### FILE="Main.annotation" ## Copyright: Public domain. ## Filename: IMU_PERFORMANCE_TESTS_2.agc ## Purpose: Part of the source code for Aurora (revision 12). ## Assembler: yaYUL ## Contact: Hartmuth Gutsche. ## Website: https://www.ibiblio.org/apollo. ## Pages: 475-499 ## Mod history: 2016-09-20 JL Created. ## 2016-09-27 HG start transcription from scans ## 2016-10-12 HG fix operator TEHTAD -> THETAD ## TORQDNX -> TORQNDX ## INODES33 -> IMODES33 ## YSM =4 -> YSM +4 ## instruction CA DRIFTT -> TS DRIFTT ## constant 2DEC 32844 B-28 -> 2DEC 342844 B-28 ## 2016-10-16 HG fix label NBOSPL -> NBPOSPL ## JUMLOAD -> JUMPLOAD ## WAILP3 -> WAITLP3 ## fix operand CHECKCG -> CHECKG ## WAITPL2 -> WAITLP2 ## WAITLP -> WAITLP1 ## 2016-10-18 HG fix operand REULTCT -> RESULTCT ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments ## and fixed the errors found. ## This source code has been transcribed or otherwise adapted from ## digitized images of a hardcopy from the private collection of ## Don Eyles. The digitization was performed by archive.org. ## Notations on the hardcopy document read, in part: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP ## NOV 10, 1966 ## [Note that this is the date the hardcopy was made, not the ## date of the program revision or the assembly.] ## The scan images (with suitable reduction in storage size and consequent ## reduction in image quality) are available online at ## https://www.ibiblio.org/apollo. ## The original high-quality digital images are available at archive.org: ## https://archive.org/details/aurora00dapg ## Page 475 BANK 17 EBANK= XSM IMUTEST CA ZERO TS DRIFTT TS GEOCOMPS CAF 1SECX TS 1SECXT GEOIMUTT TC INTPRET # OPTIMUM COMPASS COMES IN HERE CALL LATAZCHK EXIT CA ONE TS POSITON TS DSPTEM2 +2 TS THETAD TS THETAD +1 TS THETAD +2 TC BANKCALL CADR IMUZERO TC BANKCALL CADR IMUSTALL TCF ENDTEST1 IMUBACK CA ZERO TS DSPTEM2 +1 TS NDXCTR TS TORQNDX TS TORQNDX +1 CAF TESTTIME TS DSPTEM2 TC BANKCALL # ISS RETURNS IN COARSE ALIGN MODE TO CADR IMUCOARS # ENABLE OPERATOR TO DECIDE WHAT TO DO # ABOUT GIMBAL LOCK TC SHOWLD TC SHOW TC BANKCALL CADR IMUSTALL TC ENDTEST1 TC NBPOSPL TC POSGMBL TC PIPACHK # IF MGA IS 60DEG+ PROG WILL STAY IN COARS # ALIGN AND MEASURE VERITCAL PIPA RATE TC FALNE TC BANKCALL ## Page 476 CADR IMUSTALL TCF ENDTEST1 CCS GEOCOMPS TC JUMPLOAD GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE DLOAD COS # FOR ESTIMATE LATITUDE DCOMP SL1 STODL WANGI LATITUDE SIN SL1 STOVL WANGO # LOAD TRANSITION MATRIX INTO ERASABLE GEORGED STOVL TRANSM1 GEORGEC STOVL TRANSM1 +6 GEORGEB STORE TRANSM1 +12D EXIT JUMPLOAD TC LOADGTSM TC BANKCALL CADR ESTIMS TORQUE TC PHASCHNG # FILTER TORQUES PLTFM AND SETS UP ERATE OCT 00000 CA ZERO TS DSPTEM2 CA DRIFTI TS DSPTEM2 +1 INDEX POSITON TS SOUTHDR -1 TC SHOW PIPACHK INDEX NDXCTR # TORQUE PLATFORM TO CORRECT LEVELING ERR TC +1 # IN PREPARATION TO MEASURING VERTICAL TC BANKCALL # PIPA OUTPUT PULSE RATE CADR EARTHR CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES TS DATAPL +4 CA BIT10 # IN THE ALLOTED TIME INTERVAL TS LENGTHOT CA ONE TS RESULTCT CA ZERO # ZERO PIPA COUNTER INITIALLY INDEX PIPINDEX TS PIPAX TS DATAPL CA DEC56 # LOOP 56 TIMES 5.12 SEC "ACH. EACH INCR. TC WAITLOOP # WILL ALSO CORRECT EARTH RATE INHINT ## Page 477 TC CHECKG RELINT TC DATALD CA FIVE TS RESULTCT INDEX NDXCTR TC +1 TC BANKCALL CADR EARTHR CCS COUNTPL TC WAITLP2 CCS DATAPL +1 TC +4 TC CCSHOLE CS DATAPL +4 TS DATAPL +4 EXTEND DCS DATAPL DAS DATAPL +4 TC INTPRET DLOAD DSU DATAPL +6 DATAPL +2 PDDL DDV DATAPL +4 PDDL DMP DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM RTB SGNAGREE STORE DSPTEM2 EXIT TC SHOW VERTDRFT CA 3990DEC # NUMBER OF SECONDS TO SPEND ESTIMATING TS LENGTHOT TC BANKCALL # THIS WILL CORRECT FOR EARTH RATE DURING CADR EARTHR # TIME SPENT IN SHOW ABOVE* CA CDUX # STOORE AXIS FOR LAB CALC OF DRIFT TS LOSVEC INDEX POSITON CS SOUTHDR -2 TS DRIFTT TC LOADGTSM CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS TS XSM TS XSM +1 TS XSM +4 TS XSM +5 TS YSM TS YSM +1 ## Page 478 TS YSM +4 TS YSM +5 TS ZSM TS ZSM +1 TS ZSM +4 TS ZSM +5 GUESS1 CAF POSMAX TS TORQNDX TS TORQNDX +1 TC BANKCALL CADR ESTIMS VALMIS TC PHASCHNG OCT 00000 CA DRIFTO TS DSPTEM2 +1 CA CDUX # STORE OG ANGLE FOR LAB CALC OF DRIFT** TS LOSVEC +1 CA ZERO TS DSPTEM2 TC SHOW FINISH CA ONE AD POSITON TS DSPTEM2 +2 CA TWO TS QPLACE TC BANKCALL CADR TSELECT -6 ENDTEST1 TC BANKCALL CADR ENDTEST ## Page 479 OPCHK CAF DELYOFF # AUTOMATIC TEST FOR SYSTEM OPERATION EXTEND RAND 30 # CHECK TO SEE IF IMU IS ON CCS A TC ALARMS CAF V16N20S TC NVSBWAIT TC FREEDSP TC BANKCALL CADR IMUZERO TC BANKCALL CADR IMUSTALL TCF ENDTEST1 CA BIT8 # ZERO ALL ERASEABLE USED IN TEST TS ZERONDX CA GENPLAD TC ZEROING TC NBPOSPL # ALIGN ANGLE COMPUTATION TC POSGMBL # COARSE ALIGN THOSE GIMBALS NOW TCF OPCHK TC FALNE # FINE ALIGN PLATFORM BY TORQUING GYROS TC BANKCALL CADR IMUSTALL TCF ENDTEST1 CA TWO CDUCHECK TS CDUNDX # THIS LOOP CHECKS FOR NO ERROR BETWEEN INDEX CDUNDX # DESIRED CDU ANGLES AND THE ACTUAL ANGLES CS THETAD INDEX CDUNDX AD CDUX TS STOREPL CCS STOREPL TC ERRMASK TC NOERR TC ERRMASK NOERR CCS CDUNDX TC CDUCHECK TC LOADIC ERRMASK MASK LOWFOUR # ALLOW FIVE BIT ERRORS CCS A TC ALARMS TC NOERR LOADIC CA ONE TS RESULTCT CS ONE ## Page 480 TS MASKREG # SETS UP AZIMUTH AND VERTICAL VECTORS FOR CA ZERO TS PIPAX TS PIPAY TS PIPAZ CA BIT11 TS LENGTHOT # VECTOR IN PIPA COUNTERS CA ONE TC WAITLOOP CCS COUNTPL TC WAITLP2 CA DEC56 TC WAITLOOP OPCHK1 CA TWO OPCHK2 TS PIPINDEX INHINT TC CHECKG RELINT CA ZERO INDEX PIPINDEX TS PIPAX TC DATALD # LOAD PIPA DATA AND TIME IN DATAPL XCH RESULTCT AD FOUR TS RESULTCT CCS PIPINDEX TC OPCHK2 READOUT CS FOUR AD RESULTCT TS RESULTCT ZL INDEX RESULTCT CA DATAPL LXCH A INDEX RESULTCT DAS GENPL +1 CA RESULTCT MASK MASKREG CCS A TC READOUT CA TEN AD THREE TS RESULTCT CS A TS MASKREG CCS COUNTPL TC WAITLP2 TC COMPUT ## Page 481 RADCK CA V16N40S TC NVSBWAIT # OPERATOR WILL CHECK RADAR STATUS.IN LAB. TC FLASHON # SET RADAR OFF THEN PUT RESOLVER STANDARD TC ENDIDLE # ON TRUNNION AND SET TO +45 DEG.SHAFT WIL TC ENDTEST1 TC +1 # AFTER SETTING RES STANDARD DO A V33 CA ZERO TS TANG +1 CA 45DEG TS TANG DRIVRAD TC BANKCALL # IN SC WHEN RAD PRESENT DO V33 RIGHT AWAY CADR RRZERO # LGC WILL ATTEMPT TO DRIVE 45 DEG TRUNN. TC BANKCALL # TO MATCH STANDARD, AFTER ZEROING CDUS CADR RADSTALL TC ENDTEST1 TC INTPRET CALL RRDESNB TC BANKCALL CADR RADSTALL # IF CDU FAILS TO AGREE WITH COMMAND TO TC ALARMS # 1 DEG GET ALARM HERE TC FLASHON # OPERATOR WILL CHECK STATUS OF RADAR TC ENDIDLE # IN S/C DO V33 TO CONTINUE WITH SHAFT TC ENDTEST1 # TEST TC +1 # IN LAB TURN RADAR OFF CHANGE RES STANDAR CA ZERO # TO SHAFT AND SET FOR -45DEG. TS TANG # THEN DO A V33 IF WANT TO REPEAT CHECK CS 45DEG # DO A V34 TO TERMINATE TS TANG +1 TC DRIVRAD ALARMS XCH Q TS QPLACE TC ALARM OCT 1411 TC QPLACE ## Page 482 GYRSFTST TC INTPRET # START ADRESS FOR IRIG SF TEST CALL LATAZCHK # LOAD AZ AND LAT EXIT TESTCALL CAF V21N30E TC NVSBWAIT # LOAD + OR - 1 FOR + OR - X TEST (+00001) TC ENDIDLE # LOAD + OR - 2 FOR + OR - Y TEST TCF ENDTEST1 # LOAD + OR - 3 FOR + OR - Z TEST TC TESTCALL XCH DSPTEM1 TS CALCDIR EXTEND # THIS ROUTINE LOOKS AT THE SIZE OF THE BZMF NEGSIZ # ENTRY MADE BY THE OPERATOR, IF HE DID NO SIZLOOK MASK NEG3 # T ENTER TEST NO THAT IS W/I PERMISSIBLE EXTEND # RANGE- HE WILL BE ASKED TO LOAD AGAIN. BZF GUDENTRY # THIS IS CONSIDERED NECESSARY BECAUSE TC TESTCALL # OF FOLLOWING INDEXED TC WHICH COULD NEGSIZ COM # SEND THE COMPUTER OFF INTO THE BOONDOCKS TC SIZLOOK # TO PLAY WITH ITSELF IF THE OPERATOR GUDENTRY CA CALCDIR # MAKES ABAD ENTRY****** AD FOUR INDEX A TC +1 TC TESTCALL TC +6 # C(A)=+00001 FOR -Z TC +4 # C(A)=+00002 FOR -Y TC +2 # C(A)=+00003 FOR -X TC -4 # C(A)=+00004 ERROR TC +3 # C(A)=+00005 FOR +X TC +6 TC +10 CAF FOUR TS POSITON # 4 IS FOR A.L. POSN 4 USED FOR X SF TEST TC +7 TC +6 CAF TWO TS POSITON # +2 IS A.L. POS 2 USED FOR Y SF TEST TC +3 CAF ONE TS POSITON # +1 IS A.L. POS 1 USED FOR Z SF TEST TS OPTNREG # C(K) = (4,2,1) FOR X,Y,Z TS SAVE +1 TC FREEDSP CAF ZERO TS NBPOS # SET UP NB COORD TO Z NORTH, X UP TS SAVE +2 # INITIALIZE FOR EARTHR DESIGNATE USAGE TS TESTNO # INITIALIZE FOR TEST ABORT ROUTINE TS CDUFLAG # ZEROS FOR STRTWACH USE CAF SFCONST ## Page 483 TS SFCONST1 # FOR DIVISION DURING CALCFSE TC BANKCALL CADR IMUZERO TC BANKCALL CADR IMUSTALL TCF ENDTEST1 TC NBPOSPL TC POSGMBL TCF ENDTEST1 TC FALNE TC BANKCALL CADR REDYTORK WAITFIVE TS SOUTHDR CAF BIT6 # THIS SECTION CALLS FOR 2-32 MSEC WAITS TC DIRECTN -5 ENABLE CAF BIT6 EXTEND # ENABLE GYRO TORQUING LOOP BY TURNING WOR 14C # ON CAL MODULE RELAY INHINT CS TWO # SETS UP EXEC SWITCH SO IMUPULSE WILL MASK IMODES33 # NOT TURN OFF GYRO TORQ ENABLE RELAY AD TWO TS IMODES33 CAF TWO TS SOUTHDR TS LENGTHOT # 20 MSEC DELAY FOR GYRO LOOP STABILIZAT. CA ONE TC WAITLOOP CCS COUNTPL TC WAITLP2 DIRECTN TC BANKCALL # TORQUING ROUTINE IN IMU PERFORMANCE CADR SILVER # BANK 3 CCS SOUTHDR # A ONE FIRST TIME THROUGH, THEN ZERO TC WAITFIVE STRTWACH CCS CDUFLAG # RETURNS HERE VIA QPLACE FROM SILVER TC CDUZOTST # BEEN CAUGHT AND CDU THROUGH ZERO IS CCS SAVE +1 TC LOOKCDUP -4 TC LOOKCDUP CORRECT CAF ZERO TS LGYRO # RELEASES GYROS FOR IMUPULSE USAGE TC BANKCALL # EARTHRATE CORRECTION TO GYROS NOT EAST CADR EARTHR # OR WEST CAF ONE TS LGYRO # RESERVES GYROS FOR S.F. TEST TORQUING TS SAVE +2 # INITIALIZES TO INSURE 5.6 DEG OF TORQ) ADS TESTNO # INCR THE BURST COUNTER, WHICH IS USED TO ## Page 484 CS TESTNO # COUNT THE NO. OF ITMES THE GYRO COUNTER MASK FIVE # IS LOADED, IF A TENTH LOAD IS REQUESTED EXTEND # THE SFE IS TOO LARGE TO BE MEANINGFULL BZF STOPTEST # OR THE CDU,S ARE NOT WORKING. TC DIRECTN CAF ZERO # ZEROS CDU REG WHICH WILL BE USED TO TS SAVE +1 INDEX CDUNDX # MEASURE ANGLE. TS CDUX LOOKCDUP INHINT CAF BIT5 STILLOOK TS TIMER INDEX CDUNDX # LOOKS FOR FIRST CDU PULSE AFTER TORQUING CCS CDUX # STARTS TC OUTPLUS # HERE IS PLUS PULSE TC TIMEWACH TC ALARMS # TTELL OPERATOR FIRST CDU PULSE WAS MISSD TC OUTNEG # HERE IS MINUS PULSE TIMEWACH CCS TIMER # WATCHES TIME IN INHINT SO COPS WILL NOT TC STILLOOK # CATCH US RELINT CCS NEWJOB TC CHANG1 TC LOOKCDUP # KEEP WATCHING IF THE PULSE IS NOT HERE OUTPLUS CS DESANGLE # -2047 CDU PULSES ADDED TO CDU REG SO INDEX CDUNDX # ZERO CROSSOVER CAN BE DETECTED TS CDUX LOADFLAG CAF ONE TS CDUFLAG CA GYROCTR # GYRO TORQ CMDS LEFT OUT OF FIRST 5.625 TS SAVE # DEG COMMANDED WHEN CDU PULSE ARRIVED RELINT TC CDUZOTST OUTNEG CA DESANGLE INDEX CDUNDX TS CDUX TC LOADFLAG CDUZOTST INDEX CDUNDX CCS CDUX TC +4 TC ENDWATCH TC +2 TC ENDWATCH CAF BIT10 # RAND WITH BIT 10 TO SEE IF STILL TORQ. EXTEND ## Page 485 RAND 14C CCS A TC +6 CCS SAVE +2 # SEE IF 2.8DEG OR 5.6 DEG SINCE LAST TC +2 #EEARTHR USE, IF 2.8 DEG, DO 2.8 MORE TC CORRECT # THEN GO TO CORRECT TS SAVE +2 TC DIRECTN CCS NEWJOB TC CHANG1 TC CDUZOTST ENDWATCH INHINT # WWILL STOR GYROCTR AT END OF 2048 CDU CAF ZERO # PULSES AND STOP TORQ BY ZEROING REQUESTS TS LGYRO # RELEASE GYROS FOR OTHERS USAGE XCH GYROCTR TS SAVE +1 # AND STOPS TORQUING BY ZEROING TORQ CS TWO MASK IMODES33 # THIS TURNS OFF EXEC SWITCH SO THE GYRO TS IMODES33 # TORQ. ENABLE RELAY CAN BE TURNED OFF. RELINT CALCSFE CA SAVE # GYROCTR AT TEST START EXTEND SU SAVE +1 # GYROCTR AT TEST END TS SAVE +2 EXTEND BZMF ARITH # SEE IF IT IS NEG OR ZERO,IF NEG,SFE IS + MASK SIZCHK EXTEND # THIS ROUTINE TESTS SAVE-(SAVE+1) TO SEE BZF NEGSFE # IF THE RESULT IS WITHIN PERMISSIBLE SIZE CS SAVE +2 # AND DETERMINES POLARITY OF SFE USING THE MASK SIZCHK # PRESENCE OR ABSENCE OF BITS 12,13,14. EXTEND # IF BITS ARE PRESENT IN POSITIVE SAVE +2 BZF POSSFE # THEN THE SFE MUST BE POS. IF DIFFERENCE TC STOPTEST # IS GREATER THAN 2047 PULSES FROM THE NEGSFE CAE SAVE +2 # IDEAL NO OF PULSES, THE SFE EXCEEDS TC ARITH # 15600 PPM, THE TEST IS NOT VALID AND # THEREFORE ABORTS AND TURNS ON PROGRAM ALARM POSSFE CAF POSMAX # POS SFE DEFINITION = IRIG SF IN SEC OF EXTEND # ARC PER PULSE IS GREATER THAN SU SAVE +2 # .61798095703125 SEC OF ARC/ PULSE TC ARITH +1 ARITH COM ZL EXTEND DV SFCONST1 LOADIT TS DSPTEM2 ## Page 486 TC DATADSP DATADSP TC GRABDSP TC PREGBSY CA CALCDIR TS DSPTEM2 +2 # DISPLAYS TEST NO JUST PERFORMED CAF VB06N66 # R3 = TEST NO JUST PERFORMED TC NVSBWAIT TC FLASHON TC ENDIDLE # TO END TEST DO V34E TC +2 TC TESTCALL # TO CONTINUE TEST DO V33E TC BANKCALL CADR IMUZERO TC BANKCALL CADR IMUSTALL TCF ENDTEST1 TCF ENDTEST1 STOPTEST TC BANKCALL CADR IMUZERO TC BANKCALL # CORRECT CDUCTRS AND TURN ON PROG ALARM CADR IMUSTALL # TO TELL OPERATOR LAST CDU PULSE WAS TCF ENDTEST1 # MISSED OR GYRO TORQ LOOP WAY OUT OF CAF ZERO # ALLOWABLE LIMITS......... TS LGYRO # **** RELEASE GYROS FOR OTHERS USAGE***** TC ALARMS TCF ENDTEST1 ## Page 487 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE QXCH QPLACE # RECORDS TIME AT OCCURRENCE OF A DELTA V CHECKG1 RELINT # KEEPS CONTENT OF PIPA REG INTACT CCS NEWJOB TC CHANG1 INHINT CAF ZERO INDEX PIPINDEX XCH PIPAX TS STOREPL CCS STOREPL TC CHECKP TC RESTOREA TC CHECKM TC RESTOREA CHECKP CAF BIT6 # LOOKS FOR ONE MORE PLUS PULSE TS PIPANO INDEX PIPINDEX CCS PIPAX TC CHECKG3 TC +3 TC RESTOREA TC +1 CCS PIPANO TC CHECKP +1 TC RESTOREA CHECKM CAF BIT6 # LOOKS FOR ONE MORE MINUS PULSE TS PIPANO INDEX PIPINDEX CCS PIPAX TC RESTOREA TC +3 TC CHECKG3 TC +1 CCS PIPANO TC CHECKM +1 TC RESTOREA CHECKG3 TC FINETIME # TIME IN DOUBLE PRECISION LEFT IN MPAC DXCH MPAC CAF BIT4 CHECKG5 TS PIPANO INDEX PIPINDEX CCS PIPAX TC +4 TC RESTOREA TC +2 TC RESTOREA CCS PIPANO TC CHECKG5 ## Page 488 NREAD TC RESTORE TS STOREPL TC QPLACE RESTORE XCH STOREPL # A WILL CONTAIN PREVIOUS PIPA CNTR CONTEN INDEX PIPINDEX # STOREPL WILL CONTAIN ZERO AD PIPAX INDEX PIPINDEX TS PIPAX TC Q ## Page 489 RESTOREA TC RESTORE TC CHECKG1 DATALD CA STOREPL INDEX RESULTCT TS DATAPL CA MPAC INDEX RESULTCT TS DATAPL +1 CA MPAC +1 INDEX RESULTCT TS DATAPL +2 TC Q POSGMBL EXTEND # COARSE ALIGNING SUBROUTINE QXCH QPLACE TC INTPRET CALL CALCGA EXIT TC BANKCALL CADR IMUCOARS CA GMLOCKCK # IF FAILREG CONTAINS 401 WILL RETURN TO MASK FAILREG CCS A # L +1, OTHERWISE TO L +2. TC LOCK INCR QPLACE TC +3 LOCK CA TWO TS NDXCTR TC BANKCALL CADR IMUSTALL TCF ENDTEST1 TC QPLACE GMLOCKCK OCT 00401 ## Page 490 FALNE EXTEND # TORQUES GYROS TO NULL OVT DIFFERENCE QXCH QPLACE # BETWEEN DESIRED SM ORIENTATION WITH RESP TC BANKCALL # TO NBASE AND ACTUAL CADR IMUZERO TC BANKCALL CADR IMUSTALL TCF ENDTEST1 TC BANKCALL CADR IMUFINE TC BANKCALL CADR IMUSTALL TCF ENDTEST1 FALNE1 CA CDUX INDEX FIXLOC TS 24 CA CDUY INDEX FIXLOC TS 20 CA CDUZ INDEX FIXLOC TS 22 CA BIT5 AD FIXLOC INDEX FIXLOC TS S1 TC INTPRET VLOAD MXV XSM STARAD VSL1 STCALL 32D NBSM STOVL XDC YSM MXV VSL1 STARAD STCALL 32D NBSM STOVL YDC XDC VXV VSL1 YDC STCALL ZDC CALCGTA EXIT CA OGCPL TC BANKCALL CADR IMUPULSE TC QPLACE ## Page 491 WAITLOOP EXTEND # LOOPS IN X SEC INCREMENTS FOR NUMBER OF QXCH QPLAC TS COUNTPL # NUMBER PUT INTO LENGTHOT WAITLP1 CCS COUNTPL TC +4 TC QPLAC TC +2 TC WAITLP1 -1 INHINT CAE LENGTHOT TC WAITLIST 2CADR WAITLP3 RELINT CCS COUNTPL TC QPLAC TC QPLAC NOOP WAITLP2 TS COUNTPL # ENTER HERE AFTER DOING CALLING JOB CAF WTLPCADR TC JOBSLEEP WTLPCADR CADR WAITLP1 WAITLP3 CAF WTLPCADR TC JOBWAKE TC TASKOVER ZEROING TS L TCF +2 ZEROING1 TS ZERONDX CAF ZERO INDEX L TS 0 INCR L CCS ZERONDX TCF ZEROING1 TC Q COMPUT TC INTPRET # CALCULATE LENGTH OF GRAVITY VECTOR AS AXT,1 AXT,2 # MEASURED BY ACCELEROMETERS 22D 10D SSP S1 4 SSP S2 4 ## Page 492 LOPDELOP DLOAD* DSU* DATAPL +24D,2 DATAPL +24D,1 PDDL* DMP GENPL +24D,2 DEC585 DDV TIX,2 VDEF NEXT ABVAL RTB SGNAGREE STCALL DSPTEM2 KODU NEXT PUSH TIX,1 LOPDELOP KODU EXIT TC GRABWAIT TC SHOW TC INTPRET SLOAD PUSH DATAPL +1 SLOAD PUSH DATAPL +5 SLOAD VDEF DATAPL +11 UNIT VSL1 PUSH SLOAD PUSH DATAPL +15 SLOAD PUSH DATAPL +21 SLOAD VDEF DATAPL +25 UNIT VSL1 PDDL DSU DATAPL +26 DATAPL +12 SL4 SL3 STOVL LENGTHOT VXV ABVAL DMP DDV ERUNITS LENGTHOT RTB SGNAGREE STORE DSPTEM2 EXIT TC SHOW TCF RADCK ## Page 493 NBPOSPL EXTEND # SETS UP AZIMUTH AND VERTICAL VECTORS FOR QXCH QPLACE # AXISGEN,RESULTS TO BE USED IN CALCGA TO TC INTPRET AXC,1 XSU,1 # AZIMUTH IN NB COORDS SCNBAZ NBPOS VLOAD* 0,1 STORE STARAD AXC,1 XSU,1 # VERITCAL IN NB COORDS SCNBVER NBPOS VLOAD* 0,1 STODL STARAD +6 ZERODP STODL 6D AZIMUTH COS DCOMP STODL 8D AZIMUTH SIN STORE 10D # VERTICAL IN CER VLOAD SCNBVER STCALL 12D AXISGEN EXIT SELPOSN CA DEC17 TS ZERONDX CA XSMADR TC ZEROING INDEX POSITON TC +1 TC OPCHKPOS # OPCHK WILL PUT ZERO IN POSITON TC POSN1 TC POSN2 TC POSN3 TC POSN4 TC POSN5 TC POSN6 TC POSN7 TC POSN8 TC POSN9 TC POSN10 TC POSN11 # COMPASS POSITION ## Page 494 # WE WILL DENOTE THE FLASHING DISPLAY OF A HORIZONTAL TEST BY DH # (XXX.XX MERU) AND A VERTICAL TEST BY DV (XXX.XX MERU) EACH POSITION TELL # HOW THE DISPLAYS ARE RELATED TO TTHE DRIFT COEFFICIENTS BEING MEASURED. # NOTE THAT IT IS ILLEGAL TO RUN VERTICAL IN POS 6,4, OR 2 WITHOUT FIRST # RUNNING HORIZONTAL OF POS 5,3, OR1. THIS IS BECAUSE THE HORIZ DRIFT CALC # IN 1,3, OR 5 IS USED AS EAST DRIFFFT FOR VERTICAL TEST. THIS IS DONE BY # THE MACHINE AUTOMATICALLY EXCEPT FOR VERTICAL POSITION 6 WHICH THE # OPERATOR MUST DO. (SEE POSITION 6 BELOW) POSN1 CA HALF # X UP, Y SOUTH, Z EAST TS XSM TS YSM +2 # NBDY = DH TS ZSM +4 NGUBGH CA ZERO TS PIPINDEX TC QPLACE POSN2 CS HALF # X DOWN, Y WEST, Z NORTH TS XSM TS YSM +4 # NBDZ =DH ,NBDX -ADIAX= -DV TS ZSM +2 TC NGUBGH POSN3 CA HALF # Z UP, Y WEST ,X NORTH TS ZSM COM # NBDX = -DH TS XSM +2 TS YSM +4 NSFLAGD CA TWO TS PIPINDEX NSBUGD CA ZERO TS DRIFTT TC QPLACE POSN4 CS HALF # Y SOUTH, X EAST, Z DOWN TS ZSM # NBDY +ADSRAY=DH COM # NBDZ +ADIAZ =DV TS YSM +2 TS XSM +4 CA TWO TS PIPINDEX TC QPLACE ## Page 495 POSN5 CA HALF # Y UP, Z NORTH, X WEST TS YSM COM # NBDZ-ADSRAZ =DH TS XSM +4 TS ZSM +2 CA ONE TS PIPINDEX TC NSBUGD # TO RUN POSITION 6 VERTICAL AFTER PIP TEST POS 6 IS DISPLAYED THE OPERATR # MUST CALCULATE FROM 2.5 -NBDZ-ADSRAZ (XXX.XX)MERU. WHEN PI # IP DATA FLASHES DO VERB 33 ENTER. THIS STARTS VERTICAL TEST. THEN THE # DATA XXX.XX MERU AS CALCULATED MUST BE ENTERED INTO DRIFTT. IE VERB 21 # ENTER NOUN 01 ENTER LOCATION OF DRIFTT ENTER + (OR -) XXXXX ENTER POSN6 CA HALF # Y DOWN, Z EAST, X SOUTH TS XSM +2 TS ZSM +4 COM # NBDX +ADSRAX = DH, NBDY -ADIAY = -DV TS YSM CA ONE TS PIPINDEX TC QPLACE POSN7 CS HALF # Z UP-EAST,Y UP-WEST,X NORTH.THIS POSITON TS XSM +2 CA ROOT1/2 TS YSM # NBDX - .707 ADSRAX = -DH TS ZSM TS ZSM +4 COM TS YSM +4 GEORGES CA ZERO TS FAILREG TC NSBUGD POSN8 CA HALF # Z UP-SOUTH,Y UP-NORTH,X EAST.THIS POSITN TS XSM +4 CA ROOT1/2 # .707(-NBDZ-NBDY) +.5(ADIAZ-ADIAY) TS YSM # +.5(ADSRAY +ADSRAZ)=DH TS ZSM +2 TS ZSM COM TS YSM +2 TC NSBUGD ## Page 496 OPCHKPOS CA ROOT1SQ # OG=+45DEG,IG=-45DEG,MG=+45DEG. TS XSM TS YSM +2 TS YSM +4 TS ZSM CA ROOT1/2 TS YSM CA ROOT3SQ TS XSM +2 TS ZSM +4 CS ROOT2SQ TS XSM +4 TS ZSM +2 TC QPLACE POSN9 CA HALF # X UP EAST,Y UP WEST,Z SOUTH.THIS POSITON TS ZSM +2 CA ROOT1/2 # -NBDZ +.707 SRAZ =DH TS XSM TS XSM +4 TS YSM COM TS YSM +4 TC NSBUGD POSN10 CA HALF # X UP NORTH, Y UP SOUTH,Z EAST.THIS POSITN TS ZSM +4 CA ROOT1/2 # .707(NBDY -NBDX) +.5(ADIAY -ADIAX) TS XSM # +.5(ADSRAX) = DH TS YSM TS YSM +2 COM TS XSM +2 TC NSBUGD POSN11 TC BANKCALL # COMPASS POSITION CADR LOADXSM TC QPLACE SHOWLD CA DSPTEM2 TS LENGTHOT CA DSPTEM2 +1 TS NBPOS CA DSPTEM2 +2 ## Page 497 TS POSITON TC Q SHOW EXTEND QXCH QPLACE SHOW1 CA POSITON TS DSPTEM2 +2 CA VB06N66 TC NVSBWAIT TC FLASHON TC ENDIDLE TC FINISH TC QPLACE TC SHOWLD TCF SHOW1 LOADGTSM EXTEND # THIS LOADS XSM INTO GEOMATRX QXCH QPLACE TC INTPRET VLOAD XSM STOVL GEOMTRX YSM STOVL GEOMTRX +6 ZSM STORE GEOMTRX +12D EXIT TC QPLACE ## Page 498 1SECX DEC 100 GEORGED 2DEC .47408845 2DEC .23125894 2DEC .14561689 GEORGEC 2DEC -.06360691 2DEC -.16806746 2DEC .15582939 GEORGEB 2DEC -.06806784 2DEC -.75079894 2DEC -.24878704 14C EQUALS 0014 V21N30E OCT 02130 DESANGLE DEC 2048 SFCONST DEC .13107 SIZCHK OCT 34000 180DEC DEC 180 3990DEC DEC 3990 VB06N66 OCT 00666 TESTTIME DEC 600 V16N20S OCT 01620 V16N40S OCT 01640 DEC17 DEC 17 DEC585 2DEC 3200 B+14 DELYOFF OCT 00400 ERUNITS 2DEC 342844 B-28 GENPLAD GENADR AZIMUTH GYRODPL ECADR GYROD OGCPL ECADR OGC LOWFOUR OCT 77760 DEC56 DEC 56 45DEG OCT 10000 ROOT1/2 DEC .353553 ROOT1SQ DEC .250000 ROOT2SQ DEC .426776 ROOT3SQ DEC .073223 XSMADR GENADR XSM ## Page 499 SCNBAZ 2DEC 0 2DEC 0 LABNBAZ 2DEC .5 2DEC 0 2DEC 0 SCNBVER 2DEC .5 2DEC 0 LABNBVER 2DEC 0 2DEC 0 2DEC -.5 ENDIMUS2 =