# 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 # 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 # Massachusetts 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 IMUTEST CA ZERO TS DRIFTT TS GEOCOMP1 CAF TESTTIME TS LENGTHOT TC COAALIGN # TAKE CARE OF DRIFT FLAG CAF 1SECX TS 1SECXT1 CA OC14400 TS 1/PIPADT GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE CALL LATAZCHK COS DCOMP SL1 STODL WANGI LATITUDE SIN SL1 STORE WANGO EXIT GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE CADR IMUZERO TC IMUSTLLG IMUBACK CA ZERO TS NDXCTR TS TORQNDX TS TORQNDX +1 NBPOSPL CA DEC17 TS ZERONDX1 CA XNBADR # Page 424 TC ZEROING CA HALF TS XNB TC INTPRET DLOAD SIN AZIMUTH STORE YNB +2 STODL ZNB +4 AZIMUTH COS STORE YNB +4 DCOMP STORE ZNB +2 EXIT TC CHECKMM MM 03 # SEE IF IN OPTICAL VERIFICATION TCF +2 # NO TCF SETNBPOS +1 # YES TC INTPRET CALL CALCGA EXIT TC BANKCALL CADR IMUCOARS CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK MASK FLAGWRD3 EXTEND BZF +2 INCR NDXCTR # +1 IF IN GIMBAL LOCK,OTHERWISE 0 TC DOWNFLAG # RESET GIMBAL LOCK FLAG ADRES GLOKFAIL # BIT 14 FLAG 3 TC IMUSTLLG CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE TC BANKCALL CADR IMUFINE TC IMUSTLLG EXTEND DCA PERFDLAY TC LONGCALL EBANK= POSITON 2CADR GOESTIMS CA ESTICADR TC JOBSLEEP GOESTIMS CA ESTICADR TC JOBWAKE TC TASKOVER ESTICADR CADR ESTIMS # Page 425 TORQUE CA ZERO TS DSPTEM2 CA DRIFTI TS DSPTEM2 +1 INDEX POSITON TS SOUTHDR -1 TC SHOW PIPACHK INDEX NDXCTR # PIPA TEST TC +1 TC EARTHR* CA DEC57 TS LENGTHOT CA ONE TS RESULTCT CA ZERO INDEX PIPINDEX TS PIPAX TS DATAPL TS DATAPL +4 TC CHECKG # PIP PULSE CATCHING ROUTINE INHINT CAF TWO TC TWIDDLE EBANK= XSM ADRES PIPATASK TC ENDOFJOB PIPATASK EXTEND DIM LENGTHOT CA LENGTHOT EXTEND BZMF STARTPIP CAF BIT10 TC TWIDDLE EBANK= XSM ADRES PIPATASK STARTPIP CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR PIPJOBB TC TASKOVER PIPJOBB INDEX NDXCTR TC +1 TC EARTHR* CA LENGTHOT EXTEND BZMF +2 TC ENDOFJOB CA FIVE # Page 426 TS RESULTCT TC CHECKG EXTEND DCS DATAPL DAS DATAPL +4 TC INTPRET DLOAD DSU DATAPL +6 DATAPL +2 BPL CALL AINGOTN OVERFFIX AINGOTN PDDL DDV DATAPL +4 SL4 DMPR DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM RTB SGNAGREE STORE DSPTEM2 EXIT CCS NDXCTR TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK TC SHOW VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST TS LENGTHOT INDEX POSITON CS SOUTHDR -2 TS DRIFTT CA XSM +4 # 0 IF POSN 4 EXTEND BZF PON2 PON4 CS BIT5 # OFFSET PLATFORM ADS ERCOMP1 +2 CA BIT5 ADS ERCOMP1 TCF PONG PON2 CS BIT5 ADS ERCOMP1 +2 CA BIT5 ADS ERCOMP1 +4 PONG TC EARTHR* CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS TS ERVECTOR TS ERVECTOR +1 GUESS1 CAF POSMAX TS TORQNDX TS TORQNDX +1 CA CDUX TS LOSVEC # Page 427 TC ESTIMS VALMIS CA DRIFTO TS DSPTEM2 +1 CA ZERO TS DSPTEM2 TC SHOW ENDTEST1 TC DOWNFLAG # IMU NOT IN USE ADRES IMUSE # BIT 8 FLAG 0 CS ZERO TC NEWMODEX +3 TC BANKCALL CADR MKRELEAS TC ENDEXT # Page 428 OVERFFIX DAD DAD DPPOSMAX ONEDPP RVQ COAALIGN EXTEND # COARSE ALIGN SUBROUTINE QXCH QPLACE CA ZERO TS THETAD TS THETAD +1 TS THETAD +2 TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC SOMERR2 TC QPLACE IMUSTLLG EXTEND QXCH QPLACE TC COAALIGN +10 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE QXCH QPLACE TC +6 CHECKG1 RELINT CA NEWJOB EXTEND BZMF +6 TC CHANG1 INHINT INDEX PIPINDEX CS PIPAX TS ZERONDX INHINT INDEX PIPINDEX CA PIPAX AD ZERONDX EXTEND BZF CHECKG1 INDEX PIPINDEX CA PIPAX INDEX RESULTCT TS DATAPL TC FINETIME INDEX RESULTCT TS DATAPL +1 # Page 429 INDEX RESULTCT LXCH DATAPL +2 RELINT ENDCHKG TC QPLACE ZEROING TS L TCF +2 ZEROING1 TS ZERONDX1 CAF ZERO INDEX L TS 0 INCR L CCS ZERONDX1 TCF ZEROING1 TC Q # Page 430 SETLOC IMUCAL3 BANK ERTHRVSE DLOAD PDDL SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) LATITUDE COS DCOMP PDDL SIN LATITUDE VDEF VXSC OMEG/MS STORE ERVECTOR RTB LOADTIME STOVL TMARK SCHZEROS STORE ERCOMP1 RVQ SETLOC IMUCAL BANK EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE S2 LOADTIME STORE TEMPTIME DSU BPL TMARK ERTHR CALL OVERFFIX ERTHR SL VXSC 9D ERVECTOR MXV VAD XSM ERCOMP1 STODL ERCOMP1 TEMPTIME STORE TMARK AXT,1 RTB ECADR ERCOMP1 PULSEIMU GOTO S2 EARTHR* EXTEND QXCH QPLACES TC INTPRET CALL EARTHR PROUT EXIT TC IMUSTLLG TC QPLACES # Page 431 SHOW EXTEND QXCH QPLACE SHOW1 CA POSITON TS DSPTEM2 +2 CA VB06N98 TC BANKCALL CADR GOFLASH TC ENDTEST1 # V 34 TC QPLACE # V33 TCF SHOW1 OC14400 OCT 14400 3990DEC = OMEG/MS VB06N98 VN 0698 TESTTIME OCT 01602 DEC17 = ND1 OGCPL ECADR OGC 1SECX = 1SEC DEC57 = VD1 XNBADR GENADR XNB XSMADR GENADR XSM OMEG/MS 2DEC .24339048 P11OUT TC BANKCALL CADR MATRXJOB # RETURN TO P11 COUNT 02/COMST BLOCK 2 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED EXTEND READ LOSCALAR TS L EXTEND RXOR LOSCALAR EXTEND BZF +4 EXTEND READ LOSCALAR TS L +4 CS POSMAX AD L EXTEND BZF FINETIME +1 EXTEND READ HISCALAR 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 SECTION 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-AZIMUTH 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 ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 OCT 00075 OCT 00004 # TURN OFF GROUP 4 IF ON RSTGTS1 INHINT # COMES HERE PHASE1 RESTART CA TIME1 TS GTSWTLT1 CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA 77DECML # ZERO ALL NECESSARY LOCATIONS TS ZERONDX1 CA ALXXXZ TC ZEROING TC INTPRET SLOAD SCHZEROS STOVL GCOMPSW -1 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS STOVL ALX1S SCHZEROS STORE GCOMP STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED EXIT CCS GEOCOMP1 # NON ZERO IF COMPASS. TC +2 TC SLEEPIE +1 TC INTPRET CALL ERTHRVSE EXIT CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING TS ERECTIME TC NEWMODEX MM 02 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM # Page 435 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF 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 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT TC PHASCHNG # CHANGE PHASE OCT 00135 CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* # TRUE TORQUE SOUTH GYRO WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER TC SETGWLST TC ENDOFJOB SETGWLST EXTEND QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE 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) # GO TO ERASABLE ONLY TO RETURN # CAUTION # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MADE 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 POODOO 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 TARGE ZL # T 1,THEN TARGET 2 LXCH RUN # AZIMUTH CLOCKWSE 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 ***