Source Code

018119,000001: 018120,000002: 018121,000003: 018122,000004: 018123,000005: 018124,000006: 018125,000007: 018126,000008: 018127,000009: 018128,000010: 018129,000011: 018130,000012: 018131,000013: 018132,000014: 018133,000015: 018134,000016: 018135,000017: 018136,000018: 018137,000019: 018138,000020: 018139,000021: 018140,000022: 018141,000023: 018142,000024: 018143,000025: 018144,000026: 018145,000027: 018146,000028: 018147,000029: 018148,000030: 018149,000031: 018150,000032: 018151,000033: 018152,000034: 018153,000035: 018154,000036: 018155,000037: 018156,000038: 018157,000039: 018158,000040: 018159,000041: 018160,000042: 018161,000043: 018162,000044: 018163,000045: 018164,000046: 018165,000047: 018166,000048: 018167,000049: 018168,000050: 018169,000051: 33,2004 018170,000052: 33,2000 018171,000053: 33,2000 018172,000054: 33,2004 E5,1423 018173,000055: < 018187,000069: 33,2017 018188,000070: 33,2020 018189,000071: 33,2021 018190,000072: 33,2022 018191,000073: 33,2023 018192,000074: 33,2024 018193,000075: 33,2025 018194,000076: 33,2026 018195,000077: 33,2027 < 018473,000355: 33,2402 018474,000356: 33,2403 018475,000357: 33,2404 018476,000358: 33,2405 018477,000359: 33,2406 018478,000360: 33,2407 018479,000361: 33,2410 018480,000362: 33,2411 018481,000363: 33,2412 018482,000364: 33,2413 018483,000365: 33,2414 018484,000366: 33,2415 018485,000367: 33,2416 018486,000368: < 018493,000375: 33,2425 018494,000376: 33,2426 018495,000377: 018496,000378: < 018500,000382: 33,2432 018501,000383: 33,2433 018502,000384: 33,2434 018503,000385: 33,2435 018504,000386: 33,2436 018505,000387: 33,2437 018506,000388: 33,2440 018507,000389: < < < < < 018765,000647: 33,2634 018766,000648: 33,2635 018767,000649: 33,2636 < 018806,000688: 33,2675 018807,000689: 33,2676 < 018836,000718: 33,2732 018837,000719: 33,2733 018838,000720: 33,2734 018839,000721: 33,2735 018840,000722: 33,2736 018841,000723: 33,2737 < 018843,000725: 33,2741 018844,000726: 33,2742 018845,000727: 33,2743 018846,000728: 33,2744 018847,000729: 33,2745 018848,000730: 018849,000731: 33,2746 018850,000732: 33,2747 018851,000733: 33,2750 018852,000734: 33,2751 018853,000735: 33,2752 018854,000736: 33,2753 018855,000737: 33,2754 018856,000738: 33,2755 018857,000739: 33,2756 018858,000740: 33,2757 018859,000741: 33,2760 018860,000742: 33,2761 018861,000743: 33,2762 018862,000744: 33,2763 018863,000745: 33,2764 018864,000746: 33,2765 018865,000747: 33,2766 018866,000748: 33,2767 018867,000749: 33,2770 018868,000750: 33,2771 018869,000751: < 018871,000753: 33,2773 018872,000754: 33,2774 018873,000755: 33,2775 018874,000756: 33,2776 018875,000757: 33,2777 018876,000758: 33,3000 018877,000759: 33,3001 018878,000760: 33,3002 018879,000761: 33,3003 018880,000762: 33,3004 018881,000763: 33,3005 018882,000764: 33,3006 018883,000765: 33,3007 018884,000766: 33,3010 018885,000767: 33,3011 018886,000768: 33,3012 018887,000769: 33,3013 018888,000770: 018889,000771: 33,3014 018890,000772: 33,3015 018891,000773: 33,3016 < # Copyright: Public domain. # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc # Purpose: Part of the source code for Colossus, build 249. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. # Assembler: yaYUL # Reference: pp. 418-450 of 1701.pdf. # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Mod history: 08/11/04 RSB. Began transcribing. # The contents of the "Colossus249" files, in general, are transcribed # from a scanned document obtained from MIT's website, # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this # document read, in part: # Assemble revision 249 of AGC program Colossus by NASA # 2021111-041. October 28, 1968. # This AGC program shall also be referred to as # Colossus 1A # Prepared by # Massachussets Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # under NASA contract NAS 9-4065. # Refer directly to the online document mentioned above for further information. # Please report any errors (relative to 1701.pdf) to info@sandroid.org. # In some cases, where the source code for Luminary 131 overlaps that of # Colossus 249, this code is instead copied from the corresponding Luminary 131 # source file, and then is proofed to incorporate any changes. # Page 418 # NAME -- IMU PERFORMANCE TESTS 2 # DATE -- MARCH 20, 1967 # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 # MODNO. -- ZERO # FUNCTIONAL DESCRIPTION # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 BANK 33 SETLOC IMUCAL BANK EBANK= POSITON 4">018174,000056: 33,2004 34714 IMUTEST CA ZERO 55452 TS DRIFTT 55643 TS GEOCOMP1 32443 CAF TESTTIME 55412 TS LENGTHOT 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG 34734 CAF 1SECX 55644 TS 1SECXT1 32441 CA OC14400 55074 TS 1/PIPADT /a>018186,000068: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE 77624 CALL 10617 LATAZCHK 57546 COS DCOMP 77752 SL1 16447 STODL WANGI 02403 LATITUDE 72556 SIN SL1 02445 STORE WANGO 77776 EXIT 454">018196,000078: 33,2030 04555 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE 16516 CADR IMUZERO 02316 TC IMUSTLLG B">018199,000081: 33,2033 34714 IMUBACK CA ZERO 55421 TS NDXCTR 55450 TS TORQNDX 55451 TS TORQNDX +1 C">018203,000085: 33,2037 34375 NBPOSPL CA DEC17 55655 TS ZERONDX1 32445 CA XNBADR # Page 419 02356 TC ZEROING 34675 CA HALF 55713 TS XNB 06006 TC INTPRET 73545 DLOAD SIN 02401 AZIMUTH 02724 STORE YNB +2 16734 STODL ZNB +4 02401 AZIMUTH 77746 COS 02726 STORE YNB +4 77676 DCOMP 02732 STORE ZNB +2 77776 EXIT 05253 TC CHECKMM 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION 12064 TCF +2 # NO 13432 TCF SETNBPOS +1 # YES 06006 TC INTPRET 77624 CALL 47244 CALCGA 77776 EXIT 04555 TC BANKCALL 16602 CADR IMUCOARS 34675 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK 70077 MASK FLAGWRD3 00006 EXTEND 12077 BZF +2 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 05447 TC DOWNFLAG # RESET GIMBAL LOCK FLAG 00056 ADRES GLOKFAIL # BIT 14 FLAG 3 02316 TC IMUSTLLG 11421 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 02131 TC PIPACHK # ALIGN AND MEARSUE VERTICAL PIPA RATE 04555 TC BANKCALL 17012 CADR IMUFINE 02316 TC IMUSTLLG 00006 EXTEND 31657 DCA PERFDLAY 05231 TC LONGCALL SBANK= LOWSUPER # RSB 2004 EBANK= POSITON 02116 66065 2CADR GOESTIMS 32121 CA ESTICADR 05070 TC JOBSLEEP D53">018253,000135: 33,2116 32121 GOESTIMS CA ESTICADR 05074 TC JOBWAKE 05213 TC TASKOVER 452">018256,000138: 33,2121 66453 ESTICADR CADR ESTIMS # Page 420 >018258,000140: 33,2122 34714 TORQUE CA ZERO 55050 TS DSPTEM2 31514 CA DRIFTI 55051 TS DSPTEM2 +1 51423 INDEX POSITON 55430 TS SOUTHDR -1 02427 TC SHOW B">018266,000148: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST 02133 TC +1 02417 TC EARTHR* 34374 CA DEC57 55412 TS LENGTHOT 34712 CA ONE 55547 TS RESULTCT 34714 CA ZERO 51422 INDEX PIPINDEX 54037 TS PIPAX 55502 TS DATAPL 55506 TS DATAPL +4 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE 00004 INHINT 34711 CAF TWO 05130 TC TWIDDLE EBANK= XSM 02153 ADRES PIPATASK 05112 TC ENDOFJOB 34B">018286,000168: 33,2153 00006 PIPATASK EXTEND 27412 DIM LENGTHOT 31412 CA LENGTHOT 00006 EXTEND 62163 BZMF STARTPIP 34701 CAF BIT10 05130 TC TWIDDLE EBANK= XSM 02153 ADRES PIPATASK 950">018295,000177: 33,2163 34675 STARTPIP CAF PRIO20 05042 TC FINDVAC EBANK= XSM 02170 66065 2CADR PIPJOBB 05213 TC TASKOVER 2">018302,000184: 33,2170 51421 PIPJOBB INDEX NDXCTR 02172 TC +1 02417 TC EARTHR* 31412 CA LENGTHOT 00006 EXTEND 62177 BZMF +2 05112 TC ENDOFJOB 34715 CA FIVE # Page 421 55547 TS RESULTCT 02321 TC CHECKG 00006 EXTEND 41503 DCS DATAPL 21507 DAS DATAPL +4 06006 TC INTPRET 45345 DLOAD DSU 02511 DATAPL +6 02505 DATAPL +2 45044 BPL CALL 66214 AINGOTN 66276 OVERFFIX E">018324,000206: 33,2214 56325 AINGOTN PDDL DDV 02507 DATAPL +4 57212 SL4 DMPR 27111 DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM 77634 RTB 45541 SGNAGREE 01051 STORE DSPTEM2 77776 EXIT 11421 CCS NDXCTR 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK 02427 TC SHOW 654">018335,000217: 33,2227 32447 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST 55412 TS LENGTHOT 51423 INDEX POSITON 41427 CS SOUTHDR -2 55452 TS DRIFTT 31675 CA XSM +4 # 0 IF POSN 4 00006 EXTEND 12244 BZF PON2 >018343,000225: 33,2237 44706 PON4 CS BIT5 # OFFSET PLATFORM 27651 ADS ERCOMP1 +2 34706 CA BIT5 27647 ADS ERCOMP1 12250 TCF PONG >018348,000230: 33,2244 44706 PON2 CS BIT5 27651 ADS ERCOMP1 +2 34706 CA BIT5 27653 ADS ERCOMP1 +4 >018352,000234: 33,2250 02417 PONG TC EARTHR* 34714 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS 55404 TS ERVECTOR 55405 TS ERVECTOR +1 >018356,000238: 33,2254 34672 GUESS1 CAF POSMAX 55450 TS TORQNDX 55451 TS TORQNDX +1 30032 CA CDUX 55413 TS LOSVEC # Page 422 02453 TC ESTIMS >018363,000245: 33,2262 31512 VALMIS CA DRIFTO 55051 TS DSPTEM2 +1 34714 CA ZERO 55050 TS DSPTEM2 02427 TC SHOW 431">018369,000251: 33,2267 05447 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE 00007 ADRES IMUSE # BIT 8 FLAG 0 44714 CS ZERO 05246 TC NEWMODEX +3 04555 TC BANKCALL 16063 CADR MKRELEAS 05423 TC ENDEXT # Page 423 958">018378,000260: 33,2276 43215 OVERFFIX DAD DAD 15340 DPPOSMAX 27117 ONEDPP 77616 RVQ 74E">018383,000265: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE 23425 QXCH QPLACE 34714 CA ZERO 55155 TS THETAD 55156 TS THETAD +1 55157 TS THETAD +2 04555 TC BANKCALL 16602 CADR IMUCOARS 04555 TC BANKCALL 17516 CADR IMUSTALL 03103 TC SOMERR2 01425 TC QPLACE C47">018396,000278: 33,2316 00006 IMUSTLLG EXTEND 23425 QXCH QPLACE 02312 TC COAALIGN +10 >018400,000282: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE 23425 QXCH QPLACE 02331 TC +6 1">018403,000285: 33,2324 00003 CHECKG1 RELINT 30067 CA NEWJOB 00006 EXTEND 62335 BZMF +6 05057 TC CHANG1 00004 INHINT 51422 INDEX PIPINDEX 40037 CS PIPAX 55655 TS ZERONDX 00004 INHINT 51422 INDEX PIPINDEX 30037 CA PIPAX 61655 AD ZERONDX 00006 EXTEND 12324 BZF CHECKG1 51422 INDEX PIPINDEX 30037 CA PIPAX 51547 INDEX RESULTCT 55502 TS DATAPL 04526 TC FINETIME 51547 INDEX RESULTCT 55503 TS DATAPL +1 # Page 424 51547 INDEX RESULTCT 23504 LXCH DATAPL +2 00003 RELINT 7">018429,000311: 33,2355 01425 ENDCHKG TC QPLACE 7">018431,000313: 33,2356 54001 ZEROING TS L 12361 TCF +2 731">018433,000315: 33,2360 55655 ZEROING1 TS ZERONDX1 34714 CAF ZERO 50001 INDEX L 54000 TS 0 24001 INCR L 11655 CCS ZERONDX1 12360 TCF ZEROING1 00002 TC Q # Page 425 SETLOC IMUCAL3 BANK 345">018445,000327: 32,2000 65345 ERTHRVSE DLOAD PDDL 27112 SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS) 02403 LATITUDE 57546 COS DCOMP 73525 PDDL SIN 02403 LATITUDE 74266 VDEF VXSC 26450 OMEG/MS 02405 STORE ERVECTOR 77634 RTB 45505 LOADTIME 26443 STOVL TMARK 27112 SCHZEROS 02650 STORE ERCOMP1 77616 RVQ SETLOC IMUCAL BANK >018463,000345: 33,2370 47020 EARTHR ITA RTB # CALCULATES AD COMPENSATES EARTH RATE 00051 S2 45505 LOADTIME 02441 STORE TEMPTIME 51025 DSU BPL 02443 TMARK 66401 ERTHR 77624 CALL 66276 OVERFFIX /a>018472,000354: 33,2401 74261 ERTHR SL VXSC 20212 9D 02405 ERVECTOR 53321 MXV VAD 02672 XSM 02650 ERCOMP1 16650 STODL ERCOMP1 02441 TEMPTIME 02443 STORE TMARK 47170 AXT,1 RTB 02647 ECADR ERCOMP1 45650 PULSEIMU 77650 GOTO 00051 S2 A">018487,000369: 33,2417 00006 EARTHR* EXTEND 23426 QXCH QPLACES 06006 TC INTPRET 77624 CALL 66370 EARTHR /a>018492,000374: 33,2424 77776 PROUT EXIT 02316 TC IMUSTLLG 01426 TC QPLACES # Page 426 >018497,000379: 33,2427 00006 SHOW EXTEND 23425 QXCH QPLACE /a>018499,000381: 33,2431 31423 SHOW1 CA POSITON 55052 TS DSPTEM2 +2 32442 CA VB06N98 04555 TC BANKCALL 20624 CADR GOFLASH 02267 TC ENDTEST1 # V34 01425 TC QPLACE # V33 12431 TCF SHOW1 0">018508,000390: 33,2441 14400 OC14400 OCT 14400 3">018509,000391: 33,2442 33,2447 3990DEC = OMEG/MS 8">018510,000392: 33,2442 01542 VB06N98 VN 0698 D45">018511,000393: 33,2443 01602 TESTTIME OCT 01602 /a>018512,000394: 33,2444 4375 DEC17 = ND1 /a>018513,000395: 33,2444 02757 OGCPL ECADR OGC /a>018514,000396: 33,2445 4734 1SECX = 1SEC /a>018515,000397: 33,2445 4374 DEC57 = VD1 >018516,000398: 33,2445 01713 XNBADR GENADR XNB >018517,000399: 33,2446 01671 XSMADR GENADR XSM 3">018518,000400: 33,2447 07623 26552 OMEG/MS 2DEC .24339048 >018520,000402: 33,2451 04555 P11OUT TC BANKCALL 70127 CADR MATRXJOB # RETURN TO P11 COUNT 02.COMST BLOCK 2 D45">018527,000409: 4526 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 00006 EXTEND 06004 RXOR LOSCALAR 00006 EXTEND 14541 BZF +4 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 44672 +4 CS POSMAX 60001 AD L 00006 EXTEND 14527 BZF FINETIME +1 00006 EXTEND 00003 READ HISCALAR 00002 TC Q # Page 427 # PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION # DATE: NOVEMBER 2 1966 # BY: GEORGE SCHMIDT IL 7-146 EXT. 126 # MOD NO 3 # FUNCTIONAL DESCRIPTION # THIS SECTON CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT # FOR THE DATA TO FLASH. # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST. # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1 # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX. # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION # PROCEDURE THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL. # THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY # CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR # COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY). # COMPASS ERASABLE LOAD REQUIRED # 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) # 2. LATITUDE-DP-OF LAUNCH PAD # 3. AZIMUTH-DP-OF ZNB OF VEHICLE # 4. IMU COMPENSATION PARAMETERS # 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** # TO PERFORM AS PART OF COMPASS # 1. OPTICAL VERIFICATION: V 65 E # 2. AXIMUTH CHANGE: V 78 E # SUBROUTINES CALLED # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. # NORMAL EXIT # DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL # GYROCOMPASS-MANY, SEE THE LISTING. # ALARMS # 1600 OVERFLOW IN DRIFT TEST # Page 428 # 1601 BAD IMU TORQUE ABORT # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY # OUTPUT # DRIFT TESTS: FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE # 02 GYROCOMPASSING # 03 DOING OPTICAL VERIFICATION (CSM) # DEBRIS # ALL CENTRALS, ALL OF EBANK XSM # Page 429 # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR # ON THE NEXT FEW PAGES. COUNT 33/P02 EBANK= XSM BANK 33 SETLOC IMUCAL BANK >018627,000509: 33,2453 05261 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 00075 OCT 00075 00004 OCT 00004 # TURN OFF GROUP 4 IF ON 1">018632,000514: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART 30025 CA TIME1 55645 TS GTSWTLT1 34714 CAF ZERO # ZERO THE PIPAS 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 00003 RELINT 33130 CA 77DECML 55655 TS ZERONDX1 33131 CA ALXXXZ 02356 TC ZEROING 06006 TC INTPRET 77735 SLOAD 27112 SCHZEROS 25477 STOVL GCOMPSW -1 27123 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS 26455 STOVL ALX1S 27112 SCHZEROS 01472 STORE GCOMP 01163 STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED 77776 EXIT 11643 CCS GEOCOMP1 # NON ZERO IF COMPASS. 02507 TC +2 02523 TC SLEEPIE +1 06006 TC INTPRET 77624 CALL 64000 ERTHRVSE 77776 EXIT 31412 CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING 55646 TS ERECTIME 05243 TC NEWMODEX 00002 MM 02 B-14 04555 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM # Page 430 17075 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF 03376 TC ANNNNNN # END OF FIRST TIME THROUGH # Page 431 # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # SET UP WAITLIST SECTION 5">018676,000558: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT 05301 TC PHASCHNG # CHANGE PHASE 00135 OCT 00135 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO E54">018681,000563: 33,2527 03401 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER 02532 TC SETGWLST 05112 TC ENDOFJOB 354">018685,000567: 33,2532 00006 SETGWLST EXTEND 22154 QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE 00004 INHINT 40025 CS TIME1 61645 AD GTSWTLT1 00006 EXTEND 62542 BZMF +2 64674 AD NEGMAX # 10 MS ERROR OK 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS 00006 EXTEND 62550 BZMF RIGHTGTS 04C">018696,000578: 33,2545 05130 WTGTSMPL TC TWIDDLE EBANK= ALTIM 02575 ADRES ALLOOP 00154 TC MPAC 453">018700,000582: 33,2550 34710 RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME 02545 TC WTGTSMPL # END OF WAITLIST SECTION # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING C">018705,000587: 33,2552 00031 25DECML DEC 25 B-14 441">018707,000589: 33,2553 32552 STOREDTA CAF 25DECML 54154 TS MPAC 50154 INDEX MPAC 31460 CAE THETAX1 50154 INDEX MPAC 55577 TS RESTARPT 10154 CCS MPAC 12554 TCF STOREDTA +1 00002 TC Q 454">018716,000598: 33,2564 32552 LOADSTDT CAF 25DECML 54154 TS MPAC 50154 INDEX MPAC 31577 CA RESTARPT # Page 432 50154 INDEX MPAC 55460 TS THETAX1 10154 CCS MPAC 12565 TCF LOADSTDT +1 00002 TC Q # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE >018729,000611: 33,2575 30025 ALLOOP CAE TIME1 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST. 3">018731,000613: 33,2577 31540 ALLOOP3 CA ALTIM 55631 TS GEOSAVE1 05301 TC PHASCHNG 00115 OCT 00115 1">018735,000617: 33,2603 31631 ALLOOP1 CAE GEOSAVE1 55540 TS ALTIM 10000 CCS A 30000 CA A # SHOULD NEVER HIT THIS LOCATION 55541 TS ALTIMS 40000 CS A 55540 TS ALTIM 34714 CAF ZERO 56037 XCH PIPAX 55162 TS DELVX 34714 CAF ZERO 56040 XCH PIPAY 55164 TS DELVY 34714 CAF ZERO 56041 XCH PIPAZ 55166 TS DELVZ 34374 CAF 19DECML # 23 OCT 04114 TC NEWPHASE 00005 OCT 00005 3">018754,000636: 33,2626 34675 SPECSTS CAF PRIO20 05042 TC FINDVAC EBANK= GEOSAVE1 02633 66065 2CADR ALFLT # START THE JOB 05213 TC TASKOVER # Page 433 # THIS IS PART OF THE JOB DONE EVERY ITERATION /a>018764,000646: 33,2633 02553 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB 05301 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION 00215 OCT 00215 12640 TCF +2 >018768,000650: 33,2637 02564 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART 11643 CCS GEOCOMP1 02643 TC +2 02646 TC NORMLOP 03401 TC CHKCOMED # SEE IF PRELAUNCH OVER 04555 TC BANKCALL # COMPENSATION IF IN COMPASS 15262 CADR 1/PIPA 0">018776,000658: 33,2646 06006 NORMLOP TC INTPRET 77745 DLOAD 27121 INTVAL 24051 STOVL S1 01163 DELVX 76505 VXM VSL1 02672 XSM 57545 DLOAD DCOMP 00160 MPAC +3 16533 STODL DPIPAY 00162 MPAC +5 02537 STORE DPIPAZ 76001 SETPD AXT,1 00001 0 00010 8D 57535 SLOAD DCOMP 02644 GEOCOMP1 77640 BMN 67203 ALWAYSG # DO A QUICK COMPASS # Page 434 # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES COUNT 33/COMST >018802,000684: 33,2671 50135 ALCGKK SLOAD BMN 02542 ALTIMS 66706 ALFLT3 # NO NEW GAINS NEEDED /a>018805,000687: 33,2674 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 00014 12D 02454 ALX1S >018808,000690: 33,2677 62143 ALKCG2 DLOAD* INCR,1 02243 ALFDK +144D,1 77775 DEC -2 B-14 12555 STORE ALDK +10D,2 66104 TIX,2 SXA,1 66677 ALKCG2 02454 ALX1S >018816,000698: 33,2706 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES 00010 8D # AND GAIN UPDATES >018818,000700: 33,2710 41343 DELMLP DLOAD* DMP 02543 DPIPAY +8D,1 27675 PIPASC 43661 SLR BDSU* 21212 9D 02511 INTY +8D,1 06511 STORE INTY +8D,1 40725 PDDL DMP* 27677 VELSC 02531 VLAUN +8D,1 77732 SL2R 45425 DSU STADR 71206 STORE DELM +8D,1 06573 STORE DELM +10D,1 77100 TIX,1 AXT,2 66710 DELMLP 00004 4 /a>018835,000717: 33,2731 56743 ALILP DLOAD* DMPR* 75314 ALK +4,2 75230 ALDK +4,2 12463 STORE ALK +4,2 77104 TIX,2 AXT,2 66731 ALILP 00010 8D /a>018842,000724: 33,2740 66140 ALKLP LXC,1 SXA,1 02455 CMPX1 02455 CMPX1 56743 DLOAD* DMPR* 02460 ALK +1,1 75206 DELM +8D,2 # Page 435 77613 DAD* 75266 INTY +8D,2 12511 STORE INTY +8D,2 42743 DLOAD* DAD* 75304 ALK +12D,2 75220 ALDK +12D,2 12473 STORE ALK +12D,2 42673 DMPR* DAD* 75206 DELM +8D,2 75256 INTY +16D,2 12521 STORE INTY +16D,2 40743 DLOAD* DMP* 27702 ALSK +1,1 75206 DELM +8D,2 42772 SL1R DAD* 75246 VLAUN +8D,2 12531 STORE VLAUN +8D,2 76104 TIX,2 AXT,1 66740 ALKLP 00010 8D /a>018870,000752: 33,2772 64743 LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES 02533 ACCWD +8D,1 02531 VLAUN +8D,1 55523 PDDL* VDEF 02541 POSNV +8D,1 76521 MXV VSL1 02001 TRANSM1 77745 DLOAD 00155 MPAC 06541 STORE POSNV +8D,1 77745 DLOAD 00160 MPAC +3 06531 STORE VLAUN +8D,1 77745 DLOAD 00162 MPAC +5 06533 STORE ACCWD +8D,1 77700 TIX,1 66772 LOOSE 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES 00006 6 00002 2 >018892,000774: 33,3017 57343 BOOP DLOAD* DMPR 02513 ANGX +2,1 27705 GEORGEJ 77722 SR2R 73406 PUSH SIN # Page 436 56072 SL3R XAD,1 00046 X1 10021 STORE 16D,2 77745 DLOAD 77746 COS 10027 STORE 22D,2 # COSINES 77704 TIX,2 67017 BOOP 153">018907,000789: 33,3034 77776 PERFERAS EXIT 34753 CA EBANK7 EBANK= LAT(SPL) 54003 TS EBANK 01400 TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN # CAUTION # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST EBANK= LENGTHOT 245">018919,000801: 33,3040 11412 ONCEMORE CCS LENGTHOT 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST 11450 CCS TORQNDX 13045 TCF +2 03047 TC SETUPER1 30032 CA CDUX 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2. 231">018927,000809: 33,3047 06006 SETUPER1 TC INTPRET # DRIFT TEST OVER 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY 02503 ANGZ 02507 ANGY 55525 PDDL VDEF 02511 ANGX 74276 VCOMP VXSC 27705 GEORGEJ 74521 MXV VSR1 02672 XSM 02760 STORE OGC 77776 EXIT 348">018940,000822: 33,3063 05301 TORQINCH TC PHASCHNG 00005 OCT 00005 32444 CA OGCPL 04555 TC BANKCALL 17125 CADR IMUPULSE 02316 TC IMUSTLLG 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST 02262 TC VALMIS # VERT DRIFT TEST OVER 06006 TC INTPRET # Page 437 77624 CALL # SET UP ERATE FOR PIP TEST OR COMPASS 64000 ERTHRVSE 77776 EXIT 02122 TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY 2">018956,000838: 33,3100 05537 SOMEERR TC ALARM 01600 OCT 1600 03105 TC +3 2">018959,000841: 33,3103 05537 SOMERR2 TC ALARM 01601 OCT 1601 05301 TC PHASCHNG 00005 OCT 00005 02267 TC ENDTEST1 # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD >018967,000849: 33,3110 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS IMPORTANT F53">018968,000850: 33,3111 00000 00000 SCHZEROS 2DEC .00000000 00000 00000 2DEC .00000000 00000 OCT 00000 >018971,000853: 33,3116 00000 ONEDPP OCT 00000 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT >018974,000856: 33,3120 00004 INTVAL OCT 4 00002 OCT 2 00220 DEC 144 B-14 77776 DEC -1 B-14 >018978,000860: 33,3124 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES C">018981,000863: 33,3130 00115 77DECML DEC 77 B-14 >018982,000864: 33,3131 01453 ALXXXZ GENADR ALX1S -1 # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION COUNT 33/P01 # INITIALIZATION SECTION 3">018990,000872: 33,3132 34712 GTSCPSS CAF ONE # CALLED BY V37 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS # Page 438 33424 CA 1/PIPAGT 55074 TS 1/PIPADT E">018995,000877: 33,3136 34703 NXXTENN CA BIT8 55412 TS LENGTHOT 34731 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP 55644 TS 1SECXT1 34712 CAF ONE 55632 TS PREMTRX1 55657 TS PERFDLAY +1 34714 CAF ZERO 55656 TS PERFDLAY 00006 EXTEND 31634 DCA LUNCHAZ1 53636 DXCH NEWAZ1 00006 EXTEND 31634 DCA LUNCHAZ1 53640 DXCH OLDAZMTH 3">019010,000892: 33,3155 34375 SETUPGC CA DEC17 55655 TS ZERONDX1 32446 CA XSMADR 02356 TC ZEROING 03163 TC POSN17C 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION 3">019016,000898: 33,3163 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE 44675 CS HALF # ALL THIS TO INITIALIZE MATRIX 55705 TS ZSM 06006 TC INTPRET 41545 DLOAD PUSH 02636 NEWAZ1 77756 SIN 02676 STORE XSM +4 16702 STODL YSM +2 77746 COS 02704 STORE YSM +4 77676 DCOMP 02674 STORE XSM +2 77776 EXIT 01425 TC QPLACE # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP COUNT 33/P02 7">019037,000919: 33,3203 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT 02543 DPIPAY +8D,1 02505 FILDELV1 +8D,1 # Page 439 42675 DMPR DAD* 27713 GEOCONS1 02505 FILDELV1 +8D,1 06505 STORE FILDELV1 +8D,1 77613 DAD* 02507 INTVEC1 +8D,1 06507 STORE INTVEC1 +8D,1 42675 DMPR DAD* 27715 GEOCONS2 02505 FILDELV1 +8D,1 41475 DMPR PUSH 15330 GEOCONS5 67300 TIX,1 SLOAD 67203 ALWAYSG 02647 ERECTIM1 71254 BZE DLOAD 67237 COMPGS 02471 THETAN1 +2 45425 DSU STADR 61306 STODL THETAN1 +2 # ERECTION ONLY. 77621 BDSU 02473 THETAN1 +4 02473 STORE THETAN1 +4 77650 GOTO 67261 ADDINDRF >019066,000948: 33,3237 43345 COMPGS DLOAD DAD # COMPASS 02467 THETAN1 02475 FILDELV1 16467 STODL THETAN1 02475 FILDELV1 44275 DMPR BDSU 27717 GEOCONS3 02473 THETAN1 +4 16473 STODL THETAN1 +4 02501 FILDELV1 +4 44275 DMPR BDSU 27717 GEOCONS3 02471 THETAN1 +2 57325 PDDL DMPR 02503 INTVEC1 +4 27721 GEOCONS4 45421 BDSU STADR 75306 STORE THETAN1 +2 246">019084,000966: 33,3261 77776 ADDINDRF EXIT 14C">019085,000967: 33,3262 11412 ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM 02522 TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC 03401 TC CHKCOMED 11304 CCS LGYRO # YES BUT ARE GYROS BUSY # Page 440 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW 3">019092,000974: 33,3267 06006 LASTGTS TC INTPRET 77775 VLOAD 02650 ERCOMP1 16461 STODL THETAX1 02443 TMARK 02457 STORE ALK 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS 552">019100,000982: 33,3276 05301 RESTAIER TC PHASCHNG 00275 OCT 00275 06006 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE 64375 VLOAD MXV 02467 THETAN1 02672 XSM 53372 VSL1 VAD 02461 THETAX1 16650 STODL ERCOMP1 02457 ALK 02443 STORE TMARK 77776 EXIT 02417 TC EARTHR* # TORQUE IT ALL IN 31646 CAE ERECTIM1 55631 TS GEOSAVE1 05301 TC PHASCHNG 00155 OCT 00155 431">019117,000999: 33,3317 06006 RESTEST1 TC INTPRET 77775 VLOAD 27112 SCHZEROS 02467 STORE THETAN1 77776 EXIT 11632 CCS PREMTRXC 03374 TC NOCHORLD 05301 TC PHASCHNG 00255 OCT 00255 433">019126,001008: 33,3330 06006 RESTEST3 TC INTPRET 77745 DLOAD 02634 LAUNCHAZ 53025 DSU BZE 02640 OLDAZMTH 67371 NOAZCHGE 00001 STORE 0D 43335 SLOAD DAD 27120 ONEDPP +1 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ 16633 STODL PREMTRXC 02634 LAUNCHAZ 16636 STODL NEWAZMTH 00001 0D # Page 441 D50">019141,001023: 33,3346 02654 ADERCOMP STORE ERCOMP +4 77776 EXIT 03163 TC POSN17C 05301 TC PHASCHNG 00335 OCT 00335 7">019146,001028: 33,3353 00006 RESCHNG EXTEND 31636 DCA NEWAZMTH 53640 DXCH OLDAZMTH 34704 CA BIT7 # SPEND 320 SEC ERECTING 55412 TS LENGTHOT 05301 TC PHASCHNG 00075 OCT 00075 24F">019153,001035: 33,3362 33423 SPITGYRO CA ERCOMPPL 04555 TC BANKCALL 17125 CADR IMUPULSE 04555 TC BANKCALL 17516 CADR IMUSTALL 03103 TC SOMERR2 02453 TC ESTIMS # RE-INITIALIZE 745">019160,001042: 33,3371 77776 NOAZCHGE EXIT 34712 CA ONE 55632 TS PREMTRXC C44">019163,001045: 33,3374 11631 NOCHORLD CCS GEOSAVE1 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION. E">019166,001048: 33,3376 34334 ANNNNNN CAF NINE 55412 TS LENGTHOT 02523 TC SLEEPIE +1 544">019169,001051: 33,3401 00004 CHKCOMED INHINT 44714 CS ZERO 00006 EXTEND 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30 74706 MASK BIT5 # LIFTOFF BIT 10000 CCS A 13416 TCF PRELTERM # LIFTOFF HAS OCCURRED 34706 CA BIT5 # CHECK FOR BACKUP LIFTOFF 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5 10000 CCS A 13416 TCF PRELTERM # BACKUP RECEIVED 00003 RELINT 00002 TC Q # CONTINUE PRELAUNCH 24D">019184,001066: 33,3416 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11 # Page 442 05103 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER 00004 INHINT 04574 TC POSTJUMP 70002 CADR P11 04C">019190,001072: 33,3423 02647 ERCOMPPL ECADR ERCOMP 335">019192,001074: 33,3424 26,3327 GEOCONS5 EQUALS HIDPHALF 754">019193,001075: 33,3424 06200 1/PIPAGT OCT 06200 C">019194,001076: 33,3425 4375 17DECML = ND1 # OCT 21 C">019195,001077: 33,3425 4374 19DECML = VD1 # OCT 23 8">019196,001078: 33,3425 4731 1/2SECX = .5SEC # Page 443 434">019198,001080: 33,3425 5112 GEOSTRT4 EQUALS ENDOFJOB # Page 444 # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS COUNT 33/P03 552">019205,001087: 33,3425 05301 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE 00154 OCT 00154 05243 TC NEWMODEX # ENTERED BY VERB 65 ENGER 00003 MM 03 B-14 F53">019209,001091: 33,3431 02037 SETNBPOS TC NBPOSPL 04555 TC BANKCALL 16063 CADR MKRELEAS 1">019212,001094: 33,3434 34712 OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET 22007 ZL # 1, THEN TARGET 2 23427 LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET 55047 TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL 00006 EXTEND 51427 INDEX RUN 31433 DCA TAZEL1 53046 DXCH DSPTEM1 33467 CAF V05N30E 04555 TC BANKCALL 20577 CADR GODSPRET 33455 CAF VN0641 04555 TC BANKCALL 20624 CADR GOFLASH 03610 TC GCOMP5 03456 TC +3 03444 TC -8D >019229,001111: 33,3455 01451 VN0641 VN 0641 53046 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH 51427 INDEX RUN 53433 DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH 11427 CCS RUN 13466 TCF +4 34711 CAF TWO 54001 TS L 13436 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 03530 TC CONTIN33 5">019240,001122: 33,3467 01236 V05N30E VN 0530 06006 TC INTPRET # UNDYNAMIC ASSEMBLER 546">019243,001125: 33,3471 77170 TAR/EREF AXT,1 AXT,2 # TARGET VECTOR 00002 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL) 00014 12D 40331 SSP SETPD 00052 S2 00006 6 # Page 445 00001 0 >019251,001133: 33,3500 60533 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6 02436 TAZEL1 +3,1 00001 STORE 0 # PD00 ELEVATION PD00 77756 SIN 10023 STORE 18D,2 # PD06 *** SIN(EL) ***PD12 77745 DLOAD 00001 0 41546 COS PUSH # PD00 COS(EL) PD00 47133 SLOAD* RTB 02435 TAZEL1 +2,1 45510 CDULOGIC 00003 STORE 2 # PD02 AZIMUTH PD02 41356 SIN DMP 00001 0 77752 SL1 10027 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16 71545 DLOAD COS 00003 2 72405 DMP SL1 76076 DCOMP AXT,1 00000 0 10025 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14 43504 TIX,2 RVQ 67500 TAR1 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 333">019280,001162: 33,3530 34712 CONTIN33 CA ONE 54735 TS STARCODE 34714 CA ZERO 03625 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67471 TAR/EREF B53">019287,001169: 33,3537 64375 NEXTBNKS VLOAD MXV 00007 6D 02672 XSM 77772 VSL1 26736 STOVL STARAD 00015 12D 76521 MXV VSL1 02672 XSM 02744 STORE STARAD +6 77624 CALL 67722 LITTLSUB # Page 446 02414 STORE LOSVEC 77776 EXIT 04555 TC BANKCALL 16063 CADR MKRELEAS 353">019303,001185: 33,3556 34711 NEXBNKSS CAF TWO 54735 TS STARCODE 36211 CAF SIX 03625 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67722 LITTLSUB 24015 STOVL 12D 02414 LOSVEC 34007 STCALL 06D 47334 AXISGEN 77624 CALL 47140 CALCGTA 77776 EXIT >019317,001199: 33,3574 33621 GCOMP4 CAF V06N93S 04555 TC BANKCALL 20624 CADR GOFLASH 03610 TC GCOMP5 13602 TCF +2 13574 TCF GCOMP4 06006 TC INTPRET 53375 VLOAD VAD 02760 OGC 02650 ERCOMP1 02650 STORE ERCOMP1 77776 EXIT >019329,001211: 33,3610 04555 GCOMP5 TC BANKCALL 16063 CADR MKRELEAS 05447 TC DOWNFLAG 00032 ADRES TRM03FLG 05243 TC NEWMODEX 00002 MM 02 B-14 05301 TC PHASCHNG 00004 OCT 00004 05112 TC ENDOFJOB 3">019339,001221: 33,3621 01535 V06N93S VN 0693 353">019340,001222: 33,3622 05537 GTSOPTCS TC ALARM 353">019341,001223: 33,3623 01602 GTSOPTSS OCT 01602 03610 TC GCOMP5 BANK 34 SETLOC IMUCAL1 # Page 447 BANK COUNT 34/COMST 84B">019350,001232: 04,2617 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE 02403 LATITUDE 15047 STODL DSPTEM1 +1 02401 AZIMUTH 77434 RTB EXIT 45543 1STO2S 56154 XCH MPAC 55045 TS DSPTEM1 04555 TC BANKCALL 20607 CADR CLEANDSP 32650 CAF VNG0641 04555 TC BANKCALL 20624 CADR GOFLASH 02636 TC +2 # NOT ALLOWED 02637 TC +2 02631 TC -5 06006 TC INTPRET 47135 SLOAD RTB 01046 DSPTEM1 45510 CDULOGIC 02401 STORE AZIMUTH 60535 SLOAD SR2 01047 DSPTEM1 +1 02403 STORE LATITUDE 77616 RVQ 1">019375,001257: 04,2650 01451 VNG0641 VN 0641 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 645">019380,001262: 33,3625 00006 TARGDRVE EXTEND 23424 QXCH QPLAC 55431 TS TARG1/2 06006 TC INTPRET 77624 CALL 67471 TAR/EREF 76740 LXC,1 VLOAD* 02431 TARG1/2 00007 6D,1 36766 STCALL STAR 46053 SXTANG 77776 EXIT # Page 448 31773 CA SAC 55161 TS DESOPTS 31775 CA PAC 55160 TS DESOPTT >019397,001279: 33,3645 34714 RETARG CAF ZERO 55303 TS OPTIND 34712 CAF ONE 04555 TC BANKCALL 16002 CADR SXTMARK 04555 TC BANKCALL 17512 CADR OPTSTALL 03622 TC GTSOPTCS 30075 CAE FLAGWRD1 74707 MASK TRM03BIT 10000 CCS A 03610 TC GCOMP5 51330 INDEX MARKSTAT 30052 CA QPRET 00006 EXTEND 13666 BZF RETARG1 01424 TC QPLAC 1">019415,001297: 33,3666 34714 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA 57330 XCH MARKSTAT 10000 CCS A 50000 INDEX A 54000 TS A 13645 TCF RETARG # GO DO SXTMARK AGAIN BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 >019425,001307: 33,3674 30341 22444 PIPASC 2DEC .76376833 /a>019426,001308: 33,3676 57223 66451 VELSC 2DEC -.52223476 >019427,001309: 33,3700 05427 12577 ALSK 2DEC .17329931 77567 44202 2DEC -.00835370 A">019429,001311: 33,3704 24276 14066 GEORGEJ 2DEC .63661977 B">019430,001312: 33,3706 23073 11773 GEORGEK 2DEC .59737013 3">019431,001313: 33,3710 00055 20267 2DEGRES 2DEC .00277778 331">019432,001314: 33,3712 03146 14632 GEOCONS1 2DEC .1 # Page 449 332">019434,001316: 33,3714 00121 35341 GEOCONS2 2DEC .005 333">019435,001317: 33,3716 01767 31666 GEOCONS3 2DEC .062 334">019436,001318: 33,3720 00004 35223 GEOCONS4 2DEC .0003 COUNT 33/P02 542">019439,001321: 33,3722 77620 LITTLSUB STQ 02424 QPLAC 76740 LXC,1 VLOAD* 01330 MARKSTAT 00003 2,1 34767 STCALL CDUSPOT 46000 SXTNB 77624 CALL 47572 TRG*NBSM 77650 GOTO 02424 QPLAC 77776 EXIT 731">019451,001333: 33,3736 06006 AZMTHCG1 TC INTPRET 47145 DLOAD RTB 02636 NEWAZMTH 45543 1STO2S 77776 EXIT 56154 XCH MPAC 55045 TS DSPTEM1 04555 TC BANKCALL 20607 CADR CLEANDSP 33771 CAF VN0629 04555 TC BANKCALL 20624 CADR GOFLASH 13754 TCF +2 13755 TCF +2 13747 TCF -5 06006 TC INTPRET 47135 SLOAD RTB 01046 DSPTEM1 45510 CDULOGIC 02634 STORE LAUNCHAZ 77776 EXIT 34714 CA ZERO 55632 TS PREMTRXC 05301 TC PHASCHNG 00004 OCT 00004 04574 TC POSTJUMP 21176 CADR PINBRNCH >019479,001361: 33,3771 01435 VN0629 VN 0629 # Page 450 # *** END OF KOOLADE .069 *** IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc