Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
Comments from 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.
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018899,000002: ## Copyright: Public domain.
018900,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018901,000004: ## Purpose: A section of Artemis revision 071.
018902,000005: ## It is part of the reconstructed source code for the first
018903,000006: ## release of the flight software for the Command Module's
018904,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
018905,000008: ## 17. The code has been recreated from a copy of Artemis 072.
018906,000009: ## It has been adapted such that the resulting bugger words
018907,000010: ## exactly match those specified for Artemis 071 in NASA
018908,000011: ## drawing 2021154-, which gives relatively high confidence
018909,000012: ## that the reconstruction is correct.
018910,000013: ## Reference: 427
018911,000014: ## Assembler: yaYUL
018912,000015: ## Contact: Ron Burkey <info@sandroid.org>.
018913,000016: ## Website: www.ibiblio.org/apollo/index.html
018914,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
018915,000018:
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Page 427
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018917,000020:
018918,000021: # NAME- IMU PERFORMANCE TESTS 2
018919,000022:
018920,000023: # DATE- MARCH 20,1967
018921,000024:
018922,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018923,000026:
018924,000027: # MODNO.- ZERO
018925,000028:
018926,000029: # FUNCTIONAL DESCRIPTION
018927,000030:
018928,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018929,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018930,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018931,000034:
018932,000035: 33,2000 SETLOC IMUCAL
018933,000036: 33,2000 BANK
018934,000037:
018935,000038: 33,2002 E5,1423 EBANK= POSITON
018936,000039: 33,2002 COUNT* $$/COMST
018937,000040: 33,2002 04636 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018938,000041: 33,2003 16627 CADR IMUZERO
018939,000042: 33,2004 02126 TC IMUSTLLG
018940,000043: 33,2005 34772 IMUBACK CA ZERO
018941,000044: 33,2006 55421 TS NDXCTR
018942,000045: 33,2007 55450 TS TORQNDX
018943,000046: 33,2010 55451 TS TORQNDX +1
018944,000047: 33,2011 34352 NBPOSPL CA DEC17
018945,000048: 33,2012 55655 TS ZERONDX1
018946,000049: 33,2013 32221 CA XNBADR
018947,000050: 33,2014 02134 TC ZEROING
018948,000051: 33,2015 34753 CA HALF
018949,000052: 33,2016 55713 TS XNB
018950,000053: 33,2017 06006 TC INTPRET
018951,000054: 33,2020 73545 DLOAD SIN
018952,000055: 33,2021 02401 AZIMUTH
018953,000056: 33,2022 02724 STORE YNB +2
018954,000057: 33,2023 16734 STODL ZNB +4
018955,000058: 33,2024 02401 AZIMUTH
018956,000059: 33,2025 77746 COS
018957,000060: 33,2026 02726 STORE YNB +4
018958,000061: 33,2027 77676 DCOMP
018959,000062: 33,2030 02732 STORE ZNB +2
018960,000063: 33,2031 77776 EXIT
018961,000064: 33,2032 05354 TC CHECKMM
018962,000065: 33,2033 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018963,000066: 33,2034 12036 TCF +2 # NO
018964,000067: 33,2035 13217 TCF SETNBPOS +1 # YES
018965,000068: 33,2036 06006 TC INTPRET
018966,000069: 33,2037 77624 CALL
018967,000070: 33,2040 47344 CALCGA
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Page 428
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018969,000072: 33,2041 77776 EXIT
018970,000073: 33,2042 04636 TC BANKCALL
018971,000074: 33,2043 16724 CADR IMUCOARS
018972,000075: 33,2044 34753 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018973,000076: 33,2045 70077 MASK FLAGWRD3
018974,000077: 33,2046 00006 EXTEND
018975,000078: 33,2047 12051 BZF +2
018976,000079: 33,2050 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018977,000080: 33,2051 05561 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018978,000081: 33,2052 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018979,000082: 33,2053 02126 TC IMUSTLLG
018980,000083: 33,2054 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018981,000084: 33,2055 02103 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018982,000085: 33,2056 04636 TC BANKCALL
018983,000086: 33,2057 17133 CADR IMUFINE
018984,000087: 33,2060 02126 TC IMUSTLLG
018985,000088: 33,2061 00006 EXTEND
018986,000089: 33,2062 31657 DCA PERFDLAY
018987,000090: 33,2063 05332 TC LONGCALL
018988,000091: 33,2064 E5,1423 EBANK= POSITON
018989,000092: 33,2064 02070 66065 2CADR GOESTIMS
018990,000093:
018991,000094: 33,2066 32073 CA ESTICADR
018992,000095: 33,2067 05163 TC JOBSLEEP
018993,000096: 33,2070 32073 GOESTIMS CA ESTICADR
018994,000097: 33,2071 05167 TC JOBWAKE
018995,000098: 33,2072 05314 TC TASKOVER
018996,000099: 33,2073 66227 ESTICADR CADR ESTIMS
018997,000100:
018998,000101: 33,2074 34772 TORQUE CA ZERO
018999,000102: 33,2075 55253 TS DSPTEM2
019000,000103: 33,2076 31514 CA DRIFTI
019001,000104: 33,2077 55254 TS DSPTEM2 +1
019002,000105: 33,2100 51423 INDEX POSITON
019003,000106: 33,2101 55430 TS SOUTHDR -1
019004,000107: 33,2102 02205 TC SHOW
019005,000108:
019006,000109: 33,2103 34756 PIPACHK CA EBANK4
019007,000110: 33,2104 54003 TS EBANK
019008,000111: 33,2105 E4,1400 EBANK= ERASPIP
019009,000112: 33,2105 01400 TC ERASPIP
019010,000113: 33,2106 E5,1512 EBANK= DRIFTO
019011,000114: 33,2106 31512 VALMIS CA DRIFTO
019012,000115: 33,2107 55254 TS DSPTEM2 +1
019013,000116: 33,2110 34772 CA ZERO
019014,000117: 33,2111 55253 TS DSPTEM2
019015,000118: 33,2112 02205 TC SHOW
019016,000119:
019017,000120: 33,2113 05561 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
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Page 429
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019019,000122: 33,2114 00007 ADRES IMUSE # BIT 8 FLAG 0
019020,000123: 33,2115 44772 CS ZERO
019021,000124: 33,2116 05347 TC NEWMODEA
019022,000125: 33,2117 04636 TC BANKCALL
019023,000126: 33,2120 16073 CADR MKRELEAS
019024,000127: 33,2121 05524 TC ENDEXT
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Page 430
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019026,000129: 33,2122 43215 OVERFFIX DAD DAD
019027,000130: 33,2123 15344 DPPOSMAX
019028,000131: 33,2124 26670 ONEDPP
019029,000132: 33,2125 77616 RVQ
019030,000133:
019031,000134: 33,2126 00006 IMUSTLLG EXTEND
019032,000135: 33,2127 23425 QXCH QPLACE
019033,000136: 33,2130 04636 TC BANKCALL
019034,000137: 33,2131 17644 CADR IMUSTALL
019035,000138: 33,2132 02655 TC SOMERR2
019036,000139: 33,2133 01425 TC QPLACE
019037,000140: 33,2134 54001 ZEROING TS L
019038,000141: 33,2135 12137 TCF +2
019039,000142: 33,2136 55655 ZEROING1 TS ZERONDX1
019040,000143: 33,2137 34772 CAF ZERO
019041,000144: 33,2140 50001 INDEX L
019042,000145: 33,2141 54000 TS 0
019043,000146: 33,2142 24001 INCR L
019044,000147: 33,2143 11655 CCS ZERONDX1
019045,000148: 33,2144 12136 TCF ZEROING1
019046,000149: 33,2145 00002 TC Q
019047,000150:
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Page 431
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019049,000152: 32,2000 SETLOC IMUCAL3
019050,000153: 32,2000 BANK
019051,000154: 32,2000 COUNT* $$/COMST
019052,000155: 32,2000 65345 ERTHRVSE DLOAD PDDL
019053,000156: 32,2001 26663 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
019054,000157: 32,2002 02403 LATITUDE
019055,000158: 32,2003 57546 COS DCOMP
019056,000159: 32,2004 73525 PDDL SIN
019057,000160: 32,2005 02403 LATITUDE
019058,000161: 32,2006 74266 VDEF VXSC
019059,000162: 32,2007 26224 OMEG/MS
019060,000163: 32,2010 02405 STORE ERVECTOR
019061,000164: 32,2011 77634 RTB
019062,000165: 32,2012 51751 LOADTIME
019063,000166: 32,2013 26443 STOVL TMARK
019064,000167: 32,2014 26663 SCHZEROS
019065,000168: 32,2015 02650 STORE ERCOMP1
019066,000169: 32,2016 77616 RVQ
019067,000170: 33,2000 SETLOC IMUCAL
019068,000171: 33,2000 BANK
019069,000172: 33,2146 COUNT* $$/COMST
019070,000173: 33,2146 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
019071,000174: 33,2147 00051 S2
019072,000175: 33,2150 51751 LOADTIME
019073,000176: 33,2151 02441 +3 STORE TEMPTIME
019074,000177: 33,2152 51025 DSU BPL
019075,000178: 33,2153 02443 TMARK
019076,000179: 33,2154 66157 ERTHR
019077,000180: 33,2155 77624 CALL
019078,000181: 33,2156 66122 OVERFFIX
019079,000182: 33,2157 74261 ERTHR SL VXSC
019080,000183: 33,2160 20212 9D
019081,000184: 33,2161 02405 ERVECTOR
019082,000185: 33,2162 53321 MXV VAD
019083,000186: 33,2163 02672 XSM
019084,000187: 33,2164 02650 ERCOMP1
019085,000188: 33,2165 16650 STODL ERCOMP1
019086,000189: 33,2166 02441 TEMPTIME
019087,000190: 33,2167 02443 STORE TMARK
019088,000191: 33,2170 47170 AXT,1 RTB
019089,000192: 33,2171 02647 ECADR ERCOMP1
019090,000193: 33,2172 45722 PULSEIMU
019091,000194: 33,2173 77650 GOTO
019092,000195: 33,2174 00051 S2
019093,000196: 33,2175 00006 EARTHR* EXTEND
019094,000197: 33,2176 23426 QXCH QPLACES
019095,000198: 33,2177 06006 TC INTPRET
019096,000199: 33,2200 77624 CALL
019097,000200: 33,2201 66146 EARTHR
019098,000201: 33,2202 77776 PROUT EXIT
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Page 432
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019100,000203: 33,2203 02126 TC IMUSTLLG
019101,000204: 33,2204 01426 TC QPLACES
019102,000205: 33,2205 00006 SHOW EXTEND
019103,000206: 33,2206 23425 QXCH QPLACE
019104,000207: 33,2207 31423 SHOW1 CA POSITON
019105,000208: 33,2210 55255 TS DSPTEM2 +2
019106,000209: 33,2211 32217 CA VB06N98
019107,000210: 33,2212 04636 TC BANKCALL
019108,000211: 33,2213 20743 CADR GOFLASH
019109,000212: 33,2214 02113 TC ENDTEST1 # V34
019110,000213: 33,2215 01425 TC QPLACE # V33
019111,000214: 33,2216 12207 TCF SHOW1
019112,000215:
019113,000216:
019114,000217: 33,2217 33,2223 3990DEC = OMEG/MS
019115,000218: 33,2217 01542 VB06N98 VN 0698
019116,000219: 33,2220 4352 DEC17 = ND1
019117,000220: 33,2220 02757 OGCPL ECADR OGC
019118,000221: 33,2221 5016 1SECX = 1SEC
019119,000222: 33,2221 4351 DEC57 = VD1
019120,000223: 33,2221 01713 XNBADR GENADR XNB
019121,000224: 33,2222 01671 XSMADR GENADR XSM
019122,000225: 33,2223 07623 26552 OMEG/MS 2DEC .24339048
019123,000226:
019124,000227:
019125,000228: 33,2225 04636 P11OUT TC BANKCALL
019126,000229: 33,2226 70115 CADR MATRXJOB # RETURN TO P11
019127,000230:
019128,000231: 4000 SETLOC FFTAG1
019129,000232: 4000 BANK
019130,000233:
019131,000234: 4510 COUNT* $$/COMST
019132,000235: 4510 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
019133,000236: 4511 00006 +1 EXTEND
019134,000237: 4512 00004 READ LOSCALAR
019135,000238: 4513 54001 TS L
019136,000239: 4514 00006 EXTEND
019137,000240: 4515 06004 RXOR LOSCALAR
019138,000241: 4516 00006 EXTEND
019139,000242: 4517 14523 BZF +4
019140,000243: 4520 00006 EXTEND
019141,000244: 4521 00004 READ LOSCALAR
019142,000245: 4522 54001 TS L
019143,000246: 4523 44750 +4 CS POSMAX
019144,000247: 4524 60001 AD L
019145,000248: 4525 00006 EXTEND
019146,000249: 4526 14511 BZF FINETIME +1
019147,000250: 4527 00006 EXTEND
019148,000251: 4530 00003 READ HISCALAR
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Page 433
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019150,000253: 4531 00002 TC Q
019151,000254:
019152,000255:
019153,000256: # PROGRAM NAME- OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
019154,000257: # DATE- NOVEMBER 2 1966
019155,000258: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
019156,000259: # MOD NO 3
019157,000260:
019158,000261: # FUNCTIONAL DESCRIPTION
019159,000262:
019160,000263: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
019161,000264: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
019162,000265: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
019163,000266: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
019164,000267: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
019165,000268: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST - THEN WAIT
019166,000269: # FOR THE DATA TO FLASH.
019167,000270:
019168,000271: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
019169,000272: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
019170,000273: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
019171,000274: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
019172,000275: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
019173,000276: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
019174,000277: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
019175,000278: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
019176,000279: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
019177,000280: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
019178,000281: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
019179,000282:
019180,000283: # COMPASS ERASABLE LOAD REQUIRED
019181,000284:
019182,000285: # 1- LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
019183,000286: # 2- LATITUDE -DP-OF LAUNCH PAD
019184,000287: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
019185,000288: # 4- IMU COMPENSATION PARAMETERS
019186,000289: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
019187,000290:
019188,000291: # TO PERFORM AS PART OF COMPASS
019189,000292:
019190,000293: # 1-OPTICAL VERIFICATION- V 65 E
019191,000294: # 2-AZIMUTH CHANGE- V 78 E
019192,000295:
019193,000296: # SUBROUTINES CALLED
019194,000297:
019195,000298: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
019196,000299: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
019197,000300:
019198,000301: # NORMAL EXIT
019199,000302:
019200,000303: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
019201,000304: # GYROCOMPASS-MANY,SEE THE LISTING
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Page 434
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019203,000306:
019204,000307: # ALARMS
019205,000308:
019206,000309: # 1600 OVERFLOW IN DRIFT TEST
019207,000310: # 1601 BAD IMU TORQUE ABORT
019208,000311: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
019209,000312:
019210,000313: # OUTPUT
019211,000314:
019212,000315: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
019213,000316: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
019214,000317: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
019215,000318: # 02 GYROCOMPASSING
019216,000319: # 03 DOING OPTICAL VERIFICATION (CSM)
019217,000320:
019218,000321:
019219,000322: # DEBRIS
019220,000323:
019221,000324: # ALL CENTRALS,ALL OF EBANK XSM
019222,000325:
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Page 435
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019224,000327: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
019225,000328: # ON THE NEXT FEW PAGES.
019226,000329:
019227,000330: 4532 E5,1671 EBANK= XSM
019228,000331: 33,2000 SETLOC IMUCAL
019229,000332: 33,2000 BANK
019230,000333:
019231,000334: 33,2227 COUNT* $$/P02
019232,000335: 33,2227 05362 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
019233,000336: 33,2230 00075 OCT 00075
019234,000337: 33,2231 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
019235,000338: 33,2232 01,2256 5P7SPT1 = 5.7SPOT
019236,000339: 33,2232 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
019237,000340: 33,2233 30025 CA TIME1
019238,000341: 33,2234 55645 TS GTSWTLT1
019239,000342: 33,2235 34772 CAF ZERO # ZERO THE PIPAS
019240,000343: 33,2236 54037 TS PIPAX
019241,000344: 33,2237 54040 TS PIPAY
019242,000345: 33,2240 54041 TS PIPAZ
019243,000346: 33,2241 00003 RELINT
019244,000347: 33,2242 32701 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
019245,000348: 33,2243 55655 TS ZERONDX1
019246,000349: 33,2244 32702 CA ALXXXZ
019247,000350: 33,2245 02134 TC ZEROING
019248,000351: 33,2246 06006 TC INTPRET
019249,000352: 33,2247 77735 SLOAD
019250,000353: 33,2250 26663 SCHZEROS
019251,000354: 33,2251 25477 STOVL GCOMPSW -1
019252,000355: 33,2252 26674 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
019253,000356: 33,2253 26455 STOVL ALX1S
019254,000357: 33,2254 26663 SCHZEROS
019255,000358: 33,2255 01472 STORE GCOMP
019256,000359: 33,2256 01315 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
019257,000360: 33,2257 77776 EXIT
019258,000361:
019259,000362: 33,2260 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
019260,000363: 33,2261 02263 TC +2
019261,000364: 33,2262 02277 TC SLEEPIE +1
019262,000365: 33,2263 06006 TC INTPRET
019263,000366: 33,2264 77624 CALL
019264,000367: 33,2265 64000 ERTHRVSE
019265,000368: 33,2266 77776 EXIT
019266,000369: 33,2267 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
019267,000370: 33,2270 55646 TS ERECTIME
019268,000371:
019269,000372: 33,2271 05344 TC NEWMODEX
019270,000373: 33,2272 00002 MM 02 B-14
019271,000374: 33,2273 04636 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
019272,000375: 33,2274 17214 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
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Page 436
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019274,000377: 33,2275 03157 TC ANNNNNN # END OF FIRST TIME THROUGH
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Page 437
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019276,000379:
019277,000380: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
019278,000381:
019279,000382: # SET UP WAITLIST SECTION
019280,000383: 33,2276 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
019281,000384: 33,2277 05402 +1 TC PHASCHNG # CHANGE PHASE
019282,000385: 33,2300 00135 OCT 00135
019283,000386: 33,2301 01,2264 5P13SPT1 = 5.13SPOT
019284,000387: 33,2301 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
019285,000388: 33,2302 02175 TC EARTHR* # TRUE TORQUE SOUTH GYRO
019286,000389: 33,2303 03162 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
019287,000390: 33,2304 02306 TC SETGWLST
019288,000391: 33,2305 05205 TC ENDOFJOB
019289,000392:
019290,000393: 33,2306 00006 SETGWLST EXTEND
019291,000394: 33,2307 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
019292,000395: 33,2310 00004 INHINT
019293,000396: 33,2311 40025 CS TIME1
019294,000397: 33,2312 61645 AD GTSWTLT1
019295,000398: 33,2313 00006 EXTEND
019296,000399: 33,2314 62316 BZMF +2
019297,000400: 33,2315 64752 AD NEGMAX # 10 MS ERROR OK
019298,000401: 33,2316 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
019299,000402: 33,2317 00006 EXTEND
019300,000403: 33,2320 62324 BZMF RIGHTGTS
019301,000404: 33,2321 05223 WTGTSMPL TC TWIDDLE
019302,000405: 33,2322 02350 ADRES ALLOOP
019303,000406: 33,2323 00154 TC MPAC
019304,000407: 33,2324 34766 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
019305,000408: 33,2325 02321 TC WTGTSMPL # END OF WAITLIST SECTION
019306,000409:
019307,000410: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
019308,000411:
019309,000412: 33,2326 4125 25DECML EQUALS OCT31
019310,000413: 33,2326 34125 STOREDTA CAF 25DECML
019311,000414: 33,2327 54154 +1 TS MPAC
019312,000415: 33,2330 50154 INDEX MPAC
019313,000416: 33,2331 31460 CAE THETAX1
019314,000417: 33,2332 50154 INDEX MPAC
019315,000418: 33,2333 55577 TS RESTARPT
019316,000419: 33,2334 10154 CCS MPAC
019317,000420: 33,2335 12327 TCF STOREDTA +1
019318,000421: 33,2336 00002 TC Q
019319,000422:
019320,000423: 33,2337 34125 LOADSTDT CAF 25DECML
019321,000424: 33,2340 54154 +1 TS MPAC
019322,000425: 33,2341 50154 INDEX MPAC
019323,000426: 33,2342 31577 CA RESTARPT
019324,000427: 33,2343 50154 INDEX MPAC
|
|
Page 438
|
019326,000429: 33,2344 55460 TS THETAX1
019327,000430: 33,2345 10154 CCS MPAC
019328,000431: 33,2346 12340 TCF LOADSTDT +1
019329,000432: 33,2347 00002 TC Q
019330,000433:
019331,000434: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
019332,000435:
019333,000436: 33,2350 30025 ALLOOP CA TIME1
019334,000437: 33,2351 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
019335,000438: 33,2352 31540 ALLOOP3 CA ALTIM
019336,000439: 33,2353 55631 TS GEOSAVE1
019337,000440: 33,2354 05402 TC PHASCHNG
019338,000441: 33,2355 00115 OCT 00115
019339,000442: 33,2356 01,2261 5P11SPT1 = 5.11SPOT
019340,000443: 33,2356 31631 ALLOOP1 CAE GEOSAVE1
019341,000444: 33,2357 55540 TS ALTIM
019342,000445: 33,2360 10000 CCS A
019343,000446: 33,2361 30000 CA A # SHOULD NEVER HIT THIS LOCATION
019344,000447: 33,2362 55541 TS ALTIMS
019345,000448: 33,2363 40000 CS A
019346,000449: 33,2364 55540 TS ALTIM
019347,000450: 33,2365 34772 CAF ZERO
019348,000451: 33,2366 56037 XCH PIPAX
019349,000452: 33,2367 55314 TS DELVX
019350,000453: 33,2370 34772 CAF ZERO
019351,000454: 33,2371 56040 XCH PIPAY
019352,000455: 33,2372 55316 TS DELVY
019353,000456: 33,2373 34772 CAF ZERO
019354,000457: 33,2374 56041 XCH PIPAZ
019355,000458: 33,2375 55320 TS DELVZ
019356,000459: 33,2376 34351 CAF 19DECML # 23 OCT
019357,000460: 33,2377 04126 TC NEWPHASE
019358,000461: 33,2400 00005 OCT 00005
019359,000462: 33,2401 01,2300 5P23SPT1 = 5.23SPOT
019360,000463: 33,2401 37644 SPECSTS CAF PRIO22
019361,000464: 33,2402 05135 TC FINDVAC
019362,000465: 33,2403 E5,1631 EBANK= GEOSAVE1
019363,000466: 33,2403 02406 66065 2CADR ALFLT # START THE JOB
019364,000467:
019365,000468: 33,2405 05314 TC TASKOVER
019366,000469:
|
|
Page 439
|
019368,000471: # THIS IS PART OF THE JOB DONE EVERY ITERATION
019369,000472:
019370,000473: 33,2406 02326 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
019371,000474: 33,2407 05402 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
019372,000475: 33,2410 00215 OCT 00215
019373,000476: 33,2411 01,2275 5P21SPT1 = 5.21SPOT
019374,000477: 33,2411 12413 TCF +2
019375,000478: 33,2412 02337 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
019376,000479:
019377,000480: 33,2413 11643 CCS GEOCOMP1
019378,000481: 33,2414 02416 TC +2
019379,000482: 33,2415 02421 TC NORMLOP
019380,000483: 33,2416 03162 TC CHKCOMED # SEE IF PRELAUNCH OVER
019381,000484: 33,2417 04636 TC BANKCALL # COMPENSATION IF IN COMPASS
019382,000485: 33,2420 15276 CADR 1/PIPA
019383,000486:
019384,000487: 33,2421 06006 NORMLOP TC INTPRET
019385,000488: 33,2422 77745 DLOAD
019386,000489: 33,2423 26672 INTVAL
019387,000490: 33,2424 24051 STOVL S1
019388,000491: 33,2425 01315 DELVX
019389,000492: 33,2426 76505 VXM VSL1
019390,000493: 33,2427 02672 XSM
019391,000494: 33,2430 57545 DLOAD DCOMP
019392,000495: 33,2431 00160 MPAC +3
019393,000496: 33,2432 16533 STODL DPIPAY
019394,000497: 33,2433 00162 MPAC +5
019395,000498: 33,2434 02537 STORE DPIPAZ
019396,000499:
019397,000500: 33,2435 76001 SETPD AXT,1
019398,000501: 33,2436 00001 0
019399,000502: 33,2437 00010 8D
019400,000503: 33,2440 57535 SLOAD DCOMP
019401,000504: 33,2441 02644 GEOCOMP1
019402,000505: 33,2442 77640 BMN
019403,000506: 33,2443 66764 ALWAYSG # DO A QUICK COMPASS
019404,000507:
|
|
Page 440
|
019406,000509: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
019407,000510:
019408,000511: 33,2444 COUNT* $$/COMST
019409,000512: 33,2444 50135 ALCGKK SLOAD BMN
019410,000513: 33,2445 02542 ALTIMS
019411,000514: 33,2446 66461 ALFLT3 # NO NEW GAINS NEEDED
019412,000515: 33,2447 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
019413,000516: 33,2450 00014 12D
019414,000517: 33,2451 02454 ALX1S
019415,000518: 33,2452 62143 ALKCG2 DLOAD* INCR,1
019416,000519: 33,2453 02243 ALFDK +144D,1
019417,000520: 33,2454 77775 DEC -2 B-14
019418,000521: 33,2455 12555 STORE ALDK +10D,2
019419,000522: 33,2456 66104 TIX,2 SXA,1
019420,000523: 33,2457 66452 ALKCG2
019421,000524: 33,2460 02454 ALX1S
019422,000525:
019423,000526: 33,2461 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
019424,000527: 33,2462 00010 8D # AND GAIN UPDATES
019425,000528: 33,2463 41343 DELMLP DLOAD* DMP
019426,000529: 33,2464 02543 DPIPAY +8D,1
019427,000530: 33,2465 27427 PIPASC
019428,000531: 33,2466 43661 SLR BDSU*
019429,000532: 33,2467 21212 9D
019430,000533: 33,2470 02511 INTY +8D,1
019431,000534: 33,2471 06511 STORE INTY +8D,1
019432,000535: 33,2472 40725 PDDL DMP*
019433,000536: 33,2473 27431 VELSC
019434,000537: 33,2474 02531 VLAUN +8D,1
019435,000538: 33,2475 77732 SL2R
019436,000539: 33,2476 45425 DSU STADR
019437,000540: 33,2477 71206 STORE DELM +8D,1
019438,000541: 33,2500 06573 STORE DELM +10D,1
019439,000542: 33,2501 77100 TIX,1 AXT,2
019440,000543: 33,2502 66463 DELMLP
019441,000544: 33,2503 00004 4
019442,000545: 33,2504 56743 ALILP DLOAD* DMPR*
019443,000546: 33,2505 75314 ALK +4,2
019444,000547: 33,2506 75230 ALDK +4,2
019445,000548: 33,2507 12463 STORE ALK +4,2
019446,000549: 33,2510 77104 TIX,2 AXT,2
019447,000550: 33,2511 66504 ALILP
019448,000551: 33,2512 00010 8D
019449,000552: 33,2513 66140 ALKLP LXC,1 SXA,1
019450,000553: 33,2514 02455 CMPX1
019451,000554: 33,2515 02455 CMPX1
019452,000555: 33,2516 56743 DLOAD* DMPR*
019453,000556: 33,2517 02460 ALK +1,1
019454,000557: 33,2520 75206 DELM +8D,2
019455,000558: 33,2521 77613 DAD*
|
|
Page 441
|
019457,000560: 33,2522 75266 INTY +8D,2
019458,000561: 33,2523 12511 STORE INTY +8D,2
019459,000562: 33,2524 42743 DLOAD* DAD*
019460,000563: 33,2525 75304 ALK +12D,2
019461,000564: 33,2526 75220 ALDK +12D,2
019462,000565: 33,2527 12473 STORE ALK +12D,2
019463,000566: 33,2530 42673 DMPR* DAD*
019464,000567: 33,2531 75206 DELM +8D,2
019465,000568: 33,2532 75256 INTY +16D,2
019466,000569: 33,2533 12521 STORE INTY +16D,2
019467,000570: 33,2534 40743 DLOAD* DMP*
019468,000571: 33,2535 27434 ALSK +1,1
019469,000572: 33,2536 75206 DELM +8D,2
019470,000573: 33,2537 42772 SL1R DAD*
019471,000574: 33,2540 75246 VLAUN +8D,2
019472,000575: 33,2541 12531 STORE VLAUN +8D,2
019473,000576: 33,2542 76104 TIX,2 AXT,1
019474,000577: 33,2543 66513 ALKLP
019475,000578: 33,2544 00010 8D
019476,000579:
019477,000580: 33,2545 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
019478,000581: 33,2546 02533 ACCWD +8D,1
019479,000582: 33,2547 02531 VLAUN +8D,1
019480,000583: 33,2550 55523 PDDL* VDEF
019481,000584: 33,2551 02541 POSNV +8D,1
019482,000585: 33,2552 76521 MXV VSL1
019483,000586: 33,2553 02001 TRANSM1
019484,000587: 33,2554 77745 DLOAD
019485,000588: 33,2555 00155 MPAC
019486,000589: 33,2556 06541 STORE POSNV +8D,1
019487,000590: 33,2557 77745 DLOAD
019488,000591: 33,2560 00160 MPAC +3
019489,000592: 33,2561 06531 STORE VLAUN +8D,1
019490,000593: 33,2562 77745 DLOAD
019491,000594: 33,2563 00162 MPAC +5
019492,000595: 33,2564 06533 STORE ACCWD +8D,1
019493,000596: 33,2565 77700 TIX,1
019494,000597: 33,2566 66545 LOOSE
019495,000598:
019496,000599: 33,2567 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
019497,000600: 33,2570 00006 6
019498,000601: 33,2571 00002 2
019499,000602: 33,2572 57343 BOOP DLOAD* DMPR
019500,000603: 33,2573 02513 ANGX +2,1
019501,000604: 33,2574 27437 GEORGEJ
019502,000605: 33,2575 77722 SR2R
019503,000606: 33,2576 73406 PUSH SIN
019504,000607: 33,2577 56072 SL3R XAD,1
|
|
Page 442
|
019506,000609: 33,2600 00046 X1
019507,000610: 33,2601 10021 STORE 16D,2
019508,000611: 33,2602 77745 DLOAD
019509,000612: 33,2603 77746 COS
019510,000613: 33,2604 10027 STORE 22D,2 # COSINES
019511,000614: 33,2605 77704 TIX,2
019512,000615: 33,2606 66572 BOOP
019513,000616: 33,2607 77776 PERFERAS EXIT
019514,000617: 33,2610 04606 TC E7SETTER
019515,000618: 33,2611 E7,1400 EBANK= LAT(SPL)
019516,000619: 33,2611 01400 TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
019517,000620:
019518,000621: # CAUTION
019519,000622:
019520,000623: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
019521,000624: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
019522,000625:
019523,000626: 33,2612 E5,1412 EBANK= LENGTHOT
019524,000627: 33,2612 11412 ONCEMORE CCS LENGTHOT
019525,000628: 33,2613 02276 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
019526,000629:
019527,000630: 33,2614 11450 CCS TORQNDX
019528,000631: 33,2615 12617 TCF +2
019529,000632: 33,2616 02621 TC SETUPER1
019530,000633: 33,2617 30032 CA CDUX
019531,000634: 33,2620 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
019532,000635: 33,2621 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
019533,000636: 33,2622 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
019534,000637: 33,2623 02503 ANGZ
019535,000638: 33,2624 02507 ANGY
019536,000639: 33,2625 55525 PDDL VDEF
019537,000640: 33,2626 02511 ANGX
019538,000641: 33,2627 74276 VCOMP VXSC
019539,000642: 33,2630 27437 GEORGEJ
019540,000643: 33,2631 74521 MXV VSR1
019541,000644: 33,2632 02672 XSM
019542,000645: 33,2633 02760 STORE OGC
019543,000646: 33,2634 77776 EXIT
019544,000647:
019545,000648: 33,2635 05402 TORQINCH TC PHASCHNG
019546,000649: 33,2636 00005 OCT 00005
019547,000650: 33,2637 32220 CA OGCPL
019548,000651: 33,2640 04636 TC BANKCALL
019549,000652: 33,2641 17244 CADR IMUPULSE
019550,000653: 33,2642 02126 TC IMUSTLLG
019551,000654: 33,2643 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
019552,000655: 33,2644 02106 TC VALMIS # VERT DRIFT TEST OVER
019553,000656: 33,2645 06006 TC INTPRET
019554,000657: 33,2646 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
019555,000658: 33,2647 64000 ERTHRVSE
|
|
Page 443
|
019557,000660: 33,2650 77776 EXIT
019558,000661: 33,2651 02074 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
019559,000662:
019560,000663:
019561,000664: 33,2652 05671 SOMEERRR TC ALARM
019562,000665: 33,2653 01600 OCT 1600
019563,000666: 33,2654 02657 TC +3
019564,000667: 33,2655 05671 SOMERR2 TC ALARM
019565,000668: 33,2656 01601 OCT 1601
019566,000669: 33,2657 05402 TC PHASCHNG
019567,000670: 33,2660 00005 OCT 00005
019568,000671: 33,2661 02113 TC ENDTEST1
019569,000672:
019570,000673:
019571,000674: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
019572,000675:
019573,000676:
019574,000677: 33,2662 00000 00000 SCHZEROS 2DEC .00000000
019575,000678: 33,2664 00000 00000 2DEC .00000000
019576,000679: 33,2666 00000 OCT 00000
019577,000680: 33,2667 00000 ONEDPP OCT 00000
019578,000681: 33,2670 00001 +1 OCT 00001 # ABOVE ORDER IS IMPORTANT
019579,000682:
019580,000683: 33,2671 00004 INTVAL OCT 4
019581,000684: 33,2672 00002 OCT 2
019582,000685: 33,2673 00220 DEC 144 B-14
019583,000686: 33,2674 77776 DEC -1 B-14
019584,000687: 33,2675 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
019585,000688: 33,2677 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
019586,000689:
019587,000690:
019588,000691: 33,2701 00115 77DECML DEC 77 B-14
019589,000692: 33,2702 01453 ALXXXZ GENADR ALX1S -1
019590,000693:
019591,000694: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
019592,000695:
019593,000696: 33,2703 COUNT* $$/P01
019594,000697:
019595,000698: # INITIALIZATION SECTION
019596,000699:
019597,000700: 33,2703 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
019598,000701: 33,2704 74755 MASK NOP01BIT
019599,000702: 33,2705 00006 EXTEND
019600,000703: 33,2706 12711 BZF GTSCPSSA
019601,000704: 33,2707 05726 TC POODOO
019602,000705: 33,2710 21521 OCT 21521 # NO DO ALARM FOR P01 - P11 ALREADY DONE
|
|
Page 444
|
019604,000707: 33,2711 34753 GTSCPSSA CAF PRIO20 # INITIAL PRIORITY ONLY 13
019605,000708: 33,2712 05176 TC PRIOCHNG # CHANGE TO 20
019606,000709:
019607,000710: 33,2713 34770 CAF ONE
019608,000711: 33,2714 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
019609,000712: 33,2715 33211 CA 1/PIPAGT
019610,000713: 33,2716 55277 TS 1/PIPADT
019611,000714: 33,2717 34761 NXXTBNN CA BIT8
019612,000715: 33,2720 55412 TS LENGTHOT
019613,000716: 33,2721 35011 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
019614,000717: 33,2722 55644 TS 1SECXT1
019615,000718: 33,2723 34770 CAF ONE
019616,000719: 33,2724 55632 TS PREMTRX1
019617,000720: 33,2725 55657 TS PERFDLAY +1
019618,000721: 33,2726 34772 CAF ZERO
019619,000722: 33,2727 55656 TS PERFDLAY
019620,000723: 33,2730 00006 EXTEND
019621,000724: 33,2731 31634 DCA LUNCHAZ1
019622,000725: 33,2732 53636 DXCH NEWAZ1
019623,000726: 33,2733 00006 EXTEND
019624,000727: 33,2734 31634 DCA LUNCHAZ1
019625,000728: 33,2735 53640 DXCH OLDAZMTH
019626,000729: 33,2736 34352 SETUPGC CA DEC17
019627,000730: 33,2737 55655 TS ZERONDX1
019628,000731: 33,2740 32222 CA XSMADR
019629,000732: 33,2741 02134 TC ZEROING
019630,000733: 33,2742 02744 TC POSN17C
019631,000734: 33,2743 02002 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019632,000735:
019633,000736:
019634,000737: 33,2744 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE
019635,000738: 33,2745 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019636,000739: 33,2746 44753 CS HALF # ALL THIS TO INITIALIZE MATRIX
019637,000740: 33,2747 55705 TS ZSM
019638,000741: 33,2750 06006 TC INTPRET
019639,000742: 33,2751 41545 DLOAD PUSH
019640,000743: 33,2752 02636 NEWAZ1
019641,000744: 33,2753 77756 SIN
019642,000745: 33,2754 02676 STORE XSM +4
019643,000746: 33,2755 16702 STODL YSM +2
019644,000747: 33,2756 77746 COS
019645,000748: 33,2757 02704 STORE YSM +4
019646,000749: 33,2760 77676 DCOMP
019647,000750: 33,2761 02674 STORE XSM +2
019648,000751: 33,2762 77776 EXIT
019649,000752: 33,2763 01425 TC QPLACE
019650,000753:
019651,000754: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019652,000755:
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|
Page 445
|
019654,000757: 33,2764 COUNT* $$/P02
019655,000758: 33,2764 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019656,000759: 33,2765 02543 DPIPAY +8D,1
019657,000760: 33,2766 02505 FILDELV1 +8D,1
019658,000761: 33,2767 42675 DMPR DAD*
019659,000762: 33,2770 27441 GEOCONS1
019660,000763: 33,2771 02505 FILDELV1 +8D,1
019661,000764: 33,2772 06505 STORE FILDELV1 +8D,1
019662,000765: 33,2773 77613 DAD*
019663,000766: 33,2774 02507 INTVEC1 +8D,1
019664,000767: 33,2775 06507 STORE INTVEC1 +8D,1
019665,000768: 33,2776 42675 DMPR DAD*
019666,000769: 33,2777 27443 GEOCONS2
019667,000770: 33,3000 02505 FILDELV1 +8D,1
019668,000771: 33,3001 41475 DMPR PUSH
019669,000772: 33,3002 15334 GEOCONS5
019670,000773: 33,3003 67300 TIX,1 SLOAD
019671,000774: 33,3004 66764 ALWAYSG
019672,000775: 33,3005 02647 ERECTIM1
019673,000776: 33,3006 71254 BZE DLOAD
019674,000777: 33,3007 67020 COMPGS
019675,000778: 33,3010 02471 THETAN1 +2
019676,000779: 33,3011 45425 DSU STADR
019677,000780: 33,3012 61306 STODL THETAN1 +2 # ERECTION ONLY.
019678,000781: 33,3013 77621 BDSU
019679,000782: 33,3014 02473 THETAN1 +4
019680,000783: 33,3015 02473 STORE THETAN1 +4
019681,000784: 33,3016 77650 GOTO
019682,000785: 33,3017 67042 ADDINDRF
019683,000786: 33,3020 43345 COMPGS DLOAD DAD # COMPASS
019684,000787: 33,3021 02467 THETAN1
019685,000788: 33,3022 02475 FILDELV1
019686,000789: 33,3023 16467 STODL THETAN1
019687,000790: 33,3024 02475 FILDELV1
019688,000791: 33,3025 44275 DMPR BDSU
019689,000792: 33,3026 27445 GEOCONS3
019690,000793: 33,3027 02473 THETAN1 +4
019691,000794: 33,3030 16473 STODL THETAN1 +4
019692,000795: 33,3031 02501 FILDELV1 +4
019693,000796: 33,3032 44275 DMPR BDSU
019694,000797: 33,3033 27445 GEOCONS3
019695,000798: 33,3034 02471 THETAN1 +2
019696,000799: 33,3035 57325 PDDL DMPR
019697,000800: 33,3036 02503 INTVEC1 +4
019698,000801: 33,3037 27447 GEOCONS4
019699,000802: 33,3040 45421 BDSU STADR
019700,000803: 33,3041 75306 STORE THETAN1 +2
019701,000804: 33,3042 77776 ADDINDRF EXIT
019702,000805:
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|
Page 446
|
019704,000807:
019705,000808: 33,3043 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019706,000809: 33,3044 02276 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019707,000810: 33,3045 03162 TC CHKCOMED
019708,000811: 33,3046 11324 CCS LGYRO # YES BUT ARE GYROS BUSY
019709,000812: 33,3047 12277 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019710,000813:
019711,000814: 33,3050 06006 LASTGTS TC INTPRET
019712,000815: 33,3051 77775 VLOAD
019713,000816: 33,3052 02650 ERCOMP1
019714,000817: 33,3053 16461 STODL THETAX1
019715,000818: 33,3054 02443 TMARK
019716,000819: 33,3055 02457 STORE ALK
019717,000820: 33,3056 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019718,000821:
019719,000822: 33,3057 05402 RESTAIER TC PHASCHNG
019720,000823: 33,3060 00275 OCT 00275
019721,000824: 33,3061 01,2306 5P27SPT1 = 5.27SPOT
019722,000825: 33,3061 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019723,000826: 33,3062 64375 VLOAD MXV
019724,000827: 33,3063 02467 THETAN1
019725,000828: 33,3064 02672 XSM
019726,000829: 33,3065 53372 VSL1 VAD
019727,000830: 33,3066 02461 THETAX1
019728,000831: 33,3067 16650 STODL ERCOMP1
019729,000832: 33,3070 02457 ALK
019730,000833: 33,3071 02443 STORE TMARK
019731,000834: 33,3072 77776 EXIT
019732,000835: 33,3073 02175 TC EARTHR* # TORQUE IT ALL IN
019733,000836: 33,3074 31646 CAE ERECTIM1
019734,000837: 33,3075 55631 TS GEOSAVE1
019735,000838: 33,3076 05402 TC PHASCHNG
019736,000839: 33,3077 00155 OCT 00155
019737,000840: 33,3100 01,2267 5P15SPT1 = 5.15SPOT
019738,000841: 33,3100 06006 RESTEST1 TC INTPRET
019739,000842: 33,3101 77775 VLOAD
019740,000843: 33,3102 26663 SCHZEROS
019741,000844: 33,3103 02467 STORE THETAN1
019742,000845: 33,3104 77776 EXIT
019743,000846: 33,3105 11632 CCS PREMTRXC
019744,000847: 33,3106 03155 TC NOCHORLD
019745,000848: 33,3107 05402 TC PHASCHNG
019746,000849: 33,3110 00255 OCT 00255
019747,000850: 33,3111 01,2303 5P25SPT1 = 5.25SPOT
019748,000851: 33,3111 06006 RESTEST3 TC INTPRET
019749,000852: 33,3112 77745 DLOAD
019750,000853: 33,3113 02634 LAUNCHAZ
019751,000854: 33,3114 53025 DSU BZE
019752,000855: 33,3115 02640 OLDAZMTH
019753,000856: 33,3116 67152 NOAZCHGE
019754,000857: 33,3117 00001 STORE 0D
|
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Page 447
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019756,000859: 33,3120 43335 SLOAD DAD
019757,000860: 33,3121 26671 ONEDPP +1
019758,000861: 33,3122 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019759,000862: 33,3123 16633 STODL PREMTRXC
019760,000863: 33,3124 02634 LAUNCHAZ
019761,000864: 33,3125 16636 STODL NEWAZMTH
019762,000865: 33,3126 00001 0D
019763,000866: 33,3127 02654 ADERCOMP STORE ERCOMP +4
019764,000867: 33,3130 77776 EXIT
019765,000868: 33,3131 02744 TC POSN17C
019766,000869: 33,3132 05402 TC PHASCHNG
019767,000870: 33,3133 00335 OCT 00335
019768,000871: 33,3134 01,2314 5P33SPT1 = 5.33SPOT
019769,000872: 33,3134 00006 RESCHNG EXTEND
019770,000873: 33,3135 31636 DCA NEWAZMTH
019771,000874: 33,3136 53640 DXCH OLDAZMTH
019772,000875: 33,3137 34762 CA BIT7 # SPEND 320 SEC ERECTING
019773,000876: 33,3140 55412 TS LENGTHOT
019774,000877: 33,3141 05402 TC PHASCHNG
019775,000878: 33,3142 00075 OCT 00075
019776,000879: 33,3143 01,2256 5P7SPT2 = 5.7SPOT
019777,000880: 33,3143 33210 SPITGYRO CA ERCOMPPL
019778,000881: 33,3144 04636 TC BANKCALL
019779,000882: 33,3145 17244 CADR IMUPULSE
019780,000883: 33,3146 04636 TC BANKCALL
019781,000884: 33,3147 17644 CADR IMUSTALL
019782,000885: 33,3150 02655 TC SOMERR2
019783,000886: 33,3151 02227 TC ESTIMS # RE-INITIALIZE
019784,000887:
019785,000888:
019786,000889: 33,3152 77776 NOAZCHGE EXIT
019787,000890: 33,3153 34770 CA ONE
019788,000891: 33,3154 55632 TS PREMTRXC
019789,000892: 33,3155 11631 NOCHORLD CCS GEOSAVE1
019790,000893: 33,3156 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019791,000894:
019792,000895: 33,3157 34322 ANNNNNN CAF NINE
019793,000896: 33,3160 55412 TS LENGTHOT
019794,000897: 33,3161 02277 TC SLEEPIE +1
019795,000898:
019796,000899:
019797,000900: 33,3162 00004 CHKCOMED INHINT
019798,000901: 33,3163 41214 CS MODREG # CHECK FOR MM 07 FIRST
019799,000902: 33,3164 64774 AD SEVEN
019800,000903: 33,3165 00006 EXTEND
019801,000904: 33,3166 13202 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019802,000905: 33,3167 44772 CS ZERO
019803,000906: 33,3170 00006 EXTEND
019804,000907: 33,3171 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019805,000908: 33,3172 74764 MASK BIT5 # LIFTOFF BIT
|
|
Page 448
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019807,000910: 33,3173 10000 CCS A
019808,000911: 33,3174 13203 TCF PRELTERM # LIFTOFF HAS OCCURRED
019809,000912:
019810,000913: 33,3175 34764 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019811,000914: 33,3176 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019812,000915: 33,3177 10000 CCS A
019813,000916: 33,3200 13203 TCF PRELTERM # BACKUP RECEIVED
019814,000917:
019815,000918: 33,3201 00003 RELINT
019816,000919: 33,3202 00002 GOBKCALB TC Q
019817,000920:
019818,000921: 33,3203 37644 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019819,000922: 33,3204 05176 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019820,000923: 33,3205 00004 INHINT
019821,000924: 33,3206 04655 TC POSTJUMP
019822,000925: 33,3207 70000 CADR P11
019823,000926:
019824,000927:
019825,000928: 33,3210 02647 ERCOMPPL ECADR ERCOMP
019826,000929:
019827,000930: 33,3211 26,3333 GEOCONS5 EQUALS HIDPHALF
019828,000931: 33,3211 06200 1/PIPAGT OCT 06200
019829,000932: 33,3212 4352 17DECML = ND1 # OCT 21
019830,000933: 33,3212 4351 19DECML = VD1 # OCT 23
019831,000934: 33,3212 5011 1/2SECX = .5SEC
019832,000935:
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|
Page 449
|
019834,000937: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019835,000938:
019836,000939: 33,3212 COUNT* $$/P03
019837,000940: 33,3212 05402 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019838,000941: 33,3213 00154 OCT 00154
019839,000942: 33,3214 01,2143 4P15SPT1 = 4.15SPOT
019840,000943: 33,3214 05344 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019841,000944: 33,3215 00003 MM 03 B-14
019842,000945: 33,3216 02011 SETNBPOS TC NBPOSPL
019843,000946: 33,3217 04636 +1 TC BANKCALL
019844,000947: 33,3220 16073 CADR MKRELEAS
019845,000948: 33,3221 34770 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019846,000949: 33,3222 22007 ZL # T 1,THEN TARGET 2
019847,000950: 33,3223 23427 +2 LXCH RUN
019848,000951: 33,3224 55252 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019849,000952: 33,3225 00006 EXTEND
019850,000953: 33,3226 51427 INDEX RUN
019851,000954: 33,3227 31433 DCA TAZEL1
019852,000955: 33,3230 53251 DXCH DSPTEM1
019853,000956: 33,3231 33252 OPTDATA8 CAF V05N30E
019854,000957: 33,3232 04636 TC BANKCALL
019855,000958: 33,3233 20705 CADR GODSPRET
019856,000959: 33,3234 35032 CAF V06N41
019857,000960: 33,3235 04636 TC BANKCALL
019858,000961: 33,3236 20743 CADR GOFLASH
019859,000962: 33,3237 03370 TC GCOMP5
019860,000963: 33,3240 03242 TC +2
019861,000964: 33,3241 13231 TCF OPTDATA8
019862,000965:
019863,000966: 33,3242 53251 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019864,000967: 33,3243 51427 INDEX RUN
019865,000968: 33,3244 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019866,000969: 33,3245 11427 CCS RUN
019867,000970: 33,3246 13313 TCF CONTIN33
019868,000971: 33,3247 34767 CAF TWO
019869,000972: 33,3250 54001 TS L
019870,000973: 33,3251 13223 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019871,000974:
019872,000975: 33,3252 01236 V05N30E VN 0530
019873,000976:
019874,000977: 33,3253 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019875,000978: 33,3254 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019876,000979: 33,3255 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019877,000980: 33,3256 00014 12D
019878,000981: 33,3257 40331 SSP SETPD
019879,000982: 33,3260 00052 S2
019880,000983: 33,3261 00006 6
019881,000984: 33,3262 00001 0
019882,000985: 33,3263 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
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019884,000987: 33,3264 02436 TAZEL1 +3,1
019885,000988: 33,3265 00001 STORE 0 # PD00 ELEVATION PD00
019886,000989: 33,3266 77756 SIN
019887,000990: 33,3267 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019888,000991: 33,3270 77745 DLOAD
019889,000992: 33,3271 00001 0
019890,000993: 33,3272 41546 COS PUSH # PD00 COS(EL) PD00
019891,000994: 33,3273 47133 SLOAD* RTB
019892,000995: 33,3274 02435 TAZEL1 +2,1
019893,000996: 33,3275 51754 CDULOGIC
019894,000997: 33,3276 00003 STORE 2 # PD02 AZIMUTH PD02
019895,000998: 33,3277 41356 SIN DMP
019896,000999: 33,3300 00001 0
019897,001000: 33,3301 77752 SL1
019898,001001: 33,3302 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019899,001002: 33,3303 71545 DLOAD COS
019900,001003: 33,3304 00003 2
019901,001004: 33,3305 72405 DMP SL1
019902,001005: 33,3306 76076 DCOMP AXT,1
019903,001006: 33,3307 00000 0
019904,001007: 33,3310 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019905,001008: 33,3311 43504 TIX,2 RVQ
019906,001009: 33,3312 67263 TAR1
019907,001010:
019908,001011:
019909,001012: 33,2000 SETLOC IMUCAL
019910,001013: 33,2000 BANK
019911,001014: 33,3313 COUNT* $$/P03
019912,001015: 33,3313 34770 CONTIN33 CA ONE
019913,001016: 33,3314 55140 TS STARCODE
019914,001017: 33,3315 34772 CA ZERO
019915,001018: 33,3316 03375 TC TARGDRVE
019916,001019: 33,3317 06006 TC INTPRET
019917,001020: 33,3320 77624 CALL
019918,001021: 33,3321 67254 TAR/EREF
019919,001022: 33,3322 64375 NEXTBNKS VLOAD MXV
019920,001023: 33,3323 00007 6D
019921,001024: 33,3324 02672 XSM
019922,001025: 33,3325 77772 VSL1
019923,001026: 33,3326 26736 STOVL STARAD
019924,001027: 33,3327 00015 12D
019925,001028: 33,3330 76521 MXV VSL1
019926,001029: 33,3331 02672 XSM
019927,001030: 33,3332 36744 STCALL STARAD +6
019928,001031: 33,3333 67450 LITTLSUB
019929,001032: 33,3334 02414 STORE LOSVEC
019930,001033: 33,3335 77776 EXIT
019931,001034: 33,3336 34767 NEXBNKSS CAF TWO
019932,001035: 33,3337 55140 TS STARCODE
019933,001036: 33,3340 36211 CAF SIX
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Page 451
|
019935,001038: 33,3341 03375 TC TARGDRVE
019936,001039: 33,3342 06006 TC INTPRET
019937,001040: 33,3343 77624 CALL
019938,001041: 33,3344 67450 LITTLSUB
019939,001042: 33,3345 24015 STOVL 12D
019940,001043: 33,3346 02414 LOSVEC
019941,001044: 33,3347 34007 STCALL 06D
019942,001045: 33,3350 47432 AXISGEN
019943,001046: 33,3351 77624 CALL
019944,001047: 33,3352 47240 CALCGTA
019945,001048: 33,3353 77776 EXIT
019946,001049: 33,3354 35040 GCOMP4 CAF V06N93
019947,001050: 33,3355 04636 TC BANKCALL
019948,001051: 33,3356 20743 CADR GOFLASH
019949,001052: 33,3357 03370 TC GCOMP5
019950,001053: 33,3360 13362 TCF +2
019951,001054: 33,3361 13354 TCF GCOMP4
019952,001055: 33,3362 06006 TC INTPRET
019953,001056: 33,3363 53375 VLOAD VAD
019954,001057: 33,3364 02760 OGC
019955,001058: 33,3365 02650 ERCOMP1
019956,001059: 33,3366 02650 STORE ERCOMP1
019957,001060: 33,3367 77776 EXIT
019958,001061: 33,3370 05344 GCOMP5 TC NEWMODEX
019959,001062: 33,3371 00002 MM 02 B-14
019960,001063: 33,3372 05402 TC PHASCHNG
019961,001064: 33,3373 00004 OCT 00004
019962,001065: 33,3374 05205 TC ENDOFJOB
019963,001066: 33,2000 SETLOC IMUCAL
019964,001067: 33,2000 BANK
019965,001068:
019966,001069:
019967,001070: 33,3375 COUNT* $$/P03
019968,001071: 33,3375 00006 TARGDRVE EXTEND
019969,001072: 33,3376 23424 QXCH QPLAC
019970,001073: 33,3377 55431 TS TARG1/2
019971,001074: 33,3400 06006 TC INTPRET
019972,001075: 33,3401 77624 CALL
019973,001076: 33,3402 67254 TAR/EREF
019974,001077: 33,3403 76740 LXC,1 VLOAD*
019975,001078: 33,3404 02431 TARG1/2
019976,001079: 33,3405 00007 6D,1
019977,001080: 33,3406 36766 STCALL STAR
019978,001081: 33,3407 46053 SXTANG
019979,001082: 33,3410 77776 EXIT
019980,001083: 33,3411 31773 CA SAC
019981,001084: 33,3412 55313 TS DESOPTS
019982,001085: 33,3413 31775 CA PAC
019983,001086: 33,3414 55312 TS DESOPTT
019984,001087: 33,3415 34772 RETARG CAF ZERO
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Page 452
|
019986,001089: 33,3416 55323 TS OPTIND
019987,001090: 33,3417 04636 TC BANKCALL
019988,001091: 33,3420 16000 CADR SXTMARK
019989,001092: 33,3421 10301 CCS MARKINDX
019990,001093: 33,3422 03415 TC RETARG # NO MARK TAKEN - DO AGAIN
019991,001094:
019992,001095: 33,3423 04636 TC BANKCALL
019993,001096: 33,3424 16073 CADR MKRELEAS
019994,001097:
019995,001098: 33,3425 01424 TC QPLAC
019996,001099:
019997,001100:
019998,001101: 33,2000 SETLOC IMUCAL
019999,001102: 33,2000 BANK
020000,001103: 33,3426 COUNT* $$/P03
020001,001104: 33,3426 30341 22444 PIPASC 2DEC .76376833
020002,001105: 33,3430 57223 66451 VELSC 2DEC -.52223476
020003,001106: 33,3432 05427 12577 ALSK 2DEC .17329931
020004,001107: 33,3434 77567 44202 2DEC -.00835370
020005,001108: 33,3436 24276 14066 GEORGEJ 2DEC .63661977
020006,001109: 33,3440 03146 14632 GEOCONS1 2DEC .1
020007,001110: 33,3442 00121 35341 GEOCONS2 2DEC .005
020008,001111: 33,3444 01767 31666 GEOCONS3 2DEC .062
020009,001112: 33,3446 00004 35223 GEOCONS4 2DEC .0003
020010,001113:
020011,001114: 33,3450 COUNT* $$/P02
020012,001115: 33,3450 74020 LITTLSUB STQ AXC,1
020013,001116: 33,3451 00300 QMAJ
020014,001117: 33,3452 03722 MRKBUF1
020015,001118: 33,3453 77650 GOTO
020016,001119: 33,3454 36073 SXTSM2
020017,001120:
020018,001121:
020019,001122: 43,2000 SETLOC EXTVERBS
020020,001123: 43,2000 BANK
020021,001124:
020022,001125: 43,3132 COUNT* $$/EXTVB
020023,001126: 43,3132 06006 AZMTHCG1 TC INTPRET
020024,001127: 43,3133 47145 DLOAD RTB
020025,001128: 43,3134 02636 NEWAZMTH
020026,001129: 43,3135 45640 1STO2S
020027,001130: 43,3136 77776 EXIT
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Page 453
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020029,001132: 43,3137 56154 XCH MPAC
020030,001133: 43,3140 55250 TS DSPTEM1
020031,001134: 43,3141 04636 TC BANKCALL
020032,001135: 43,3142 20715 CADR CLEANDSP
020033,001136: 43,3143 33165 CAF VN0629
020034,001137: 43,3144 04636 TC BANKCALL
020035,001138: 43,3145 20743 CADR GOFLASH
020036,001139: 43,3146 13157 TCF +11
020037,001140: 43,3147 13151 TCF +2
020038,001141: 43,3150 13143 TCF -5
020039,001142: 43,3151 06006 TC INTPRET
020040,001143: 43,3152 47135 SLOAD RTB
020041,001144: 43,3153 01251 DSPTEM1
020042,001145: 43,3154 51754 CDULOGIC
020043,001146: 43,3155 02634 STORE LAUNCHAZ
020044,001147: 43,3156 77776 EXIT
020045,001148: 43,3157 34772 +11 CAF ZERO
020046,001149: 43,3160 55632 TS PREMTRXC
020047,001150: 43,3161 05402 TC PHASCHNG
020048,001151: 43,3162 00004 OCT 00004
020049,001152: 43,3163 04655 TC POSTJUMP
020050,001153: 43,3164 21275 CADR PINBRNCH
020051,001154:
020052,001155: 43,3165 01435 VN0629 VN 0629
020053,001156:
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Page 454
Only assembler-generated messages on this page.
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End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc