES CALLED
018768,000448: 
018769,000449:                                                                                                  #  DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018770,000450:                                                                                                  #  IS CALLED IN ONE WAY OR ANOTHER.  SEE THE LISTING.
018771,000451: 
018772,000452:                                                                                                  #  NORMAL EXIT
018773,000453: 
018774,000454:                                                                                                  #  DRIFT TESTS-  LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018775,000455:                                                                                                  #  GYROCOMPASS-MANY, SEE THE LISTING
018776,000456: 
018777,000457:                                                                                                  #  ALARMS
018778,000458: 
018779,000459:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST

Page 433

018781,000461:                                                                                                  #  1601  BAD IMU TORQUE ABORT
018782,000462:                                                                                                  #  1602  BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS        CSM ONLY
018783,000463: 
018784,000464:                                                                                                  #  OUTPUT
018785,000465: 
018786,000466:                                                                                                  #  DRIFT TESTS-  FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018787,000467:                                                                                                  #  COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018788,000468:                                                                                                  #        01      INITIALIZING THE PLATFORM POSITION AND ERASABLE
018789,000469:                                                                                                  #        02      GYROCOMPASSING
018790,000470:                                                                                                  #        03      DOING OPTICAL VERIFICATION (CSM)
018791,000471: 
018792,000472:                                                                                                  #  DEBRIS
018793,000473: 
018794,000474:                                                                                                  #  ALL CENTRALS, ALL OF EBANK XSM
018795,000475: 

Page 434

018797,000477:                                                                                                  #  MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018798,000478:                                                                                                  #  ON THE NEXT FEW PAGES.
018799,000479: 
018800,000480:    4575                                           COUNT    33/P02                                
018801,000481: 
018802,000482:    4575  E5,1671                                  EBANK=   XSM                                   
018803,000483: 33,2453                                           BANK     33                                    
018804,000484: 33,2000                                           SETLOC   IMUCAL                                
018805,000485: 33,2000                                           BANK                                           
018806,000486: 
018807,000487: 33,2453           05372        ESTIMS             TC       2PHSCHNG                              #  COMES HERE FROM IMU2
018808,000488: 33,2454           00075                           OCT      00075                                 
018809,000489: 33,2455           00004                           OCT      00004                                 #  TURN OFF GROUP 4 IF ON
018810,000490: 33,2456           00004        RSTGTS1            INHINT                                         #  COMES HERE PHASE1 RESTART
018811,000491: 33,2457           30025                           CA       TIME1                                 
018812,000492: 33,2460           55645                           TS       GTSWTLT1                              
018813,000493: 33,2461           35021                           CAF      ZERO                                  #  ZERO THE PIPAS
018814,000494: 33,2462           54037                           TS       PIPAX                                 
018815,000495: 33,2463           54040                           TS       PIPAY                                 
018816,000496: 33,2464           54041                           TS       PIPAZ                                 
018817,000497: 33,2465           00003                           RELINT                                         
018818,000498: 33,2466           33127                           CA       77DECML                               #  ZERO ALL NECESSARY LOCATIONS
018819,000499: 33,2467           55655                           TS       ZERONDX1                              
018820,000500: 33,2470           33130                           CA       ALXXXZ                                
018821,000501: 33,2471           02356                           TC       ZEROING                               
018822,000502: 33,2472           06006                           TC       INTPRET                               
018823,000503: 33,2473           77735                           SLOAD                                          
018824,000504: 33,2474           27111                                    SCHZEROS                              
018825,000505: 33,2475           25477                           STOVL    GCOMPSW    -1                         
018826,000506: 33,2476           27122                                    INTVAL     +2                         #  LOAD SOME INITIAL DRIFT GAINS
018827,000507: 33,2477           26455                           STOVL    ALX1S                                 
018828,000508: 33,2500           27111                                    SCHZEROS                              
018829,000509: 33,2501           01472                           STORE    GCOMP                                 
018830,000510: 33,2502           01163                           STORE    DELVX                                 #  GCOMPZER SUBROUTINE NO LONGER NEEDED
018831,000511: 33,2503           77776                           EXIT                                           
018832,000512: 
018833,000513: 33,2504           11643                           CCS      GEOCOMP1                              #  NON ZERO IF COMPASS.
018834,000514: 33,2505           02507                           TC       +2                                    
018835,000515: 33,2506           02523                           TC       SLEEPIE    +1                         
018836,000516: 33,2507           06006                           TC       INTPRET                               
018837,000517: 33,2510           77624                           CALL                                           
018838,000518: 33,2511           64000                                    ERTHRVSE                              
018839,000519: 33,2512           77776                           EXIT                                           
018840,000520: 33,2513           31412                           CA       LENGTHOT                              #  TIMES FIVE IS THE NUM OF SEC ERECTING
018841,000521: 33,2514           55646                           TS       ERECTIME                              
018842,000522: 
018843,000523: 33,2515           05354                           TC       NEWMODEX                              
018844,000524: 33,2516           00002                           MM       02         B-14                       
018845,000525: 33,2517           04662                           TC       BANKCALL                              #  SET UP PIPA FAIL TO CAUSE ISS ALARM

Page 435

018847,000527: 33,2520           17156                           CADR     PIPUSE                                #  COMPASS NEVER TURNS THIS OFF
018848,000528: 33,2521           03403                           TC       ANNNNNN                               #  END OF FIRST TIME THROUGH
018849,000529: 

Page 436

018851,000531:                                                                                                  #  COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018852,000532: 
018853,000533:                                                                                                  #  SET UP WAITLIST SECTION
018854,000534: 33,2522           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
018855,000535: 33,2523           05412                           TC       PHASCHNG                              #  CHANGE PHASE
018856,000536: 33,2524           00135                           OCT      00135                                 
018857,000537: 33,2525           11450                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
018858,000538: 33,2526           02417                           TC       EARTHR*                               #  TRUE TORQUE SOUTH GYRO
018859,000539: 33,2527           03406        WTLISTNT           TC       CHKCOMED                              #  SEE IF COMPASS OVER
018860,000540: 33,2530           02532                           TC       SETGWLST                              
018861,000541: 33,2531           05217                           TC       ENDOFJOB                              
018862,000542: 
018863,000543: 33,2532           00006        SETGWLST           EXTEND                                         
018864,000544: 33,2533           22154                           QXCH     MPAC                                  #  CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018865,000545: 33,2534           00004                           INHINT                                         
018866,000546: 33,2535           40025                           CS       TIME1                                 
018867,000547: 33,2536           61645                           AD       GTSWTLT1                              
018868,000548: 33,2537           00006                           EXTEND                                         
018869,000549: 33,2540           62542                           BZMF     +2                                    
018870,000550: 33,2541           65001                           AD       NEGMAX                                #  10 MS ERROR OK
018871,000551: 33,2542           61644                           AD       1SECXT1                               #  1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018872,000552: 33,2543           00006                           EXTEND                                         
018873,000553: 33,2544           62550                           BZMF     RIGHTGTS                              
018874,000554: 33,2545           05235        WTGTSMPL           TC       TWIDDLE                               
018875,000555: 33,2546  E5,1540                                  EBANK=   ALTIM                                 
018876,000556: 33,2546           02574                           ADRES    ALLOOP                                
018877,000557: 33,2547           00154                           TC       MPAC                                  
018878,000558: 33,2550           35015        RIGHTGTS           CAF      FOUR                                  #  SET UP NEXT WAITLIST-ALLOW SOME TIME
018879,000559: 33,2551           02545                           TC       WTGTSMPL                              #  END OF WAITLIST SECTION
018880,000560: 
018881,000561:                                                                                                  #  STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018882,000562: 
018883,000563: 33,2552     4113               25DECML            EQUALS   OCT31                                 
018884,000564: 33,2552           34113        STOREDTA           CAF      25DECML                               
018885,000565: 33,2553           54154                           TS       MPAC                                  
018886,000566: 33,2554           50154                           INDEX    MPAC                                  
018887,000567: 33,2555           31460                           CAE      THETAX1                               
018888,000568: 33,2556           50154                           INDEX    MPAC                                  
018889,000569: 33,2557           55577                           TS       RESTARPT                              
018890,000570: 33,2560           10154                           CCS      MPAC                                  
018891,000571: 33,2561           12553                           TCF      STOREDTA   +1                         
018892,000572: 33,2562           00002                           TC       Q                                     
018893,000573: 
018894,000574: 33,2563           34113        LOADSTDT           CAF      25DECML                               
018895,000575: 33,2564           54154                           TS       MPAC                                  
018896,000576: 33,2565           50154                           INDEX    MPAC                                  
018897,000577: 33,2566           31577                           CA       RESTARPT                              
018898,000578: 33,2567           50154                           INDEX    MPAC                                  
018899,000579: 

Page 437

018901,000581: 33,2570           55460                           TS       THETAX1                               
018902,000582: 33,2571           10154                           CCS      MPAC                                  
018903,000583: 33,2572           12564                           TCF      LOADSTDT   +1                         
018904,000584: 33,2573           00002                           TC       Q                                     
018905,000585: 
018906,000586:                                                                                                  #  COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018907,000587: 
018908,000588: 33,2574           30025        ALLOOP             CA       TIME1                                 
018909,000589: 33,2575           55645                           TS       GTSWTLT1                              #  STORE TIME TO SET UP NEXT WAITLIST.
018910,000590: 33,2576           31540        ALLOOP3            CA       ALTIM                                 
018911,000591: 33,2577           55631                           TS       GEOSAVE1                              
018912,000592: 33,2600           05412                           TC       PHASCHNG                              
018913,000593: 33,2601           00115                           OCT      00115                                 
018914,000594: 33,2602           31631        ALLOOP1            CAE      GEOSAVE1                              
018915,000595: 33,2603           55540                           TS       ALTIM                                 
018916,000596: 33,2604           10000                           CCS      A                                     
018917,000597: 33,2605           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
018918,000598: 33,2606           55541                           TS       ALTIMS                                
018919,000599: 33,2607           40000                           CS       A                                     
018920,000600: 33,2610           55540                           TS       ALTIM                                 
018921,000601: 33,2611           35021                           CAF      ZERO                                  
018922,000602: 33,2612           56037                           XCH      PIPAX                                 
018923,000603: 33,2613           55162                           TS       DELVX                                 
018924,000604: 33,2614           35021                           CAF      ZERO                                  
018925,000605: 33,2615           56040                           XCH      PIPAY                                 
018926,000606: 33,2616           55164                           TS       DELVY                                 
018927,000607: 33,2617           35021                           CAF      ZERO                                  
018928,000608: 33,2620           56041                           XCH      PIPAZ                                 
018929,000609: 33,2621           55166                           TS       DELVZ                                 
018930,000610: 33,2622           34374                           CAF      19DECML                               #  23 OCT
018931,000611: 33,2623           04114                           TC       NEWPHASE                              
018932,000612: 33,2624           00005                           OCT      00005                                 
018933,000613: 33,2625           37657        SPECSTS            CAF      PRIO22                                
018934,000614: 33,2626           05147                           TC       FINDVAC                               
018935,000615: 33,2627  E5,1631                                  EBANK=   GEOSAVE1                              
018936,000616: 33,2627           02632 66065                     2CADR    ALFLT                                 #  START THE JOB
018937,000617: 
018938,000618: 33,2631           05324                           TC       TASKOVER                              
018939,000619: 

Page 438

018941,000621:                                                                                                  #  THIS IS PART OF THE JOB DONE EVERY ITERATION
018942,000622: 
018943,000623: 33,2632           02552        ALFLT              TC       STOREDTA                              #  STORE DATA IN CASE OF RESTART IN JOB
018944,000624: 33,2633           05412                           TC       PHASCHNG                              #  THIS IS THE JOB DONE EVERY ITERATION
018945,000625: 33,2634           00215                           OCT      00215                                 
018946,000626: 33,2635           12637                           TCF      +2                                    
018947,000627: 33,2636           02563        ALFLT1             TC       LOADSTDT                              #  COMES HERE ON RESTART
018948,000628: 
018949,000629: 33,2637           11643                           CCS      GEOCOMP1                              
018950,000630: 33,2640           02642                           TC       +2                                    
018951,000631: 33,2641           02645                           TC       NORMLOP                               
018952,000632: 33,2642           03406                           TC       CHKCOMED                              #  SEE IF PRELAUNCH OVER
018953,000633: 33,2643           04662                           TC       BANKCALL                              #  COMPENSATION IF IN COMPASS
018954,000634: 33,2644           15262                           CADR     1/PIPA                                
018955,000635: 33,2645           06006        NORMLOP            TC       INTPRET                               
018956,000636: 33,2646           77745                           DLOAD                                          
018957,000637: 33,2647           27120                                    INTVAL                                
018958,000638: 33,2650           24051                           STOVL    S1                                    
018959,000639: 33,2651           01163                                    DELVX                                 
018960,000640: 33,2652           76505                           VXM      VSL1                                  
018961,000641: 33,2653           02672                                    XSM                                   
018962,000642: 33,2654           57545                           DLOAD    DCOMP                                 
018963,000643: 33,2655           00160                                    MPAC       +3                         
018964,000644: 33,2656           16533                           STODL    DPIPAY                                
018965,000645: 33,2657           00162                                    MPAC       +5                         
018966,000646: 33,2660           02537                           STORE    DPIPAZ                                
018967,000647: 
018968,000648: 33,2661           76001                           SETPD    AXT,1                                 
018969,000649: 33,2662           00001                                    0                                     
018970,000650: 33,2663           00010                                    8D                                    
018971,000651: 33,2664           57535                           SLOAD    DCOMP                                 
018972,000652: 33,2665           02644                                    GEOCOMP1                              
018973,000653: 33,2666           77640                           BMN                                            
018974,000654: 33,2667           67210                                    ALWAYSG                               #  DO A QUICK COMPASS
018975,000655: 

Page 439

018977,000657:                                                                                                  #  NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018978,000658: 
018979,000659: 33,2670                                           COUNT    33/COMST                              
018980,000660: 
018981,000661: 33,2670           50135        ALCGKK             SLOAD    BMN                                   
018982,000662: 33,2671           02542                                    ALTIMS                                
018983,000663: 33,2672           66705                                    ALFLT3                                #  NO NEW GAINS NEEDED
018984,000664: 33,2673           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
018985,000665: 33,2674           00014                                    12D                                   
018986,000666: 33,2675           02454                                    ALX1S                                 
018987,000667: 33,2676           62143        ALKCG2             DLOAD*   INCR,1                                
018988,000668: 33,2677           02243                                    ALFDK      +144D,1                    
018989,000669: 33,2700           77775                           DEC      -2         B-14                       
018990,000670: 33,2701           12555                           STORE    ALDK       +10D,2                     
018991,000671: 33,2702           66104                           TIX,2    SXA,1                                 
018992,000672: 33,2703           66676                                    ALKCG2                                
018993,000673: 33,2704           02454                                    ALX1S                                 
018994,000674: 
018995,000675: 33,2705           77770        ALFLT3             AXT,1                                          #  MEASUREMENT INCORPORATION ROUTINES
018996,000676: 33,2706           00010                                    8D                                    #  AND GAIN UPDATES
018997,000677: 33,2707           41343        DELMLP             DLOAD*   DMP                                   
018998,000678: 33,2710           02543                                    DPIPAY     +8D,1                      
018999,000679: 33,2711           27705                                    PIPASC                                
019000,000680: 33,2712           43661                           SLR      BDSU*                                 
019001,000681: 33,2713           21212                                    9D                                    
019002,000682: 33,2714           02511                                    INTY       +8D,1                      
019003,000683: 33,2715           06511                           STORE    INTY       +8D,1                      
019004,000684: 33,2716           40725                           PDDL     DMP*                                  
019005,000685: 33,2717           27707                                    VELSC                                 
019006,000686: 33,2720           02531                                    VLAUN      +8D,1                      
019007,000687: 33,2721           77732                           SL2R                                           
019008,000688: 33,2722           45425                           DSU      STADR                                 
019009,000689: 33,2723           71206                           STORE    DELM       +8D,1                      
019010,000690: 33,2724           06573                           STORE    DELM       +10D,1                     
019011,000691: 33,2725           77100                           TIX,1    AXT,2                                 
019012,000692: 33,2726           66707                                    DELMLP                                
019013,000693: 33,2727           00004                                    4                                     
019014,000694: 33,2730           56743        ALILP              DLOAD*   DMPR*                                 
019015,000695: 33,2731           75314                                    ALK        +4,2                       
019016,000696: 33,2732           75230                                    ALDK       +4,2                       
019017,000697: 33,2733           12463                           STORE    ALK        +4,2                       
019018,000698: 33,2734           77104                           TIX,2    AXT,2                                 
019019,000699: 33,2735           66730                                    ALILP                                 
019020,000700: 33,2736           00010                                    8D                                    
019021,000701: 33,2737           66140        ALKLP              LXC,1    SXA,1                                 
019022,000702: 33,2740           02455                                    CMPX1                                 
019023,000703: 33,2741           02455                                    CMPX1                                 
019024,000704: 33,2742           56743                           DLOAD*   DMPR*                                 
019025,000705: 33,2743           02460                                    ALK        +1,1                       
019026,000706: 33,2744           75206                                    DELM       +8D,2                      

Page 440

019028,000708: 33,2745           77613                           DAD*                                           
019029,000709: 33,2746           75266                                    INTY       +8D,2                      
019030,000710: 33,2747           12511                           STORE    INTY       +8D,2                      
019031,000711: 33,2750           42743                           DLOAD*   DAD*                                  
019032,000712: 33,2751           75304                                    ALK        +12D,2                     
019033,000713: 33,2752           75220                                    ALDK       +12D,2                     
019034,000714: 33,2753           12473                           STORE    ALK        +12D,2                     
019035,000715: 33,2754           42673                           DMPR*    DAD*                                  
019036,000716: 33,2755           75206                                    DELM       +8D,2                      
019037,000717: 33,2756           75256                                    INTY       +16D,2                     
019038,000718: 33,2757           12521                           STORE    INTY       +16D,2                     
019039,000719: 33,2760           40743                           DLOAD*   DMP*                                  
019040,000720: 33,2761           27712                                    ALSK       +1,1                       
019041,000721: 33,2762           75206                                    DELM       +8D,2                      
019042,000722: 33,2763           42772                           SL1R     DAD*                                  
019043,000723: 33,2764           75246                                    VLAUN      +8D,2                      
019044,000724: 33,2765           12531                           STORE    VLAUN      +8D,2                      
019045,000725: 33,2766           76104                           TIX,2    AXT,1                                 
019046,000726: 33,2767           66737                                    ALKLP                                 
019047,000727: 33,2770           00010                                    8D                                    
019048,000728: 
019049,000729: 33,2771           64743        LOOSE              DLOAD*   PDDL*                                 #  EXTRAPOLATE SWAY VARIABLES
019050,000730: 33,2772           02533                                    ACCWD      +8D,1                      
019051,000731: 33,2773           02531                                    VLAUN      +8D,1                      
019052,000732: 33,2774           55523                           PDDL*    VDEF                                  
019053,000733: 33,2775           02541                                    POSNV      +8D,1                      
019054,000734: 33,2776           76521                           MXV      VSL1                                  
019055,000735: 33,2777           02001                                    TRANSM1                               
019056,000736: 33,3000           77745                           DLOAD                                          
019057,000737: 33,3001           00155                                    MPAC                                  
019058,000738: 33,3002           06541                           STORE    POSNV      +8D,1                      
019059,000739: 33,3003           77745                           DLOAD                                          
019060,000740: 33,3004           00160                                    MPAC       +3                         
019061,000741: 33,3005           06531                           STORE    VLAUN      +8D,1                      
019062,000742: 33,3006           77745                           DLOAD                                          
019063,000743: 33,3007           00162                                    MPAC       +5                         
019064,000744: 33,3010           06533                           STORE    ACCWD      +8D,1                      
019065,000745: 33,3011           77700                           TIX,1                                          
019066,000746: 33,3012           66771                                    LOOSE                                 
019067,000747: 
019068,000748: 33,3013           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
019069,000749: 33,3014           00006                                    6                                     
019070,000750: 33,3015           00002                                    2                                     
019071,000751: 33,3016           57343        BOOP               DLOAD*   DMPR                                  
019072,000752: 33,3017           02513                                    ANGX       +2,1                       
019073,000753: 33,3020           27715                                    GEORGEJ                               
019074,000754: 33,3021           77722                           SR2R                                           
019075,000755: 33,3022           73406                           PUSH     SIN                                   

Page 441

019077,000757: 33,3023           56072                           SL3R     XAD,1                                 
019078,000758: 33,3024           00046                                    X1                                    
019079,000759: 33,3025           10021                           STORE    16D,2                                 
019080,000760: 33,3026           77745                           DLOAD                                          
019081,000761: 33,3027           77746                           COS                                            
019082,000762: 33,3030           10027                           STORE    22D,2                                 #  COSINES
019083,000763: 33,3031           77704                           TIX,2                                          
019084,000764: 33,3032           67016                                    BOOP                                  
019085,000765: 
019086,000766: 33,3033           77776        PERFERAS           EXIT                                           
019087,000767: 33,3034           35060                           CA       EBANK7                                
019088,000768: 33,3035  E7,1400                                  EBANK=   LAT(SPL)                              
019089,000769: 33,3035           54003                           TS       EBANK                                 
019090,000770: 33,3036           01400                           TC       LAT(SPL)                              #  GOTO ERASABLE ONLY TO RETURN
019091,000771: 
019092,000772:                                                                                                  #  CAUTION
019093,000773: 
019094,000774:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019095,000775:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019096,000776: 
019097,000777: 33,3037  E5,1412                                  EBANK=   LENGTHOT                              
019098,000778: 33,3037           11412        ONCEMORE           CCS      LENGTHOT                              
019099,000779: 33,3040           02522                           TC       SLEEPIE                               #  TEST NOT OVER SET UP NEXT WAITLIST
019100,000780: 33,3041           11450                           CCS      TORQNDX                               
019101,000781: 33,3042           13044                           TCF      +2                                    
019102,000782: 33,3043           03046                           TC       SETUPER1                              
019103,000783: 33,3044           30032                           CA       CDUX                                  
019104,000784: 33,3045           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING POSNS 2$4 VD
019105,000785: 33,3046           06006        SETUPER1           TC       INTPRET                               #  DRIFT TEST OVER
019106,000786: 33,3047           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
019107,000787: 33,3050           02503                                    ANGZ                                  
019108,000788: 33,3051           02507                                    ANGY                                  
019109,000789: 33,3052           55525                           PDDL     VDEF                                  
019110,000790: 33,3053           02511                                    ANGX                                  
019111,000791: 33,3054           74276                           VCOMP    VXSC                                  
019112,000792: 33,3055           27715                                    GEORGEJ                               
019113,000793: 33,3056           74521                           MXV      VSR1                                  
019114,000794: 33,3057           02672                                    XSM                                   
019115,000795: 33,3060           02760                           STORE    OGC                                   
019116,000796: 33,3061           77776                           EXIT                                           
019117,000797: 
019118,000798: 33,3062           05412        TORQINCH           TC       PHASCHNG                              
019119,000799: 33,3063           00005                           OCT      00005                                 
019120,000800: 33,3064           32444                           CA       OGCPL                                 
019121,000801: 33,3065           04662                           TC       BANKCALL                              
019122,000802: 33,3066           17206                           CADR     IMUPULSE                              
019123,000803: 33,3067           02316                           TC       IMUSTLLG                              
019124,000804: 33,3070           11450                           CCS      TORQNDX                               #  + IF IN VERTICAL DRIFT TEST
019125,000805: 33,3071           02262                           TC       VALMIS                                #  VERT DRIFT TEST OVER
019126,000806: 33,3072           06006                           TC       INTPRET                               

Page 442

019128,000808: 33,3073           77624                           CALL                                           #  SET UP ERATE FOR PIP TEST OR COMPASS
019129,000809: 33,3074           64000                                    ERTHRVSE                              
019130,000810: 33,3075           77776                           EXIT                                           
019131,000811: 33,3076           02122                           TC       TORQUE                                #  GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019132,000812: 
019133,000813: 33,3077           05650        SOMEERRR           TC       ALARM                                 
019134,000814: 33,3100           01600                           OCT      1600                                  
019135,000815: 33,3101           03104                           TC       +3                                    
019136,000816: 33,3102           05650        SOMERR2            TC       ALARM                                 
019137,000817: 33,3103           01601                           OCT      1601                                  
019138,000818: 33,3104           05412                           TC       PHASCHNG                              
019139,000819: 33,3105           00005                           OCT      00005                                 
019140,000820: 33,3106           02267                           TC       ENDTEST1                              
019141,000821: 
019142,000822:                                                                                                  #  THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. 
019143,000823: 
019144,000824: 33,3107           02222        DEC585             OCT      02222                                 #  1170 B+14 ORDER IS NOW IMPORTANT
019145,000825: 33,3110           00000 00000  SCHZEROS           2DEC     .00000000                             
019146,000826: 33,3112           00000 00000                     2DEC     .00000000                             
019147,000827: 33,3114           00000                           OCT      00000                                 
019148,000828: 33,3115           00000        ONEDPP             OCT      00000                                 
019149,000829: 33,3116           00001                           OCT      00001                                 #  ABOVE ORDER IS IMPORTANT
019150,000830: 
019151,000831: 33,3117           00004        INTVAL             OCT      4                                     
019152,000832: 33,3120           00002                           OCT      2                                     
019153,000833: 33,3121           00220                           DEC      144        B-14                       
019154,000834: 33,3122           77776                           DEC      -1         B-14                       
019155,000835: 33,3123           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
019156,000836: 33,3125           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
019157,000837: 
019158,000838: 33,3127           00115        77DECML            DEC      77         B-14                       
019159,000839: 33,3130           01453        ALXXXZ             GENADR   ALX1S      -1                         
019160,000840: 
019161,000841:                                                                                                  #  GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019162,000842: 
019163,000843: 33,3131                                           COUNT    33/P01                                
019164,000844: 
019165,000845:                                                                                                  #  INITIALIZATION SECTION
019166,000846: 
019167,000847: 33,3131           30075        GTSCPSS            CA       FLAGWRD1                              #  CALLED BY V37
019168,000848: 33,3132           75004                           MASK     NOP01BIT                              

Page 443

019170,000850: 33,3133           00006                           EXTEND                                         
019171,000851: 33,3134           13137                           BZF      GTSCPSSA                              
019172,000852: 33,3135           05721                           TC       POODOO                                
019173,000853: 33,3136           01521                           OCT      1521                                  #  NODO ALARM FOR P01 - P11 ALREADY DONE
019174,000854: 
019175,000855: 33,3137           35017        GTSCPSSA           CAF      ONE                                   
019176,000856: 33,3140           55643                           TS       GEOCOMP1                              #  THIS IS THE LEAD IN FOR COMPASS.
019177,000857: 33,3141           33435                           CA       1/PIPAGT                              
019178,000858: 33,3142           55074                           TS       1/PIPADT                              
019179,000859: 33,3143           35010        NXXTENN            CA       BIT8                                  
019180,000860: 33,3144           55412                           TS       LENGTHOT                              
019181,000861: 33,3145           35036                           CAF      1/2SECX                               #  COMPASS IS A .5 SEC LOOP
019182,000862: 33,3146           55644                           TS       1SECXT1                               
019183,000863: 33,3147           35017                           CAF      ONE                                   
019184,000864: 33,3150           55632                           TS       PREMTRX1                              
019185,000865: 33,3151           55657                           TS       PERFDLAY   +1                         
019186,000866: 33,3152           35021                           CAF      ZERO                                  
019187,000867: 33,3153           55656                           TS       PERFDLAY                              
019188,000868: 33,3154           00006                           EXTEND                                         
019189,000869: 33,3155           31634                           DCA      LUNCHAZ1                              
019190,000870: 33,3156           53636                           DXCH     NEWAZ1                                
019191,000871: 33,3157           00006                           EXTEND                                         
019192,000872: 33,3160           31634                           DCA      LUNCHAZ1                              
019193,000873: 33,3161           53640                           DXCH     OLDAZMTH                              
019194,000874: 33,3162           34375        SETUPGC            CA       DEC17                                 
019195,000875: 33,3163           55655                           TS       ZERONDX1                              
019196,000876: 33,3164           32446                           CA       XSMADR                                
019197,000877: 33,3165           02356                           TC       ZEROING                               
019198,000878: 33,3166           03170                           TC       POSN17C                               
019199,000879: 33,3167           02030                           TC       GEOIMUTT                              #  GO TO IMU2 FOR FURTHER INITIALIZATION
019200,000880: 
019201,000881: 
019202,000882: 33,3170           00006        POSN17C            EXTEND                                         #  COMPASS POSITION Z DOWN, X DOWNRANGE
019203,000883: 33,3171           23425                           QXCH     QPLACE                                #  FROM NORTH IN REVOLUTIONS + CLOCKWSE
019204,000884: 33,3172           45002                           CS       HALF                                  #  ALL THIS TO INITIALIZE MATRIX
019205,000885: 33,3173           55705                           TS       ZSM                                   
019206,000886: 33,3174           06006                           TC       INTPRET                               
019207,000887: 33,3175           41545                           DLOAD    PUSH                                  
019208,000888: 33,3176           02636                                    NEWAZ1                                
019209,000889: 33,3177           77756                           SIN                                            
019210,000890: 33,3200           02676                           STORE    XSM        +4                         
019211,000891: 33,3201           16702                           STODL    YSM        +2                         
019212,000892: 33,3202           77746                           COS                                            
019213,000893: 33,3203           02704                           STORE    YSM        +4                         
019214,000894: 33,3204           77676                           DCOMP                                          
019215,000895: 33,3205           02674                           STORE    XSM        +2                         
019216,000896: 33,3206           77776                           EXIT                                           
019217,000897: 33,3207           01425                           TC       QPLACE                                
019218,000898: 

Page 444

019220,000900:                                                                                                  #  JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.  SET BY TASK ALLOOP
019221,000901: 
019222,000902: 33,3210                                           COUNT    33/P02                                
019223,000903: 
019224,000904: 33,3210           44743        ALWAYSG            DLOAD*   DSU*                                  #  COMPASS AND ERECT
019225,000905: 33,3211           02543                                    DPIPAY     +8D,1                      
019226,000906: 33,3212           02505                                    FILDELV1   +8D,1                      
019227,000907: 33,3213           42675                           DMPR     DAD*                                  
019228,000908: 33,3214           27717                                    GEOCONS1                              
019229,000909: 33,3215           02505                                    FILDELV1   +8D,1                      
019230,000910: 33,3216           06505                           STORE    FILDELV1   +8D,1                      
019231,000911: 33,3217           77613                           DAD*                                           
019232,000912: 33,3220           02507                                    INTVEC1    +8D,1                      
019233,000913: 33,3221           06507                           STORE    INTVEC1    +8D,1                      
019234,000914: 33,3222           42675                           DMPR     DAD*                                  
019235,000915: 33,3223           27721                                    GEOCONS2                              
019236,000916: 33,3224           02505                                    FILDELV1   +8D,1                      
019237,000917: 33,3225           41475                           DMPR     PUSH                                  
019238,000918: 33,3226           15333                                    GEOCONS5                              
019239,000919: 33,3227           67300                           TIX,1    SLOAD                                 
019240,000920: 33,3230           67210                                    ALWAYSG                               
019241,000921: 33,3231           02647                                    ERECTIM1                              
019242,000922: 33,3232           71254                           BZE      DLOAD                                 
019243,000923: 33,3233           67244                                    COMPGS                                
019244,000924: 33,3234           02471                                    THETAN1    +2                         
019245,000925: 33,3235           45425                           DSU      STADR                                 
019246,000926: 33,3236           61306                           STODL    THETAN1    +2                         #  ERECTION ONLY.
019247,000927: 33,3237           77621                           BDSU                                           
019248,000928: 33,3240           02473                                    THETAN1    +4                         
019249,000929: 33,3241           02473                           STORE    THETAN1    +4                         
019250,000930: 33,3242           77650                           GOTO                                           
019251,000931: 33,3243           67266                                    ADDINDRF                              
019252,000932: 33,3244           43345        COMPGS             DLOAD    DAD                                   #  COMPASS
019253,000933: 33,3245           02467                                    THETAN1                               
019254,000934: 33,3246           02475                                    FILDELV1                              
019255,000935: 33,3247           16467                           STODL    THETAN1                               
019256,000936: 33,3250           02475                                    FILDELV1                              
019257,000937: 33,3251           44275                           DMPR     BDSU                                  
019258,000938: 33,3252           27723                                    GEOCONS3                              
019259,000939: 33,3253           02473                                    THETAN1    +4                         
019260,000940: 33,3254           16473                           STODL    THETAN1    +4                         
019261,000941: 33,3255           02501                                    FILDELV1   +4                         
019262,000942: 33,3256           44275                           DMPR     BDSU                                  
019263,000943: 33,3257           27723                                    GEOCONS3                              
019264,000944: 33,3260           02471                                    THETAN1    +2                         
019265,000945: 33,3261           57325                           PDDL     DMPR                                  
019266,000946: 33,3262           02503                                    INTVEC1    +4                         
019267,000947: 33,3263           27725                                    GEOCONS4                              
019268,000948: 33,3264           45421                           BDSU     STADR                                 
019269,000949: 33,3265           75306                           STORE    THETAN1    +2                         

Page 445

019271,000951: 33,3266           77776        ADDINDRF           EXIT                                           
019272,000952: 
019273,000953: 
019274,000954: 33,3267           11412        ENDGTSAL           CCS      LENGTHOT                              #  IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019275,000955: 33,3270           02522                           TC       SLEEPIE                               #  NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019276,000956: 33,3271           03406                           TC       CHKCOMED                              
019277,000957: 33,3272           11304                           CCS      LGYRO                                 #  YES BUT ARE GYROS BUSY
019278,000958: 33,3273           12523                           TCF      SLEEPIE    +1                         #  BUSY-GET THEM .5 SECONDS FROM NOW
019279,000959: 
019280,000960: 33,3274           06006        LASTGTS            TC       INTPRET                               
019281,000961: 33,3275           77775                           VLOAD                                          
019282,000962: 33,3276           02650                                    ERCOMP1                               
019283,000963: 33,3277           16461                           STODL    THETAX1                               
019284,000964: 33,3300           02443                                    TMARK                                 
019285,000965: 33,3301           02457                           STORE    ALK                                   
019286,000966: 33,3302           77776                           EXIT                                           #  PREVIOUS SECTION WAS FOR RESTARTS
019287,000967: 
019288,000968: 33,3303           05412        RESTAIER           TC       PHASCHNG                              
019289,000969: 33,3304           00275                           OCT      00275                                 
019290,000970: 33,3305           06006                           TC       INTPRET                               #  ADD COMPASS COMMANDS INTO ERATE
019291,000971: 33,3306           64375                           VLOAD    MXV                                   
019292,000972: 33,3307           02467                                    THETAN1                               
019293,000973: 33,3310           02672                                    XSM                                   
019294,000974: 33,3311           53372                           VSL1     VAD                                   
019295,000975: 33,3312           02461                                    THETAX1                               
019296,000976: 33,3313           16650                           STODL    ERCOMP1                               
019297,000977: 33,3314           02457                                    ALK                                   
019298,000978: 33,3315           02443                           STORE    TMARK                                 
019299,000979: 33,3316           77776                           EXIT                                           
019300,000980: 33,3317           02417                           TC       EARTHR*                               #  TORQUE IT ALL IN
019301,000981: 33,3320           31646                           CAE      ERECTIM1                              
019302,000982: 33,3321           55631                           TS       GEOSAVE1                              
019303,000983: 33,3322           05412                           TC       PHASCHNG                              
019304,000984: 33,3323           00155                           OCT      00155                                 
019305,000985: 33,3324           06006        RESTEST1           TC       INTPRET                               
019306,000986: 33,3325           77775                           VLOAD                                          
019307,000987: 33,3326           27111                                    SCHZEROS                              
019308,000988: 33,3327           02467                           STORE    THETAN1                               
019309,000989: 33,3330           77776                           EXIT                                           
019310,000990: 33,3331           11632                           CCS      PREMTRXC                              
019311,000991: 33,3332           03401                           TC       NOCHORLD                              
019312,000992: 33,3333           05412                           TC       PHASCHNG                              
019313,000993: 33,3334           00255                           OCT      00255                                 
019314,000994: 33,3335           06006        RESTEST3           TC       INTPRET                               
019315,000995: 33,3336           77745                           DLOAD                                          
019316,000996: 33,3337           02634                                    LAUNCHAZ                              
019317,000997: 33,3340           53025                           DSU      BZE                                   
019318,000998: 33,3341           02640                                    OLDAZMTH                              
019319,000999: 33,3342           67376                                    NOAZCHGE                              
019320,001000: 33,3343           00001                           STORE    0D                                    

Page 446

019322,001002: 33,3344           43335                           SLOAD    DAD                                   
019323,001003: 33,3345           27117                                    ONEDPP     +1                         
019324,001004: 33,3346           02633                                    PREMTRXC                              #  DOES NOT CHANGE LAUNCHAZ
019325,001005: 33,3347           16633                           STODL    PREMTRXC                              
019326,001006: 33,3350           02634                                    LAUNCHAZ                              
019327,001007: 33,3351           16636                           STODL    NEWAZMTH                              
019328,001008: 33,3352           00001                                    0D                                    
019329,001009: 33,3353           02654        ADERCOMP           STORE    ERCOMP     +4                         
019330,001010: 33,3354           77776                           EXIT                                           
019331,001011: 33,3355           03170                           TC       POSN17C                               
019332,001012: 33,3356           05412                           TC       PHASCHNG                              
019333,001013: 33,3357           00335                           OCT      00335                                 
019334,001014: 33,3360           00006        RESCHNG            EXTEND                                         
019335,001015: 33,3361           31636                           DCA      NEWAZMTH                              
019336,001016: 33,3362           53640                           DXCH     OLDAZMTH                              
019337,001017: 33,3363           35011                           CA       BIT7                                  #  SPEND 320 SEC ERECTING
019338,001018: 33,3364           55412                           TS       LENGTHOT                              
019339,001019: 33,3365           05412                           TC       PHASCHNG                              
019340,001020: 33,3366           00075                           OCT      00075                                 
019341,001021: 33,3367           33434        SPITGYRO           CA       ERCOMPPL                              
019342,001022: 33,3370           04662                           TC       BANKCALL                              
019343,001023: 33,3371           17206                           CADR     IMUPULSE                              
019344,001024: 33,3372           04662                           TC       BANKCALL                              
019345,001025: 33,3373           17577                           CADR     IMUSTALL                              
019346,001026: 33,3374           03102                           TC       SOMERR2                               
019347,001027: 33,3375           02453                           TC       ESTIMS                                #  RE-INITIALIZE
019348,001028: 
019349,001029: 
019350,001030: 33,3376           77776        NOAZCHGE           EXIT                                           
019351,001031: 33,3377           35017                           CA       ONE                                   
019352,001032: 33,3400           55632                           TS       PREMTRXC                              
019353,001033: 33,3401           11631        NOCHORLD           CCS      GEOSAVE1                              
019354,001034: 33,3402           55646                           TS       ERECTIM1                              #  COUNTS DOWN FOR ERECTION.
019355,001035: 
019356,001036: 33,3403           34334        ANNNNNN            CAF      NINE                                  
019357,001037: 33,3404           55412                           TS       LENGTHOT                              
019358,001038: 33,3405           02523                           TC       SLEEPIE    +1                         
019359,001039: 
019360,001040: 
019361,001041: 33,3406           00004        CHKCOMED           INHINT                                         
019362,001042: 33,3407           41011                           CS       MODREG                                #  CHECK FOR MM 07 FIRST
019363,001043: 33,3410           65023                           AD       SEVEN                                 
019364,001044: 33,3411           00006                           EXTEND                                         
019365,001045: 33,3412           13426                           BZF      GOBKCALB                              #  IF MM 07 RETURN TO PERF TEST
019366,001046: 33,3413           45021                           CS       ZERO                                  
019367,001047: 33,3414           00006                           EXTEND                                         
019368,001048: 33,3415           06030                           RXOR     CHAN30                                #  READ AND INVERT BITS IN CHANNEL 30
019369,001049: 33,3416           75013                           MASK     BIT5                                  #  LIFTOFF BIT
019370,001050: 33,3417           10000                           CCS      A                                     
019371,001051: 33,3420           13427                           TCF      PRELTERM                              #  LIFTOFF HAS OCCURRED
019372,001052: 

Page 447

019374,001054: 33,3421           35013                           CA       GRRBKBIT                              #  CHECK FOR BACKUP LIFTOFF
019375,001055: 33,3422           70101                           MASK     FLAGWRD5                              #  BIT5 FLAGWRD5
019376,001056: 33,3423           10000                           CCS      A                                     
019377,001057: 33,3424           13427                           TCF      PRELTERM                              #  BACKUP RECEIVED
019378,001058: 
019379,001059: 33,3425           00003                           RELINT                                         
019380,001060: 33,3426           00002        GOBKCALB           TC       Q                                     
019381,001061: 
019382,001062: 33,3427           37657        PRELTERM           CA       PRIO22                                #  PRELAUNCH DONE - SET UP P11
019383,001063: 33,3430           05210                           TC       PRIOCHNG                              #  INCREASE PRIORITY HIGHER THAN SERVICER
019384,001064: 33,3431           00004                           INHINT                                         
019385,001065: 33,3432           04701                           TC       POSTJUMP                              
019386,001066: 33,3433           70002                           CADR     P11                                   
019387,001067: 
019388,001068: 
019389,001069: 33,3434           02647        ERCOMPPL           ECADR    ERCOMP                                
019390,001070: 
019391,001071: 33,3435  26,3332               GEOCONS5           EQUALS   HIDPHALF                              
019392,001072: 33,3435           06200        1/PIPAGT           OCT      06200                                 
019393,001073: 33,3436     4375               17DECML            =        ND1                                   #  OCT 21
019394,001074: 33,3436     4374               19DECML            =        VD1                                   #  OCT 23
019395,001075: 33,3436     5036               1/2SECX            =        .5SEC                                 
019396,001076: 
019397,001077: 

Page 448

019399,001079: 33,3436     5217               GEOSTRT4           EQUALS   ENDOFJOB                              
019400,001080: 

Page 449

019402,001082:                                                                                                  #  OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019403,001083: 
019404,001084: 33,3436                                           COUNT    33/P03                                
019405,001085: 
019406,001086: 33,3436           05412        GCOMPVER           TC       PHASCHNG                              #  OPTICAL VERIFICATION ROUTINE
019407,001087: 33,3437           00154                           OCT      00154                                 
019408,001088: 33,3440           05354                           TC       NEWMODEX                              #  ENTERED BY VERB 65 ENTER
019409,001089: 33,3441           00003                           MM       03         B-14                       
019410,001090: 33,3442           02037        SETNBPOS           TC       NBPOSPL                               
019411,001091: 33,3443           04662                           TC       BANKCALL                              
019412,001092: 33,3444           16063                           CADR     MKRELEAS                              
019413,001093: 33,3445           35017        OPTDATA            CAF      BIT1                                  #  CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019414,001094: 33,3446           22007                           ZL                                             #  T 1,THEN TARGET 2
019415,001095: 33,3447           23427                           LXCH     RUN                                   #  AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019416,001096: 33,3450           55047                           TS       DSPTEM1    +2                         #  ELEVATION MEASURED FROM HORIZONTAL
019417,001097: 33,3451           00006                           EXTEND                                         
019418,001098: 33,3452           51427                           INDEX    RUN                                   
019419,001099: 33,3453           31433                           DCA      TAZEL1                                
019420,001100: 33,3454           53046                           DXCH     DSPTEM1                               
019421,001101: 33,3455           33500                           CAF      V05N30E                               
019422,001102: 33,3456           04662                           TC       BANKCALL                              
019423,001103: 33,3457           20673                           CADR     GODSPRET                              
019424,001104: 33,3460           33466                           CAF      VN0641                                
019425,001105: 33,3461           04662                           TC       BANKCALL                              
019426,001106: 33,3462           20720                           CADR     GOFLASH                               
019427,001107: 33,3463           03620                           TC       GCOMP5                                
019428,001108: 33,3464           03467                           TC       +3                                    
019429,001109: 33,3465           03455                           TC       -8D                                   
019430,001110: 33,3466           01451        VN0641             VN       0641                                  
019431,001111: 33,3467           53046                           DXCH     DSPTEM1                               #  TAZEL1 TARGET 1 AZIMUTH
019432,001112: 33,3470           51427                           INDEX    RUN                                   
019433,001113: 33,3471           53433                           DXCH     TAZEL1                                #  TAZEL1 +2 TARGET 2 AZIMUTH
019434,001114: 33,3472           11427                           CCS      RUN                                   
019435,001115: 33,3473           13477                           TCF      +4                                    
019436,001116: 33,3474           35016                           CAF      TWO                                   
019437,001117: 33,3475           54001                           TS       L                                     
019438,001118: 33,3476           13447                           TCF      OPTDATA    +2                         #  MPAC  1ST PASS=0   2ND PASS=2
019439,001119: 
019440,001120: 33,3477           03541                           TC       CONTIN33                              
019441,001121: 
019442,001122: 33,3500           01236        V05N30E            VN       0530                                  
019443,001123: 
019444,001124: 33,3501           06006                           TC       INTPRET                               #  UNDYNAMIC ASSEMBLER
019445,001125: 33,3502           77170        TAR/EREF           AXT,1    AXT,2                                 #  TARGET VECTOR
019446,001126: 33,3503           00002                                    2                                     #  SIN(EL)   -COS(AZ)COS(EL)   SIN(AZ)COS(EL
019447,001127: 33,3504           00014                                    12D                                   
019448,001128: 33,3505           40331                           SSP      SETPD                                 
019449,001129: 33,3506           00052                                    S2                                    
019450,001130: 33,3507           00006                                    6                                     

Page 450

019452,001132: 33,3510           00001                                    0                                     
019453,001133: 33,3511           60533        TAR1               SLOAD*   SR2                                   #  X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019454,001134: 33,3512           02436                                    TAZEL1     +3,1                       
019455,001135: 33,3513           00001                           STORE    0                                     #  PD00 ELEVATION PD00
019456,001136: 33,3514           77756                           SIN                                            
019457,001137: 33,3515           10023                           STORE    18D,2                                 #  PD06 *** SIN(EL) ***PD12
019458,001138: 33,3516           77745                           DLOAD                                          
019459,001139: 33,3517           00001                                    0                                     
019460,001140: 33,3520           41546                           COS      PUSH                                  #  PD00 COS(EL) PD00
019461,001141: 33,3521           47133                           SLOAD*   RTB                                   
019462,001142: 33,3522           02435                                    TAZEL1     +2,1                       
019463,001143: 33,3523           45513                                    CDULOGIC                              
019464,001144: 33,3524           00003                           STORE    2                                     #  PD02 AZIMUTH PD02
019465,001145: 33,3525           41356                           SIN      DMP                                   
019466,001146: 33,3526           00001                                    0                                     
019467,001147: 33,3527           77752                           SL1                                            
019468,001148: 33,3530           10027                           STORE    22D,2                                 #  PD10 *** SIN(AZ)COS(EL) ***PD16
019469,001149: 33,3531           71545                           DLOAD    COS                                   
019470,001150: 33,3532           00003                                    2                                     
019471,001151: 33,3533           72405                           DMP      SL1                                   
019472,001152: 33,3534           76076                           DCOMP    AXT,1                                 
019473,001153: 33,3535           00000                                    0                                     
019474,001154: 33,3536           10025                           STORE    20D,2                                 #  PD08 *** -COS(AZ)COS(EL) ***PD14
019475,001155: 33,3537           43504                           TIX,2    RVQ                                   
019476,001156: 33,3540           67511                                    TAR1                                  
019477,001157: 
019478,001158: 
019479,001159: 33,3541                                           BANK     33                                    
019480,001160: 33,2000                                           SETLOC   IMUCAL                                
019481,001161: 33,2000                                           BANK                                           
019482,001162: 33,3541                                           COUNT*   $$/PO3                                
019483,001163: 
019484,001164: 33,3541           35017        CONTIN33           CA       ONE                                   
019485,001165: 33,3542           54735                           TS       STARCODE                              
019486,001166: 33,3543           35021                           CA       ZERO                                  
019487,001167: 33,3544           03635                           TC       TARGDRVE                              
019488,001168: 33,3545           06006                           TC       INTPRET                               
019489,001169: 33,3546           77624                           CALL                                           
019490,001170: 33,3547           67502                                    TAR/EREF                              
019491,001171: 33,3550           64375        NEXTBNKS           VLOAD    MXV                                   
019492,001172: 33,3551           00007                                    6D                                    
019493,001173: 33,3552           02672                                    XSM                                   
019494,001174: 33,3553           77772                           VSL1                                           
019495,001175: 33,3554           26736                           STOVL    STARAD                                
019496,001176: 33,3555           00015                                    12D                                   
019497,001177: 33,3556           76521                           MXV      VSL1                                  
019498,001178: 33,3557           02672                                    XSM                                   
019499,001179: 33,3560           36744                           STCALL   STARAD     +6                         
019500,001180: 33,3561           67726                                    LITTLSUB                              
019501,001181: 33,3562           02414                           STORE    LOSVEC                                

Page 451

019503,001183: 33,3563           77776                           EXIT                                           
019504,001184: 33,3564           04662                           TC       BANKCALL                              
019505,001185: 33,3565           16063                           CADR     MKRELEAS                              
019506,001186: 
019507,001187: 
019508,001188: 33,3566           35016        NEXBNKSS           CAF      TWO                                   
019509,001189: 33,3567           54735                           TS       STARCODE                              
019510,001190: 33,3570           36211                           CAF      SIX                                   
019511,001191: 33,3571           03635                           TC       TARGDRVE                              
019512,001192: 33,3572           06006                           TC       INTPRET                               
019513,001193: 33,3573           77624                           CALL                                           
019514,001194: 33,3574           67726                                    LITTLSUB                              
019515,001195: 33,3575           24015                           STOVL    12D                                   
019516,001196: 33,3576           02414                                    LOSVEC                                
019517,001197: 33,3577           34007                           STCALL   06D                                   
019518,001198: 33,3600           47401                                    AXISGEN                               
019519,001199: 33,3601           77624                           CALL                                           
019520,001200: 33,3602           47205                                    CALCGTA                               
019521,001201: 33,3603           77776                           EXIT                                           
019522,001202: 33,3604           33631        GCOMP4             CAF      V06N93S                               
019523,001203: 33,3605           04662                           TC       BANKCALL                              
019524,001204: 33,3606           20720                           CADR     GOFLASH                               
019525,001205: 33,3607           03620                           TC       GCOMP5                                
019526,001206: 33,3610           13612                           TCF      +2                                    
019527,001207: 33,3611           13604                           TCF      GCOMP4                                
019528,001208: 33,3612           06006                           TC       INTPRET                               
019529,001209: 33,3613           53375                           VLOAD    VAD                                   
019530,001210: 33,3614           02760                                    OGC                                   
019531,001211: 33,3615           02650                                    ERCOMP1                               
019532,001212: 33,3616           02650                           STORE    ERCOMP1                               
019533,001213: 33,3617           77776                           EXIT                                           
019534,001214: 33,3620           04662        GCOMP5             TC       BANKCALL                              
019535,001215: 33,3621           16063                           CADR     MKRELEAS                              
019536,001216: 33,3622           05560                           TC       DOWNFLAG                              
019537,001217: 33,3623           00032                           ADRES    TRM03FLG                              
019538,001218: 
019539,001219: 33,3624           05354                           TC       NEWMODEX                              
019540,001220: 33,3625           00002                           MM       02         B-14                       
019541,001221: 33,3626           05412                           TC       PHASCHNG                              
019542,001222: 33,3627           00004                           OCT      00004                                 
019543,001223: 33,3630           05217                           TC       ENDOFJOB                              
019544,001224: 33,3631           01535        V06N93S            VN       0693                                  
019545,001225: 33,3632           05650        GTSOPTCS           TC       ALARM                                 
019546,001226: 33,3633           01602        GTSOPTSS           OCT      01602                                 
019547,001227: 33,3634           03620                           TC       GCOMP5                                
019548,001228: 
019549,001229: 
019550,001230: 34,2002                                           BANK     34                                    
019551,001231: 04,2000                                           SETLOC   IMUCAL1                               
019552,001232: 04,2000                                           BANK                                           

Page 452

019554,001234: 
019555,001235: 04,2613                                           COUNT    34/COMST                              
019556,001236: 
019557,001237: 04,2613           62545        LATAZCHK           DLOAD    SL2                                   #  CALLS FOR AZIMUTH AND LATITUDE
019558,001238: 04,2614           02403                                    LATITUDE                              
019559,001239: 04,2615           15047                           STODL    DSPTEM1    +1                         
019560,001240: 04,2616           02401                                    AZIMUTH                               
019561,001241: 04,2617           77434                           RTB      EXIT                                  
019562,001242: 04,2620           45546                                    1STO2S                                
019563,001243: 04,2621           56154                           XCH      MPAC                                  
019564,001244: 04,2622           55045                           TS       DSPTEM1                               
019565,001245: 04,2623           04662                           TC       BANKCALL                              
019566,001246: 04,2624           20703                           CADR     CLEANDSP                              
019567,001247: 04,2625           32644                           CAF      VNG0641                               
019568,001248: 04,2626           04662                           TC       BANKCALL                              
019569,001249: 04,2627           20720                           CADR     GOFLASH                               
019570,001250: 04,2630           02632                           TC       +2                                    #  NOT ALLOWED
019571,001251: 04,2631           02633                           TC       +2                                    
019572,001252: 04,2632           02625                           TC       -5                                    
019573,001253: 04,2633           06006                           TC       INTPRET                               
019574,001254: 04,2634           47135                           SLOAD    RTB                                   
019575,001255: 04,2635           01046                                    DSPTEM1                               
019576,001256: 04,2636           45513                                    CDULOGIC                              
019577,001257: 04,2637           02401                           STORE    AZIMUTH                               
019578,001258: 04,2640           60535                           SLOAD    SR2                                   
019579,001259: 04,2641           01047                                    DSPTEM1    +1                         
019580,001260: 04,2642           02403                           STORE    LATITUDE                              
019581,001261: 04,2643           77616                           RVQ                                            
019582,001262: 04,2644           01451        VNG0641            VN       0641                                  
019583,001263: 33,3635                                           BANK     33                                    
019584,001264: 33,2000                                           SETLOC   IMUCAL                                
019585,001265: 33,2000                                           BANK                                           
019586,001266: 
019587,001267: 
019588,001268: 33,3635                                           COUNT*   $$/P03                                
019589,001269: 33,3635           00006        TARGDRVE           EXTEND                                         
019590,001270: 33,3636           23424                           QXCH     QPLAC                                 
019591,001271: 33,3637           55431                           TS       TARG1/2                               
019592,001272: 33,3640           06006                           TC       INTPRET                               
019593,001273: 33,3641           77624                           CALL                                           
019594,001274: 33,3642           67502                                    TAR/EREF                              
019595,001275: 33,3643           76740                           LXC,1    VLOAD*                                
019596,001276: 33,3644           02431                                    TARG1/2                               
019597,001277: 33,3645           00007                                    6D,1                                  
019598,001278: 33,3646           36766                           STCALL   STAR                                  
019599,001279: 33,3647           46053                                    SXTANG                                
019600,001280: 33,3650           77776                           EXIT                                           
019601,001281: 33,3651           31773                           CA       SAC                                   
019602,001282: 33,3652           55161                           TS       DESOPTS                               
019603,001283: 

Page 453

019605,001285: 33,3653           31775                           CA       PAC                                   
019606,001286: 33,3654           55160                           TS       DESOPTT                               
019607,001287: 33,3655           35021        RETARG             CAF      ZERO                                  
019608,001288: 33,3656           55303                           TS       OPTIND                                
019609,001289: 33,3657           35017                           CAF      ONE                                   
019610,001290: 33,3660           04662                           TC       BANKCALL                              
019611,001291: 33,3661           16002                           CADR     SXTMARK                               
019612,001292: 33,3662           04662                           TC       BANKCALL                              
019613,001293: 33,3663           17573                           CADR     OPTSTALL                              
019614,001294: 33,3664           03632                           TC       GTSOPTCS                              
019615,001295: 33,3665           30075                           CAE      FLAGWRD1                              
019616,001296: 33,3666           75014                           MASK     TRM03BIT                              
019617,001297: 33,3667           10000                           CCS      A                                     
019618,001298: 33,3670           03620                           TC       GCOMP5                                
019619,001299: 
019620,001300: 33,3671           51330                           INDEX    MARKSTAT                              
019621,001301: 33,3672           30052                           CA       QPRET                                 
019622,001302: 33,3673           00006                           EXTEND                                         
019623,001303: 33,3674           13676                           BZF      RETARG1                               
019624,001304: 33,3675           01424                           TC       QPLAC                                 
019625,001305: 
019626,001306: 
019627,001307: 33,3676           35021        RETARG1            CA       ZERO                                  #  RELEASE PREVIOUSLY GRABBED VAC AREA
019628,001308: 33,3677           57330                           XCH      MARKSTAT                              
019629,001309: 33,3700           10000                           CCS      A                                     
019630,001310: 33,3701           50000                           INDEX    A                                     
019631,001311: 33,3702           54000                           TS       A                                     
019632,001312: 33,3703           13655                           TCF      RETARG                                #  GO DO SXTMARK AGAIN
019633,001313: 33,3704                                           BANK     33                                    
019634,001314: 33,2000                                           SETLOC   IMUCAL                                
019635,001315: 33,2000                                           BANK                                           
019636,001316: 33,3704                                           COUNT*   $$/P03                                
019637,001317: 33,3704           30341 22444  PIPASC             2DEC     .76376833                             
019638,001318: 
019639,001319: 33,3706           57223 66451  VELSC              2DEC     -.52223476                            
019640,001320: 
019641,001321: 33,3710           05427 12577  ALSK               2DEC     .17329931                             
019642,001322: 
019643,001323: 33,3712           77567 44202                     2DEC     -.00835370                            
019644,001324: 
019645,001325: 33,3714           24276 14066  GEORGEJ            2DEC     .63661977                             
019646,001326: 
019647,001327: 33,3716           03146 14632  GEOCONS1           2DEC     .1                                    
019648,001328: 
019649,001329: 33,3720           00121 35341  GEOCONS2           2DEC     .005                                  
019650,001330: 
019651,001331: 33,3722           01767 31666  GEOCONS3           2DEC     .062                                  
019652,001332: 
019653,001333: 33,3724           00004 35223  GEOCONS4           2DEC     .0003                                 
019654,001334: 

Page 454

019656,001336: 
019657,001337: 33,3726                                           COUNT    33/P02                                
019658,001338: 33,3726           77620        LITTLSUB           STQ                                            
019659,001339: 33,3727           02424                                    QPLAC                                 
019660,001340: 33,3730           76740                           LXC,1    VLOAD*                                
019661,001341: 33,3731           01330                                    MARKSTAT                              
019662,001342: 33,3732           00003                                    2,1                                   
019663,001343: 33,3733           34767                           STCALL   CDUSPOT                               
019664,001344: 33,3734           46000                                    SXTNB                                 
019665,001345: 33,3735           77624                           CALL                                           
019666,001346: 33,3736           47637                                    TRG*NBSM                              
019667,001347: 33,3737           77650                           GOTO                                           
019668,001348: 33,3740           02424                                    QPLAC                                 
019669,001349: 
019670,001350: 
019671,001351: 33,3741           77776                           EXIT                                           
019672,001352: 33,3742           06006        AZMTHCG1           TC       INTPRET                               
019673,001353: 33,3743           47145                           DLOAD    RTB                                   
019674,001354: 33,3744           02636                                    NEWAZMTH                              
019675,001355: 33,3745           45546                                    1STO2S                                
019676,001356: 33,3746           77776                           EXIT                                           
019677,001357: 33,3747           56154                           XCH      MPAC                                  
019678,001358: 33,3750           55045                           TS       DSPTEM1                               
019679,001359: 33,3751           04662                           TC       BANKCALL                              
019680,001360: 33,3752           20703                           CADR     CLEANDSP                              
019681,001361: 33,3753           33775                           CAF      VN0629                                
019682,001362: 33,3754           04662                           TC       BANKCALL                              
019683,001363: 33,3755           20720                           CADR     GOFLASH                               
019684,001364: 33,3756           13760                           TCF      +2                                    
019685,001365: 33,3757           13761                           TCF      +2                                    
019686,001366: 33,3760           13753                           TCF      -5                                    
019687,001367: 33,3761           06006                           TC       INTPRET                               
019688,001368: 33,3762           47135                           SLOAD    RTB                                   
019689,001369: 33,3763           01046                                    DSPTEM1                               
019690,001370: 33,3764           45513                                    CDULOGIC                              
019691,001371: 33,3765           02634                           STORE    LAUNCHAZ                              
019692,001372: 33,3766           77776                           EXIT                                           
019693,001373: 33,3767           35021                           CA       ZERO                                  
019694,001374: 33,3770           55632                           TS       PREMTRXC                              
019695,001375: 33,3771           05412                           TC       PHASCHNG                              
019696,001376: 33,3772           00004                           OCT      00004                                 
019697,001377: 33,3773           04701                           TC       POSTJUMP                              
019698,001378: 33,3774           21272                           CADR     PINBRNCH                              
019699,001379: 
019700,001380: 33,3775           01435        VN0629             VN       0629                                  
019701,001381: 

Page 455 Only assembler-generated messages appear on this page.

019704,001384: 
019705,001385: 

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