https://github.com/virtualagc/virtualagc
Revision 3577d0b1de1ac147c1710524517c563b2bfe231c authored by Ronald Burkey on 30 May 2021, 19:14:00 UTC, committed by GitHub on 30 May 2021, 19:14:00 UTC
Issue 1143: Fix various symbol name and other minor typos
Tip revision: 3577d0b1de1ac147c1710524517c563b2bfe231c authored by Ronald Burkey on 30 May 2021, 19:14:00 UTC
Merge pull request #1147 from smithery1/Issue/1143
Merge pull request #1147 from smithery1/Issue/1143
Tip revision: 3577d0b
IMU_PERFORMANCE_TESTS_2.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_2.agc
## Purpose: This program is designed to extensively test the Apollo Guidance Computer
## (specifically the LM instantiation of it). It is built on top of a heavily
## stripped-down Aurora 12, with all code ostensibly added by the DAP Group
## removed. Instead Borealis expands upon the tests provided by Aurora,
## including corrected tests from Retread 44 and tests from Ron Burkey's
## Validation.
## Assembler: yaYUL
## Contact: Mike Stewart <mastewar1@gmail.com>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
# 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
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
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
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
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
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 =
Computing file changes ...
