Source Code

018468,000001: 018469,000002: 018470,000003: 018471,000004: 018472,000005: 018473,000006: 018474,000007: 018475,000008: 018476,000009: 018477,000010: 018478,000011: 018479,000012: 018480,000013: 018481,000014: 018482,000015: 018483,000016: 018484,000017: 018485,000018: 018486,000019: 018487,000020: 018488,000021: 018489,000022: 018490,000023: 018491,000024: 018492,000025: 018493,000026: 018494,000027: 018495,000028: 018496,000029: 018497,000030: 018498,000031: 018499,000032: 018500,000033: 018501,000034: 018502,000035: 018503,000036: 018504,000037: 018505,000038: 018506,000039: 018507,000040: 018508,000041: 018509,000042: 018510,000043: 018511,000044: 018512,000045: 018513,000046: 018514,000047: 018515,000048: 33,2004 018516,000049: 33,2000 018517,000050: 33,2000 018518,000051: 018519,000052: 33,2004 E5,1423 < 018532,000065: 33,2017 018533,000066: 33,2020 018534,000067: 33,2021 018535,000068: 33,2022 018536,000069: 33,2023 018537,000070: 33,2024 018538,000071: 33,2025 018539,000072: 33,2026 018540,000073: 33,2027 < 018816,000349: 33,2402 018817,000350: 33,2403 018818,000351: 33,2404 018819,000352: 33,2405 018820,000353: 33,2406 018821,000354: 33,2407 018822,000355: 33,2410 018823,000356: 33,2411 018824,000357: 33,2412 018825,000358: 33,2413 018826,000359: 33,2414 018827,000360: 33,2415 018828,000361: 33,2416 018829,000362: < 018836,000369: 33,2425 018837,000370: 33,2426 018838,000371: 018839,000372: < 018843,000376: 33,2432 018844,000377: 33,2433 018845,000378: 33,2434 018846,000379: 33,2435 018847,000380: 33,2436 018848,000381: 33,2437 018849,000382: 33,2440 018850,000383: < < < < < 019106,000639: 33,2633 019107,000640: 33,2634 019108,000641: 33,2635 < 019147,000680: 33,2674 019148,000681: 33,2675 < 019177,000710: 33,2731 019178,000711: 33,2732 019179,000712: 33,2733 019180,000713: 33,2734 019181,000714: 33,2735 019182,000715: 33,2736 < 019184,000717: 33,2740 019185,000718: 33,2741 019186,000719: 33,2742 019187,000720: 33,2743 019188,000721: 33,2744 019189,000722: 019190,000723: 33,2745 019191,000724: 33,2746 019192,000725: 33,2747 019193,000726: 33,2750 019194,000727: 33,2751 019195,000728: 33,2752 019196,000729: 33,2753 019197,000730: 33,2754 019198,000731: 33,2755 019199,000732: 33,2756 019200,000733: 33,2757 019201,000734: 33,2760 019202,000735: 33,2761 019203,000736: 33,2762 019204,000737: 33,2763 019205,000738: 33,2764 019206,000739: 33,2765 019207,000740: 33,2766 019208,000741: 33,2767 019209,000742: 33,2770 019210,000743: < 019212,000745: 33,2772 019213,000746: 33,2773 019214,000747: 33,2774 019215,000748: 33,2775 019216,000749: 33,2776 019217,000750: 33,2777 019218,000751: 33,3000 019219,000752: 33,3001 019220,000753: 33,3002 019221,000754: 33,3003 019222,000755: 33,3004 019223,000756: 33,3005 019224,000757: 33,3006 019225,000758: 33,3007 019226,000759: 33,3010 019227,000760: 33,3011 019228,000761: 33,3012 019229,000762: 019230,000763: 33,3013 019231,000764: 33,3014 019232,000765: 33,3015 < 019802,001335: # Copyright: Public domain. # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 423-455 # Contact: Onno Hommes <ohommes@cmu.edu> # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-10 OH Batch 1 Assignment Comanche Transcription # 2009-05-20 RSB Corrections: P00D00H -> P00DOOH, definition # of 25DECML fixed. # 2009-05-23 RSB At SPECSTS, corrected to PRIO22. # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # This AGC program shall also be referred to as Colossus 2A # 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 to info@sandroid.org. # Page 423 # 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">018520,000053: 33,2004 35021 IMUTEST CA ZERO 55452 TS DRIFTT 55643 TS GEOCOMP1 32443 CAF TESTTIME 55412 TS LENGTHOT 02302 TC COAALIGN # TAKE CARE OF DRIFT FLAG 35041 CAF 1SECX 55644 TS 1SECXT1 32441 CA OC14400 55074 TS 1/PIPADT /a>018531,000064: 33,2016 06006 GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE 77624 CALL 10613 LATAZCHK 57546 COS DCOMP 77752 SL1 16447 STODL WANGI 02403 LATITUDE 72556 SIN SL1 02445 STORE WANGO 77776 EXIT 454">018541,000074: 33,2030 04662 GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE 16577 CADR IMUZERO 02316 TC IMUSTLLG B">018544,000077: 33,2033 35021 IMUBACK CA ZERO 55421 TS NDXCTR 55450 TS TORQNDX 55451 TS TORQNDX +1 C">018548,000081: 33,2037 34375 NBPOSPL CA DEC17 55655 TS ZERONDX1 32445 CA XNBADR # Page 424 02356 TC ZEROING 35002 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 05364 TC CHECKMM 00003 MM 03 B-14 # SEE IF IN OPTICAL VERIFICATION 12064 TCF +2 # NO 13443 TCF SETNBPOS +1 # YES 06006 TC INTPRET 77624 CALL 47311 CALCGA 77776 EXIT 04662 TC BANKCALL 16663 CADR IMUCOARS 35002 CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK 70077 MASK FLAGWRD3 00006 EXTEND 12077 BZF +2 25421 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 05560 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 04662 TC BANKCALL 17073 CADR IMUFINE 02316 TC IMUSTLLG 00006 EXTEND 31657 DCA PERFDLAY 05342 TC LONGCALL SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron EBANK= POSITON 02116 66065 2CADR GOESTIMS 32121 CA ESTICADR 05175 TC JOBSLEEP D53">018598,000131: 33,2116 32121 GOESTIMS CA ESTICADR 05201 TC JOBWAKE 05324 TC TASKOVER 452">018601,000134: 33,2121 66453 ESTICADR CADR ESTIMS # Page 425 >018603,000136: 33,2122 35021 TORQUE CA ZERO 55050 TS DSPTEM2 31514 CA DRIFTI 55051 TS DSPTEM2 +1 51423 INDEX POSITON 55430 TS SOUTHDR -1 02427 TC SHOW B">018611,000144: 33,2131 51421 PIPACHK INDEX NDXCTR # PIPA TEST 02133 TC +1 02417 TC EARTHR* 34374 CA DEC57 55412 TS LENGTHOT 35017 CA ONE 55547 TS RESULTCT 35021 CA ZERO 51422 INDEX PIPINDEX 54037 TS PIPAX 55502 TS DATAPL 55506 TS DATAPL +4 02321 TC CHECKG # PIP PULSE CATCHING ROUTINE 00004 INHINT 35016 CAF TWO 05235 TC TWIDDLE EBANK= XSM 02153 ADRES PIPATASK 05217 TC ENDOFJOB 34B">018630,000163: 33,2153 00006 PIPATASK EXTEND 27412 DIM LENGTHOT 31412 CA LENGTHOT 00006 EXTEND 62163 BZMF STARTPIP 35006 CAF BIT10 05235 TC TWIDDLE EBANK= XSM 02153 ADRES PIPATASK 950">018639,000172: 33,2163 35002 STARTPIP CAF PRIO20 05147 TC FINDVAC EBANK= XSM 02170 66065 2CADR PIPJOBB 05324 TC TASKOVER 2">018646,000179: 33,2170 51421 PIPJOBB INDEX NDXCTR 02172 TC +1 02417 TC EARTHR* 31412 CA LENGTHOT 00006 EXTEND 62177 BZMF +2 05217 TC ENDOFJOB 35022 CA FIVE # Page 426 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">018668,000201: 33,2214 56325 AINGOTN PDDL DDV 02507 DATAPL +4 57212 SL4 DMPR 27110 DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM 77634 RTB 45544 SGNAGREE 01051 STORE DSPTEM2 77776 EXIT 11421 CCS NDXCTR 02302 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK 02427 TC SHOW 654">018679,000212: 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 >018687,000220: 33,2237 45013 PON4 CS BIT5 # OFFSET PLATFORM 27651 ADS ERCOMP1 +2 35013 CA BIT5 27647 ADS ERCOMP1 12250 TCF PONG >018692,000225: 33,2244 45013 PON2 CS BIT5 27651 ADS ERCOMP1 +2 35013 CA BIT5 27653 ADS ERCOMP1 +4 >018696,000229: 33,2250 02417 PONG TC EARTHR* 35021 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS 55404 TS ERVECTOR 55405 TS ERVECTOR +1 >018700,000233: 33,2254 34777 GUESS1 CAF POSMAX 55450 TS TORQNDX 55451 TS TORQNDX +1 30032 CA CDUX 55413 TS LOSVEC # Page 427 02453 TC ESTIMS >018707,000240: 33,2262 31512 VALMIS CA DRIFTO 55051 TS DSPTEM2 +1 35021 CA ZERO 55050 TS DSPTEM2 02427 TC SHOW 431">018713,000246: 33,2267 05560 ENDTEST1 TC DOWNFLAG # IMU NOT IN USE 00007 ADRES IMUSE # BIT 8 FLAG 0 45021 CS ZERO 05357 TC NEWMODEX +3 04662 TC BANKCALL 16063 CADR MKRELEAS 05534 TC ENDEXT # Page 428 958">018722,000255: 33,2276 43215 OVERFFIX DAD DAD 15343 DPPOSMAX 27116 ONEDPP 77616 RVQ 74E">018727,000260: 33,2302 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE 23425 QXCH QPLACE 35021 CA ZERO 55155 TS THETAD 55156 TS THETAD +1 55157 TS THETAD +2 04662 TC BANKCALL 16663 CADR IMUCOARS 04662 TC BANKCALL 17577 CADR IMUSTALL 03102 TC SOMERR2 01425 TC QPLACE C47">018740,000273: 33,2316 00006 IMUSTLLG EXTEND 23425 QXCH QPLACE 02312 TC COAALIGN +10 >018744,000277: 33,2321 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE 23425 QXCH QPLACE 02331 TC +6 1">018747,000280: 33,2324 00003 CHECKG1 RELINT 30067 CA NEWJOB 00006 EXTEND 62335 BZMF +6 05164 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 04553 TC FINETIME 51547 INDEX RESULTCT 55503 TS DATAPL +1 # Page 429 51547 INDEX RESULTCT 23504 LXCH DATAPL +2 00003 RELINT 7">018773,000306: 33,2355 01425 ENDCHKG TC QPLACE 7">018775,000308: 33,2356 54001 ZEROING TS L 12361 TCF +2 731">018777,000310: 33,2360 55655 ZEROING1 TS ZERONDX1 35021 CAF ZERO 50001 INDEX L 54000 TS 0 24001 INCR L 11655 CCS ZERONDX1 12360 TCF ZEROING1 00002 TC Q # Page 430 SETLOC IMUCAL3 BANK 345">018789,000322: 32,2000 65345 ERTHRVSE DLOAD PDDL 27111 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 45510 LOADTIME 26443 STOVL TMARK 27111 SCHZEROS 02650 STORE ERCOMP1 77616 RVQ SETLOC IMUCAL BANK >018806,000339: 33,2370 47020 EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE 00051 S2 45510 LOADTIME 02441 STORE TEMPTIME 51025 DSU BPL 02443 TMARK 66401 ERTHR 77624 CALL 66276 OVERFFIX /a>018815,000348: 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 45653 PULSEIMU 77650 GOTO 00051 S2 A">018830,000363: 33,2417 00006 EARTHR* EXTEND 23426 QXCH QPLACES 06006 TC INTPRET 77624 CALL 66370 EARTHR /a>018835,000368: 33,2424 77776 PROUT EXIT 02316 TC IMUSTLLG 01426 TC QPLACES # Page 431 >018840,000373: 33,2427 00006 SHOW EXTEND 23425 QXCH QPLACE /a>018842,000375: 33,2431 31423 SHOW1 CA POSITON 55052 TS DSPTEM2 +2 32442 CA VB06N98 04662 TC BANKCALL 20720 CADR GOFLASH 02267 TC ENDTEST1 # V34 01425 TC QPLACE # V33 12431 TCF SHOW1 0">018851,000384: 33,2441 14400 OC14400 OCT 14400 3">018852,000385: 33,2442 33,2447 3990DEC = OMEG/MS 8">018853,000386: 33,2442 01542 VB06N98 VN 0698 D45">018854,000387: 33,2443 01602 TESTTIME OCT 01602 /a>018855,000388: 33,2444 4375 DEC17 = ND1 /a>018856,000389: 33,2444 02757 OGCPL ECADR OGC /a>018857,000390: 33,2445 5041 1SECX = 1SEC /a>018858,000391: 33,2445 4374 DEC57 = VD1 >018859,000392: 33,2445 01713 XNBADR GENADR XNB >018860,000393: 33,2446 01671 XSMADR GENADR XSM 3">018861,000394: 33,2447 07623 26552 OMEG/MS 2DEC .24339048 >018863,000396: 33,2451 04662 P11OUT TC BANKCALL 70117 CADR MATRXJOB # RETURN TO P11 COUNT 02/COMST BLOCK 2 D45">018869,000402: 4553 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 00006 EXTEND 06004 RXOR LOSCALAR 00006 EXTEND 14566 BZF +4 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 44777 +4 CS POSMAX 60001 AD L 00006 EXTEND 14554 BZF FINETIME +1 00006 EXTEND 00003 READ HISCALAR 00002 TC Q # Page 432 # 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 433 # 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 434 # 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 >018969,000502: 33,2453 05372 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 00075 OCT 00075 00004 OCT 00004 # TURN OFF GROUP 4 IF ON 1">018972,000505: 33,2456 00004 RSTGTS1 INHINT # COMES HERE PHASE1 RESTART 30025 CA TIME1 55645 TS GTSWTLT1 35021 CAF ZERO # ZERO THE PIPAS 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 00003 RELINT 33127 CA 77DECML # ZERO ALL NECESSARY LOCATIONS 55655 TS ZERONDX1 33130 CA ALXXXZ 02356 TC ZEROING 06006 TC INTPRET 77735 SLOAD 27111 SCHZEROS 25477 STOVL GCOMPSW -1 27122 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS 26455 STOVL ALX1S 27111 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 05354 TC NEWMODEX 00002 MM 02 B-14 04662 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM # Page 435 17156 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF 03403 TC ANNNNNN # END OF FIRST TIME THROUGH # Page 436 # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # SET UP WAITLIST SECTION 5">019016,000549: 33,2522 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT 05412 TC PHASCHNG # CHANGE PHASE 00135 OCT 00135 11450 CCS TORQNDX # ARE WE DOING VERTDRIFT 02417 TC EARTHR* # TRUE TORQUE SOUTH GYRO E54">019021,000554: 33,2527 03406 WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER 02532 TC SETGWLST 05217 TC ENDOFJOB 354">019025,000558: 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 65001 AD NEGMAX # 10 MS ERROR OK 61644 AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS 00006 EXTEND 62550 BZMF RIGHTGTS 04C">019036,000569: 33,2545 05235 WTGTSMPL TC TWIDDLE EBANK= ALTIM 02574 ADRES ALLOOP 00154 TC MPAC 453">019040,000573: 33,2550 35015 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">019045,000578: 33,2552 4113 25DECML EQUALS OCT31 441">019046,000579: 33,2552 34113 STOREDTA CAF 25DECML 54154 TS MPAC 50154 INDEX MPAC 31460 CAE THETAX1 50154 INDEX MPAC 55577 TS RESTARPT 10154 CCS MPAC 12553 TCF STOREDTA +1 00002 TC Q 454">019056,000589: 33,2563 34113 LOADSTDT CAF 25DECML 54154 TS MPAC 50154 INDEX MPAC 31577 CA RESTARPT 50154 INDEX MPAC # Page 437 55460 TS THETAX1 10154 CCS MPAC 12564 TCF LOADSTDT +1 00002 TC Q # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE >019070,000603: 33,2574 30025 ALLOOP CA TIME1 55645 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST. 3">019072,000605: 33,2576 31540 ALLOOP3 CA ALTIM 55631 TS GEOSAVE1 05412 TC PHASCHNG 00115 OCT 00115 1">019076,000609: 33,2602 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 35021 CAF ZERO 56037 XCH PIPAX 55162 TS DELVX 35021 CAF ZERO 56040 XCH PIPAY 55164 TS DELVY 35021 CAF ZERO 56041 XCH PIPAZ 55166 TS DELVZ 34374 CAF 19DECML # 23 OCT 04114 TC NEWPHASE 00005 OCT 00005 3">019095,000628: 33,2625 37657 SPECSTS CAF PRIO22 05147 TC FINDVAC EBANK= GEOSAVE1 02632 66065 2CADR ALFLT # START THE JOB 05324 TC TASKOVER # Page 438 # THIS IS PART OF THE JOB DONE EVERY ITERATION /a>019105,000638: 33,2632 02552 ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB 05412 TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION 00215 OCT 00215 12637 TCF +2 >019109,000642: 33,2636 02563 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART 11643 CCS GEOCOMP1 02642 TC +2 02645 TC NORMLOP 03406 TC CHKCOMED # SEE IF PRELAUNCH OVER 04662 TC BANKCALL # COMPENSATION IF IN COMPASS 15262 CADR 1/PIPA 0">019117,000650: 33,2645 06006 NORMLOP TC INTPRET 77745 DLOAD 27120 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 67210 ALWAYSG # DO A QUICK COMPASS # Page 439 # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES COUNT 33/COMST >019143,000676: 33,2670 50135 ALCGKK SLOAD BMN 02542 ALTIMS 66705 ALFLT3 # NO NEW GAINS NEEDED /a>019146,000679: 33,2673 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 00014 12D 02454 ALX1S >019149,000682: 33,2676 62143 ALKCG2 DLOAD* INCR,1 02243 ALFDK +144D,1 77775 DEC -2 B-14 12555 STORE ALDK +10D,2 66104 TIX,2 SXA,1 66676 ALKCG2 02454 ALX1S >019157,000690: 33,2705 77770 ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES 00010 8D # AND GAIN UPDATES >019159,000692: 33,2707 41343 DELMLP DLOAD* DMP 02543 DPIPAY +8D,1 27705 PIPASC 43661 SLR BDSU* 21212 9D 02511 INTY +8D,1 06511 STORE INTY +8D,1 40725 PDDL DMP* 27707 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 66707 DELMLP 00004 4 /a>019176,000709: 33,2730 56743 ALILP DLOAD* DMPR* 75314 ALK +4,2 75230 ALDK +4,2 12463 STORE ALK +4,2 77104 TIX,2 AXT,2 66730 ALILP 00010 8D /a>019183,000716: 33,2737 66140 ALKLP LXC,1 SXA,1 02455 CMPX1 02455 CMPX1 56743 DLOAD* DMPR* 02460 ALK +1,1 75206 DELM +8D,2 # Page 440 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* 27712 ALSK +1,1 75206 DELM +8D,2 42772 SL1R DAD* 75246 VLAUN +8D,2 12531 STORE VLAUN +8D,2 76104 TIX,2 AXT,1 66737 ALKLP 00010 8D /a>019211,000744: 33,2771 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 66771 LOOSE 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES 00006 6 00002 2 >019233,000766: 33,3016 57343 BOOP DLOAD* DMPR 02513 ANGX +2,1 27715 GEORGEJ 77722 SR2R 73406 PUSH SIN # Page 441 56072 SL3R XAD,1 00046 X1 10021 STORE 16D,2 77745 DLOAD 77746 COS 10027 STORE 22D,2 # COSINES 77704 TIX,2 67016 BOOP 153">019248,000781: 33,3033 77776 PERFERAS EXIT 35060 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">019260,000793: 33,3037 11412 ONCEMORE CCS LENGTHOT 02522 TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST 11450 CCS TORQNDX 13044 TCF +2 03046 TC SETUPER1 30032 CA CDUX 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD 231">019267,000800: 33,3046 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 27715 GEORGEJ 74521 MXV VSR1 02672 XSM 02760 STORE OGC 77776 EXIT 348">019280,000813: 33,3062 05412 TORQINCH TC PHASCHNG 00005 OCT 00005 32444 CA OGCPL 04662 TC BANKCALL 17206 CADR IMUPULSE 02316 TC IMUSTLLG 11450 CCS TORQNDX # + IF IN VERTICAL DRIFT TEST 02262 TC VALMIS # VERT DRIFT TEST OVER 06006 TC INTPRET # Page 442 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 252">019295,000828: 33,3077 05650 SOMEERRR TC ALARM 01600 OCT 1600 03104 TC +3 2">019298,000831: 33,3102 05650 SOMERR2 TC ALARM 01601 OCT 1601 05412 TC PHASCHNG 00005 OCT 00005 02267 TC ENDTEST1 # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD >019306,000839: 33,3107 02222 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT F53">019307,000840: 33,3110 00000 00000 SCHZEROS 2DEC .00000000 00000 00000 2DEC .00000000 00000 OCT 00000 >019310,000843: 33,3115 00000 ONEDPP OCT 00000 00001 OCT 00001 # ABOVE ORDER IS IMPORTANT >019313,000846: 33,3117 00004 INTVAL OCT 4 00002 OCT 2 00220 DEC 144 B-14 77776 DEC -1 B-14 >019317,000850: 33,3123 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES C">019320,000853: 33,3127 00115 77DECML DEC 77 B-14 >019321,000854: 33,3130 01453 ALXXXZ GENADR ALX1S -1 # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION COUNT 33/P01 # INITIALIZATION SECTION 3">019329,000862: 33,3131 30075 GTSCPSS CA FLAGWRD1 # CALLED BY V37 75004 MASK NOP01BIT # Page 443 00006 EXTEND 13137 BZF GTSCPSSA 05721 TC P00DOO 01521 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE 341">019337,000870: 33,3137 35017 GTSCPSSA CAF ONE 55643 TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS 33435 CA 1/PIPAGT 55074 TS 1/PIPADT E">019341,000874: 33,3143 35010 NXXTENN CA BIT8 55412 TS LENGTHOT 35036 CAF 1/2SECX # COMPASS IS A .5 SEC LOOP 55644 TS 1SECXT1 35017 CAF ONE 55632 TS PREMTRX1 55657 TS PERFDLAY +1 35021 CAF ZERO 55656 TS PERFDLAY 00006 EXTEND 31634 DCA LUNCHAZ1 53636 DXCH NEWAZ1 00006 EXTEND 31634 DCA LUNCHAZ1 53640 DXCH OLDAZMTH 3">019356,000889: 33,3162 34375 SETUPGC CA DEC17 55655 TS ZERONDX1 32446 CA XSMADR 02356 TC ZEROING 03170 TC POSN17C 02030 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION 3">019364,000897: 33,3170 00006 POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE 23425 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE 45002 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 # Page 444 # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP COUNT 33/P02 7">019386,000919: 33,3210 44743 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT 02543 DPIPAY +8D,1 02505 FILDELV1 +8D,1 42675 DMPR DAD* 27717 GEOCONS1 02505 FILDELV1 +8D,1 06505 STORE FILDELV1 +8D,1 77613 DAD* 02507 INTVEC1 +8D,1 06507 STORE INTVEC1 +8D,1 42675 DMPR DAD* 27721 GEOCONS2 02505 FILDELV1 +8D,1 41475 DMPR PUSH 15333 GEOCONS5 67300 TIX,1 SLOAD 67210 ALWAYSG 02647 ERECTIM1 71254 BZE DLOAD 67244 COMPGS 02471 THETAN1 +2 45425 DSU STADR 61306 STODL THETAN1 +2 # ERECTION ONLY. 77621 BDSU 02473 THETAN1 +4 02473 STORE THETAN1 +4 77650 GOTO 67266 ADDINDRF >019414,000947: 33,3244 43345 COMPGS DLOAD DAD # COMPASS 02467 THETAN1 02475 FILDELV1 16467 STODL THETAN1 02475 FILDELV1 44275 DMPR BDSU 27723 GEOCONS3 02473 THETAN1 +4 16473 STODL THETAN1 +4 02501 FILDELV1 +4 44275 DMPR BDSU 27723 GEOCONS3 02471 THETAN1 +2 57325 PDDL DMPR 02503 INTVEC1 +4 27725 GEOCONS4 45421 BDSU STADR 75306 STORE THETAN1 +2 # Page 445 246">019433,000966: 33,3266 77776 ADDINDRF EXIT 14C">019436,000969: 33,3267 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 03406 TC CHKCOMED 11304 CCS LGYRO # YES BUT ARE GYROS BUSY 12523 TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW 3">019442,000975: 33,3274 06006 LASTGTS TC INTPRET 77775 VLOAD 02650 ERCOMP1 16461 STODL THETAX1 02443 TMARK 02457 STORE ALK 77776 EXIT # PREVIOUS SECTION WAS FOR RESTARTS 552">019450,000983: 33,3303 05412 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 05412 TC PHASCHNG 00155 OCT 00155 431">019467,001000: 33,3324 06006 RESTEST1 TC INTPRET 77775 VLOAD 27111 SCHZEROS 02467 STORE THETAN1 77776 EXIT 11632 CCS PREMTRXC 03401 TC NOCHORLD 05412 TC PHASCHNG 00255 OCT 00255 433">019476,001009: 33,3335 06006 RESTEST3 TC INTPRET 77745 DLOAD 02634 LAUNCHAZ 53025 DSU BZE 02640 OLDAZMTH 67376 NOAZCHGE 00001 STORE 0D # Page 446 43335 SLOAD DAD 27117 ONEDPP +1 02633 PREMTRXC # DOES NOT CHANGE LAUNCHAZ 16633 STODL PREMTRXC 02634 LAUNCHAZ 16636 STODL NEWAZMTH 00001 0D D50">019491,001024: 33,3353 02654 ADERCOMP STORE ERCOMP +4 77776 EXIT 03170 TC POSN17C 05412 TC PHASCHNG 00335 OCT 00335 7">019496,001029: 33,3360 00006 RESCHNG EXTEND 31636 DCA NEWAZMTH 53640 DXCH OLDAZMTH 35011 CA BIT7 # SPEND 320 SEC ERECTING 55412 TS LENGTHOT 05412 TC PHASCHNG 00075 OCT 00075 24F">019503,001036: 33,3367 33434 SPITGYRO CA ERCOMPPL 04662 TC BANKCALL 17206 CADR IMUPULSE 04662 TC BANKCALL 17577 CADR IMUSTALL 03102 TC SOMERR2 02453 TC ESTIMS # RE-INITIALIZE 745">019512,001045: 33,3376 77776 NOAZCHGE EXIT 35017 CA ONE 55632 TS PREMTRXC C44">019515,001048: 33,3401 11631 NOCHORLD CCS GEOSAVE1 55646 TS ERECTIM1 # COUNTS DOWN FOR ERECTION. E">019518,001051: 33,3403 34334 ANNNNNN CAF NINE 55412 TS LENGTHOT 02523 TC SLEEPIE +1 544">019523,001056: 33,3406 00004 CHKCOMED INHINT 41011 CS MODREG # CHECK FOR MM 07 FIRST 65023 AD SEVEN 00006 EXTEND 13426 BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST 45021 CS ZERO 00006 EXTEND 06030 RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30 75013 MASK BIT5 # LIFTOFF BIT 10000 CCS A 13427 TCF PRELTERM # LIFTOFF HAS OCCURRED # Page 447 35013 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF 70101 MASK FLAGWRD5 # BIT5 FLAGWRD5 10000 CCS A 13427 TCF PRELTERM # BACKUP RECEIVED 00003 RELINT C42">019542,001075: 33,3426 00002 GOBKCALB TC Q 24D">019544,001077: 33,3427 37657 PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11 05210 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER 00004 INHINT 04701 TC POSTJUMP 70002 CADR P11 04C">019551,001084: 33,3434 02647 ERCOMPPL ECADR ERCOMP 335">019553,001086: 33,3435 26,3332 GEOCONS5 EQUALS HIDPHALF 754">019554,001087: 33,3435 06200 1/PIPAGT OCT 06200 C">019555,001088: 33,3436 4375 17DECML = ND1 # OCT 21 C">019556,001089: 33,3436 4374 19DECML = VD1 # OCT 23 8">019557,001090: 33,3436 5036 1/2SECX = .5SEC # Page 448 434">019561,001094: 33,3436 5217 GEOSTRT4 EQUALS ENDOFJOB # Page 449 # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS COUNT 33/P03 552">019568,001101: 33,3436 05412 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE 00154 OCT 00154 05354 TC NEWMODEX # ENTERED BY VERB 65 ENTER 00003 MM 03 B-14 F53">019572,001105: 33,3442 02037 SETNBPOS TC NBPOSPL 04662 TC BANKCALL 16063 CADR MKRELEAS 1">019575,001108: 33,3445 35017 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 33500 CAF V05N30E 04662 TC BANKCALL 20673 CADR GODSPRET 33466 CAF VN0641 04662 TC BANKCALL 20720 CADR GOFLASH 03620 TC GCOMP5 03467 TC +3 03455 TC -8D >019592,001125: 33,3466 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 13477 TCF +4 35016 CAF TWO 54001 TS L 13447 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 03541 TC CONTIN33 5">019604,001137: 33,3500 01236 V05N30E VN 0530 06006 TC INTPRET # UNDYNAMIC ASSEMBLER 546">019607,001140: 33,3502 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 450 00001 0 >019615,001148: 33,3511 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 45513 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 67511 TAR1 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 333">019646,001179: 33,3541 35017 CONTIN33 CA ONE 54735 TS STARCODE 35021 CA ZERO 03635 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67502 TAR/EREF B53">019653,001186: 33,3550 64375 NEXTBNKS VLOAD MXV 00007 6D 02672 XSM 77772 VSL1 26736 STOVL STARAD 00015 12D 76521 MXV VSL1 02672 XSM 36744 STCALL STARAD +6 67726 LITTLSUB 02414 STORE LOSVEC # Page 451 77776 EXIT 04662 TC BANKCALL 16063 CADR MKRELEAS 353">019670,001203: 33,3566 35016 NEXBNKSS CAF TWO 54735 TS STARCODE 36211 CAF SIX 03635 TC TARGDRVE 06006 TC INTPRET 77624 CALL 67726 LITTLSUB 24015 STOVL 12D 02414 LOSVEC 34007 STCALL 06D 47401 AXISGEN 77624 CALL 47205 CALCGTA 77776 EXIT >019684,001217: 33,3604 33631 GCOMP4 CAF V06N93S 04662 TC BANKCALL 20720 CADR GOFLASH 03620 TC GCOMP5 13612 TCF +2 13604 TCF GCOMP4 06006 TC INTPRET 53375 VLOAD VAD 02760 OGC 02650 ERCOMP1 02650 STORE ERCOMP1 77776 EXIT >019696,001229: 33,3620 04662 GCOMP5 TC BANKCALL 16063 CADR MKRELEAS 05560 TC DOWNFLAG 00032 ADRES TRM03FLG 05354 TC NEWMODEX 00002 MM 02 B-14 05412 TC PHASCHNG 00004 OCT 00004 05217 TC ENDOFJOB 3">019706,001239: 33,3631 01535 V06N93S VN 0693 353">019707,001240: 33,3632 05650 GTSOPTCS TC ALARM 353">019708,001241: 33,3633 01602 GTSOPTSS OCT 01602 03620 TC GCOMP5 BANK 34 SETLOC IMUCAL1 BANK # Page 452 COUNT 34/COMST 84B">019719,001252: 04,2613 62545 LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE 02403 LATITUDE 15047 STODL DSPTEM1 +1 02401 AZIMUTH 77434 RTB EXIT 45546 1STO2S 56154 XCH MPAC 55045 TS DSPTEM1 04662 TC BANKCALL 20703 CADR CLEANDSP 32644 CAF VNG0641 04662 TC BANKCALL 20720 CADR GOFLASH 02632 TC +2 # NOT ALLOWED 02633 TC +2 02625 TC -5 06006 TC INTPRET 47135 SLOAD RTB 01046 DSPTEM1 45513 CDULOGIC 02401 STORE AZIMUTH 60535 SLOAD SR2 01047 DSPTEM1 +1 02403 STORE LATITUDE 77616 RVQ 1">019744,001277: 04,2644 01451 VNG0641 VN 0641 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 645">019751,001284: 33,3635 00006 TARGDRVE EXTEND 23424 QXCH QPLAC 55431 TS TARG1/2 06006 TC INTPRET 77624 CALL 67502 TAR/EREF 76740 LXC,1 VLOAD* 02431 TARG1/2 00007 6D,1 36766 STCALL STAR 46053 SXTANG 77776 EXIT 31773 CA SAC 55161 TS DESOPTS # Page 453 31775 CA PAC 55160 TS DESOPTT >019769,001302: 33,3655 35021 RETARG CAF ZERO 55303 TS OPTIND 35017 CAF ONE 04662 TC BANKCALL 16002 CADR SXTMARK 04662 TC BANKCALL 17573 CADR OPTSTALL 03632 TC GTSOPTCS 30075 CAE FLAGWRD1 75014 MASK TRM03BIT 10000 CCS A 03620 TC GCOMP5 51330 INDEX MARKSTAT 30052 CA QPRET 00006 EXTEND 13676 BZF RETARG1 01424 TC QPLAC 1">019789,001322: 33,3676 35021 RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA 57330 XCH MARKSTAT 10000 CCS A 50000 INDEX A 54000 TS A 13655 TCF RETARG # GO DO SXTMARK AGAIN BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 >019799,001332: 33,3704 30341 22444 PIPASC 2DEC .76376833 /a>019801,001334: 33,3706 57223 66451 VELSC 2DEC -.52223476 >019803,001336: 33,3710 05427 12577 ALSK 2DEC .17329931 77567 44202 2DEC -.00835370 A">019807,001340: 33,3714 24276 14066 GEORGEJ 2DEC .63661977 331">019809,001342: 33,3716 03146 14632 GEOCONS1 2DEC .1 332">019811,001344: 33,3720 00121 35341 GEOCONS2 2DEC .005 333">019813,001346: 33,3722 01767 31666 GEOCONS3 2DEC .062 334">019815,001348: 33,3724 00004 35223 GEOCONS4 2DEC .0003 # Page 454 COUNT 33/P02 542">019820,001353: 33,3726 77620 LITTLSUB STQ 02424 QPLAC 76740 LXC,1 VLOAD* 01330 MARKSTAT 00003 2,1 34767 STCALL CDUSPOT 46000 SXTNB 77624 CALL 47637 TRG*NBSM 77650 GOTO 02424 QPLAC 77776 EXIT 731">019834,001367: 33,3742 06006 AZMTHCG1 TC INTPRET 47145 DLOAD RTB 02636 NEWAZMTH 45546 1STO2S 77776 EXIT 56154 XCH MPAC 55045 TS DSPTEM1 04662 TC BANKCALL 20703 CADR CLEANDSP 33775 CAF VN0629 04662 TC BANKCALL 20720 CADR GOFLASH 13760 TCF +2 13761 TCF +2 13753 TCF -5 06006 TC INTPRET 47135 SLOAD RTB 01046 DSPTEM1 45513 CDULOGIC 02634 STORE LAUNCHAZ 77776 EXIT 35021 CA ZERO 55632 TS PREMTRXC 05412 TC PHASCHNG 00004 OCT 00004 04701 TC POSTJUMP 21272 CADR PINBRNCH >019862,001395: 33,3775 01435 VN0629 VN 0629 # Page 455 # *** END OF COMAID .029 *** IMU_CALIBRATION_AND_ALIGNMENT.agc. Parent file is MAIN.agc