* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 0423-0425): Proof IMU_CALIBRATION_AND_ALIGNMENT #211 * done(pp. 0423-0455): Proof IMU_CALIBRATION_AND_ALIGNMENT #211
This commit is contained in:
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73de5c1b3a
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68c072a49e
@ -31,19 +31,19 @@
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# information. Please report any errors to info@sandroid.org.
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# Page 423
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# NAME -- IMU PERFORMANCE TESTS 2
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#
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# DATE -- MARCH 20, 1967
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#
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# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
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#
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# MODNO. -- ZERO
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# NAME- IMU PERFORMANCE TESTS 2
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# DATE- MARCH 20,1967
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#
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# BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
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# MODNO.- ZERO
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# FUNCTIONAL DESCRIPTION
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#
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# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
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# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
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# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
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# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
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BANK 33
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SETLOC IMUCAL
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@ -97,9 +97,9 @@ NBPOSPL CA DEC17
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STORE ZNB +2
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EXIT
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TC CHECKMM
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MM 03 # SEE IF IN OPTICAL VERIFICATION
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TCF +2 # NO
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TCF SETNBPOS +1 # YES
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MM 03 # SEE IF IN OPTICAL VERIFICATION
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TCF +2 # NO
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TCF SETNBPOS +1 # YES
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TC INTPRET
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CALL
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CALCGA
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@ -122,7 +122,6 @@ NBPOSPL CA DEC17
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EXTEND
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DCA PERFDLAY
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TC LONGCALL
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SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron
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EBANK= POSITON
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2CADR GOESTIMS
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@ -217,7 +216,7 @@ VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
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CA XSM +4 # 0 IF POSN 4
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EXTEND
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BZF PON2
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PON4 CS BIT5 # OFFSET PLATFORM
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PON4 CS BIT5 # OFFSET PLATFORM
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ADS ERCOMP1 +2
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CA BIT5
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ADS ERCOMP1
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@ -320,7 +319,7 @@ ZEROING1 TS ZERONDX1
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SETLOC IMUCAL3
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BANK
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ERTHRVSE DLOAD PDDL
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SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS)
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SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
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LATITUDE
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COS DCOMP
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PDDL SIN
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@ -377,10 +376,11 @@ SHOW1 CA POSITON
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CA VB06N98
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TC BANKCALL
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CADR GOFLASH
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TC ENDTEST1 # V34
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TC QPLACE # V33
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TC ENDTEST1 # V 34
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TC QPLACE # V33
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TCF SHOW1
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OC14400 OCT 14400
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3990DEC = OMEG/MS
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VB06N98 VN 0698
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@ -393,6 +393,7 @@ XNBADR GENADR XNB
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XSMADR GENADR XSM
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OMEG/MS 2DEC .24339048
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P11OUT TC BANKCALL
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CADR MATRXJOB # RETURN TO P11
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@ -419,79 +420,78 @@ FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
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TC Q
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# Page 432
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# PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
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# DATE: NOVEMBER 2 1966
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# BY: GEORGE SCHMIDT IL 7-146 EXT. 126
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# PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
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# DATE- NOVEMBER 2 1966
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# BY- GEORGE SCHMIDT IL 7-146 EXT. 126
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# MOD NO 3
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#
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# FUNCTIONAL DESCRIPTION
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#
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# THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
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# THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
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# INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
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# PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
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# THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
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# IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
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# WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT
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# WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT
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# FOR THE DATA TO FLASH.
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#
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# A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST.
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# A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST
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# THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
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# EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
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# HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
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# OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
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# OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973.BOTH OF THESE
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# ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
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# PROCEDURE THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD
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# PROCEDURE THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD
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# FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
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# THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
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# CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
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# COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
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#
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# THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY
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# CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR
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# COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY).
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# COMPASS ERASABLE LOAD REQUIRED
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#
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# 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
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# 2. LATITUDE-DP-OF LAUNCH PAD
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# 3. AZIMUTH-DP-OF ZNB OF VEHICLE
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# 4. IMU COMPENSATION PARAMETERS
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# 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
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#
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# 1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
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# 2- LATITUDE -DP-OF LAUNCH PAD
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# 3- AZIMUTH-DP-OF ZNB OF VEHICLE
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# 4- IMU COMPENSATION PARAMETERS
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# 5-AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
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# TO PERFORM AS PART OF COMPASS
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#
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# 1. OPTICAL VERIFICATION: V 65 E
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# 2. AZIMUTH CHANGE: V 78 E
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#
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# 1-OPTICAL VERIFICATION- V 65 E
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# 2-AZIMUTH CHANGE-V 78 E
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# SUBROUTINES CALLED
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#
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# DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
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# IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
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#
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# NORMAL EXIT
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#
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# DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
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# GYROCOMPASS-MANY, SEE THE LISTING.
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#
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# DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
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# GYROCOMPASS-MANY, SEE THE LISTING
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# ALARMS
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#
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# 1600 OVERFLOW IN DRIFT TEST
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# Page 433
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# 1601 BAD IMU TORQUE ABORT
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# 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
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#
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# OUTPUT
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#
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# DRIFT TESTS: FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
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# DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
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# COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN
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# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
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# 02 GYROCOMPASSING
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# 03 DOING OPTICAL VERIFICATION (CSM)
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# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
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# 02 GYROCOMPASSING
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# 03 DOING OPTICAL VERIFICATION (CSM)
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#
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#
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# DEBRIS
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#
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# ALL CENTRALS, ALL OF EBANK XSM
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# ALL CENTRALS,ALL OF EBANK XSM
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# Page 434
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# MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
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# ON THE NEXT FEW PAGES.
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COUNT 33/P02
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EBANK= XSM
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@ -546,12 +546,12 @@ RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
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# COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
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# SET UP WAITLIST SECTION
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SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT
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SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
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TC PHASCHNG # CHANGE PHASE
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OCT 00135
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CCS TORQNDX # ARE WE DOING VERTDRIFT
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TC EARTHR* # TRUE TORQUE SOUTH GYRO
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WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
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WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
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TC SETGWLST
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TC ENDOFJOB
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@ -573,6 +573,7 @@ WTGTSMPL TC TWIDDLE
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RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
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TC WTGTSMPL # END OF WAITLIST SECTION
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# STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
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25DECML EQUALS OCT31
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@ -598,6 +599,7 @@ LOADSTDT CAF 25DECML
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TCF LOADSTDT +1
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TC Q
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# COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
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ALLOOP CA TIME1
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@ -644,7 +646,7 @@ ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
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CCS GEOCOMP1
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TC +2
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TC NORMLOP
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TC CHKCOMED # SEE IF PRELAUNCH OVER
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TC CHKCOMED # SEE IF PRELAUNCH OVER
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TC BANKCALL # COMPENSATION IF IN COMPASS
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CADR 1/PIPA
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NORMLOP TC INTPRET
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@ -741,6 +743,7 @@ ALKLP LXC,1 SXA,1
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ALKLP
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8D
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LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
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ACCWD +8D,1
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VLAUN +8D,1
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@ -760,6 +763,7 @@ LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
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TIX,1
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LOOSE
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AXT,2 AXT,1 # EVALUATE SINES AND COSINES
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6
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2
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@ -782,12 +786,12 @@ PERFERAS EXIT
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CA EBANK7
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EBANK= LAT(SPL)
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TS EBANK
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TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
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TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
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# CAUTION
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#
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# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
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# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
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# BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
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EBANK= LENGTHOT
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ONCEMORE CCS LENGTHOT
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@ -825,6 +829,7 @@ TORQINCH TC PHASCHNG
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EXIT
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TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
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SOMEERRR TC ALARM
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OCT 1600
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TC +3
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@ -834,14 +839,16 @@ SOMERR2 TC ALARM
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OCT 00005
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TC ENDTEST1
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# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD
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# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD.
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DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
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SCHZEROS 2DEC .00000000
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2DEC .00000000
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OCT 00000
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ONEDPP OCT 00000
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OCT 00001 # ABOVE ORDER IS IMPORTANT
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OCT 00001 # ABOVE ORDER IS IMPORTANT
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INTVAL OCT 4
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OCT 2
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@ -852,9 +859,9 @@ SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
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77DECML DEC 77
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ALXXXZ GENADR ALX1S -1
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# GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
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COUNT 33/P01
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# INITIALIZATION SECTION
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@ -868,7 +875,7 @@ GTSCPSS CA FLAGWRD1 # CALLED BY V37
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OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
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GTSCPSSA CAF ONE
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TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS
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TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
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CA 1/PIPAGT
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TS 1/PIPADT
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NXXTENN CA BIT8
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@ -894,7 +901,7 @@ SETUPGC CA DEC17
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TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
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POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
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POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE
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QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE
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CS HALF # ALL THIS TO INITIALIZE MATRIX
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TS ZSM
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@ -912,7 +919,7 @@ POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
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TC QPLACE
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# Page 444
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# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
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# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.SET BY TASK ALLOOP
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COUNT 33/P02
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@ -1074,7 +1081,7 @@ CHKCOMED INHINT
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RELINT
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GOBKCALB TC Q
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PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11
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PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11
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TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
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INHINT
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TC POSTJUMP
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@ -1105,9 +1112,9 @@ GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
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SETNBPOS TC NBPOSPL
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TC BANKCALL
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CADR MKRELEAS
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OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET
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ZL # 1, THEN TARGET 2
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LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET
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OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
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ZL # T 1,THEN TARGET 2
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LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
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TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
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EXTEND
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INDEX RUN
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@ -1130,7 +1137,8 @@ VN0641 VN 0641
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TCF +4
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CAF TWO
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TS L
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TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
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TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
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TC CONTIN33
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@ -1138,7 +1146,7 @@ V05N30E VN 0530
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TC INTPRET # UNDYNAMIC ASSEMBLER
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TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
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2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
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2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL
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12D
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SSP SETPD
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S2
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@ -1396,4 +1404,3 @@ VN0629 VN 0629
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# Page 455
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# *** END OF COMAID .029 ***
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