1400 lines
24 KiB
ArmAsm
1400 lines
24 KiB
ArmAsm
# Copyright: Public domain.
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# Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
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# Purpose: Part of the source code for Comanche, build 055. It
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# is part of the source code for the Command Module's
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# (CM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 423-455
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# Contact: Onno Hommes <ohommes@cmu.edu>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-10 OH Batch 1 Assignment Comanche Transcription
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# 2009-05-20 RSB Corrections: P00D00H -> P00DOOH, definition
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# of 25DECML fixed.
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# 2009-05-23 RSB At SPECSTS, corrected to PRIO22.
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachusetts Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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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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#
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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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BANK 33
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SETLOC IMUCAL
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BANK
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EBANK= POSITON
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IMUTEST CA ZERO
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TS DRIFTT
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TS GEOCOMP1
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CAF TESTTIME
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TS LENGTHOT
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TC COAALIGN # TAKE CARE OF DRIFT FLAG
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CAF 1SECX
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TS 1SECXT1
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CA OC14400
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TS 1/PIPADT
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GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
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CALL
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LATAZCHK
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COS DCOMP
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SL1
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STODL WANGI
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LATITUDE
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SIN SL1
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STORE WANGO
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EXIT
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GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
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CADR IMUZERO
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TC IMUSTLLG
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IMUBACK CA ZERO
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TS NDXCTR
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TS TORQNDX
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TS TORQNDX +1
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NBPOSPL CA DEC17
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TS ZERONDX1
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CA XNBADR
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# Page 424
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TC ZEROING
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CA HALF
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TS XNB
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TC INTPRET
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DLOAD SIN
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AZIMUTH
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STORE YNB +2
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STODL ZNB +4
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AZIMUTH
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COS
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STORE YNB +4
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DCOMP
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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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TC INTPRET
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CALL
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CALCGA
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EXIT
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TC BANKCALL
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CADR IMUCOARS
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CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
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MASK FLAGWRD3
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EXTEND
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BZF +2
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INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
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TC DOWNFLAG # RESET GIMBAL LOCK FLAG
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ADRES GLOKFAIL # BIT 14 FLAG 3
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TC IMUSTLLG
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CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
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TC PIPACHK # ALIGN AND MEARSUE VERTICAL PIPA RATE
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TC BANKCALL
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CADR IMUFINE
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TC IMUSTLLG
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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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CA ESTICADR
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TC JOBSLEEP
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GOESTIMS CA ESTICADR
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TC JOBWAKE
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TC TASKOVER
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ESTICADR CADR ESTIMS
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# Page 425
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TORQUE CA ZERO
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TS DSPTEM2
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CA DRIFTI
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TS DSPTEM2 +1
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INDEX POSITON
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TS SOUTHDR -1
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TC SHOW
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PIPACHK INDEX NDXCTR # PIPA TEST
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TC +1
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TC EARTHR*
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CA DEC57
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TS LENGTHOT
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CA ONE
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TS RESULTCT
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CA ZERO
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INDEX PIPINDEX
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TS PIPAX
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TS DATAPL
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TS DATAPL +4
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TC CHECKG # PIP PULSE CATCHING ROUTINE
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INHINT
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CAF TWO
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TC TWIDDLE
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EBANK= XSM
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ADRES PIPATASK
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TC ENDOFJOB
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PIPATASK EXTEND
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DIM LENGTHOT
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CA LENGTHOT
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EXTEND
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BZMF STARTPIP
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CAF BIT10
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TC TWIDDLE
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EBANK= XSM
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ADRES PIPATASK
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STARTPIP CAF PRIO20
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TC FINDVAC
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EBANK= XSM
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2CADR PIPJOBB
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TC TASKOVER
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PIPJOBB INDEX NDXCTR
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TC +1
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TC EARTHR*
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CA LENGTHOT
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EXTEND
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BZMF +2
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TC ENDOFJOB
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CA FIVE
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# Page 426
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TS RESULTCT
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TC CHECKG
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EXTEND
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DCS DATAPL
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DAS DATAPL +4
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TC INTPRET
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DLOAD DSU
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DATAPL +6
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DATAPL +2
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BPL CALL
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AINGOTN
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OVERFFIX
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AINGOTN PDDL DDV
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DATAPL +4
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SL4 DMPR
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DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM
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RTB
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SGNAGREE
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STORE DSPTEM2
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EXIT
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CCS NDXCTR
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TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
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TC SHOW
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VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
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TS LENGTHOT
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INDEX POSITON
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CS SOUTHDR -2
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TS DRIFTT
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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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ADS ERCOMP1 +2
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CA BIT5
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ADS ERCOMP1
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TCF PONG
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PON2 CS BIT5
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ADS ERCOMP1 +2
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CA BIT5
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ADS ERCOMP1 +4
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PONG TC EARTHR*
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CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
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TS ERVECTOR
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TS ERVECTOR +1
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GUESS1 CAF POSMAX
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TS TORQNDX
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TS TORQNDX +1
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CA CDUX
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TS LOSVEC
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# Page 427
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TC ESTIMS
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VALMIS CA DRIFTO
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TS DSPTEM2 +1
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CA ZERO
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TS DSPTEM2
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TC SHOW
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ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
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ADRES IMUSE # BIT 8 FLAG 0
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CS ZERO
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TC NEWMODEX +3
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TC BANKCALL
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CADR MKRELEAS
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TC ENDEXT
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# Page 428
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OVERFFIX DAD DAD
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DPPOSMAX
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ONEDPP
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RVQ
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COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
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QXCH QPLACE
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CA ZERO
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TS THETAD
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TS THETAD +1
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TS THETAD +2
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TC BANKCALL
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CADR IMUCOARS
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TC BANKCALL
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CADR IMUSTALL
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TC SOMERR2
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TC QPLACE
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IMUSTLLG EXTEND
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QXCH QPLACE
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TC COAALIGN +10
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CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
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QXCH QPLACE
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TC +6
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CHECKG1 RELINT
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CA NEWJOB
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EXTEND
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BZMF +6
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TC CHANG1
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INHINT
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INDEX PIPINDEX
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CS PIPAX
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TS ZERONDX
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INHINT
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INDEX PIPINDEX
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CA PIPAX
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AD ZERONDX
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EXTEND
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BZF CHECKG1
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INDEX PIPINDEX
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CA PIPAX
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INDEX RESULTCT
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TS DATAPL
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TC FINETIME
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INDEX RESULTCT
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TS DATAPL +1
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# Page 429
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INDEX RESULTCT
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LXCH DATAPL +2
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RELINT
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ENDCHKG TC QPLACE
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ZEROING TS L
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TCF +2
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ZEROING1 TS ZERONDX1
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CAF ZERO
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INDEX L
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TS 0
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INCR L
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CCS ZERONDX1
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TCF ZEROING1
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TC Q
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# Page 430
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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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LATITUDE
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COS DCOMP
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PDDL SIN
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LATITUDE
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VDEF VXSC
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OMEG/MS
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STORE ERVECTOR
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RTB
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LOADTIME
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STOVL TMARK
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SCHZEROS
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STORE ERCOMP1
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RVQ
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SETLOC IMUCAL
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BANK
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EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
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S2
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LOADTIME
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STORE TEMPTIME
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DSU BPL
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TMARK
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ERTHR
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CALL
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OVERFFIX
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ERTHR SL VXSC
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9D
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ERVECTOR
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MXV VAD
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XSM
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ERCOMP1
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STODL ERCOMP1
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TEMPTIME
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STORE TMARK
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AXT,1 RTB
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ECADR ERCOMP1
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PULSEIMU
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GOTO
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S2
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EARTHR* EXTEND
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QXCH QPLACES
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TC INTPRET
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CALL
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EARTHR
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PROUT EXIT
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TC IMUSTLLG
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TC QPLACES
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# Page 431
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SHOW EXTEND
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QXCH QPLACE
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SHOW1 CA POSITON
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TS DSPTEM2 +2
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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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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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TESTTIME OCT 01602
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DEC17 = ND1
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OGCPL ECADR OGC
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1SECX = 1SEC
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DEC57 = VD1
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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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COUNT 02/COMST
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BLOCK 2
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FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
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EXTEND
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READ LOSCALAR
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TS L
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EXTEND
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RXOR LOSCALAR
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EXTEND
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BZF +4
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EXTEND
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READ LOSCALAR
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TS L
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+4 CS POSMAX
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AD L
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EXTEND
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BZF FINETIME +1
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EXTEND
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READ HISCALAR
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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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# MOD NO 3
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#
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# FUNCTIONAL DESCRIPTION
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#
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# THIS SECTON 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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# 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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# 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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# 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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# 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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# 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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# 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. AXIMUTH CHANGE: V 78 E
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#
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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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# 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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# 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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#
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# DEBRIS
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#
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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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BANK 33
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SETLOC IMUCAL
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BANK
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ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
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OCT 00075
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OCT 00004 # TURN OFF GROUP 4 IF ON
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RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
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CA TIME1
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TS GTSWTLT1
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CAF ZERO # ZERO THE PIPAS
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TS PIPAX
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TS PIPAY
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TS PIPAZ
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RELINT
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CA 77DECML # ZERO ALL NECESSARY LOCATIONS
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TS ZERONDX1
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CA ALXXXZ
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TC ZEROING
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TC INTPRET
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SLOAD
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SCHZEROS
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STOVL GCOMPSW -1
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INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
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STOVL ALX1S
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SCHZEROS
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STORE GCOMP
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STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
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EXIT
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CCS GEOCOMP1 # NON ZERO IF COMPASS.
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TC +2
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TC SLEEPIE +1
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TC INTPRET
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CALL
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ERTHRVSE
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EXIT
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CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
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TS ERECTIME
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TC NEWMODEX
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MM 02
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TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
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# Page 435
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CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
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TC ANNNNNN # END OF FIRST TIME THROUGH
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# Page 436
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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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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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TC SETGWLST
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TC ENDOFJOB
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SETGWLST EXTEND
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QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
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|
INHINT
|
|
CS TIME1
|
|
AD GTSWTLT1
|
|
EXTEND
|
|
BZMF +2
|
|
AD NEGMAX # 10 MS ERROR OK
|
|
AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
|
|
EXTEND
|
|
BZMF RIGHTGTS
|
|
WTGTSMPL TC TWIDDLE
|
|
EBANK= ALTIM
|
|
ADRES ALLOOP
|
|
TC MPAC
|
|
RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
|
|
TC WTGTSMPL # END OF WAITLIST SECTION
|
|
|
|
# STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
|
|
|
|
25DECML EQUALS OCT31
|
|
STOREDTA CAF 25DECML
|
|
TS MPAC
|
|
INDEX MPAC
|
|
CAE THETAX1
|
|
INDEX MPAC
|
|
TS RESTARPT
|
|
CCS MPAC
|
|
TCF STOREDTA +1
|
|
TC Q
|
|
|
|
LOADSTDT CAF 25DECML
|
|
TS MPAC
|
|
INDEX MPAC
|
|
CA RESTARPT
|
|
INDEX MPAC
|
|
|
|
# Page 437
|
|
TS THETAX1
|
|
CCS MPAC
|
|
TCF LOADSTDT +1
|
|
TC Q
|
|
|
|
# COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
|
|
|
|
ALLOOP CA TIME1
|
|
TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
|
|
ALLOOP3 CA ALTIM
|
|
TS GEOSAVE1
|
|
TC PHASCHNG
|
|
OCT 00115
|
|
ALLOOP1 CAE GEOSAVE1
|
|
TS ALTIM
|
|
CCS A
|
|
CA A # SHOULD NEVER HIT THIS LOCATION
|
|
TS ALTIMS
|
|
CS A
|
|
TS ALTIM
|
|
CAF ZERO
|
|
XCH PIPAX
|
|
TS DELVX
|
|
CAF ZERO
|
|
XCH PIPAY
|
|
TS DELVY
|
|
CAF ZERO
|
|
XCH PIPAZ
|
|
TS DELVZ
|
|
CAF 19DECML # 23 OCT
|
|
TC NEWPHASE
|
|
OCT 00005
|
|
SPECSTS CAF PRIO22
|
|
TC FINDVAC
|
|
EBANK= GEOSAVE1
|
|
2CADR ALFLT # START THE JOB
|
|
|
|
TC TASKOVER
|
|
|
|
# Page 438
|
|
# THIS IS PART OF THE JOB DONE EVERY ITERATION
|
|
|
|
ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
|
|
TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
|
|
OCT 00215
|
|
TCF +2
|
|
ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
|
|
|
|
CCS GEOCOMP1
|
|
TC +2
|
|
TC NORMLOP
|
|
TC CHKCOMED # SEE IF PRELAUNCH OVER
|
|
TC BANKCALL # COMPENSATION IF IN COMPASS
|
|
CADR 1/PIPA
|
|
NORMLOP TC INTPRET
|
|
DLOAD
|
|
INTVAL
|
|
STOVL S1
|
|
DELVX
|
|
VXM VSL1
|
|
XSM
|
|
DLOAD DCOMP
|
|
MPAC +3
|
|
STODL DPIPAY
|
|
MPAC +5
|
|
STORE DPIPAZ
|
|
|
|
SETPD AXT,1
|
|
0
|
|
8D
|
|
SLOAD DCOMP
|
|
GEOCOMP1
|
|
BMN
|
|
ALWAYSG # DO A QUICK COMPASS
|
|
|
|
# Page 439
|
|
# NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
|
|
|
|
COUNT 33/COMST
|
|
|
|
ALCGKK SLOAD BMN
|
|
ALTIMS
|
|
ALFLT3 # NO NEW GAINS NEEDED
|
|
ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
|
|
12D
|
|
ALX1S
|
|
ALKCG2 DLOAD* INCR,1
|
|
ALFDK +144D,1
|
|
DEC -2
|
|
STORE ALDK +10D,2
|
|
TIX,2 SXA,1
|
|
ALKCG2
|
|
ALX1S
|
|
|
|
ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
|
|
8D # AND GAIN UPDATES
|
|
DELMLP DLOAD* DMP
|
|
DPIPAY +8D,1
|
|
PIPASC
|
|
SLR BDSU*
|
|
9D
|
|
INTY +8D,1
|
|
STORE INTY +8D,1
|
|
PDDL DMP*
|
|
VELSC
|
|
VLAUN +8D,1
|
|
SL2R
|
|
DSU STADR
|
|
STORE DELM +8D,1
|
|
STORE DELM +10D,1
|
|
TIX,1 AXT,2
|
|
DELMLP
|
|
4
|
|
ALILP DLOAD* DMPR*
|
|
ALK +4,2
|
|
ALDK +4,2
|
|
STORE ALK +4,2
|
|
TIX,2 AXT,2
|
|
ALILP
|
|
8D
|
|
ALKLP LXC,1 SXA,1
|
|
CMPX1
|
|
CMPX1
|
|
DLOAD* DMPR*
|
|
ALK +1,1
|
|
DELM +8D,2
|
|
# Page 440
|
|
DAD*
|
|
INTY +8D,2
|
|
STORE INTY +8D,2
|
|
DLOAD* DAD*
|
|
ALK +12D,2
|
|
ALDK +12D,2
|
|
STORE ALK +12D,2
|
|
DMPR* DAD*
|
|
DELM +8D,2
|
|
INTY +16D,2
|
|
STORE INTY +16D,2
|
|
DLOAD* DMP*
|
|
ALSK +1,1
|
|
DELM +8D,2
|
|
SL1R DAD*
|
|
VLAUN +8D,2
|
|
STORE VLAUN +8D,2
|
|
TIX,2 AXT,1
|
|
ALKLP
|
|
8D
|
|
|
|
LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
|
|
ACCWD +8D,1
|
|
VLAUN +8D,1
|
|
PDDL* VDEF
|
|
POSNV +8D,1
|
|
MXV VSL1
|
|
TRANSM1
|
|
DLOAD
|
|
MPAC
|
|
STORE POSNV +8D,1
|
|
DLOAD
|
|
MPAC +3
|
|
STORE VLAUN +8D,1
|
|
DLOAD
|
|
MPAC +5
|
|
STORE ACCWD +8D,1
|
|
TIX,1
|
|
LOOSE
|
|
|
|
AXT,2 AXT,1 # EVALUATE SINES AND COSINES
|
|
6
|
|
2
|
|
BOOP DLOAD* DMPR
|
|
ANGX +2,1
|
|
GEORGEJ
|
|
SR2R
|
|
PUSH SIN
|
|
# Page 441
|
|
SL3R XAD,1
|
|
X1
|
|
STORE 16D,2
|
|
DLOAD
|
|
COS
|
|
STORE 22D,2 # COSINES
|
|
TIX,2
|
|
BOOP
|
|
|
|
PERFERAS EXIT
|
|
CA EBANK7
|
|
EBANK= LAT(SPL)
|
|
TS EBANK
|
|
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
|
|
ONCEMORE CCS LENGTHOT
|
|
TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
|
|
CCS TORQNDX
|
|
TCF +2
|
|
TC SETUPER1
|
|
CA CDUX
|
|
TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
|
|
SETUPER1 TC INTPRET # DRIFT TEST OVER
|
|
DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
|
|
ANGZ
|
|
ANGY
|
|
PDDL VDEF
|
|
ANGX
|
|
VCOMP VXSC
|
|
GEORGEJ
|
|
MXV VSR1
|
|
XSM
|
|
STORE OGC
|
|
EXIT
|
|
|
|
TORQINCH TC PHASCHNG
|
|
OCT 00005
|
|
CA OGCPL
|
|
TC BANKCALL
|
|
CADR IMUPULSE
|
|
TC IMUSTLLG
|
|
CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
|
|
TC VALMIS # VERT DRIFT TEST OVER
|
|
TC INTPRET
|
|
# Page 442
|
|
CALL # SET UP ERATE FOR PIP TEST OR COMPASS
|
|
ERTHRVSE
|
|
EXIT
|
|
TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
|
|
|
|
SOMEERRR TC ALARM
|
|
OCT 1600
|
|
TC +3
|
|
SOMERR2 TC ALARM
|
|
OCT 1601
|
|
TC PHASCHNG
|
|
OCT 00005
|
|
TC ENDTEST1
|
|
|
|
# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD
|
|
|
|
DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
|
|
SCHZEROS 2DEC .00000000
|
|
2DEC .00000000
|
|
OCT 00000
|
|
ONEDPP OCT 00000
|
|
OCT 00001 # ABOVE ORDER IS IMPORTANT
|
|
|
|
INTVAL OCT 4
|
|
OCT 2
|
|
DEC 144
|
|
DEC -1
|
|
SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
|
|
2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
|
|
|
|
77DECML DEC 77
|
|
ALXXXZ GENADR ALX1S -1
|
|
|
|
# GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
|
|
|
|
COUNT 33/P01
|
|
|
|
# INITIALIZATION SECTION
|
|
|
|
GTSCPSS CA FLAGWRD1 # CALLED BY V37
|
|
MASK NOP01BIT
|
|
# Page 443
|
|
EXTEND
|
|
BZF GTSCPSSA
|
|
TC P00DOO
|
|
OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
|
|
|
|
GTSCPSSA CAF ONE
|
|
TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS
|
|
CA 1/PIPAGT
|
|
TS 1/PIPADT
|
|
NXXTENN CA BIT8
|
|
TS LENGTHOT
|
|
CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
|
|
TS 1SECXT1
|
|
CAF ONE
|
|
TS PREMTRX1
|
|
TS PERFDLAY +1
|
|
CAF ZERO
|
|
TS PERFDLAY
|
|
EXTEND
|
|
DCA LUNCHAZ1
|
|
DXCH NEWAZ1
|
|
EXTEND
|
|
DCA LUNCHAZ1
|
|
DXCH OLDAZMTH
|
|
SETUPGC CA DEC17
|
|
TS ZERONDX1
|
|
CA XSMADR
|
|
TC ZEROING
|
|
TC POSN17C
|
|
TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
|
|
|
|
|
|
POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
|
|
QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE
|
|
CS HALF # ALL THIS TO INITIALIZE MATRIX
|
|
TS ZSM
|
|
TC INTPRET
|
|
DLOAD PUSH
|
|
NEWAZ1
|
|
SIN
|
|
STORE XSM +4
|
|
STODL YSM +2
|
|
COS
|
|
STORE YSM +4
|
|
DCOMP
|
|
STORE XSM +2
|
|
EXIT
|
|
TC QPLACE
|
|
|
|
# Page 444
|
|
# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
|
|
|
|
COUNT 33/P02
|
|
|
|
ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
|
|
DPIPAY +8D,1
|
|
FILDELV1 +8D,1
|
|
DMPR DAD*
|
|
GEOCONS1
|
|
FILDELV1 +8D,1
|
|
STORE FILDELV1 +8D,1
|
|
DAD*
|
|
INTVEC1 +8D,1
|
|
STORE INTVEC1 +8D,1
|
|
DMPR DAD*
|
|
GEOCONS2
|
|
FILDELV1 +8D,1
|
|
DMPR PUSH
|
|
GEOCONS5
|
|
TIX,1 SLOAD
|
|
ALWAYSG
|
|
ERECTIM1
|
|
BZE DLOAD
|
|
COMPGS
|
|
THETAN1 +2
|
|
DSU STADR
|
|
STODL THETAN1 +2 # ERECTION ONLY.
|
|
BDSU
|
|
THETAN1 +4
|
|
STORE THETAN1 +4
|
|
GOTO
|
|
ADDINDRF
|
|
COMPGS DLOAD DAD # COMPASS
|
|
THETAN1
|
|
FILDELV1
|
|
STODL THETAN1
|
|
FILDELV1
|
|
DMPR BDSU
|
|
GEOCONS3
|
|
THETAN1 +4
|
|
STODL THETAN1 +4
|
|
FILDELV1 +4
|
|
DMPR BDSU
|
|
GEOCONS3
|
|
THETAN1 +2
|
|
PDDL DMPR
|
|
INTVEC1 +4
|
|
GEOCONS4
|
|
BDSU STADR
|
|
STORE THETAN1 +2
|
|
# Page 445
|
|
ADDINDRF EXIT
|
|
|
|
|
|
ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
|
|
TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
|
|
TC CHKCOMED
|
|
CCS LGYRO # YES BUT ARE GYROS BUSY
|
|
TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
|
|
|
|
LASTGTS TC INTPRET
|
|
VLOAD
|
|
ERCOMP1
|
|
STODL THETAX1
|
|
TMARK
|
|
STORE ALK
|
|
EXIT # PREVIOUS SECTION WAS FOR RESTARTS
|
|
|
|
RESTAIER TC PHASCHNG
|
|
OCT 00275
|
|
TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
|
|
VLOAD MXV
|
|
THETAN1
|
|
XSM
|
|
VSL1 VAD
|
|
THETAX1
|
|
STODL ERCOMP1
|
|
ALK
|
|
STORE TMARK
|
|
EXIT
|
|
TC EARTHR* # TORQUE IT ALL IN
|
|
CAE ERECTIM1
|
|
TS GEOSAVE1
|
|
TC PHASCHNG
|
|
OCT 00155
|
|
RESTEST1 TC INTPRET
|
|
VLOAD
|
|
SCHZEROS
|
|
STORE THETAN1
|
|
EXIT
|
|
CCS PREMTRXC
|
|
TC NOCHORLD
|
|
TC PHASCHNG
|
|
OCT 00255
|
|
RESTEST3 TC INTPRET
|
|
DLOAD
|
|
LAUNCHAZ
|
|
DSU BZE
|
|
OLDAZMTH
|
|
NOAZCHGE
|
|
STORE 0D
|
|
# Page 446
|
|
SLOAD DAD
|
|
ONEDPP +1
|
|
PREMTRXC # DOES NOT CHANGE LAUNCHAZ
|
|
STODL PREMTRXC
|
|
LAUNCHAZ
|
|
STODL NEWAZMTH
|
|
0D
|
|
ADERCOMP STORE ERCOMP +4
|
|
EXIT
|
|
TC POSN17C
|
|
TC PHASCHNG
|
|
OCT 00335
|
|
RESCHNG EXTEND
|
|
DCA NEWAZMTH
|
|
DXCH OLDAZMTH
|
|
CA BIT7 # SPEND 320 SEC ERECTING
|
|
TS LENGTHOT
|
|
TC PHASCHNG
|
|
OCT 00075
|
|
SPITGYRO CA ERCOMPPL
|
|
TC BANKCALL
|
|
CADR IMUPULSE
|
|
TC BANKCALL
|
|
CADR IMUSTALL
|
|
TC SOMERR2
|
|
TC ESTIMS # RE-INITIALIZE
|
|
|
|
|
|
NOAZCHGE EXIT
|
|
CA ONE
|
|
TS PREMTRXC
|
|
NOCHORLD CCS GEOSAVE1
|
|
TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
|
|
|
|
ANNNNNN CAF NINE
|
|
TS LENGTHOT
|
|
TC SLEEPIE +1
|
|
|
|
|
|
CHKCOMED INHINT
|
|
CS MODREG # CHECK FOR MM 07 FIRST
|
|
AD SEVEN
|
|
EXTEND
|
|
BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
|
|
CS ZERO
|
|
EXTEND
|
|
RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
|
|
MASK BIT5 # LIFTOFF BIT
|
|
CCS A
|
|
TCF PRELTERM # LIFTOFF HAS OCCURRED
|
|
|
|
# Page 447
|
|
CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
|
|
MASK FLAGWRD5 # BIT5 FLAGWRD5
|
|
CCS A
|
|
TCF PRELTERM # BACKUP RECEIVED
|
|
|
|
RELINT
|
|
GOBKCALB TC Q
|
|
|
|
PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11
|
|
TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
|
|
INHINT
|
|
TC POSTJUMP
|
|
CADR P11
|
|
|
|
|
|
ERCOMPPL ECADR ERCOMP
|
|
|
|
GEOCONS5 EQUALS HIDPHALF
|
|
1/PIPAGT OCT 06200
|
|
17DECML = ND1 # OCT 21
|
|
19DECML = VD1 # OCT 23
|
|
1/2SECX = .5SEC
|
|
|
|
|
|
# Page 448
|
|
GEOSTRT4 EQUALS ENDOFJOB
|
|
|
|
# Page 449
|
|
# OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
|
|
|
|
COUNT 33/P03
|
|
|
|
GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
|
|
OCT 00154
|
|
TC NEWMODEX # ENTERED BY VERB 65 ENTER
|
|
MM 03
|
|
SETNBPOS TC NBPOSPL
|
|
TC BANKCALL
|
|
CADR MKRELEAS
|
|
OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET
|
|
ZL # 1, THEN TARGET 2
|
|
LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET
|
|
TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
|
|
EXTEND
|
|
INDEX RUN
|
|
DCA TAZEL1
|
|
DXCH DSPTEM1
|
|
CAF V05N30E
|
|
TC BANKCALL
|
|
CADR GODSPRET
|
|
CAF VN0641
|
|
TC BANKCALL
|
|
CADR GOFLASH
|
|
TC GCOMP5
|
|
TC +3
|
|
TC -8D
|
|
VN0641 VN 0641
|
|
DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
|
|
INDEX RUN
|
|
DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
|
|
CCS RUN
|
|
TCF +4
|
|
CAF TWO
|
|
TS L
|
|
TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
|
|
|
|
TC CONTIN33
|
|
|
|
V05N30E VN 0530
|
|
|
|
TC INTPRET # UNDYNAMIC ASSEMBLER
|
|
TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
|
|
2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
|
|
12D
|
|
SSP SETPD
|
|
S2
|
|
6
|
|
# Page 450
|
|
0
|
|
TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
|
|
TAZEL1 +3,1
|
|
STORE 0 # PD00 ELEVATION PD00
|
|
SIN
|
|
STORE 18D,2 # PD06 *** SIN(EL) ***PD12
|
|
DLOAD
|
|
0
|
|
COS PUSH # PD00 COS(EL) PD00
|
|
SLOAD* RTB
|
|
TAZEL1 +2,1
|
|
CDULOGIC
|
|
STORE 2 # PD02 AZIMUTH PD02
|
|
SIN DMP
|
|
0
|
|
SL1
|
|
STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
|
|
DLOAD COS
|
|
2
|
|
DMP SL1
|
|
DCOMP AXT,1
|
|
0
|
|
STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
|
|
TIX,2 RVQ
|
|
TAR1
|
|
|
|
|
|
BANK 33
|
|
SETLOC IMUCAL
|
|
BANK
|
|
COUNT* $$/P03
|
|
|
|
CONTIN33 CA ONE
|
|
TS STARCODE
|
|
CA ZERO
|
|
TC TARGDRVE
|
|
TC INTPRET
|
|
CALL
|
|
TAR/EREF
|
|
NEXTBNKS VLOAD MXV
|
|
6D
|
|
XSM
|
|
VSL1
|
|
STOVL STARAD
|
|
12D
|
|
MXV VSL1
|
|
XSM
|
|
STCALL STARAD +6
|
|
LITTLSUB
|
|
STORE LOSVEC
|
|
# Page 451
|
|
EXIT
|
|
TC BANKCALL
|
|
CADR MKRELEAS
|
|
|
|
|
|
NEXBNKSS CAF TWO
|
|
TS STARCODE
|
|
CAF SIX
|
|
TC TARGDRVE
|
|
TC INTPRET
|
|
CALL
|
|
LITTLSUB
|
|
STOVL 12D
|
|
LOSVEC
|
|
STCALL 06D
|
|
AXISGEN
|
|
CALL
|
|
CALCGTA
|
|
EXIT
|
|
GCOMP4 CAF V06N93S
|
|
TC BANKCALL
|
|
CADR GOFLASH
|
|
TC GCOMP5
|
|
TCF +2
|
|
TCF GCOMP4
|
|
TC INTPRET
|
|
VLOAD VAD
|
|
OGC
|
|
ERCOMP1
|
|
STORE ERCOMP1
|
|
EXIT
|
|
GCOMP5 TC BANKCALL
|
|
CADR MKRELEAS
|
|
TC DOWNFLAG
|
|
ADRES TRM03FLG
|
|
|
|
TC NEWMODEX
|
|
MM 02
|
|
TC PHASCHNG
|
|
OCT 00004
|
|
TC ENDOFJOB
|
|
V06N93S VN 0693
|
|
GTSOPTCS TC ALARM
|
|
GTSOPTSS OCT 01602
|
|
TC GCOMP5
|
|
|
|
|
|
BANK 34
|
|
SETLOC IMUCAL1
|
|
BANK
|
|
# Page 452
|
|
|
|
COUNT 34/COMST
|
|
|
|
LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
|
|
LATITUDE
|
|
STODL DSPTEM1 +1
|
|
AZIMUTH
|
|
RTB EXIT
|
|
1STO2S
|
|
XCH MPAC
|
|
TS DSPTEM1
|
|
TC BANKCALL
|
|
CADR CLEANDSP
|
|
CAF VNG0641
|
|
TC BANKCALL
|
|
CADR GOFLASH
|
|
TC +2 # NOT ALLOWED
|
|
TC +2
|
|
TC -5
|
|
TC INTPRET
|
|
SLOAD RTB
|
|
DSPTEM1
|
|
CDULOGIC
|
|
STORE AZIMUTH
|
|
SLOAD SR2
|
|
DSPTEM1 +1
|
|
STORE LATITUDE
|
|
RVQ
|
|
VNG0641 VN 0641
|
|
BANK 33
|
|
SETLOC IMUCAL
|
|
BANK
|
|
|
|
|
|
COUNT* $$/P03
|
|
TARGDRVE EXTEND
|
|
QXCH QPLAC
|
|
TS TARG1/2
|
|
TC INTPRET
|
|
CALL
|
|
TAR/EREF
|
|
LXC,1 VLOAD*
|
|
TARG1/2
|
|
6D,1
|
|
STCALL STAR
|
|
SXTANG
|
|
EXIT
|
|
CA SAC
|
|
TS DESOPTS
|
|
|
|
# Page 453
|
|
CA PAC
|
|
TS DESOPTT
|
|
RETARG CAF ZERO
|
|
TS OPTIND
|
|
CAF ONE
|
|
TC BANKCALL
|
|
CADR SXTMARK
|
|
TC BANKCALL
|
|
CADR OPTSTALL
|
|
TC GTSOPTCS
|
|
CAE FLAGWRD1
|
|
MASK TRM03BIT
|
|
CCS A
|
|
TC GCOMP5
|
|
|
|
INDEX MARKSTAT
|
|
CA QPRET
|
|
EXTEND
|
|
BZF RETARG1
|
|
TC QPLAC
|
|
|
|
|
|
RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
|
|
XCH MARKSTAT
|
|
CCS A
|
|
INDEX A
|
|
TS A
|
|
TCF RETARG # GO DO SXTMARK AGAIN
|
|
BANK 33
|
|
SETLOC IMUCAL
|
|
BANK
|
|
COUNT* $$/P03
|
|
PIPASC 2DEC .76376833
|
|
|
|
VELSC 2DEC -.52223476
|
|
|
|
ALSK 2DEC .17329931
|
|
|
|
2DEC -.00835370
|
|
|
|
GEORGEJ 2DEC .63661977
|
|
|
|
GEOCONS1 2DEC .1
|
|
|
|
GEOCONS2 2DEC .005
|
|
|
|
GEOCONS3 2DEC .062
|
|
|
|
GEOCONS4 2DEC .0003
|
|
|
|
# Page 454
|
|
|
|
COUNT 33/P02
|
|
LITTLSUB STQ
|
|
QPLAC
|
|
LXC,1 VLOAD*
|
|
MARKSTAT
|
|
2,1
|
|
STCALL CDUSPOT
|
|
SXTNB
|
|
CALL
|
|
TRG*NBSM
|
|
GOTO
|
|
QPLAC
|
|
|
|
|
|
EXIT
|
|
AZMTHCG1 TC INTPRET
|
|
DLOAD RTB
|
|
NEWAZMTH
|
|
1STO2S
|
|
EXIT
|
|
XCH MPAC
|
|
TS DSPTEM1
|
|
TC BANKCALL
|
|
CADR CLEANDSP
|
|
CAF VN0629
|
|
TC BANKCALL
|
|
CADR GOFLASH
|
|
TCF +2
|
|
TCF +2
|
|
TCF -5
|
|
TC INTPRET
|
|
SLOAD RTB
|
|
DSPTEM1
|
|
CDULOGIC
|
|
STORE LAUNCHAZ
|
|
EXIT
|
|
CA ZERO
|
|
TS PREMTRXC
|
|
TC PHASCHNG
|
|
OCT 00004
|
|
TC POSTJUMP
|
|
CADR PINBRNCH
|
|
|
|
VN0629 VN 0629
|
|
|
|
# Page 455
|
|
# *** END OF COMAID .029 ***
|
|
|