Source Code
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These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 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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018139,000002: ## Copyright: Public domain.
018140,000003: ## Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
018141,000004: ## Purpose: A section of Comanche revision 051.
018142,000005: ## It is part of the reconstructed source code for the
018143,000006: ## original release of the flight software for the Command
018144,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
018145,000008: ## The code has been recreated from a copy of Comanche 055. It
018146,000009: ## has been adapted such that the resulting bugger words
018147,000010: ## exactly match those specified for Comanche 51 in NASA drawing
018148,000011: ## 2021153D, which gives relatively high confidence that the
018149,000012: ## reconstruction is correct.
018150,000013: ## Reference: pp. 423-455
018151,000014: ## Assembler: yaYUL
018152,000015: ## Contact: Ron Burkey <info@sandroid.org>.
018153,000016: ## Website: www.ibiblio.org/apollo/index.html
018154,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
018155,000018:
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Page 423
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018157,000020: # NAME- IMU PERFORMANCE TESTS 2
018158,000021:
018159,000022: # DATE- MARCH 20, 1967
018160,000023:
018161,000024: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
018162,000025:
018163,000026: # MODNO.- ZERO
018164,000027:
018165,000028: # FUNCTIONAL DESCRIPTION
018166,000029:
018167,000030: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
018168,000031: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
018169,000032: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
018170,000033:
018171,000034: 33,2004 BANK 33
018172,000035: 33,2000 SETLOC IMUCAL
018173,000036: 33,2000 BANK
018174,000037:
018175,000038: 33,2004 E5,1423 EBANK= POSITON
018176,000039: 33,2004 35021 IMUTEST CA ZERO
018177,000040: 33,2005 55452 TS DRIFTT
018178,000041: 33,2006 55643 TS GEOCOMP1
018179,000042: 33,2007 32443 CAF TESTTIME
018180,000043: 33,2010 55412 TS LENGTHOT
018181,000044: 33,2011 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG
018182,000045: 33,2012 35041 CAF 1SECX
018183,000046: 33,2013 55644 TS 1SECXT1
018184,000047:
018185,000048: 33,2014 32441 CA OC14400
018186,000049: 33,2015 55074 TS 1/PIPADT
018187,000050: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
018188,000051: 33,2017 77624 CALL
018189,000052: 33,2020 10613 LATAZCHK
018190,000053: 33,2021 57546 COS DCOMP
018191,000054: 33,2022 77752 SL1
018192,000055: 33,2023 16447 STODL WANGI
018193,000056: 33,2024 02403 LATITUDE
018194,000057: 33,2025 72556 SIN SL1
018195,000058: 33,2026 02445 STORE WANGO
018196,000059: 33,2027 77776 EXIT
018197,000060: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
018198,000061: 33,2031 16577 CADR IMUZERO
018199,000062: 33,2032 02316 TC IMUSTLLG
018200,000063: 33,2033 35021 IMUBACK CA ZERO
018201,000064: 33,2034 55421 TS NDXCTR
018202,000065: 33,2035 55450 TS TORQNDX
018203,000066: 33,2036 55451 TS TORQNDX +1
018204,000067: 33,2037 34375 NBPOSPL CA DEC17
018205,000068: 33,2040 55655 TS ZERONDX1
018206,000069: 33,2041 32445 CA XNBADR
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Page 424
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018208,000071: 33,2042 02356 TC ZEROING
018209,000072: 33,2043 35002 CA HALF
018210,000073: 33,2044 55713 TS XNB
018211,000074: 33,2045 06006 TC INTPRET
018212,000075: 33,2046 73545 DLOAD SIN
018213,000076: 33,2047 02401 AZIMUTH
018214,000077: 33,2050 02724 STORE YNB +2
018215,000078: 33,2051 16734 STODL ZNB +4
018216,000079: 33,2052 02401 AZIMUTH
018217,000080: 33,2053 77746 COS
018218,000081: 33,2054 02726 STORE YNB +4
018219,000082: 33,2055 77676 DCOMP
018220,000083: 33,2056 02732 STORE ZNB +2
018221,000084: 33,2057 77776 EXIT
018222,000085: 33,2060 05364 TC CHECKMM
018223,000086: 33,2061 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION
018224,000087: 33,2062 12064 TCF +2 # NO
018225,000088: 33,2063 13443 TCF SETNBPOS +1 # YES
018226,000089: 33,2064 06006 TC INTPRET
018227,000090: 33,2065 77624 CALL
018228,000091: 33,2066 47311 CALCGA
018229,000092: 33,2067 77776 EXIT
018230,000093: 33,2070 04662 TC BANKCALL
018231,000094: 33,2071 16663 CADR IMUCOARS
018232,000095: 33,2072 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
018233,000096: 33,2073 70077 MASK FLAGWRD3
018234,000097: 33,2074 00006 EXTEND
018235,000098: 33,2075 12077 BZF +2
018236,000099: 33,2076 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
018237,000100: 33,2077 05560 TC DOWNFLAG # RESET GIMBAL LOCK FLAG
018238,000101: 33,2100 00056 ADRES GLOKFAIL # BIT 14 FLAG 3
018239,000102: 33,2101 02316 TC IMUSTLLG
018240,000103: 33,2102 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
018241,000104: 33,2103 02131 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
018242,000105: 33,2104 04662 TC BANKCALL
018243,000106: 33,2105 17073 CADR IMUFINE
018244,000107: 33,2106 02316 TC IMUSTLLG
018245,000108: 33,2107 00006 EXTEND
018246,000109: 33,2110 31657 DCA PERFDLAY
018247,000110: 33,2111 05342 TC LONGCALL
018248,000111: 33,2112 E5,1423 EBANK= POSITON
018249,000112: 33,2112 02116 66065 2CADR GOESTIMS
018250,000113:
018251,000114: 33,2114 32121 CA ESTICADR
018252,000115: 33,2115 05175 TC JOBSLEEP
018253,000116: 33,2116 32121 GOESTIMS CA ESTICADR
018254,000117: 33,2117 05201 TC JOBWAKE
018255,000118: 33,2120 05324 TC TASKOVER
018256,000119: 33,2121 66453 ESTICADR CADR ESTIMS
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Page 425
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018258,000121: 33,2122 35021 TORQUE CA ZERO
018259,000122: 33,2123 55050 TS DSPTEM2
018260,000123: 33,2124 31514 CA DRIFTI
018261,000124: 33,2125 55051 TS DSPTEM2 +1
018262,000125: 33,2126 51423 INDEX POSITON
018263,000126: 33,2127 55430 TS SOUTHDR -1
018264,000127: 33,2130 02427 TC SHOW
018265,000128:
018266,000129: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST
018267,000130: 33,2132 02133 TC +1
018268,000131: 33,2133 02417 TC EARTHR*
018269,000132: 33,2134 34374 CA DEC57
018270,000133: 33,2135 55412 TS LENGTHOT
018271,000134: 33,2136 35017 CA ONE
018272,000135: 33,2137 55547 TS RESULTCT
018273,000136: 33,2140 35021 CA ZERO
018274,000137: 33,2141 51422 INDEX PIPINDEX
018275,000138: 33,2142 54037 TS PIPAX
018276,000139: 33,2143 55502 TS DATAPL
018277,000140: 33,2144 55506 TS DATAPL +4
018278,000141: 33,2145 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE
018279,000142: 33,2146 00004 INHINT
018280,000143: 33,2147 35016 CAF TWO
018281,000144: 33,2150 05235 TC TWIDDLE
018282,000145: 33,2151 E5,1671 EBANK= XSM
018283,000146: 33,2151 02153 ADRES PIPATASK
018284,000147: 33,2152 05217 TC ENDOFJOB
018285,000148: 33,2153 00006 PIPATASK EXTEND
018286,000149: 33,2154 27412 DIM LENGTHOT
018287,000150: 33,2155 31412 CA LENGTHOT
018288,000151: 33,2156 00006 EXTEND
018289,000152: 33,2157 62163 BZMF STARTPIP
018290,000153: 33,2160 35006 CAF BIT10
018291,000154: 33,2161 05235 TC TWIDDLE
018292,000155: 33,2162 E5,1671 EBANK= XSM
018293,000156: 33,2162 02153 ADRES PIPATASK
018294,000157: 33,2163 35002 STARTPIP CAF PRIO20
018295,000158: 33,2164 05147 TC FINDVAC
018296,000159: 33,2165 E5,1671 EBANK= XSM
018297,000160: 33,2165 02170 66065 2CADR PIPJOBB
018298,000161:
018299,000162: 33,2167 05324 TC TASKOVER
018300,000163:
018301,000164: 33,2170 51421 PIPJOBB INDEX NDXCTR
018302,000165: 33,2171 02172 TC +1
018303,000166: 33,2172 02417 TC EARTHR*
018304,000167: 33,2173 31412 CA LENGTHOT
018305,000168: 33,2174 00006 EXTEND
018306,000169: 33,2175 62177 BZMF +2
018307,000170: 33,2176 05217 TC ENDOFJOB
018308,000171: 33,2177 35022 CA FIVE
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Page 426
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018310,000173: 33,2200 55547 TS RESULTCT
018311,000174: 33,2201 02321 TC CHECKG
018312,000175: 33,2202 00006 EXTEND
018313,000176: 33,2203 41503 DCS DATAPL
018314,000177: 33,2204 21507 DAS DATAPL +4
018315,000178:
018316,000179: 33,2205 06006 TC INTPRET
018317,000180: 33,2206 45345 DLOAD DSU
018318,000181: 33,2207 02511 DATAPL +6
018319,000182: 33,2210 02505 DATAPL +2
018320,000183: 33,2211 45044 BPL CALL
018321,000184: 33,2212 66214 AINGOTN
018322,000185: 33,2213 66276 OVERFFIX
018323,000186: 33,2214 56325 AINGOTN PDDL DDV
018324,000187: 33,2215 02507 DATAPL +4
018325,000188: 33,2216 57212 SL4 DMPR
018326,000189: 33,2217 27110 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
018327,000190: 33,2220 77634 RTB
018328,000191: 33,2221 45544 SGNAGREE
018329,000192: 33,2222 01051 STORE DSPTEM2
018330,000193: 33,2223 77776 EXIT
018331,000194: 33,2224 11421 CCS NDXCTR
018332,000195: 33,2225 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
018333,000196: 33,2226 02427 TC SHOW
018334,000197: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
018335,000198: 33,2230 55412 TS LENGTHOT
018336,000199: 33,2231 51423 INDEX POSITON
018337,000200: 33,2232 41427 CS SOUTHDR -2
018338,000201: 33,2233 55452 TS DRIFTT
018339,000202: 33,2234 31675 CA XSM +4 # 0 IF POSN 4
018340,000203: 33,2235 00006 EXTEND
018341,000204: 33,2236 12244 BZF PON2
018342,000205: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM
018343,000206: 33,2240 27651 ADS ERCOMP1 +2
018344,000207: 33,2241 35013 CA BIT5
018345,000208: 33,2242 27647 ADS ERCOMP1
018346,000209: 33,2243 12250 TCF PONG
018347,000210: 33,2244 45013 PON2 CS BIT5
018348,000211: 33,2245 27651 ADS ERCOMP1 +2
018349,000212: 33,2246 35013 CA BIT5
018350,000213: 33,2247 27653 ADS ERCOMP1 +4
018351,000214: 33,2250 02417 PONG TC EARTHR*
018352,000215: 33,2251 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
018353,000216: 33,2252 55404 TS ERVECTOR
018354,000217: 33,2253 55405 TS ERVECTOR +1
018355,000218: 33,2254 34777 GUESS1 CAF POSMAX
018356,000219: 33,2255 55450 TS TORQNDX
018357,000220: 33,2256 55451 TS TORQNDX +1
018358,000221: 33,2257 30032 CA CDUX
018359,000222: 33,2260 55413 TS LOSVEC
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Page 427
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018361,000224: 33,2261 02453 TC ESTIMS
018362,000225: 33,2262 31512 VALMIS CA DRIFTO
018363,000226: 33,2263 55051 TS DSPTEM2 +1
018364,000227: 33,2264 35021 CA ZERO
018365,000228: 33,2265 55050 TS DSPTEM2
018366,000229: 33,2266 02427 TC SHOW
018367,000230:
018368,000231: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
018369,000232: 33,2270 00007 ADRES IMUSE # BIT 8 FLAG 0
018370,000233: 33,2271 45021 CS ZERO
018371,000234: 33,2272 05357 TC NEWMODEX +3
018372,000235: 33,2273 04662 TC BANKCALL
018373,000236: 33,2274 16063 CADR MKRELEAS
018374,000237: 33,2275 05534 TC ENDEXT
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Page 428
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018376,000239:
018377,000240: 33,2276 43215 OVERFFIX DAD DAD
018378,000241: 33,2277 15343 DPPOSMAX
018379,000242: 33,2300 27116 ONEDPP
018380,000243: 33,2301 77616 RVQ
018381,000244:
018382,000245: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
018383,000246: 33,2303 23425 QXCH QPLACE
018384,000247: 33,2304 35021 CA ZERO
018385,000248: 33,2305 55155 TS THETAD
018386,000249: 33,2306 55156 TS THETAD +1
018387,000250: 33,2307 55157 TS THETAD +2
018388,000251: 33,2310 04662 TC BANKCALL
018389,000252: 33,2311 16663 CADR IMUCOARS
018390,000253: 33,2312 04662 TC BANKCALL
018391,000254: 33,2313 17577 CADR IMUSTALL
018392,000255: 33,2314 03102 TC SOMERR2
018393,000256: 33,2315 01425 TC QPLACE
018394,000257:
018395,000258: 33,2316 00006 IMUSTLLG EXTEND
018396,000259: 33,2317 23425 QXCH QPLACE
018397,000260: 33,2320 02312 TC COAALIGN +10
018398,000261:
018399,000262: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
018400,000263: 33,2322 23425 QXCH QPLACE
018401,000264: 33,2323 02331 TC +6
018402,000265: 33,2324 00003 CHECKG1 RELINT
018403,000266: 33,2325 30067 CA NEWJOB
018404,000267: 33,2326 00006 EXTEND
018405,000268: 33,2327 62335 BZMF +6
018406,000269: 33,2330 05164 TC CHANG1
018407,000270: 33,2331 00004 INHINT
018408,000271: 33,2332 51422 INDEX PIPINDEX
018409,000272: 33,2333 40037 CS PIPAX
018410,000273: 33,2334 55655 TS ZERONDX
018411,000274: 33,2335 00004 INHINT
018412,000275: 33,2336 51422 INDEX PIPINDEX
018413,000276: 33,2337 30037 CA PIPAX
018414,000277: 33,2340 61655 AD ZERONDX
018415,000278: 33,2341 00006 EXTEND
018416,000279: 33,2342 12324 BZF CHECKG1
018417,000280: 33,2343 51422 INDEX PIPINDEX
018418,000281: 33,2344 30037 CA PIPAX
018419,000282: 33,2345 51547 INDEX RESULTCT
018420,000283: 33,2346 55502 TS DATAPL
018421,000284: 33,2347 04553 TC FINETIME
018422,000285: 33,2350 51547 INDEX RESULTCT
018423,000286: 33,2351 55503 TS DATAPL +1
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Page 429
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018425,000288: 33,2352 51547 INDEX RESULTCT
018426,000289: 33,2353 23504 LXCH DATAPL +2
018427,000290: 33,2354 00003 RELINT
018428,000291: 33,2355 01425 ENDCHKG TC QPLACE
018429,000292:
018430,000293: 33,2356 54001 ZEROING TS L
018431,000294: 33,2357 12361 TCF +2
018432,000295: 33,2360 55655 ZEROING1 TS ZERONDX1
018433,000296: 33,2361 35021 CAF ZERO
018434,000297: 33,2362 50001 INDEX L
018435,000298: 33,2363 54000 TS 0
018436,000299: 33,2364 24001 INCR L
018437,000300: 33,2365 11655 CCS ZERONDX1
018438,000301: 33,2366 12360 TCF ZEROING1
018439,000302: 33,2367 00002 TC Q
018440,000303:
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Page 430
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018442,000305: 32,2000 SETLOC IMUCAL3
018443,000306: 32,2000 BANK
018444,000307: 32,2000 65345 ERTHRVSE DLOAD PDDL
018445,000308: 32,2001 27111 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
018446,000309: 32,2002 02403 LATITUDE
018447,000310: 32,2003 57546 COS DCOMP
018448,000311: 32,2004 73525 PDDL SIN
018449,000312: 32,2005 02403 LATITUDE
018450,000313: 32,2006 74266 VDEF VXSC
018451,000314: 32,2007 26450 OMEG/MS
018452,000315: 32,2010 02405 STORE ERVECTOR
018453,000316: 32,2011 77634 RTB
018454,000317: 32,2012 45510 LOADTIME
018455,000318: 32,2013 26443 STOVL TMARK
018456,000319: 32,2014 27111 SCHZEROS
018457,000320: 32,2015 02650 STORE ERCOMP1
018458,000321: 32,2016 77616 RVQ
018459,000322: 33,2000 SETLOC IMUCAL
018460,000323: 33,2000 BANK
018461,000324: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
018462,000325: 33,2371 00051 S2
018463,000326: 33,2372 45510 LOADTIME
018464,000327: 33,2373 02441 STORE TEMPTIME
018465,000328: 33,2374 51025 DSU BPL
018466,000329: 33,2375 02443 TMARK
018467,000330: 33,2376 66401 ERTHR
018468,000331: 33,2377 77624 CALL
018469,000332: 33,2400 66276 OVERFFIX
018470,000333: 33,2401 74261 ERTHR SL VXSC
018471,000334: 33,2402 20212 9D
018472,000335: 33,2403 02405 ERVECTOR
018473,000336: 33,2404 53321 MXV VAD
018474,000337: 33,2405 02672 XSM
018475,000338: 33,2406 02650 ERCOMP1
018476,000339: 33,2407 16650 STODL ERCOMP1
018477,000340: 33,2410 02441 TEMPTIME
018478,000341: 33,2411 02443 STORE TMARK
018479,000342: 33,2412 47170 AXT,1 RTB
018480,000343: 33,2413 02647 ECADR ERCOMP1
018481,000344: 33,2414 45653 PULSEIMU
018482,000345: 33,2415 77650 GOTO
018483,000346: 33,2416 00051 S2
018484,000347:
018485,000348: 33,2417 00006 EARTHR* EXTEND
018486,000349: 33,2420 23426 QXCH QPLACES
018487,000350: 33,2421 06006 TC INTPRET
018488,000351: 33,2422 77624 CALL
018489,000352: 33,2423 66370 EARTHR
018490,000353: 33,2424 77776 PROUT EXIT
018491,000354: 33,2425 02316 TC IMUSTLLG
018492,000355: 33,2426 01426 TC QPLACES
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Page 431
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018494,000357:
018495,000358: 33,2427 00006 SHOW EXTEND
018496,000359: 33,2430 23425 QXCH QPLACE
018497,000360: 33,2431 31423 SHOW1 CA POSITON
018498,000361: 33,2432 55052 TS DSPTEM2 +2
018499,000362: 33,2433 32442 CA VB06N98
018500,000363: 33,2434 04662 TC BANKCALL
018501,000364: 33,2435 20720 CADR GOFLASH
018502,000365: 33,2436 02267 TC ENDTEST1 # V34
018503,000366: 33,2437 01425 TC QPLACE # V33
018504,000367: 33,2440 12431 TCF SHOW1
018505,000368:
018506,000369: 33,2441 14400 OC14400 OCT 14400
018507,000370: 33,2442 33,2447 3990DEC = OMEG/MS
018508,000371: 33,2442 01542 VB06N98 VN 0698
018509,000372: 33,2443 01602 TESTTIME OCT 01602
018510,000373: 33,2444 4375 DEC17 = ND1
018511,000374: 33,2444 02757 OGCPL ECADR OGC
018512,000375: 33,2445 5041 1SECX = 1SEC
018513,000376: 33,2445 4374 DEC57 = VD1
018514,000377: 33,2445 01713 XNBADR GENADR XNB
018515,000378: 33,2446 01671 XSMADR GENADR XSM
018516,000379: 33,2447 07623 26552 OMEG/MS 2DEC .24339048
018517,000380:
018518,000381: 33,2451 04662 P11OUT TC BANKCALL
018519,000382: 33,2452 70117 CADR MATRXJOB # RETURN TO P11
018520,000383:
018521,000384: 33,2453 COUNT 02/COMST
018522,000385:
018523,000386: 4553 BLOCK 2
018524,000387: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
018525,000388: 4554 00006 EXTEND
018526,000389: 4555 00004 READ LOSCALAR
018527,000390: 4556 54001 TS L
018528,000391: 4557 00006 EXTEND
018529,000392: 4560 06004 RXOR LOSCALAR
018530,000393: 4561 00006 EXTEND
018531,000394: 4562 14566 BZF +4
018532,000395: 4563 00006 EXTEND
018533,000396: 4564 00004 READ LOSCALAR
018534,000397: 4565 54001 TS L
018535,000398: 4566 44777 +4 CS POSMAX
018536,000399: 4567 60001 AD L
018537,000400: 4570 00006 EXTEND
018538,000401: 4571 14554 BZF FINETIME +1
018539,000402: 4572 00006 EXTEND
018540,000403: 4573 00003 READ HISCALAR
018541,000404: 4574 00002 TC Q
018542,000405:
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Page 432
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018544,000407: # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
018545,000408: # DATE- NOVEMBER 2 1966
018546,000409: # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
018547,000410: # MOD NO 3
018548,000411:
018549,000412: # FUNCTIONAL DESCRIPTION
018550,000413:
018551,000414: # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
018552,000415: # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
018553,000416: # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
018554,000417: # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
018555,000418: # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
018556,000419: # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
018557,000420: # FOR THE DATA TO FLASH.
018558,000421:
018559,000422: # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
018560,000423: # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
018561,000424: # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
018562,000425: # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
018563,000426: # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
018564,000427: # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
018565,000428: # PROCEDURE FOR THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
018566,000429: # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
018567,000430: # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
018568,000431: # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
018569,000432: # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
018570,000433:
018571,000434: # COMPASS ERASABLE LOAD REQUIRED
018572,000435:
018573,000436: # 1- LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
018574,000437: # 2- LATITUDE-DP-OF LAUNCH PAD
018575,000438: # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
018576,000439: # 4- IMU COMPENSATION PARAMETERS
018577,000440: # 5- AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
018578,000441:
018579,000442: # TO PERFORM AS PART OF COMPASS
018580,000443:
018581,000444: # 1- OPTICAL VERIFICATION- V 65 E
018582,000445: # 2- AZIMUTH CHANGE- V 78 E
018583,000446:
018584,000447: # SUBROUTINES CALLED
018585,000448:
018586,000449: # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
018587,000450: # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
018588,000451:
018589,000452: # NORMAL EXIT
018590,000453:
018591,000454: # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
018592,000455: # GYROCOMPASS-MANY, SEE THE LISTING
018593,000456:
018594,000457: # ALARMS
018595,000458:
018596,000459: # 1600 OVERFLOW IN DRIFT TEST
|
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Page 433
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018598,000461: # 1601 BAD IMU TORQUE ABORT
018599,000462: # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
018600,000463:
018601,000464: # OUTPUT
018602,000465:
018603,000466: # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
018604,000467: # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHASE OF PROGRAM YOU ARE IN
018605,000468: # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
018606,000469: # 02 GYROCOMPASSING
018607,000470: # 03 DOING OPTICAL VERIFICATION (CSM)
018608,000471:
018609,000472: # DEBRIS
018610,000473:
018611,000474: # ALL CENTRALS, ALL OF EBANK XSM
018612,000475:
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|
018614,000477: # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
018615,000478: # ON THE NEXT FEW PAGES.
018616,000479:
018617,000480: 4575 COUNT 33/P02
018618,000481:
018619,000482: 4575 E5,1671 EBANK= XSM
018620,000483: 33,2453 BANK 33
018621,000484: 33,2000 SETLOC IMUCAL
018622,000485: 33,2000 BANK
018623,000486:
018624,000487: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
018625,000488: 33,2454 00075 OCT 00075
018626,000489: 33,2455 00004 OCT 00004 # TURN OFF GROUP 4 IF ON
018627,000490: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
018628,000491: 33,2457 30025 CA TIME1
018629,000492: 33,2460 55645 TS GTSWTLT1
018630,000493: 33,2461 35021 CAF ZERO # ZERO THE PIPAS
018631,000494: 33,2462 54037 TS PIPAX
018632,000495: 33,2463 54040 TS PIPAY
018633,000496: 33,2464 54041 TS PIPAZ
018634,000497: 33,2465 00003 RELINT
018635,000498: 33,2466 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS
018636,000499: 33,2467 55655 TS ZERONDX1
018637,000500: 33,2470 33130 CA ALXXXZ
018638,000501: 33,2471 02356 TC ZEROING
018639,000502: 33,2472 06006 TC INTPRET
018640,000503: 33,2473 77735 SLOAD
018641,000504: 33,2474 27111 SCHZEROS
018642,000505: 33,2475 25477 STOVL GCOMPSW -1
018643,000506: 33,2476 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
018644,000507: 33,2477 26455 STOVL ALX1S
018645,000508: 33,2500 27111 SCHZEROS
018646,000509: 33,2501 01472 STORE GCOMP
018647,000510: 33,2502 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
018648,000511: 33,2503 77776 EXIT
018649,000512:
018650,000513: 33,2504 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS.
018651,000514: 33,2505 02507 TC +2
018652,000515: 33,2506 02523 TC SLEEPIE +1
018653,000516: 33,2507 06006 TC INTPRET
018654,000517: 33,2510 77624 CALL
018655,000518: 33,2511 64000 ERTHRVSE
018656,000519: 33,2512 77776 EXIT
018657,000520: 33,2513 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
018658,000521: 33,2514 55646 TS ERECTIME
018659,000522:
018660,000523: 33,2515 05354 TC NEWMODEX
018661,000524: 33,2516 00002 MM 02 B-14
018662,000525: 33,2517 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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Page 435
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018664,000527: 33,2520 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
018665,000528: 33,2521 03403 TC ANNNNNN # END OF FIRST TIME THROUGH
018666,000529:
|
|
Page 436
|
018668,000531: # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
018669,000532:
018670,000533: # SET UP WAITLIST SECTION
018671,000534: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
018672,000535: 33,2523 05412 TC PHASCHNG # CHANGE PHASE
018673,000536: 33,2524 00135 OCT 00135
018674,000537: 33,2525 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT
018675,000538: 33,2526 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO
018676,000539: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
018677,000540: 33,2530 02532 TC SETGWLST
018678,000541: 33,2531 05217 TC ENDOFJOB
018679,000542:
018680,000543: 33,2532 00006 SETGWLST EXTEND
018681,000544: 33,2533 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
018682,000545: 33,2534 00004 INHINT
018683,000546: 33,2535 40025 CS TIME1
018684,000547: 33,2536 61645 AD GTSWTLT1
018685,000548: 33,2537 00006 EXTEND
018686,000549: 33,2540 62542 BZMF +2
018687,000550: 33,2541 65001 AD NEGMAX # 10 MS ERROR OK
018688,000551: 33,2542 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
018689,000552: 33,2543 00006 EXTEND
018690,000553: 33,2544 62550 BZMF RIGHTGTS
018691,000554: 33,2545 05235 WTGTSMPL TC TWIDDLE
018692,000555: 33,2546 E5,1540 EBANK= ALTIM
018693,000556: 33,2546 02574 ADRES ALLOOP
018694,000557: 33,2547 00154 TC MPAC
018695,000558: 33,2550 35015 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
018696,000559: 33,2551 02545 TC WTGTSMPL # END OF WAITLIST SECTION
018697,000560:
018698,000561: # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
018699,000562:
018700,000563: 33,2552 4113 25DECML EQUALS OCT31
018701,000564: 33,2552 34113 STOREDTA CAF 25DECML
018702,000565: 33,2553 54154 TS MPAC
018703,000566: 33,2554 50154 INDEX MPAC
018704,000567: 33,2555 31460 CAE THETAX1
018705,000568: 33,2556 50154 INDEX MPAC
018706,000569: 33,2557 55577 TS RESTARPT
018707,000570: 33,2560 10154 CCS MPAC
018708,000571: 33,2561 12553 TCF STOREDTA +1
018709,000572: 33,2562 00002 TC Q
018710,000573:
018711,000574: 33,2563 34113 LOADSTDT CAF 25DECML
018712,000575: 33,2564 54154 TS MPAC
018713,000576: 33,2565 50154 INDEX MPAC
018714,000577: 33,2566 31577 CA RESTARPT
018715,000578: 33,2567 50154 INDEX MPAC
018716,000579:
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Page 437
|
018718,000581: 33,2570 55460 TS THETAX1
018719,000582: 33,2571 10154 CCS MPAC
018720,000583: 33,2572 12564 TCF LOADSTDT +1
018721,000584: 33,2573 00002 TC Q
018722,000585:
018723,000586: # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
018724,000587:
018725,000588: 33,2574 30025 ALLOOP CA TIME1
018726,000589: 33,2575 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
018727,000590: 33,2576 31540 ALLOOP3 CA ALTIM
018728,000591: 33,2577 55631 TS GEOSAVE1
018729,000592: 33,2600 05412 TC PHASCHNG
018730,000593: 33,2601 00115 OCT 00115
018731,000594: 33,2602 31631 ALLOOP1 CAE GEOSAVE1
018732,000595: 33,2603 55540 TS ALTIM
018733,000596: 33,2604 10000 CCS A
018734,000597: 33,2605 30000 CA A # SHOULD NEVER HIT THIS LOCATION
018735,000598: 33,2606 55541 TS ALTIMS
018736,000599: 33,2607 40000 CS A
018737,000600: 33,2610 55540 TS ALTIM
018738,000601: 33,2611 35021 CAF ZERO
018739,000602: 33,2612 56037 XCH PIPAX
018740,000603: 33,2613 55162 TS DELVX
018741,000604: 33,2614 35021 CAF ZERO
018742,000605: 33,2615 56040 XCH PIPAY
018743,000606: 33,2616 55164 TS DELVY
018744,000607: 33,2617 35021 CAF ZERO
018745,000608: 33,2620 56041 XCH PIPAZ
018746,000609: 33,2621 55166 TS DELVZ
018747,000610: 33,2622 34374 CAF 19DECML # 23 OCT
018748,000611: 33,2623 04114 TC NEWPHASE
018749,000612: 33,2624 00005 OCT 00005
018750,000613: 33,2625 37657 SPECSTS CAF PRIO22
018751,000614: 33,2626 05147 TC FINDVAC
018752,000615: 33,2627 E5,1631 EBANK= GEOSAVE1
018753,000616: 33,2627 02632 66065 2CADR ALFLT # START THE JOB
018754,000617:
018755,000618: 33,2631 05324 TC TASKOVER
018756,000619:
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Page 438
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018758,000621: # THIS IS PART OF THE JOB DONE EVERY ITERATION
018759,000622:
018760,000623: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
018761,000624: 33,2633 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
018762,000625: 33,2634 00215 OCT 00215
018763,000626: 33,2635 12637 TCF +2
018764,000627: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
018765,000628:
018766,000629: 33,2637 11643 CCS GEOCOMP1
018767,000630: 33,2640 02642 TC +2
018768,000631: 33,2641 02645 TC NORMLOP
018769,000632: 33,2642 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER
018770,000633: 33,2643 04662 TC BANKCALL # COMPENSATION IF IN COMPASS
018771,000634: 33,2644 15262 CADR 1/PIPA
018772,000635: 33,2645 06006 NORMLOP TC INTPRET
018773,000636: 33,2646 77745 DLOAD
018774,000637: 33,2647 27120 INTVAL
018775,000638: 33,2650 24051 STOVL S1
018776,000639: 33,2651 01163 DELVX
018777,000640: 33,2652 76505 VXM VSL1
018778,000641: 33,2653 02672 XSM
018779,000642: 33,2654 57545 DLOAD DCOMP
018780,000643: 33,2655 00160 MPAC +3
018781,000644: 33,2656 16533 STODL DPIPAY
018782,000645: 33,2657 00162 MPAC +5
018783,000646: 33,2660 02537 STORE DPIPAZ
018784,000647:
018785,000648: 33,2661 76001 SETPD AXT,1
018786,000649: 33,2662 00001 0
018787,000650: 33,2663 00010 8D
018788,000651: 33,2664 57535 SLOAD DCOMP
018789,000652: 33,2665 02644 GEOCOMP1
018790,000653: 33,2666 77640 BMN
018791,000654: 33,2667 67210 ALWAYSG # DO A QUICK COMPASS
018792,000655:
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Page 439
|
018794,000657: # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
018795,000658:
018796,000659: 33,2670 COUNT 33/COMST
018797,000660:
018798,000661: 33,2670 50135 ALCGKK SLOAD BMN
018799,000662: 33,2671 02542 ALTIMS
018800,000663: 33,2672 66705 ALFLT3 # NO NEW GAINS NEEDED
018801,000664: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
018802,000665: 33,2674 00014 12D
018803,000666: 33,2675 02454 ALX1S
018804,000667: 33,2676 62143 ALKCG2 DLOAD* INCR,1
018805,000668: 33,2677 02243 ALFDK +144D,1
018806,000669: 33,2700 77775 DEC -2 B-14
018807,000670: 33,2701 12555 STORE ALDK +10D,2
018808,000671: 33,2702 66104 TIX,2 SXA,1
018809,000672: 33,2703 66676 ALKCG2
018810,000673: 33,2704 02454 ALX1S
018811,000674:
018812,000675: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
018813,000676: 33,2706 00010 8D # AND GAIN UPDATES
018814,000677: 33,2707 41343 DELMLP DLOAD* DMP
018815,000678: 33,2710 02543 DPIPAY +8D,1
018816,000679: 33,2711 27705 PIPASC
018817,000680: 33,2712 43661 SLR BDSU*
018818,000681: 33,2713 21212 9D
018819,000682: 33,2714 02511 INTY +8D,1
018820,000683: 33,2715 06511 STORE INTY +8D,1
018821,000684: 33,2716 40725 PDDL DMP*
018822,000685: 33,2717 27707 VELSC
018823,000686: 33,2720 02531 VLAUN +8D,1
018824,000687: 33,2721 77732 SL2R
018825,000688: 33,2722 45425 DSU STADR
018826,000689: 33,2723 71206 STORE DELM +8D,1
018827,000690: 33,2724 06573 STORE DELM +10D,1
018828,000691: 33,2725 77100 TIX,1 AXT,2
018829,000692: 33,2726 66707 DELMLP
018830,000693: 33,2727 00004 4
018831,000694: 33,2730 56743 ALILP DLOAD* DMPR*
018832,000695: 33,2731 75314 ALK +4,2
018833,000696: 33,2732 75230 ALDK +4,2
018834,000697: 33,2733 12463 STORE ALK +4,2
018835,000698: 33,2734 77104 TIX,2 AXT,2
018836,000699: 33,2735 66730 ALILP
018837,000700: 33,2736 00010 8D
018838,000701: 33,2737 66140 ALKLP LXC,1 SXA,1
018839,000702: 33,2740 02455 CMPX1
018840,000703: 33,2741 02455 CMPX1
018841,000704: 33,2742 56743 DLOAD* DMPR*
018842,000705: 33,2743 02460 ALK +1,1
018843,000706: 33,2744 75206 DELM +8D,2
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Page 440
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018845,000708: 33,2745 77613 DAD*
018846,000709: 33,2746 75266 INTY +8D,2
018847,000710: 33,2747 12511 STORE INTY +8D,2
018848,000711: 33,2750 42743 DLOAD* DAD*
018849,000712: 33,2751 75304 ALK +12D,2
018850,000713: 33,2752 75220 ALDK +12D,2
018851,000714: 33,2753 12473 STORE ALK +12D,2
018852,000715: 33,2754 42673 DMPR* DAD*
018853,000716: 33,2755 75206 DELM +8D,2
018854,000717: 33,2756 75256 INTY +16D,2
018855,000718: 33,2757 12521 STORE INTY +16D,2
018856,000719: 33,2760 40743 DLOAD* DMP*
018857,000720: 33,2761 27712 ALSK +1,1
018858,000721: 33,2762 75206 DELM +8D,2
018859,000722: 33,2763 42772 SL1R DAD*
018860,000723: 33,2764 75246 VLAUN +8D,2
018861,000724: 33,2765 12531 STORE VLAUN +8D,2
018862,000725: 33,2766 76104 TIX,2 AXT,1
018863,000726: 33,2767 66737 ALKLP
018864,000727: 33,2770 00010 8D
018865,000728:
018866,000729: 33,2771 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
018867,000730: 33,2772 02533 ACCWD +8D,1
018868,000731: 33,2773 02531 VLAUN +8D,1
018869,000732: 33,2774 55523 PDDL* VDEF
018870,000733: 33,2775 02541 POSNV +8D,1
018871,000734: 33,2776 76521 MXV VSL1
018872,000735: 33,2777 02001 TRANSM1
018873,000736: 33,3000 77745 DLOAD
018874,000737: 33,3001 00155 MPAC
018875,000738: 33,3002 06541 STORE POSNV +8D,1
018876,000739: 33,3003 77745 DLOAD
018877,000740: 33,3004 00160 MPAC +3
018878,000741: 33,3005 06531 STORE VLAUN +8D,1
018879,000742: 33,3006 77745 DLOAD
018880,000743: 33,3007 00162 MPAC +5
018881,000744: 33,3010 06533 STORE ACCWD +8D,1
018882,000745: 33,3011 77700 TIX,1
018883,000746: 33,3012 66771 LOOSE
018884,000747:
018885,000748: 33,3013 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
018886,000749: 33,3014 00006 6
018887,000750: 33,3015 00002 2
018888,000751: 33,3016 57343 BOOP DLOAD* DMPR
018889,000752: 33,3017 02513 ANGX +2,1
018890,000753: 33,3020 27715 GEORGEJ
018891,000754: 33,3021 77722 SR2R
018892,000755: 33,3022 73406 PUSH SIN
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Page 441
|
018894,000757: 33,3023 56072 SL3R XAD,1
018895,000758: 33,3024 00046 X1
018896,000759: 33,3025 10021 STORE 16D,2
018897,000760: 33,3026 77745 DLOAD
018898,000761: 33,3027 77746 COS
018899,000762: 33,3030 10027 STORE 22D,2 # COSINES
018900,000763: 33,3031 77704 TIX,2
018901,000764: 33,3032 67016 BOOP
018902,000765:
018903,000766: 33,3033 77776 PERFERAS EXIT
018904,000767: 33,3034 35060 CA EBANK7
018905,000768: 33,3035 E7,1400 EBANK= LAT(SPL)
018906,000769: 33,3035 54003 TS EBANK
018907,000770: 33,3036 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
018908,000771:
018909,000772: # CAUTION
018910,000773:
018911,000774: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
018912,000775: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
018913,000776:
018914,000777: 33,3037 E5,1412 EBANK= LENGTHOT
018915,000778: 33,3037 11412 ONCEMORE CCS LENGTHOT
018916,000779: 33,3040 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
018917,000780: 33,3041 11450 CCS TORQNDX
018918,000781: 33,3042 13044 TCF +2
018919,000782: 33,3043 03046 TC SETUPER1
018920,000783: 33,3044 30032 CA CDUX
018921,000784: 33,3045 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
018922,000785: 33,3046 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER
018923,000786: 33,3047 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
018924,000787: 33,3050 02503 ANGZ
018925,000788: 33,3051 02507 ANGY
018926,000789: 33,3052 55525 PDDL VDEF
018927,000790: 33,3053 02511 ANGX
018928,000791: 33,3054 74276 VCOMP VXSC
018929,000792: 33,3055 27715 GEORGEJ
018930,000793: 33,3056 74521 MXV VSR1
018931,000794: 33,3057 02672 XSM
018932,000795: 33,3060 02760 STORE OGC
018933,000796: 33,3061 77776 EXIT
018934,000797:
018935,000798: 33,3062 05412 TORQINCH TC PHASCHNG
018936,000799: 33,3063 00005 OCT 00005
018937,000800: 33,3064 32444 CA OGCPL
018938,000801: 33,3065 04662 TC BANKCALL
018939,000802: 33,3066 17206 CADR IMUPULSE
018940,000803: 33,3067 02316 TC IMUSTLLG
018941,000804: 33,3070 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
018942,000805: 33,3071 02262 TC VALMIS # VERT DRIFT TEST OVER
018943,000806: 33,3072 06006 TC INTPRET
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Page 442
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018945,000808: 33,3073 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS
018946,000809: 33,3074 64000 ERTHRVSE
018947,000810: 33,3075 77776 EXIT
018948,000811: 33,3076 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
018949,000812:
018950,000813: 33,3077 05650 SOMEERRR TC ALARM
018951,000814: 33,3100 01600 OCT 1600
018952,000815: 33,3101 03104 TC +3
018953,000816: 33,3102 05650 SOMERR2 TC ALARM
018954,000817: 33,3103 01601 OCT 1601
018955,000818: 33,3104 05412 TC PHASCHNG
018956,000819: 33,3105 00005 OCT 00005
018957,000820: 33,3106 02267 TC ENDTEST1
018958,000821:
018959,000822: # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
018960,000823:
018961,000824: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
018962,000825: 33,3110 00000 00000 SCHZEROS 2DEC .00000000
018963,000826: 33,3112 00000 00000 2DEC .00000000
018964,000827: 33,3114 00000 OCT 00000
018965,000828: 33,3115 00000 ONEDPP OCT 00000
018966,000829: 33,3116 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT
018967,000830:
018968,000831: 33,3117 00004 INTVAL OCT 4
018969,000832: 33,3120 00002 OCT 2
018970,000833: 33,3121 00220 DEC 144 B-14
018971,000834: 33,3122 77776 DEC -1 B-14
018972,000835: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
018973,000836: 33,3125 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
018974,000837:
018975,000838: 33,3127 00115 77DECML DEC 77 B-14
018976,000839: 33,3130 01453 ALXXXZ GENADR ALX1S -1
018977,000840:
018978,000841: # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
018979,000842:
018980,000843: 33,3131 COUNT 33/P01
018981,000844:
018982,000845: # INITIALIZATION SECTION
018983,000846:
018984,000847: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37
018985,000848: 33,3132 75004 MASK NOP01BIT
|
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Page 443
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018987,000850: 33,3133 00006 EXTEND
018988,000851: 33,3134 13137 BZF GTSCPSSA
018989,000852: 33,3135 05721 TC POODOO
018990,000853: 33,3136 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
018991,000854:
018992,000855: 33,3137 35017 GTSCPSSA CAF ONE
018993,000856: 33,3140 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
018994,000857: 33,3141 33435 CA 1/PIPAGT
018995,000858: 33,3142 55074 TS 1/PIPADT
018996,000859: 33,3143 35010 NXXTENN CA BIT8
018997,000860: 33,3144 55412 TS LENGTHOT
018998,000861: 33,3145 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
018999,000862: 33,3146 55644 TS 1SECXT1
019000,000863: 33,3147 35017 CAF ONE
019001,000864: 33,3150 55632 TS PREMTRX1
019002,000865: 33,3151 55657 TS PERFDLAY +1
019003,000866: 33,3152 35021 CAF ZERO
019004,000867: 33,3153 55656 TS PERFDLAY
019005,000868: 33,3154 00006 EXTEND
019006,000869: 33,3155 31634 DCA LUNCHAZ1
019007,000870: 33,3156 53636 DXCH NEWAZ1
019008,000871: 33,3157 00006 EXTEND
019009,000872: 33,3160 31634 DCA LUNCHAZ1
019010,000873: 33,3161 53640 DXCH OLDAZMTH
019011,000874: 33,3162 34375 SETUPGC CA DEC17
019012,000875: 33,3163 55655 TS ZERONDX1
019013,000876: 33,3164 32446 CA XSMADR
019014,000877: 33,3165 02356 TC ZEROING
019015,000878: 33,3166 03170 TC POSN17C
019016,000879: 33,3167 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
019017,000880:
019018,000881:
019019,000882: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
019020,000883: 33,3171 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWSE
019021,000884: 33,3172 45002 CS HALF # ALL THIS TO INITIALIZE MATRIX
019022,000885: 33,3173 55705 TS ZSM
019023,000886: 33,3174 06006 TC INTPRET
019024,000887: 33,3175 41545 DLOAD PUSH
019025,000888: 33,3176 02636 NEWAZ1
019026,000889: 33,3177 77756 SIN
019027,000890: 33,3200 02676 STORE XSM +4
019028,000891: 33,3201 16702 STODL YSM +2
019029,000892: 33,3202 77746 COS
019030,000893: 33,3203 02704 STORE YSM +4
019031,000894: 33,3204 77676 DCOMP
019032,000895: 33,3205 02674 STORE XSM +2
019033,000896: 33,3206 77776 EXIT
019034,000897: 33,3207 01425 TC QPLACE
019035,000898:
|
|
Page 444
|
019037,000900: # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
019038,000901:
019039,000902: 33,3210 COUNT 33/P02
019040,000903:
019041,000904: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
019042,000905: 33,3211 02543 DPIPAY +8D,1
019043,000906: 33,3212 02505 FILDELV1 +8D,1
019044,000907: 33,3213 42675 DMPR DAD*
019045,000908: 33,3214 27717 GEOCONS1
019046,000909: 33,3215 02505 FILDELV1 +8D,1
019047,000910: 33,3216 06505 STORE FILDELV1 +8D,1
019048,000911: 33,3217 77613 DAD*
019049,000912: 33,3220 02507 INTVEC1 +8D,1
019050,000913: 33,3221 06507 STORE INTVEC1 +8D,1
019051,000914: 33,3222 42675 DMPR DAD*
019052,000915: 33,3223 27721 GEOCONS2
019053,000916: 33,3224 02505 FILDELV1 +8D,1
019054,000917: 33,3225 41475 DMPR PUSH
019055,000918: 33,3226 15333 GEOCONS5
019056,000919: 33,3227 67300 TIX,1 SLOAD
019057,000920: 33,3230 67210 ALWAYSG
019058,000921: 33,3231 02647 ERECTIM1
019059,000922: 33,3232 71254 BZE DLOAD
019060,000923: 33,3233 67244 COMPGS
019061,000924: 33,3234 02471 THETAN1 +2
019062,000925: 33,3235 45425 DSU STADR
019063,000926: 33,3236 61306 STODL THETAN1 +2 # ERECTION ONLY.
019064,000927: 33,3237 77621 BDSU
019065,000928: 33,3240 02473 THETAN1 +4
019066,000929: 33,3241 02473 STORE THETAN1 +4
019067,000930: 33,3242 77650 GOTO
019068,000931: 33,3243 67266 ADDINDRF
019069,000932: 33,3244 43345 COMPGS DLOAD DAD # COMPASS
019070,000933: 33,3245 02467 THETAN1
019071,000934: 33,3246 02475 FILDELV1
019072,000935: 33,3247 16467 STODL THETAN1
019073,000936: 33,3250 02475 FILDELV1
019074,000937: 33,3251 44275 DMPR BDSU
019075,000938: 33,3252 27723 GEOCONS3
019076,000939: 33,3253 02473 THETAN1 +4
019077,000940: 33,3254 16473 STODL THETAN1 +4
019078,000941: 33,3255 02501 FILDELV1 +4
019079,000942: 33,3256 44275 DMPR BDSU
019080,000943: 33,3257 27723 GEOCONS3
019081,000944: 33,3260 02471 THETAN1 +2
019082,000945: 33,3261 57325 PDDL DMPR
019083,000946: 33,3262 02503 INTVEC1 +4
019084,000947: 33,3263 27725 GEOCONS4
019085,000948: 33,3264 45421 BDSU STADR
019086,000949: 33,3265 75306 STORE THETAN1 +2
|
|
Page 445
|
019088,000951: 33,3266 77776 ADDINDRF EXIT
019089,000952:
019090,000953:
019091,000954: 33,3267 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
019092,000955: 33,3270 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
019093,000956: 33,3271 03406 TC CHKCOMED
019094,000957: 33,3272 11304 CCS LGYRO # YES BUT ARE GYROS BUSY
019095,000958: 33,3273 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
019096,000959:
019097,000960: 33,3274 06006 LASTGTS TC INTPRET
019098,000961: 33,3275 77775 VLOAD
019099,000962: 33,3276 02650 ERCOMP1
019100,000963: 33,3277 16461 STODL THETAX1
019101,000964: 33,3300 02443 TMARK
019102,000965: 33,3301 02457 STORE ALK
019103,000966: 33,3302 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS
019104,000967:
019105,000968: 33,3303 05412 RESTAIER TC PHASCHNG
019106,000969: 33,3304 00275 OCT 00275
019107,000970: 33,3305 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
019108,000971: 33,3306 64375 VLOAD MXV
019109,000972: 33,3307 02467 THETAN1
019110,000973: 33,3310 02672 XSM
019111,000974: 33,3311 53372 VSL1 VAD
019112,000975: 33,3312 02461 THETAX1
019113,000976: 33,3313 16650 STODL ERCOMP1
019114,000977: 33,3314 02457 ALK
019115,000978: 33,3315 02443 STORE TMARK
019116,000979: 33,3316 77776 EXIT
019117,000980: 33,3317 02417 TC EARTHR* # TORQUE IT ALL IN
019118,000981: 33,3320 31646 CAE ERECTIM1
019119,000982: 33,3321 55631 TS GEOSAVE1
019120,000983: 33,3322 05412 TC PHASCHNG
019121,000984: 33,3323 00155 OCT 00155
019122,000985: 33,3324 06006 RESTEST1 TC INTPRET
019123,000986: 33,3325 77775 VLOAD
019124,000987: 33,3326 27111 SCHZEROS
019125,000988: 33,3327 02467 STORE THETAN1
019126,000989: 33,3330 77776 EXIT
019127,000990: 33,3331 11632 CCS PREMTRXC
019128,000991: 33,3332 03401 TC NOCHORLD
019129,000992: 33,3333 05412 TC PHASCHNG
019130,000993: 33,3334 00255 OCT 00255
019131,000994: 33,3335 06006 RESTEST3 TC INTPRET
019132,000995: 33,3336 77745 DLOAD
019133,000996: 33,3337 02634 LAUNCHAZ
019134,000997: 33,3340 53025 DSU BZE
019135,000998: 33,3341 02640 OLDAZMTH
019136,000999: 33,3342 67376 NOAZCHGE
019137,001000: 33,3343 00001 STORE 0D
|
|
Page 446
|
019139,001002: 33,3344 43335 SLOAD DAD
019140,001003: 33,3345 27117 ONEDPP +1
019141,001004: 33,3346 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ
019142,001005: 33,3347 16633 STODL PREMTRXC
019143,001006: 33,3350 02634 LAUNCHAZ
019144,001007: 33,3351 16636 STODL NEWAZMTH
019145,001008: 33,3352 00001 0D
019146,001009: 33,3353 02654 ADERCOMP STORE ERCOMP +4
019147,001010: 33,3354 77776 EXIT
019148,001011: 33,3355 03170 TC POSN17C
019149,001012: 33,3356 05412 TC PHASCHNG
019150,001013: 33,3357 00335 OCT 00335
019151,001014: 33,3360 00006 RESCHNG EXTEND
019152,001015: 33,3361 31636 DCA NEWAZMTH
019153,001016: 33,3362 53640 DXCH OLDAZMTH
019154,001017: 33,3363 35011 CA BIT7 # SPEND 320 SEC ERECTING
019155,001018: 33,3364 55412 TS LENGTHOT
019156,001019: 33,3365 05412 TC PHASCHNG
019157,001020: 33,3366 00075 OCT 00075
019158,001021: 33,3367 33434 SPITGYRO CA ERCOMPPL
019159,001022: 33,3370 04662 TC BANKCALL
019160,001023: 33,3371 17206 CADR IMUPULSE
019161,001024: 33,3372 04662 TC BANKCALL
019162,001025: 33,3373 17577 CADR IMUSTALL
019163,001026: 33,3374 03102 TC SOMERR2
019164,001027: 33,3375 02453 TC ESTIMS # RE-INITIALIZE
019165,001028:
019166,001029:
019167,001030: 33,3376 77776 NOAZCHGE EXIT
019168,001031: 33,3377 35017 CA ONE
019169,001032: 33,3400 55632 TS PREMTRXC
019170,001033: 33,3401 11631 NOCHORLD CCS GEOSAVE1
019171,001034: 33,3402 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
019172,001035:
019173,001036: 33,3403 34334 ANNNNNN CAF NINE
019174,001037: 33,3404 55412 TS LENGTHOT
019175,001038: 33,3405 02523 TC SLEEPIE +1
019176,001039:
019177,001040:
019178,001041: 33,3406 00004 CHKCOMED INHINT
019179,001042: 33,3407 41011 CS MODREG # CHECK FOR MM 07 FIRST
019180,001043: 33,3410 65023 AD SEVEN
019181,001044: 33,3411 00006 EXTEND
019182,001045: 33,3412 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
019183,001046: 33,3413 45021 CS ZERO
019184,001047: 33,3414 00006 EXTEND
019185,001048: 33,3415 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
019186,001049: 33,3416 75013 MASK BIT5 # LIFTOFF BIT
019187,001050: 33,3417 10000 CCS A
019188,001051: 33,3420 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED
019189,001052:
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|
Page 447
|
019191,001054: 33,3421 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
019192,001055: 33,3422 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5
019193,001056: 33,3423 10000 CCS A
019194,001057: 33,3424 13427 TCF PRELTERM # BACKUP RECEIVED
019195,001058:
019196,001059: 33,3425 00003 RELINT
019197,001060: 33,3426 00002 GOBKCALB TC Q
019198,001061:
019199,001062: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
019200,001063: 33,3430 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
019201,001064: 33,3431 00004 INHINT
019202,001065: 33,3432 04701 TC POSTJUMP
019203,001066: 33,3433 70002 CADR P11
019204,001067:
019205,001068:
019206,001069: 33,3434 02647 ERCOMPPL ECADR ERCOMP
019207,001070:
019208,001071: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF
019209,001072: 33,3435 06200 1/PIPAGT OCT 06200
019210,001073: 33,3436 4375 17DECML = ND1 # OCT 21
019211,001074: 33,3436 4374 19DECML = VD1 # OCT 23
019212,001075: 33,3436 5036 1/2SECX = .5SEC
019213,001076:
019214,001077:
|
|
Page 448
|
019216,001079: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB
019217,001080:
|
|
Page 449
|
019219,001082: # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
019220,001083:
019221,001084: 33,3436 COUNT 33/P03
019222,001085:
019223,001086: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
019224,001087: 33,3437 00154 OCT 00154
019225,001088: 33,3440 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER
019226,001089: 33,3441 00003 MM 03 B-14
019227,001090: 33,3442 02037 SETNBPOS TC NBPOSPL
019228,001091: 33,3443 04662 TC BANKCALL
019229,001092: 33,3444 16063 CADR MKRELEAS
019230,001093: 33,3445 35017 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
019231,001094: 33,3446 22007 ZL # T 1,THEN TARGET 2
019232,001095: 33,3447 23427 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
019233,001096: 33,3450 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
019234,001097: 33,3451 00006 EXTEND
019235,001098: 33,3452 51427 INDEX RUN
019236,001099: 33,3453 31433 DCA TAZEL1
019237,001100: 33,3454 53046 DXCH DSPTEM1
019238,001101: 33,3455 33500 CAF V05N30E
019239,001102: 33,3456 04662 TC BANKCALL
019240,001103: 33,3457 20673 CADR GODSPRET
019241,001104: 33,3460 33466 CAF VN0641
019242,001105: 33,3461 04662 TC BANKCALL
019243,001106: 33,3462 20720 CADR GOFLASH
019244,001107: 33,3463 03620 TC GCOMP5
019245,001108: 33,3464 03467 TC +3
019246,001109: 33,3465 03455 TC -8D
019247,001110: 33,3466 01451 VN0641 VN 0641
019248,001111: 33,3467 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
019249,001112: 33,3470 51427 INDEX RUN
019250,001113: 33,3471 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
019251,001114: 33,3472 11427 CCS RUN
019252,001115: 33,3473 13477 TCF +4
019253,001116: 33,3474 35016 CAF TWO
019254,001117: 33,3475 54001 TS L
019255,001118: 33,3476 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
019256,001119:
019257,001120: 33,3477 03541 TC CONTIN33
019258,001121:
019259,001122: 33,3500 01236 V05N30E VN 0530
019260,001123:
019261,001124: 33,3501 06006 TC INTPRET # UNDYNAMIC ASSEMBLER
019262,001125: 33,3502 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
019263,001126: 33,3503 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
019264,001127: 33,3504 00014 12D
019265,001128: 33,3505 40331 SSP SETPD
019266,001129: 33,3506 00052 S2
019267,001130: 33,3507 00006 6
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Page 450
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019269,001132: 33,3510 00001 0
019270,001133: 33,3511 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
019271,001134: 33,3512 02436 TAZEL1 +3,1
019272,001135: 33,3513 00001 STORE 0 # PD00 ELEVATION PD00
019273,001136: 33,3514 77756 SIN
019274,001137: 33,3515 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12
019275,001138: 33,3516 77745 DLOAD
019276,001139: 33,3517 00001 0
019277,001140: 33,3520 41546 COS PUSH # PD00 COS(EL) PD00
019278,001141: 33,3521 47133 SLOAD* RTB
019279,001142: 33,3522 02435 TAZEL1 +2,1
019280,001143: 33,3523 45513 CDULOGIC
019281,001144: 33,3524 00003 STORE 2 # PD02 AZIMUTH PD02
019282,001145: 33,3525 41356 SIN DMP
019283,001146: 33,3526 00001 0
019284,001147: 33,3527 77752 SL1
019285,001148: 33,3530 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
019286,001149: 33,3531 71545 DLOAD COS
019287,001150: 33,3532 00003 2
019288,001151: 33,3533 72405 DMP SL1
019289,001152: 33,3534 76076 DCOMP AXT,1
019290,001153: 33,3535 00000 0
019291,001154: 33,3536 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
019292,001155: 33,3537 43504 TIX,2 RVQ
019293,001156: 33,3540 67511 TAR1
019294,001157:
019295,001158:
019296,001159: 33,3541 BANK 33
019297,001160: 33,2000 SETLOC IMUCAL
019298,001161: 33,2000 BANK
019299,001162: 33,3541 COUNT* $$/P03
019300,001163:
019301,001164: 33,3541 35017 CONTIN33 CA ONE
019302,001165: 33,3542 54735 TS STARCODE
019303,001166: 33,3543 35021 CA ZERO
019304,001167: 33,3544 03635 TC TARGDRVE
019305,001168: 33,3545 06006 TC INTPRET
019306,001169: 33,3546 77624 CALL
019307,001170: 33,3547 67502 TAR/EREF
019308,001171: 33,3550 64375 NEXTBNKS VLOAD MXV
019309,001172: 33,3551 00007 6D
019310,001173: 33,3552 02672 XSM
019311,001174: 33,3553 77772 VSL1
019312,001175: 33,3554 26736 STOVL STARAD
019313,001176: 33,3555 00015 12D
019314,001177: 33,3556 76521 MXV VSL1
019315,001178: 33,3557 02672 XSM
019316,001179: 33,3560 36744 STCALL STARAD +6
019317,001180: 33,3561 67726 LITTLSUB
019318,001181: 33,3562 02414 STORE LOSVEC
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Page 451
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019320,001183: 33,3563 77776 EXIT
019321,001184: 33,3564 04662 TC BANKCALL
019322,001185: 33,3565 16063 CADR MKRELEAS
019323,001186:
019324,001187:
019325,001188: 33,3566 35016 NEXBNKSS CAF TWO
019326,001189: 33,3567 54735 TS STARCODE
019327,001190: 33,3570 36211 CAF SIX
019328,001191: 33,3571 03635 TC TARGDRVE
019329,001192: 33,3572 06006 TC INTPRET
019330,001193: 33,3573 77624 CALL
019331,001194: 33,3574 67726 LITTLSUB
019332,001195: 33,3575 24015 STOVL 12D
019333,001196: 33,3576 02414 LOSVEC
019334,001197: 33,3577 34007 STCALL 06D
019335,001198: 33,3600 47401 AXISGEN
019336,001199: 33,3601 77624 CALL
019337,001200: 33,3602 47205 CALCGTA
019338,001201: 33,3603 77776 EXIT
019339,001202: 33,3604 33631 GCOMP4 CAF V06N93S
019340,001203: 33,3605 04662 TC BANKCALL
019341,001204: 33,3606 20720 CADR GOFLASH
019342,001205: 33,3607 03620 TC GCOMP5
019343,001206: 33,3610 13612 TCF +2
019344,001207: 33,3611 13604 TCF GCOMP4
019345,001208: 33,3612 06006 TC INTPRET
019346,001209: 33,3613 53375 VLOAD VAD
019347,001210: 33,3614 02760 OGC
019348,001211: 33,3615 02650 ERCOMP1
019349,001212: 33,3616 02650 STORE ERCOMP1
019350,001213: 33,3617 77776 EXIT
019351,001214: 33,3620 04662 GCOMP5 TC BANKCALL
019352,001215: 33,3621 16063 CADR MKRELEAS
019353,001216: 33,3622 05560 TC DOWNFLAG
019354,001217: 33,3623 00032 ADRES TRM03FLG
019355,001218:
019356,001219: 33,3624 05354 TC NEWMODEX
019357,001220: 33,3625 00002 MM 02 B-14
019358,001221: 33,3626 05412 TC PHASCHNG
019359,001222: 33,3627 00004 OCT 00004
019360,001223: 33,3630 05217 TC ENDOFJOB
019361,001224: 33,3631 01535 V06N93S VN 0693
019362,001225: 33,3632 05650 GTSOPTCS TC ALARM
019363,001226: 33,3633 01602 GTSOPTSS OCT 01602
019364,001227: 33,3634 03620 TC GCOMP5
019365,001228:
019366,001229:
019367,001230: 34,2002 BANK 34
019368,001231: 04,2000 SETLOC IMUCAL1
019369,001232: 04,2000 BANK
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Page 452
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019371,001234:
019372,001235: 04,2613 COUNT 34/COMST
019373,001236:
019374,001237: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
019375,001238: 04,2614 02403 LATITUDE
019376,001239: 04,2615 15047 STODL DSPTEM1 +1
019377,001240: 04,2616 02401 AZIMUTH
019378,001241: 04,2617 77434 RTB EXIT
019379,001242: 04,2620 45546 1STO2S
019380,001243: 04,2621 56154 XCH MPAC
019381,001244: 04,2622 55045 TS DSPTEM1
019382,001245: 04,2623 04662 TC BANKCALL
019383,001246: 04,2624 20703 CADR CLEANDSP
019384,001247: 04,2625 32644 CAF VNG0641
019385,001248: 04,2626 04662 TC BANKCALL
019386,001249: 04,2627 20720 CADR GOFLASH
019387,001250: 04,2630 02632 TC +2 # NOT ALLOWED
019388,001251: 04,2631 02633 TC +2
019389,001252: 04,2632 02625 TC -5
019390,001253: 04,2633 06006 TC INTPRET
019391,001254: 04,2634 47135 SLOAD RTB
019392,001255: 04,2635 01046 DSPTEM1
019393,001256: 04,2636 45513 CDULOGIC
019394,001257: 04,2637 02401 STORE AZIMUTH
019395,001258: 04,2640 60535 SLOAD SR2
019396,001259: 04,2641 01047 DSPTEM1 +1
019397,001260: 04,2642 02403 STORE LATITUDE
019398,001261: 04,2643 77616 RVQ
019399,001262: 04,2644 01451 VNG0641 VN 0641
019400,001263: 33,3635 BANK 33
019401,001264: 33,2000 SETLOC IMUCAL
019402,001265: 33,2000 BANK
019403,001266:
019404,001267:
019405,001268: 33,3635 COUNT* $$/P03
019406,001269: 33,3635 00006 TARGDRVE EXTEND
019407,001270: 33,3636 23424 QXCH QPLAC
019408,001271: 33,3637 55431 TS TARG1/2
019409,001272: 33,3640 06006 TC INTPRET
019410,001273: 33,3641 77624 CALL
019411,001274: 33,3642 67502 TAR/EREF
019412,001275: 33,3643 76740 LXC,1 VLOAD*
019413,001276: 33,3644 02431 TARG1/2
019414,001277: 33,3645 00007 6D,1
019415,001278: 33,3646 36766 STCALL STAR
019416,001279: 33,3647 46053 SXTANG
019417,001280: 33,3650 77776 EXIT
019418,001281: 33,3651 31773 CA SAC
019419,001282: 33,3652 55161 TS DESOPTS
019420,001283:
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|
Page 453
|
019422,001285: 33,3653 31775 CA PAC
019423,001286: 33,3654 55160 TS DESOPTT
019424,001287: 33,3655 35021 RETARG CAF ZERO
019425,001288: 33,3656 55303 TS OPTIND
019426,001289: 33,3657 35017 CAF ONE
019427,001290: 33,3660 04662 TC BANKCALL
019428,001291: 33,3661 16002 CADR SXTMARK
019429,001292: 33,3662 04662 TC BANKCALL
019430,001293: 33,3663 17573 CADR OPTSTALL
019431,001294: 33,3664 03632 TC GTSOPTCS
019432,001295: 33,3665 30075 CAE FLAGWRD1
019433,001296: 33,3666 75014 MASK TRM03BIT
019434,001297: 33,3667 10000 CCS A
019435,001298: 33,3670 03620 TC GCOMP5
019436,001299:
019437,001300: 33,3671 51330 INDEX MARKSTAT
019438,001301: 33,3672 30052 CA QPRET
019439,001302: 33,3673 00006 EXTEND
019440,001303: 33,3674 13676 BZF RETARG1
019441,001304: 33,3675 01424 TC QPLAC
019442,001305:
019443,001306:
019444,001307: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
019445,001308: 33,3677 57330 XCH MARKSTAT
019446,001309: 33,3700 10000 CCS A
019447,001310: 33,3701 50000 INDEX A
019448,001311: 33,3702 54000 TS A
019449,001312: 33,3703 13655 TCF RETARG # GO DO SXTMARK AGAIN
019450,001313: 33,3704 BANK 33
019451,001314: 33,2000 SETLOC IMUCAL
019452,001315: 33,2000 BANK
019453,001316: 33,3704 COUNT* $$/P03
019454,001317: 33,3704 30341 22444 PIPASC 2DEC .76376833
019455,001318:
019456,001319: 33,3706 57223 66451 VELSC 2DEC -.52223476
019457,001320:
019458,001321: 33,3710 05427 12577 ALSK 2DEC .17329931
019459,001322:
019460,001323: 33,3712 77567 44202 2DEC -.00835370
019461,001324:
019462,001325: 33,3714 24276 14066 GEORGEJ 2DEC .63661977
019463,001326:
019464,001327: 33,3716 03146 14632 GEOCONS1 2DEC .1
019465,001328:
019466,001329: 33,3720 00121 35341 GEOCONS2 2DEC .005
019467,001330:
019468,001331: 33,3722 01767 31666 GEOCONS3 2DEC .062
019469,001332:
019470,001333: 33,3724 00004 35223 GEOCONS4 2DEC .0003
019471,001334:
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|
Page 454
|
019473,001336:
019474,001337: 33,3726 COUNT 33/P02
019475,001338: 33,3726 77620 LITTLSUB STQ
019476,001339: 33,3727 02424 QPLAC
019477,001340: 33,3730 76740 LXC,1 VLOAD*
019478,001341: 33,3731 01330 MARKSTAT
019479,001342: 33,3732 00003 2,1
019480,001343: 33,3733 34767 STCALL CDUSPOT
019481,001344: 33,3734 46000 SXTNB
019482,001345: 33,3735 77624 CALL
019483,001346: 33,3736 47637 TRG*NBSM
019484,001347: 33,3737 77650 GOTO
019485,001348: 33,3740 02424 QPLAC
019486,001349:
019487,001350:
019488,001351: 33,3741 77776 EXIT
019489,001352: 33,3742 06006 AZMTHCG1 TC INTPRET
019490,001353: 33,3743 47145 DLOAD RTB
019491,001354: 33,3744 02636 NEWAZMTH
019492,001355: 33,3745 45546 1STO2S
019493,001356: 33,3746 77776 EXIT
019494,001357: 33,3747 56154 XCH MPAC
019495,001358: 33,3750 55045 TS DSPTEM1
019496,001359: 33,3751 04662 TC BANKCALL
019497,001360: 33,3752 20703 CADR CLEANDSP
019498,001361: 33,3753 33775 CAF VN0629
019499,001362: 33,3754 04662 TC BANKCALL
019500,001363: 33,3755 20720 CADR GOFLASH
019501,001364: 33,3756 13760 TCF +2
019502,001365: 33,3757 13761 TCF +2
019503,001366: 33,3760 13753 TCF -5
019504,001367: 33,3761 06006 TC INTPRET
019505,001368: 33,3762 47135 SLOAD RTB
019506,001369: 33,3763 01046 DSPTEM1
019507,001370: 33,3764 45513 CDULOGIC
019508,001371: 33,3765 02634 STORE LAUNCHAZ
019509,001372: 33,3766 77776 EXIT
019510,001373: 33,3767 35021 CA ZERO
019511,001374: 33,3770 55632 TS PREMTRXC
019512,001375: 33,3771 05412 TC PHASCHNG
019513,001376: 33,3772 00004 OCT 00004
019514,001377: 33,3773 04701 TC POSTJUMP
019515,001378: 33,3774 21272 CADR PINBRNCH
019516,001379:
019517,001380: 33,3775 01435 VN0629 VN 0629
019518,001381:
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Page 455
Only assembler-generated messages appear on this page.
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019521,001384:
019522,001385:
End of include-file IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc