5400 PORT ROYAL ROAD 

Final Report 

on Contract H0?-4069 

CAB LELESS ELECTRO"NIC SURVEYING SYSTEM 

FOR HORIZONTAL HOLES 

March, 1981 
CABLELESS ELECTRON I C SURVEYING 

SYSTEN FOR HORIZONTAL HOLES 

FIr4AL REPORT 

Prepared for: 

UNITED STATES DEP.4RThIENT OF INTERIOR 

BUREAU OF ;III?IES 

Pittsburgh 'lining and Safety Research Center 

4800 Forbes .Avenue 

Pittsburgh, PA 15213 

Prepared by: 

Earth Sciences and Systems Division 

5408-A Port Royal Road 

Springfield, VA 22151 

Contract No, USBM H0177069 
I PAGE I 

- 1 

4. Tile and Sub(r(le 

CWLELESS ELECTROSIC SCRIEL'IiKG SYSTDI FOR 

YQRI 13YT.X HOLES - 

7. *Llfhod-) Denni j \lcLaughl in John !lillhiser - 'largare t 

9. Pmrlorm~n( Oq8nt18f1on Mame and Adms 

E'SCO , INC. 

Earth Sciences and Systems Division 11. Contrrct(C) or Crant(G) NO 

54i3S.A Post Royal Road (a H0177069 

Springfield, V-A 22151 

13. Tra of RewH 6 Rnod Chlrcd 

is report contains a description of the c 

ENSCO, Inc. under contract No. H0178069. 

s to enhance the Bureau of line's Cablele 

U.S. Bureau of !lines - Pittsburgh !lining and Safety Research Center 

4800 Forbes .Avenue 

Pittsburgh. P-4 15213 

ontract activities performed 

The purpose of this project 

ss Electronic Survey System 

Final 

14. 

use to aid in the drilling of ions (approx. ZOO0 feet) boreholes in coal. 

This drilling is perfoned as part of the methane drainage program. 

The system that as ultinately developed \\.as field tested and demonstrated in actual in-mine drilling activities. The significance of 

this system as canpared to previous drill survey systems is the fact 

that it sun'eyz rcithout having to be inserted and removed for each 

surl-ev point. It is so designed that it can withstand the shock and 

vibration e.qerience by the drill string during drilling. This means 

an increased productivity is now possible in that drill operators 

can detenine drill bit positioning in a near real-time environment. 

15 Supolemen(8ty Man 

17. Documom Analy%* 8 Dexnmam . 

>lining; coal; clethane drilling; survey 

IL Ava~lab~lnty 9afemcnt j 19. Slcurlty Class llh,, 21. No of Pager 

i Unclassified 235 

. (Set ANSI-233.18) Sem lnrtructranr on Rrversa OCTIOMAL FORM 272 (6771 

1Formcrty MTlS35) 

Dcoartmcnt ot Commerce 
FORWARD 

This report %as prepared by ENSCO, Inc., Earth Sciences and 

Systems Division, Sprinsfield, Virsinia under USBM Number 

~01'36% It was adninistered under the technical direction 

of the Bureau of !lines with Dr. N. Sacks and hlerle Bowser 

acting as Technical Project Officer. .A. G. Young was the 

contract administrator for the Bureau of lines. This report 

is a summary of the work recently completed as part of. this 

contract during the period September 30, 1977 to February 29, 

1980. 

The views and conclusions contained in this document are those 

of the authors and should not be interpreted as necessarily 

representing the official policies or kecommendations of the 

Interior Department's Bureau of Mines or the U.S. Government. 
TABLE OF CONTENTS 

FORWARD - DISCLXIYIER 

1. EXECUTIVE SU3DIXRY 

3. PROGRAU1 ACTIVITIES 

3, SYSTE>I DESCRIPTION 

4. CONCLUS IONS AND RECObIPIENDATIONS 

-4PPEYDIX A: PHASE I - CObIPUTER ANALYSIS OF SURVEY RESULTS 

ERROR ANALYSIS OF DO\VNHOLE TOOL 

APPESDIX 8: CABLELESS SURVEY SYSTEM DOWNHOLE TOOL 

SPECIFIC.ATIONS 

APPENDIX C: CABLELESS SURVEY SYSTEM TEST PLAN AND TEST 

RESULTS 

APPENDIC D : SYSTEJI SCHE;LIXTIC DI-AGEU31S .A!:D SOFTWARE LISTINGS 

-APPENDIX E : DESCRIPTION OF PROCESSOR -ALGORITH>IS 
I LIST OF ILLLJSTR-ATIJNS -AX9 FIGURES 

Figure 

Figure 

Cableless Survey Systen 

Front Panel of the Cableless Survey System 

Processor 

Figure 

Figure 

Comparison of Calculated Survey Path vs. 

Jleasured Bearings for Simulated Trajectory Test 

Comparison of Calculated Survey Path vs. Measured 

Inclination for Simulated Trajectory Test 

Comparison of Calculated Survey Path vs. 

Measured Survey for Simulated Traj ectory Test 

Figure Irertical Survey of Horizontal Drill Hole Using 

Sperry Sun Tool and CSS 

Figure 

Figure 

Figure 

Figure 

Receiver Gain vs. String Length 

Survey Tool and Drill Bit 

Block Diagram of Downhole Survey Tool 

Receiving Transformer 

Figure 9: Direction of Earths Magnetic and Gravatational 

L-ec tor s 3 2 

/ Figure 10: Block Diagram Telemetry Receiver 34 

- - / ~i~ure 11: Mock Diagram Uphole Processor and Display Unit 3 3 

1 Figure 12 : Depth Correlation Comparison 40 

Figure 

Figure 

Figure 

Fisure 

Figure 

Figure 

Figure 

Figure 

Figure 

Figure 

Figure 

Figure 

13: Inclination Angle 

14: I'ertical Deviation of Borehole 

16: Lateral Deviation 

1;: Survey System Ajimuth 

19: Azimuth Difference 

13: Heading vs. Rotational Angle 

20: RfIS Heading Error vs. Heading Angle 

21: FtLIS Elevation Errors vs. Elevation Angle 

22 : \Iechanical Outline of Do~inhole Unit 

23: ?laynetometer Output for Y Axis and 1 .<xis 

4: .Acceleromet~r 3utput for Y Axis and Z .Axis 

for Rotation about X Asis 

23: \!agnetoneter Output for Y Axis and S -Axis for 

Rotation about X .Axis 

Figure 
LIST OF ILLUSTR4TIONS (CONT' D) 

Figure 36-4: Comparison of Calculated Survey Path vs. 

lleasured Bearings for Simulated Trajectory Test 

Figure 26B: Comparison of Calculated Survey Path vs. 

Measured Inclination for Simulated Trajectory Test 87 

Figure 26C: Comparison of Calculated Survey Path vs. 

LIeasured Survey for Simulated Trajectory Test 

Figure 27: Vertical Survey of "Horizontal" Drill Hole Using 

Sperry Sun Survey System and Cableless Electronic 

Survey System 
Throughout the history of coal mining, the dangers associated 

xith elevated levels of methane gas within the nine environment has posed serious hazards. It has been directly responsible 

for the distruction of many mines as well as the death of many 

miners. In response to this, the United States government through 

the Bureau of Mines has undertaken many research projects 

whose purpose have been and are to develop methods by which 

the measurement of the level of this deadly mine hazard as 

well as the control of the level can be accomplished. 

One of the control techniques which has been developed is the 

use of long horizontal boreholes being placed along a coal 

seam. Coal which is beneath the earth's surface tends to 

contain gas, much as a sponge will hold water. Research as 

well as industry practice shows that by the drilling of the 

boreholes in the coal seam permit the coal to release larse 

amounts of the gas through the hol: wherz it can be safely 

vented out of the mine. This technique is particularly beneficial because methane drainage can be done well ahead of the 

actual mining of the coal Sean. Since modern mining methods 

and equipment expose virgin coal at such a rapid rate, the 

prerelease of entrapped gas almost becomes a requirement to 

keep methane levels below the danger point. 

The drilling of these long (approx. 2000 feet) boreholes, 

however, is not without problems. Specifically, maintaining 

the drill uithin the coal seain during drilling coupled with 

the desire to knox uhere the drill is located geographically 

are problems faced by the drill operator. Until recently, 

the most ~idely used technique for surveying during the 

drilling operation \<as the use of the Sperry Sun Multi-Shot 

tool. This tool is used by pumping it down the center of the 

drill string until it gets to the drill bit. Then a photo 
of the internal compass and pendulun position is taken 

and the tool retrieved. After development of the photo, 

it is read and the drill operator is given the heading 

(bearing) and inclination of the drill position. The 

process is repeated at increments, such as when additional 

lengths of pipe are added, thereby providing a history 

and current location of the drill string. Each shot takes 

approximately 30 minutes to complete from the time the 

drill stops until drilling resumes. 

In the early -0's the Bureau of Wines developed a system that 

would give the driller information within minutes. If featured 

radio communication between the drill and the driller, and the 

use of a computer on the surface to analyze the data and inform 

the driller of the results. This system provides information 

in less time than the earlier techniques. However, it did have 

operational disadvantages, as the computer operators on the surface had to phone the results to the driller in the mine. 

Kith the development of nicroprocessors in the mid-70's, it 

becane possible to develop a computer small enough to go into 

the mine, and designed for the driller to operate it. The 

Bureau of \.lines then awarded a contract to ENSCO, Inc. to develop 

that conputer and to enhance the downhole unit that transmits 

information. This report contains the results of this research 

project along with conclusions and recommendations for the 

continued operation and enhancement of the Cableless Survey 

System (CSS). 

The resulting CSS tells the driller where his drill is very 

quickly follo\~in; the stopping of the drill. Figure 1 

shows the operational s2tup of the CSS. Time is saved over 
previous survey techniques in that CSS remains "downholP 

in the horizontal borehole during drilling operations. It 

is rugged enouzh to ;%-ithstand the shock and vibration resultin? from the irilling operation. 

QE" I!'IUS 

Figure I. Cableless Survev System 

The CSS ~orks by measuring with its on-board sensors the 

position of the earths magnetic and gravitational vectors. 

It then relays that data by induction of an electric current 

through the drill and the surrounding coal material to the 

"uphole" receiver/processor. The processor then computes the 

current position of the tool with respect to the vectors 

mentioned above and displays the results to the driller. 

In addition, the processor then adds the new data point 

to the survey- as drill rods are acided, thus giving survey 

information such as vertical and horizontal deviations from 

a straight line based on initial headings and inclinations 

at the beginning of the borehole. 
Figure 1 is a photograph of the front panel drillers display 

of the CSS Processor. The keyboards are used to key in initial 

conditions as well as control the survey operations. Under 

a hinzed panel on the right hand side is lscated a thernal 

printer where survey results are printed for reference and 

records the entire survey. -4s designed, the entire receiver, processor, display and printer are intrinsically safe. 

This now permits the driller to have all aspects of the survey 

system located at the drill site. 

This research project which started in October of 1977, was 

conducted in three phases. -A detailed description of the work 

accomplished in each phase is contained in this report. The 

three phases are as follows: 

Phase I: Repair and Evaluation of Existing System 

Phase 11: Design and Fabrication of a Portable 

Display and Processing Unit 

Phase 111: Field Test and Upgraded System 

During Phase I the initial downhole tool and receiver was 

repaired and field tested in the Nariana LIines to determine 

its capability. Results of this testing was the decision 

to upgrade and enhance the downhole tool to make it more 

reliable and operationally efficient. .4dditionally, sensors 

were added to improve system measurement capability. 

ktivities under Phase I1 were the design and fabrication of 

a portable, intrinsically safe receiver processor. Hardware 

rcas designed, developed and tested. Initial field calibration 

tests \$ere conducted which indicated that the system worked 

within expected limits. Bearing and inclination errors \$ere 

within the 10.5" and -0.01" respectively. 
T 

INITIAL BEARING 

METER 

INCLINATION 

DIP ANGLE ROTATION * 

H DEVIATION V. DEVIATION (s 

STRING LENGTH MEM. INVALID 

1 

HI TEMP 

DATA ERROR LOW BAllER

RESTART 

1:igul-c 2. 1:ront Panel of the C
~haje I11 work covered the in nine drilling tests and 

beronitra tions. Durin; this phase, the CSS was used during 

actual drilling operation in tl&-o different coal mines. 

ilthough, holes tha: :<ere surveyed totaled slightly over 

500 feet, ?he tool was in place for many redrilling and 

reaming operations uhich subjected it to a significant number 

of drilling hours. Operational problems were encountered 

during drilling. \lost of the problems were associated with 

battery packs and connections. A11 were repaired but system 

availability was hampered by these problems. Other operational problems were in the area of the size and weight of the 

tool and its effects on drill guidance. 

In conclusion, the newlv enhanced and upgraded CSS provides 

critical survey information in a timely and efficient 

nanner to the drill operator. The development of the permissible nicroprocessor subsystem has provided a system that 

can be tailored for future expaxion of the CSS as well as 

other research applications requiring data acquisition and 

processing on site in the hazardous mine environment. The 

operational problems discovered during actual field use should 

be further examined and incorporated in future design. The 

research project has provided the industry with the capability 

of increased productivity in degassing operations. 
The objective of this program was to recondition the United 

States 3ureau of \lines ('L[SB!I) cableless surveyin,o systern (CSS) 

-" and i~?orve its operational capabi1it;"-. he program vas divided 

into three separate phases. They are as follows: 

Phase I 

Phase I: Repair and Evaluate Existing Systen 

Phase 11: Design and Fabricate a Portable 

Display and Processing Unit 

Phase 111: Field Test of Upgraded System 

Phase I of the program started in October 1977 and culminated 

in >lay of 1975 ~~ith the submission of the Phase I report. 

During this phase, urk consisted of the repair of the damhole unit to make it operational, field testing and an evaluation of its capability. 

The repair of the do\cnhole unit involved both mechanical and 

electrical aspects of the device. Some of the repair work 

actually involved minor modifications to improve previous 

knom difficulties. The centralizers which support the inner 

canister in the outer driller collar as originally designed 

failed during previous testing. In addition, these centralizers 

did not properly support the inner unit which permitted it to 

flex and disturb proper sensor alignment. New centralizers 

were designed and fabricated by molding urethane to form a 

collar with spacers lqhich fit around the inner canister. This 

later proved to be very successful. The new pieces slipped on 

and off with no direct attachment and could be easily rzplaced 

and spaced along the entire length of the canister. 
.Another activity that ~ient beyond \chat .:+oulS noryally be ccnsidered as repair was a aodification that 2ernitted the bat~eries 

to be recharged \*-ithout disassenbly of the downhole unit as 

previously required. Circuitry %as added to the power control 

circuit board3 i~hich pernitted a modified audio porter 

oscillator to be connected to the downhole transducer in a 

fresh air environment. This technique fully recharges the 

batteries in about sixteen hours and eliminates the requirement for disassembly of the tool. 

Once the dolahole xnit was considered operational, it \<as 

subjected to pressure tests to ensure that the integrety of 

the explosion proof canister still met permissability requirements. The inner canister was subjected to a minimum pressure 

of 1500 psi over a 10 hour period. During the test a peak 

pressure of 1-00 psi was experienced. After testing the unit 

was operated and then disassembled to determine if any leakage 

had occurred. The unit operated satisfactorly and no leaks 

had occurred. 

Following the above repair and rehabilitation the CSS was 

taken to the nine for field testing and data acquisition. 

The mine chosen for the field testing \<as LIarianna 958 in 

Pennsylvania. During the field tests the downhole unit 

operated satisfactorily when exposed to inore than 35 hours 

of drilling operations including several hours of hole 

reaming activities. Only minor problems %ere encountered 

during this testing. They involved thermally induced drift 

of the system receiver, operational difficulties associated 

Kith mounting the up-hole toroid and excessive \<ater pressxre 

required to trigger the downhole unit. -411 of these problems 

\<ere expected prim to testing and steps Liere already ~lsnned 

for Phase I1 that \could correct then. 
The data fro9 the field test \(as tabulated and returned ta 

E!;SCC, Inc. for detailed analysiz. In addition, jurvev 

data from the Sperry-Sun survey tool used to jurvey the sane 

hole \(as sathered for comparison. Results of the corn2arison 

indicated that the CSS closely matched the survey results 

obtainej. h-ith the Sperry Sun. For example, in a survey of 

a 350 foot hole, the two survey tools differed by approxinately 

2.3 feet in vertical deviation and less than 1 foot in lateral 

deviation. Further lab testing indicated that certain instruinent 

biases associated with sensor mechanical alignment and 

electrical offsets did exist in the CSS. .Also, an error 

analysis \Gas done by feeding sinulated data into a computer 

which indicated significant errors could exist with the CSS 

when it is directed along a northerly or southerly heading. 

It was determined that by adding two additional sensors to 

the doinhole unit, there errors uould be greatly reduced. 

.4 report for Phase I which gives the details of all Phase I 

activiti3s \<as prepared and submitted to the USBK Results of 

the computer analysis are contained in 'A~pendix -A of this report. 

Phase 11 

Program activities that were accomplished during Phase I1 of 

the contract \<ere the modification and upgrade of the downhole tool, and the design and development of a new portable 

uphole receiver-processor. 

.As a result of Phase I activities, as well as previous drilling 

experience, a number of deficiencies with the downhole survey 

tool uere outlined. They were as follows: 

9 \$ater pressure required for triggering downhole tool too high, 

a Excessive errors caused by sensor ambiguities 

\<hen operated along a northerly or southerly 

heading, 
a Electronic coaponents included originally 

kchich were no lon~er available, 

Transnit clock instability which prohibited 

receive tracking on a reliable basis. 

The downhole tool was designed to send a transmission sequence 

when the water pressure in the drill collar is raised to a 

level greater than 100 psi. In actual field test operation 

this pressure was difficult to obtain. A number of factors 

were responsible such as too small or defective pump, lack of 

enough water volume, debris clogging the water way, etc. 

Since the pressure problem was still evident in Phase I of 

this program, it was decided to install a lower pressure 

trigger switch. An identical witch with a lower range which 

now activates the downhole tool xith approximately 70 psi 

water pressure was installed. 

In order to correct the anomallies associated with the northsouth problem, it was decided to add two additional sensors. 

These sensors consisted of biaxial accelerometers oriented 

to detect the gravatational vector along the planes from 

side to side and top to bottom of the sensor canister. .A 

single package \Gas procurred that contained both accelerometers 

mechanically aligned 90' apart from each other. 

The addition of the new sensors required that the sensor 

canister be made longer. In order to make room for this 

extension while maintaining the original overall package 

length forced the repackaging of the electronics to provide 

the additional space. The requirement for repackaging also 

provided the o2portunity to i:n?ro~-e ses-era1 other kno~n 

deficienc iss. 
In the orisinal desiyn, the survey tool clock was controlled 

by resistor-capacitor timing. This proved to be unstable 

in the drilling environment and therefore required wide bandi<idths in the receiver tracking circuits. The increased 

band\%-idth also increases the suseptability to noise problens. 

Therefore, a crystal controlled clock was installed in the 

survey tool. This will permit narrow bandwidths to be used 

in the telenetry receiver. 

During the rehabilitation of the downhole package done in 

Phase I the -4/D converter \Gas found to be inoperative. Attempts 

to replace the unit led to the discovery that the particular 

part was no longer manufactured. Fortunately, one was found 

and installed for testing, but no spare units for future 

repair xould be available. 

In light of all of the above it was decided that the downhole 

survey tool electronics would be upgraded throughout with 

commercially available components. Further, the existing 

explosion proof canister would be retained unaltered so as 

to retain permissibility. 

Appendix 3 zives the resulting mechanical layout of the upgraded tool along with its output specifications and sensors 

specifications. 

The second aspect of the Phase I1 activity was the design and 

development of a permissible portable uphole receiver and 

processor. .4 system design \(as submitted that called for 

the use of lo\$ poiier C>fOS circuitry. It was felt that the 

use of this poxer integrated circuit technology would 

simplify the pernijsibility process because power requirements would fall 1%-ithin the intrinsically safe levels. Figure 

2 sho~s the front panel of the resulting receiver/processor. 
-4 detailed description of the system design is inslnded in 

Sectian 3 of this report. 

The final activity of Phase TI %as the testing and alignment 

of the system. Since this device uses the earth's magnetic 

field as its input and this field is disturbed in the proximity 

of magnetic materials, i.e., buildings, cars, pipes, etc., the 

system was taken to an open land area. The field tests 

consisted of rotating the package around each axis and plotting 

the output from each sensor to determine exact scale factor 

and offset. After exact scale factor and offsets for each 

sensor channel were determined new alogirthm coefficients 

were calculated and incorporated in the processor programmable 

memory. The rotational tests were then repeated for verification. 

It should be noted that vertical rotation of the package was 

not accomplished. This was due to the fact that the package 

\<as very long and heavy and would require a complicated and 

costly fixture to support the unit while providing precise 

alignment. 

Following the alignment tests, the system was subjected to a 

simulated trajectory test. This was done by placing a pattern 

of nine holes in a board in the following arrangement. 

The coordinate distance between each hole \(as such that movement 

be t~ieen any two adj acent holes vertically or horizontally 

repositioned the tool by lo in bearing for horizontal and lo 

in inclinations vertically. The simulated survey \<as performed 
by entering the initial conditions for hole ;1 at an initial 

strinz length of l0 feet. Then a survey of the first holposition ~~aj done and an assumed 10 foot drill rod added. Tne 

tool \Gas then positioned sequentially in each hole and a surIrey 

done addin2 13 foot rod sections for each hole until hole =1 

was repeat2d. This resulted in a total simulated survey of 

110 feet of string length. Figure 3.A shows a comparison of 

calculated bearings versus tool measurements. Figure 3B 

gives the same comparison for inclination. Figure jC compares 

the theoretical survey path to the computer results provided by 

the cableless survey system. As seen in Figures 3A and 5B 

the bearing and inclination readout fall very close to the expected accuracies for the tranducers , i. e., - +O. 5' for the 

magnetometer and - +O.1° for the accelerometers. Some of the 

inclination errors are slightly outside of the expected 

variance. This has been attributed to two factors. First, 

a buildup of tolerance and secondly a slight play in the interface of the holes in the target and the positioning pin. In 

addition, errors in the absolute position of the hole were 

not corrected or compensated. 

The errors associated with sensor relative alignments were 

examined by repeating the simulated trajectory test twice. 

First, two readings separated 5y a 180' rotation were average 

for each hole and then repeated taking four readings separated 

b;: 90" rotations for each hole. 3e results of these tests re: 

Bearing errors: mean 

Standard Deviation 

I'ariance 

2 Readings 

Per Hole 

Inclination errors: 

me an O.OOSO 

Standand 3eviat ion 0.084" 

Tv-ar iance '1. ;yo 

1 Readings 

Per Hole 

I 3. (:o~\ll)i\~.ison ol (:alcuL;itcd Survcy I'iltlr 

vs . 1 I re L I\C 1 i nn t ion iu I- 5 i 11111 1 ;I t CLI 

'1'1-a j cc tory 'I'cs t 
m 

- 

- 

- 

- 

- 

- 

-- - 

VERTICAL DEVIATION, FT. . - -. 

3 

- -. 

ym-,/' 

113LE 

NUYBER 

.4 

- - - 

I 

I 

-. 

, - - - . - 

- -. 

- 

-- 

-- 

I 

.3 

-. -- 

1 

. 

.5 

. -- 

I 

.2 .1 

- 

I I 

.1 

.2 

.3 - - 

-4 

.3 

I 

.1 

I 

.2 

- 

I 

.3 

-- - 

.4 

I 

-. 

- 

--- 

I 

-- 

.5 HORIZONT

DEVIATIO

- - - . 

-- - - . 

TOOL RESULT

CALCULATED 

I 
These results are interesting in that the errors associa:-d 

;<ith the accelerometers are fairly consistent in both cases 

and are \cell within the expected ranges. The bearing calculation is the result of combining the outputs of three 

orthagonaliy oriented nagnetorneters. The inclination is the 

result of a single accelerometer oriented axially within the 

package. Therefore, the bearing includes the combination of 

three independent errors whereas the inclination error is the 

result of a single transducer and thus the larger bearing 

errors and the statistical improvement with four readings. 

Phase 111 

Phase 111 began in July of 1979 with the first in-mine drilling 

test of the upgraded system. Testing began in Eastern Coal 

Company's Federal $1 mine near Fairnont Nest Vigrinia. A 

series of problems with the drilling operation caused a one 

month delay in the field test activities. The problems were 

primarily associated with the drill motor itself and the water 

pump used. 

Upon return to Federal Y1 in mid August the USB),1 had installed 

a new drill motor and water pump system. The CSS was installed 

and drilling Lvas begun. During the testing phase the only 

problem encountered xith the CSS centered around two areas. 

First !<as the batteries. In both the downhole tool as well 

as the uphole tool battery life seemed to be much less than 

the theoretical life should be. Later examination of the 

batteries revealed failed cells in the positive side of the 

dorcnhole battery pak and failed cells in the receive side of 

the uphole processor. Batteries were replaced prior to future 

drilling o~erations. 
primarily in an initialareported offset. Although no specific 

reason for the difference \(as determined, the basic output of 

the tl~.o tool results does correlate. 

-4 record of automatic receiver gain settings \<as ke?t and is 

given in Figure 5. -4s show as string length increased, 

received gain also increased. This is especially true out 

to about 190 feet. Beyond 790 feet receiver gain started to 

decrease. This was due to an abandoned drill string which 

was seized in an adjacent hole. In fact the drill bit 

eventually hit the adjacent drill steel at 329 feet. Note 

that the readins5 tsk?n t~hile the txo drill strings were in 

contact :<ere 3423 and 1033. These very low gain readings 

were due to the excellent conductivity of the return signal 

path provided by the seized drill string. 
HOLE DEPTH (STRI NC LENGTI~) 

1:ig~lr.c 4. Vclrt i i;~ 1 Slit-vcy oI 1lui.i zo11t!1)1:1)1'i 11 IluLc 

0, i 11s S1)e L. 1.y Sun '1'001 and CSS 

The readinss lthich uara taken out at 245 feet and 335 faet 

were hiyher than expected and \<ere actually setting close 

to the lixit of the receive capability. Later testing showed 

that these hi~h readings \<ere the result of the "dirty" hole. 

For esanple, in hole depths on the order of 400 to 500 feet 

receiver gains of 30 to 50dB were common provided the hole 

had been ~(ashed clean of cuttin~s prior to the transnission. 

Hole 91 \;as abandoned after several attempts to redirect the 

drill had failed. -A third hole leas started but had to be 

abandoned \%-hen the drill could not be kept in the hole. Tt-refore, no other survey tests uere conducteJ at Federal .line 

The taol ;bas returned to ENSCO while the next drilling site 

was beins prepared. While at ENSCO, adjustments were made 

to improve the operational characteristics of the system. 

These improvements uere based on experience gained during 

the Federal =1 mine drillings. These changes occurred . prinnrily in th? area of monitoring capability and operatins 

signallin: 1-ia the front panel to indicate what operation 

rhe system is ?erforming. These changes \qere most beneficial 

in re:2m-ir-_8 the "nystery" of the electronic survey system. 

7 lhe next Srillin~ 2c:ivity occurred in 3ecmb~r of 13-3 at 

the blariana $58 Mine in Pennsylvania. During the drilling 

program the CSS was successfully used to survey the drilling 

operation to a depth of 190 feet. 

h'hile drilling at the !!ariana !line the survey system xorked 

fairl~. \<ell. 3n several occasions \$hen the survey indicated 

that drilling lb<as approaching regions known to contain slate 

binder layers icithin the coal seam, cuttings indicate2 that 
the layers were hit within 3 feet along the driil path. Thij 

has at a string length of 434 feet. Records of the receiver 

gains attained in this field trial indicated that lcith a clean 

hole, good sround and 'good bit to coal thrust pressure, nuxbers 

on the order of 10 to 60dB of gain were common through this 

drilling from 35 feet to 190 feet. 

-4s with the previous testing exercise, batteries continued 

to be less than adequate. The problem was traced to be the 

interconnections within the battery cansiter and the relays 

used to activate the system. These items were all 

repaired and no further debilitating problems occurred. 

Another less serious problem that occurred throughout the 

testing was the triggering of the down hole unit. This is 

done by raising the water pressure to at least 70 psi and 

then permitting it to fall below 60 psi. The various pumps 

used and available water supplies were often not capable of 

not delivering the required levels unless orifices were 

installed in the bit to restrict flo~. . 

The final aspect of Phase I11 was the development of an OQ1 

llanual and a classroom training session given at the Bruceton 

Research Center. Personnel from the Bureau and from the 

independent drilling contractor were trained in this operation 

and maintenance .of the system. 
sensors are in a separate pressure-tight tube which joins to 

the first. This pressure tube assembly is then enclosed in 

an outer tube with an annular space between them for water 

passage. The transmitting transformer joins the nain package 

with a water-tight electrical fitting and has a hole through 

its center for water flow. .A short non-magnetic extension of 

the sane size as the outer tube is added at the sensor end 

of the unit to isolate the effects of magnetism which might 

exist in the drill bits and subs. The dolvnhole unit mounts 

close behind the drill hit. Figure - is a block diagram of the 

survey taol electronics. 

The sensor outputs are sampled in a time division multiplex 

technique in ~chish each sample is converted froin analog to 

digital for1 and used to nodulatz the phase shift transmitter. 
2-AXIS 

ACCELEROMETEH 

C 

3- AXIS 

ACCELEROMETER 

I-AXIS 

ACCELEROMETEH 

-+ 

SYNCHRONIZING 

LOGIC 

- b 

C 

i > 

)I 

- 

2 

+ 60 

PREAMBLE AND 

PARITY GENERAT

. 

MULTIPLEXER -). A D - SERIAL RAM MODULATOR 

r . 

4053 Hz PHASE PO

A

b d \ J- -b 

- 60° 
The sensor data transmission is preceeded by a long pulse 

of the carrier followed by a fixed message for receiving 

synchronization. The exact message and data fornat of the 

survey tool are contained in Appendix B. The transmitter 

output is efficiently coupled to the drill string by the 

transmitting transformer. The transmitting transformer 

is oriented such that it induces a true electric field into 

the drill string. The return path for the electric current 

is through the surrounding coal. 

The signal on the drill string is picked up at the surface 

by the Receiving Transformer,Figure 8,and then passed via 

the toriod cable. 

The receiving Transformer is mounted on the drill rig at the 

surface so that the drill pipe passes through it. The Processor, which includes the computer and receiver, is adjacent 

to the drill rig. 

As mentioned before the survgy tool contains a triaxial 

magnetometer, a biaxial accelerometer, and a single axis 

accelerometer. These sensors are used to measure the vector 

relationship in each axis to the earth's magnetic field and 

the earth's gravitation vector. Figure 9 shows graphically 

the direct ions of the earth's vector. 

The Processor utilizes an automatic gain ranging, variable 

bandwidth phase lock technique for maximum separation of the 

signal from the noise. The Processor then calculates the 

bearing and inclination of the downhole unit. 

When given the length of drill pipe sections, the Processor 

calculates the location of the bit and its deviation from the 

desired course. 
Figure 3. Receiving Transformer 
2 

HOR I ZOUTAL 

ISSET C;: I.7'~:.~ :sii.l'ic 717 .y;qL:: n:.: A;?lJT 

Ll!JES 9F -0' 13 '1: iE PI ?'Ti::! i917 i ,lkc.\ ipr\ .rd,.IET I C 

Figure 9. Direction of Earth's Yagnetic and Gravatational I'ectors 

3 2 
Figure 1:' is 3 block dia~z-an of the system receiver. Figure 11 

is a block diagran of rhe aicro?rocessor based 2roses3or and 

dispia?. unit. 

When the processor rxeives data from the system receiver it 

performs several functions. First, it does data error testing 

by examining that data parity is correct and that the raw data 

values are within reasonable 1 imits. Following the data 

checking, the processor then processes the received data 

to calculate the necessary parameters for the survey. Finally, 

the processor displays on its front panel those parameters 

that the drill operator needs to know such that he can initiate 

drill actions to guide the drill within the coal seam. -Appendix 

D contains the detailed schematics of the survey tool, receiver 

and processor. Also includes are the software program listings 

employed by the processor. Appendix E contains a discussion 

of the computm- algorithms that are employed by the processor. 
re 1 l'cl c~t~etry Receiver Rlock l)i;i!'r:im 
Figure 11. Block Diagram of Uphole Processor and Display Cnit 

C ST 

0 

C?\[P!TTE'.I7 

:Ii 

RO'1 + LED ' S 

Tn 9 

I :\TL?F 4Cf: 1 

SYSTE\I BUS .L!ITI P ETTC 

PFZOCESSOR 

1 

C 

\ 
3. CONCLUS IOYS .AND RECO>fl1END,ATI ONS 

The Cableless Survey System developed in this project has 

proved that drilling efficiency can be enhanced when detailed 

drill bit position is made available to the drill operator in 

near real time environment. Field tests have shown the CSS 

is as accurate as previous methods for borehole surveying and 

saves time in that the survey tool can withstand the drilling 

shock and vibration. The uphole receiver processor has proven 

to be reliable and most importantly portable. 

,As with any project of this nature, looking back over the final 

design as it related to operational use there are, of course, 

some recommendations that ENSCO, Inc. feels would significantly 

enhance the tools operation. Efforts to further utilize, upgrade and improve the system should be continued. 

The following is a list of recommendations by subsystem that 

should be explored in any further development. 

PROCESSOR - 

.Access to the values of average inclination and 

bearing that the Processor uses for advancing 

the survey will allow projection of hypothetical 

surveys. . * 

.Allow initial values for seam dip angle and vertical 

depth in the seam so the computer will read out (on 

demand) the current vertical seam depth. 

Extend the memory by ZK-4K to allow for program 

expans ion. 

Change the batteries used to take advantage of 

recent improvements in sealed lead acid cells. 
SU"nkrEY TOOL 

3reak the package about 10 feet back from 

the front end so a stabilizer can be put at 

a more effective distance from the frbnt and 

to nake the package more manageable. 

Change the batteries to lead acid. They are 

more durable and need fewer inter-cell connections. 

Use 

turb 

wate 

a pumpable battery pack or downhol 

ine generator (could also be used 

r flow). 

e wat 

to me 

er 

asure 

Develop sensors to read thrust, RPX and torque. 

Lighten the inner canister. 

Operate the tool as radio source to get attenuation 

curves in coal and other media. 

Reduce the outside diameter of the downhole package 

to allow more drilling control. 

Provide two way radio communication to eliminate 

the need for water pressure triggering. 

Design a new means for lengthwise compensation 

of the inner sections. The existing rubber 

cushions take a set and are difficuit to install. 
APPENDIX A 
During Phase I the CSS was field tested by surlre>-ing a 

horizontal borehole. The hole was also surveyed \\-ith the 

Sperry-Sun device. The results of both surveys ;<ere fed 

into a computer and comparisons made between the two. Since 

the Sperry-Sun device is subject to reader interpretation, 

the films were inter~reted by two readers and their results 

averaged. 

.An obvious discrepancy in survev depth between the Sperry-Sun 

and ENSCO surveys is evident in Figures 1Za and l?b. Figure 

l2a compares the two surveys without a depth correction, while 

the conparison in Figurel2b includes a 10 ft. depth reduction 

in the ENSCO surl,rey at the 100 ft. point. The greatly improved correlation between surveys in FigurelZb indicates 

that an error in survey depth was made and comparison of the 

ENSCO and Driller's logs reveals that the first survey point 

on >larch 16 was taken at 290 ft. but was imnroperly entered 

in the ENSCO log as 210 ft., creating the 10 ft. offset. 

The depth correction was made before final survey data was 

processed in the computer and is included in the: data used 

in the following discussion. 

The inclinations of the two surveys are represented graphically 

in Figure13 and the correlation between the surveys is excellent, especiallv when standard deviation of l.13J0 betueen 

the txo readers of the Sperry-Sun survev is considered. There 

does exist however a consistent negative bias between the 

ENSCO and the Sperry-Sun surveys. This bias becomes more 

apparent when the plots of vertical deviation for the two surveys are compared in Figure 11. The accompanying plot of the 

difference bet~~een the vertical deviation of the two survevs 

depicts an E\;SCO survev bias of about +0.106O. Since the ESSCO 

procedure of taking two readings, separated in rotation at 150O, 

at each survey point ~ould have removed any internal bias 

errors, the difference must be attributed to external factors 

such as the bit rise created by the use of only a front stabilizer or a saz in the non-magnetic extension between the bit 

IN< C'. 3 3 

CE',I,"S 

HOLE DEPTH - FEET 

Figure 13a. 

Figure 13b. 

4 1 
HOLE DEPTH -FEET 

3CV 

FEET 

HOLE DE?TH FEET 

VERTICAL CEVIATISN 

ClrFE: Et.CE 

FEET 2 4 

! I+ I ------- d- J 

Figure 14 
and the sensor system. Even with the bias, the surveys still 

compare very \<ell ~qith discrepancy of onlv 7.53 ft. in a 530 

ft. hole. The ENSClJ plot of vertical deviation includes the 

plot of the survey vhen the drill went into the roof and the 

hole was redrilled 

-4zimuth plots for the two survey systems are shown in Fi~ure 

13 The Sperry-Sun graph includes a plot of the first survey 

taken \!arch 17th and a plot of the aIrera,pe of two readers 

for the final slirvey. The surveys have som noints of discrepancy, but once again excellent overall correlation exists. 

The lateral deviation plots (Figure 16 are very close with 

a maximum difference of only 1.17 feet ard a difference of 

cnly .76 feet at the 839 ft. depth. Only the two reader 

averages of the final Sperry-Sun survey were used in the 

deviation plots. It should be noted that a standard deviation of 0.78" exists between the first and second Sperry-Sun 

survevs and standard deviation of 0.18" exists between the 

two readers of the final Snerry-Sun survey. The ENSCO survey 

ms also the average of two different survey points as shown 

in Figure 1'. The ENSCO survey procedure was desiyned to 

cancel errors by taking two survey points at each depth 

with an angular package rotation of 180" between points. 

The source of the differences between the ENSCO and SperrySun surveys is not clear and the correlation between the Cwo 

seems nore than adequate for this apnlication. It will be 

noted that the two Sperry-Sun surveys have an initial bias 

difference between tfem of anproximately lo. The survey tool 

was initially alizned against the first Sperry-Sun survey. 

Since all three runs (2 Sperry-Sun and one Survey Tool run) 

agree very well except for this bias difference, we are 

inclined to believe that there is an offset error in the 

Sperry-Sun tool-. 
SPERRY SUN .2 SURVEYS 

...... . CEGREES ... .................... . . - ...... ......... .. . -. ., , - - - - - - . - , . - - - . . - . . - - - . - . , -. . - - . . . - ...... - . - - - .- - -. . - - - , KEY: 

HOLE DEPTH- FEET 

Figure 15 
LATERAL DEVIATION 

SPEiiRY SUN SUF>JEY 

L AT 

Cl3 

FEET 

DIFFERENCE li\l LATERAL DEVIATION 

BETWEEN 

ENSCO SYSTEt.4 SUZVEY AP!D SFER.SY SUFI SURVEY 

CICFE2E',CE 

FEET 

,2 - - ----- A. - - - ---- --- . - 

-- 

45 Figure 16 
SlJRVEY SYSTEM AZIbIUTH 
gilring drill operation, significant non-linear variations in 

a~imuth corres?onding to ~ngular ~ackage rotation were 

experienced as s'.own ~raahically in Fi~ure 1Ba. The magr.itude 

of these variations promptei! a series of tests, relatin? 

magnetometer o~ltputs to angular rotation, to define the source 

of this non-linearity. 

The first test involved rotatirg the assembled inner package 

throuzh 360" of roll in 10" intervals and triggerinu the 

package at each interval. The package outnuts were picked up 

by the receiver, 1oz;qed and nrocessed in the cornntlter as 

survey data. The resulting plot of azimuth versus packaqe 

rotation (Figure 13b)reveals a variation of over - +1.5 dezrees, 

indicatiny the existence of the nroblem without the outer 

canister in place. .An analysis of the raw data indicated 

that .the ?re~~lously calci~lated magr,etometer offset factors 

were no longer valid and 3 reduction in azimuth variation 

could be effected bv offset correction. 

The next ste~ in the elimination grocess :\-as tc physically 

se~arate the sensor canister fror, the electronics canister, 

ld-tile retainin? t5e electrical' integrity. The resul tins data 

had slig?&tly less variation xitL[ rotation than data taken lcith 

the co~~lete package, but ?he same character \<as retained, as 

sho~+;n in Figure 13s. The effect of the electronic canister 

does not qpear to he a problem. 

The next sten lias to ~lisassemble the sensor canister, notins 

the resiiltant chanpes in nagnetoTeter 011tr)uts associ ated 1,-ith 

each component's removal. The cornonent having the greatest 

effect \;as thLe accelerometer, follo~ced by much smaller 5ut 

significant ~!--~m~es associated ~cith the masnetometer aliznment rods and outer sensor canister itself. nata on the 

magnetoneter alone sho~is sone reduction in azimuth variation 
Figure 1Sa. 

- OUTER CANiSTER-xE?40VED . - - -- -- - -- -- 7 

Figure 1Sb. 

- - SERSOR CAN ISE -- R - ONLY - ------.-- -- 

I - - - 

I - 8 - I I I I I I 

Figure 1Sc. 

-FIRST DATA 

MAG::ETC'A ETE9 OI'JLf --WITH OFFSET CHANGE ----- ---. 

3 5 Figure 1Sd. 
~k-ith rotation but Fore inportantlv the character of the 

variation Tias significantly different. This indicated that a 

chanze in the magnetic enl-iron~ent oq the nasnetometer had 

occurred. 

The axis offsets were greatly changed so new offset factors, 

derived from current experiments, were inserted in the program. 

The resulting data contains only a - +.3S3 variation in azimuth 

with rotation as shown in Figure 1Sd.It also possesses a 

character conducive to further reduction. 

An attempt was then made to reduce the errors in previous 

configurations by appropriate changes in offset factors. 

-4 small improvement resclted in each case, but in no case 

was the error reduced less than - +lo. 

The above testin? indica7.e~ that either all sources of maynetic abnormalities in the sensor canister must be removed 

by relocation of components and degaussing or tke procedure 

of taking tlvo measurements at each survey point (with ar 

ansular packaqe rotation of lSnO between measurements) must 

be continued. 

There was no requirement to investigate the notential limits 

of accuracy of this type of tool. However, the question cf 

limiting accuracy of a magnetic tool is often asked. Fiz~re 

19is a plot of heading degrees versus the rotational angle 

of the drill string taken over a reasonably straight section 

of the hole. An envelope containins the majority of these 

points is sho~vn as the solid line. The mid point of this 

envelope is shown as the dotted line. The mean of all ?oints 

- 3 with resnect to the dotted line is '.5x10 degrees. The 

standard deviation, :, is .lJ6". The low value of the mean 

indicates that the dotted line represents a systematic variation 1~!1ic5-, ~(ith sufficient (1-esizn or computational effort, 
I I /'!I. 

I ' I ip;ll! 

I' , , I.' /I l'li' 

L [by, 8 I 

'I \ \ I\ 

1 

I - I 1, \ 

ROTATlOP4 - DEGREES 

Figure 19 
could be renoved. The T of .l-MO includes both actual chanses 

in hole direction and statistical scatter of noints. This 

indicates hat a 5)-stem suc'? as this with an accuracv of 

bett~r t!xn -.1 ile3ree is feasible. 
ERROR ANAL6 I S 
C*4LCULt\TION OF LOC=lTION VECTOR 

The RDS-500 computer \Gas nrograrnmed to calculate the direction 

vectors for the down-hole package using the inputs from the 

package. In order to test these routines and to study the 

sensitivity of the calculations, simulated data was input to 

the programs. 

Before discussing the results, the following terms must be 

defined: 

a = .dip angle of the magnetic vector 

e = dip of package uith respect to the horizontal 

fl = angle of package uith respect to magnetic North 

$ = angle of rotation of a tick on the package with 

respect to vertical. 

Using this terminology and the equations described in the proposal, we calculated 3, fl, and $ given a and the direction 

cos ines from the magne toneters and the accelerometer reading. 

As was discussed in the proposal, uhen fl was near 0" or 180" 

(i.e. north or south), the calculations become more difficult. 

To show this, Figure 10shows the standard deviation of the 

error from 100 runs of each direction when noise is added to 

the magnetometer channels. The amount of noise is comparable 

to a Gaussian \%rTlite noise 1;it.h a standard deviation of 1/2 

degree. The error in fl is small (below lo) for directions 

between 20' and 160". However, the error goes up near the 

north or south directions. This is because f? is calculated as 

an arc cosine function. This has more error near t!~ese values 

and also it is im~osjiblc to tell uhen the readin? corresponds 

to negative angles. 

The ambiguity of negatiire angles of fl is impossible to resolve 

without an additional sensor on board. So combination of 
Key : 

---- Present System 

Note: 

2 Added Accelerometers 

lnput error assumed 

Magnetic - .So rms 

Accelerometer - .2S0 rms 

fl - Dcgrecs Angle with respect toet,f?agnetic . North 

Figure 20. RMS Ileading Error Vs. Heading Angle 
mathematical tricks or ~act:a,qe rotations can resolve this 

anb iguity. 

dAs discussed in the proposal, two additional ambiguities exist. 

\Vhen the package is aligned with the magnetic vector, it is 

impossible to resolve the angle $ . The final ambiguity exists * 

when 0 = 90' (Le. drilling in a vertical direction). Figure 

Ilshows this result. This figure is a plot of the error in 

@ as a function of 8 for 0 = 90". 

The ambiguity of not knowing whether the package is pointing 

west or east of nort?~ can be relieved by telling the system 

the initial direction as was done previously. However, if 

the direction is close to the North direction small measurement 

errors will cause larger direction errors. 

The system was next ~rogrdmn~ed for the equations using tuo 

added accelerometers. The comparative error curves are shown 

on Figure 1. This step would reduce all errors due to geometrical factors with the possible exception of the elevaticn 

angle. -4lthough we have not in::estig?-ted it in detail, it is 

believe that even these errors could be eliminated using alternate al~orithms. The added accelerometers also eliminate the 

ambiguities which exist in the present system. 

*It sho~~ld be recorded ho~cever that the system \<as nelrer 

intended for vertical work. The oriyinal specification 

in fact limited the angles to horizontal, plus or minus 

45". Thus, the ambisuity associated ~:i~h drill in^ 

along the magnetic vector was nrohibi ted. 



CABLELESS SURVEY SYSTE>I DOIV'NHOLE 

TOOL OUTPUT SPECIFIC-4TIOY 

Carrier Frequency: 1.932'Ki-I: r .00% Crystal Controlled 

Transmitter Output Power: 1 watt nominal to input of transmit Toriod) varies with coupling 

conditions) 

>iodulation: blanches ter Code 2 60" Phase hlodulation 

Data Rate: 31.66Hz = Carrier divided by 128 

Transmitter Sequence: 16 Seconds 0" Phase Shift Carrier 

4 Seconds -A11 1's data 

32 Bits Preamble 

30 Bits Random Data (Not Used) 

130 Bits Ten 12 3it Data Channel 

Parity 

Upon triggering the downhole tool transmits 

16 seconds of 0' phase shift carrier (no 

modulation) which is used by the receiver 

to establish carrier phase lock and auto 

gain range. 

The doxnhole tools follows the carrier with 

4 seconds of all 1's data h-hich is used by 

the receiver to establish the data clock 

phase lock. 

The downhole tool follows the all 1's with 

a 32 bit preamble xhich the receiver uses 

to acknowledge that the upcoming data is 

real and prepares to alert the microprocessor. 

The preamble code is: 

If the exact code is not recognized, the receiver will ignore 

the remainder of the transmission. 

The next 33 bits of data transmitter are sent 

to the microprocessor but are thrown away as 

meaningless. 
The last 130 bits are traminitted and r~eived 

by the receiver and seriaLly passed onto the 

microprocejjsr unchanged. They represent 113 

channels of 12 Bit offset binary data plus one 

parity bit per channel as outlined below: 

$IS B LSB ,. P 

1 channel data + parity:'l 2 3 4 5 6 7 8 9 10 il 13 13 

MSB LSB 

.\/D Scaling: 9 0 0 0 0 0 0 0 0 0 0 0 + Full Scale + 5.000 Volts 

0 0 0 0 0 0 0 0 0 O 0 1 + Full Scale - 1 Count = 

4.99976 Volts 

- 

0 1 1 1 1 1 1 1 1 1 1 1 + 1 Count' 0.0024 Volts 

1OOOOOOOOOOO Zero 

1 0 0 0 0 0 0 0 0 0 0 1 - 1 Count = 0.0024 Volts 

1 L 1 1 1 1 1 1 1 1 1 0 - Full Scale + 1 Count 

= 4.9951 Volts 

1 1 1 1 1 1 1 1 1 1 11. - Full Scale = 4.9976 Volts 

Parity: Parity is a single bit for each channel that is based 

on the number of 1's output by the .4/D and is added 

only to maintain even longitudinal parity. 

Channel Assignment: 

I 

Ch. 1: Magnetometer 1 .Axis 2 0.7 gauss = i 5 srolts 

Ch. 3: Magnetometer Y .Luis 5 0.7 gauss = c 5 volts 

Ch. 3: Magnetometer Z Xxis c 0.7 gauss = _+ 5 v@cs 

Ch. 4: Acceleromter Single Axis "3" .Axis 1g = z 5 volts 

Ch. 5: Accelerometer Biaxial ,"-A" Xxis 1g = 2 5 volts 

Ch. 6: .4cceleroneter Biaxial "3" .\xis lg = r 5 volts 

Ch. 7: Temperature O°C + SO°C = 0 to +5 volts 

Ch. 8: Reference Voltage + 2.15 volts 

Ch. 9: Yegative Battery Voltage Monitor -2.85 volts nominal 

Ch. 10: Positive Battery Voltage 41onitor -2.35 volts nominal 
Transducers : 

lanufacturer: Sunstrand Data Control 

Range (Full Scale). .................. ?15/g 

Sensitivity (Nominal) ................. 250 mL:/g 

Output Resistance (Nominal) .............. 250 ohms 

Frequency Response (Nominal, 15%) ........... DC to 5OOHz 

Natural Response (Nominal). .............. lOOHz 

Noise (Nominal): 0 to lOHz .............. 100 :V rns 

0 to 500 Hz ............. 300 2V rms 

500 to lOHz ............. 600 QV rms . . Broadband .............. 1 mL- rms -. 

Excitation Voltage. 

Excitation Current. .................. 17 3-A quiescent, 

35 mA full scale 

Sensitivity Shift with Excitation Voltage ....... 0.005%/V 

Zero Shift with Excitation Voltage .......... 50 ug/V 

Resolution @C) ................... 0.000001 g 

Threshold (DC) .................... 0.000001 g 

Linearity (DC) .................... 0.034 of reading 

Hysteresis (Less Than). ................ 9.001% of fuil 

scale 

Repeatability ..................... 0.0033 of full 

scale 

Zero Unbalance (Less Than). .............. '0.02 g 

Damping Ratio (ipprox) (3) ............... 0.6 

ThermalZeroShift(>lax) ............... 3.0001 f/OF 

Thermal Sensitivity Shift (!.lax) ............ O.OlS/OF 

Transverse Sensitivity ................ 0.302 g/g 
2) :< and Y .Axis .\ce~lerometer 

?lanufacturer: Terra Technology 

Yodel : 'IT- 300.A 

Range: 21 g (mininum) 

Scale Factor: 8.5 LV3C/g k0.5O5 

Null Offset: (0.020 volts 

Temperature Coefficient: 0.01% of FS/'F (?lax) 

Lineraity: '0.02% of Full Scale 

Hysteresis and Resolution: 0.00015 of Full Scale 

Turn-on to turn-on Repeatability: <2mv 

(no tapping allowed) 

Axis Alignment (WRT Case) : to. 50' 

Biaxial Orthagonality: '0.25' 

Output Impedance: <15,000 ohms 

".4" .Axis to 'be aligned to 5-32 Hole within 0.5' 

Excitation I'oltage: 210 to +1SV 

Excitation Current: 521 

3) Tri .Axis !!agnetometer 

llanufacturer : EYCO 

The Electro blechanics Company 

Yodel: 6713 

Range: 20.7 Gauss 

Scale Factor: .11 Gauss/volt (r5V) 

Resolutions: 50.5" 

Excitation Voltage: 513 to 213 VDC 

Excitation Current: 60ma max 

Voltage Ripple: 25: 

Batteries: 

hlanuf acturer : Gould Inc . 

hiodel: 2.2SC (1/2D) YiCad 

Quanit?: 21 
APPENDIX C 

CABLELESS SURVEY SYSTEM TEST PLAN 

AND TEST RESULTS 
This .Appendix C contains the test plan submitted to the US3!1 

in September 1978. Imnediatly following the plan is the 

results of the system test and description of any deviations 

~hich were noted. 
TEST PL.43 FGR C-ABLELESS SGRVEY SYSTEbl 

1. DESITN REQUIREF,IENTS 

A. Check to verify that the following are displayed: 

YES - YO 

- - v ' Bearing in dezrees and minutes 

- J r Inclination in degrees and minutes 

/ 

v - Rotation .Angle irL degrees 

J - a Horizontal deviation in feet 

J - a Vertical deviation in feet 

- 

J - a Drill string depth 

B. Verify that the following can be entered from the keyboard: 

- YES 

J - a Yagnetic dip angle 

J - a Initial bearing 

- J - r Number o'f drill rods 

C. Verify that hard copy can be produced from data received 

from the downhole unit. 

YES - NO 

D. Verify that self-checking can be performed on the: 

YES NO - 

r Receiver 

Computational circuitry 
E. Verify that data error detection and urning capability 

is functioning 

YES X - 0 

F. Verify the following physical requirements: 

YES - NO 

\$eight, approx. 40 lbs. 

Size 

Width 13-3/4 inches 

Height 14-1/4 inches 

Depth 11/7/16 inches 

Unit's own carrying case with 

Protective cover 

Handle 

a Does handle serve as means to position 

and display at various viewing angles? 

Is transit case supplied? 

G. Is the unit intrinsically safe as defined in \IES.A 

Schedule 2G ? 

YES - NO 

Does the system operate from an external 

12-volt automobile battery? 

H. Is the electronic construction of modular design to 

allow rapid ra~air? 

- YES NO - 
2. RECE17i'EFi TESTS 

E~<~iipment necessary 5,: :his test %ill include a dmn-Eo:? 

transnitter link enL:l>t~r. This er,uiator kill :zener2te Ioc!~ 

and trans~it sl;nals In strict accordance xith those transmitted by the do~n-hole paskaze at 3 carrier frequenc;,r of 

4.0525 KH c.02?. The Jata field \$.ill be missing, however. 

It will also contain a 7b.Alite noise generator and a Teans to 

sum the t~o outputs. The signal should have a ranqe of -302~ 

to 3v (100 dB) in 10 d3 steps an- the output noise levels 

should be adjustable to -5 dB be lo\^- the si~nal. If a siyial 

is properly received and decoded, the computer \<ill detect 

the preamble and generate a "data error" signal because of 

the absence of the data field. 

Procedure 

1. With a full battery ~Aar~e, turn the unit on and verify 

proper o?erat ion with Self-Test function. 

2. Connect the mulator to the receiver input and be~in rhe 

tests l~ith a si<nal 1e1-el of 30~v and a noise level of 

-3 dB, at a carrier center frequency of 1052.5 Hz. Send 

the preanble five times and noTe presence or absence of 

data error indication. 

3. Repeat Step 2 nine nore times, each tine increasins signal and noise levels +10 dB. 

1. Repeat Steps 2 and 5 for 4052 Hz and 1055.5 carrier 

center frequencies. 

5. Ileasure receii-zr 3;atte r). i-altaqe 3x2 ~l~te elapsed test 

time. 

.';OTE: If 2t an?- ti?,? ti.le~-e is a lo\< batter?. ~-olta~e indication in t:-,e ;~--17~ter section, st09 the test 2nd reck'ar~e thcse !3attnri?~. 
1. -Any conditions under LV-hish an error is not detected. 

If an). ?rea;lblss are sent (under alloh-able conditicrts) 

:!-.A: 59 not cause data error indications, the receii-er 

?r?5izn -,ust be corrected and the tests run again fron 

SL?? I. 

Results of Step 5. 
3. 3ATTEXY LICE TESTS 

The FurpGse of this ceic is to deternine lkih?t'yer the -nit . . iVGi!l operate f3r s lx nours ccnt inuously, gil-en a reasgnahlr 

set of o~sr~tin; ;,3nditions. 

Procedilre 

1. Charge the batteries norzally, and mezsure the resultant battery l-oltase. 

Apply the proper premble from the emulator to the receiver every 15 minutes and check for data error indication. Every hour, operate the self test function 

and then neasure battery voltage. 

.After six continuous hours, continue the test, measuring bat~ery voltage every 15 minutes until that voltaqe 

indicates a cell voltage of l.lv, or until a malfunction 

occurs. 

Record 

1. Results of Step 3 versus tine of day. 

Results of Step 4 L-ersus time of day, and cor-diticn of 

batter), ~~sltage indicators. 

Preface 

"The unit" will refer to the processing and display ??stex. 
-1 . EST;-i 3L?!:?-:ENT.4L TESTS 

The ~ur?ose of this test is to prove cJrn?liance \<ith Mil-Std315S ?.le:'r,n\? 513, Frocedure 1. 

Procedure 

1. Obtain a clean vessel with a cross section larze enouqh 

to accept the unit and a total height of -IS1', and fill 

~itn ;cater at 13" rj°C to within 10'' of the top. 

Renove all inrernal components from the unit that are 

not secured \\-ith external fasteners. 

Heat the unit, cover open, in a temperature chamber, 

for two hours at 45" 23°C. 

Open and close the cover three times, then secure it ;Gith 

the built in latches. 

Submerge ;he unit, zs modified in Step 1, to the bottom 

of the L-essel, using a method that rci?l restrain the 

buoyancy of about 100 lbs. ~ihtout damage to any part of 

the unit. 

After 123 +5 minutes, remove the unit from the ~ater 

and \<ipe the exterior surfaces dry. 

Open the unit and inspect the interior and contents for 

evidence of leakaqe. 

Record 

1. Location and m?rosijnate amount of interior aoisture ob- 
Record 

1. Results of Step 4. 

2. .Any observable physical changes in the transit case, 

foam packing, or the unit itself. 

4.3 OPERATING TE?IPERXTURE TESTS 

The purpose of this ?est is to verify operation of the unit 

over the specified range of 0°C to 50°C. 

- Frocedure 

1. The unit \,-ill be turned on and the specified war3 up 

tine alloxed ro elaFse. Test conditions will be enrereJ 

into the processor on the k~;:Soard. 
The dnit will be placed in a chainber \iith a ~-ie1,\,ing 

port in the front, of sufficient size to vi~x the dis- 

?lay, and \<icR a means to allow signal lines Ero~ :he 

nor-nl receiver input to be led out of the cha~ber. 

Connect the emulator to the receiver input xith an 

input level of 300~~ and a noise level -6 dB and a 

carrier frequency of 5052.5 Hz. 

Send preamble and record presence or absence of data 

error indication. SOTE: Presence of data error 

verifies proper decoding of preamble. 

Repeat Steps 3 and 4 at carrier frequencies of lOS'3 HI 

and 5053.5 Hz. 

Teyperature of the chantber will be lowered to 0°C and 

allo\%-ed to stabilize for one hour. 

Re?eat Steps 3-5. 

The tez?erature of the chamber \(ill be raised to +50°C 

and the unit alloi\?ed to stabilize for one hour. 

Repeat Steps 3-5. 

Record 

1. Operating conditions and results of each Step 4 test. 
-2.4 TE!1PEI;iATURE SE3CK TEST 

- T ir:e ~urpose of this test is to prove compliance [%.it3 ':i:-S:?- 

3'22E, !jethod 10-3,.A, 2s xodifi?d to protect certain coz?on?nts 

and ios~er\-e tzsiin~ tine. Specificallv, the liquid crystal 

dijplay and :he 53tterie3 are not specified to iiithstsnd t:?r 

high tmperature extr-ne of 30°C. The display, the batteries, 

the DC/DC converTers, the keyboard, 2nd the printer !<ill not 

1;ithstand the lo^ temperature extreye of -55°C. The batteries, converters, and display are not easily removed. The display has the fiarrmrest range, namely -20°C to +70°C, so \<e 

are modifyins this thermal shock test to be perforned over 

that range. 

Procedure 

1. The unit, rGith cover closed, will be placed in .a tenperature chamber cooled to -29°C for four hours, with no 

more than five minutes elapsed if it is bein2 cooled 

from the hi;h temperature. 

The unit is then heated to +70°C, xith no more than 

five minutes in the transition from -'O"C, where it 

will rezain for four hours. 

Steps 1 and 2 are each performed a total of five times 

in sequence. 

At room teaperature, turn the unit on, allow tine to 

warm up, then perform the Receiver Test Section, Steps 

1 and 5. 

SOTE: If the unit \bel;ht is belo[$ 29 lbs., tiqes at te~.?erature extr27es ins>- be recl,uced to t\%,o hours each. 

Record 

1. 2esults of Step 5. 

1. .4ny ph?-sic11 ch~nses 3vident on post tcst ins?ection. 
1 . 5 3tl!.11,7ITk' TEST 

The purlos? of tjis :?st is to ?rove cmpliance of r?e cnit 

,.;.ith f!il-Std-$l!IC, 'lethod 50:. 1, Procedure I, as nodif i?d '2:. 

- z?,SCO to conserv? costs. 

Procedure 

Full charge the unit batteries, remove the protective 

cover, 

input . 

computer 

and connect dummy connector the receiver 

Install the connector caps for the power and 

connectors. 

Place the unit in the temperature chamber and slor\rl:. 

raise the temperature and humidity over a period of 

two hours to 65°C and 97% r.h., respectively. 

3. Llaintain the condition of Step 7 for six hours. 

5. Open the test chamber and allol~ it to stabilize at roon 

tenperature. 

- 

3. Gperate the self-test and note pro~er response. 

Record 

1. Results of Step 5. 

Any ph~~sical changes noted in the unit. 
5. FIELD SUR\.'EY TEST 

This test \V,ill de~onstrate the in~e~rity of the systm as a 

whole. Several ccn2ass points and package incl inaticns ill 

be surv?)-ed and iox3ared ~~ith coincident transit readings. 

Transit accuracies will be kept to t.01". 

Procedure 

1. .Assemble the cableless survey tool with all batteries 

at full charge. 

Run Self-Test. 

Position and level the tool at due magnetic north (0") 

and trigger the package. 

Check the axis alignment offset constants and monitor 

housekeeping data from the dokn-hole package. 

Initiate dip calculation on conputer. NOTE: In the 

follo\k-ins steps, use the external control panel of 

the computer to read out sensor readings for each 

point desired. 

Align the package with an elevation of -lo, and a heading of 0°, and take readings for the following package 

rotations: 0°, 45", 90°, IS0, lSOO, 22S0, ?'go, and 

315". Use a transit at each point for a reference reading. 

Repeat Step 6 for an elevation of 0". 

Repeat Step 6 for an eltvation of +lo. 

Repeat Steps 6, 7, and S at a heading of 90". 
5.2 SI?.IUL.ATED DRILLING TRAJECTORY TEST 

19. .Align the package to 0' heading. Ferforn 10 random 

alignnents within the range of 353' to lo (heading) 

and -I0 to l3 (elevation) to sinulate the drilling 

o?eration. Each point will be entered into the processor as though it were 10' of drill rod from the previous point. Take transit readings of each point for 

reference. 

11. Repeat Step 10, but within the heading range of 169" 

12. Calculate the simulated course from the transit readings. Then compare with the survey tool results. 

Record 

1. Results of Steps 2, 4, and 5. 

2. Sensor readouts and corresponding transit reading for 

each of the 21 points in Steps 6, 7, 8, and 9. 

3. Results of Steps 10 and 11. 

4. Deviations from actual course derived in Step 12. 

5.3 DRILLING TESTS 

This test will insure that the cableless survey tool operates 

to design specifications in the actual drillin? environment. 

Procedure 

Initial 'leasurernents 

1. Complete a5se~Sly of cableless survey tool, \\rich all 

batteries fully charged, at the surface site of the 

chosen drillinp location. 
Initiate Self-Test. 

Trisser the ?adage transmission and deter~ine the ??c?.anical offset of the asse~bled padaze. 

4. Determine local dip angle, using the computer. 

Installation in the !line 

5. Set up the driller console (processing and display subsysten) in the mine. 3e certain that connector caps 

are instalied on power and computer connectors. 

Enter initializing data. 

Install receiver transducer. 

Initiate Self-Test. 

Initial Survey 

9. Perform a Sperrl--Sun Yulti-Shot survey of the existing 

portion of the hole. 

10. Survey the existing hole with the cableless survey tool. 

.At each 10-foot measurement, stop the drill and trigger ' 

a transmission. Then rotate the package lSOO rlOO and 

trigger another transmission. 

11. Compare the results of Steps 9 and 10. 

2r i 11 and Sur-~-e;~~ 

12. Continue drillin2 2nd survey every lo', as in Step 19, 

to a depth of 1390'. 

1. Re~ove the tool and survey the new hole drilled in Step 

12 every 213 feet, usin5 the Sperry-Sun Yulti-Shot. 
Compare the results of Steps 12 and 15. 

NOTE: Recharge the batteries and service the printer at the 

end of each day's operation or sooner if required. 

Compare daily results ~ith printer output. 

Record 

1. Results of Step 2. 

2. Results of Steps 3 and 4. 

3. Results of Step 3. 

4. Enter log obtained in Step 9, including house-keeping 

data from the down-hole package. 

5. Parameters of bearing, inclination, angle, horizontal 

and vertical deviation, drill string depth, and true 

depth for each point in Step 10. 

6. Results of Step 12, as above. 

7. Enter log obtained in Step 13. 
and continues to renain certified explosion proof. 

l.H No Deviations 

2. RECEIVER TEST 

Under this contract no downhole emulator was constructed. 

Internal self test in the receiver/processor %ere included 

within the uphole unit. This self test does include a conplete simulation of carrier lock, preamble recognition and 

data verification. 

The receiver ;Gas testsd using the do~nhole breadboard unit. 

Signal to noise ratios from OdB to +6dB Kas inserted in the 

input of the receiver i~ith a signal level of 2~v and 302~. 

.At 3Ouv no errors occurred above a signal to noise ratio of 

+?dB. At a signal level of jLv ~hase shift lchich occurred 

during the auto gain ranging did not always allotv adequate 
tine for the carrier phase lock loop to stabilize thereby 

prohibiting the preamble from being detected. This problem 

was correct2d 5)- employing wider bandwidth ainplifiers in the 

auto Zain ranging section of the receiver. .After this correct 

transmission was received without error with a signal to noise 

ratio of +3dB. 

At 30pv signal level some data was received without error 

with a signal to noise ratio of OdB. However, since less than 

90% of the transmissions were correct, the false alarm or error 

detection rate was deemed to high. It should be noted that in 

more than 9 0 % o f the cases when the preamble is recognized 211 

data is transferred without error. Conversley, since the 

receiver does not indicate a data transmission unless the 

.preamble is recognized, very few bad transmissions are even 

detected. 

3. B-ATTERY LIFE TEST 

The battery life test was performed for six continuous hours, 

at which time the receiver battery was automatically disconnected 

due to low voltage (as designed). Four data errors were encountered during that time, but this was due to inadvertently 

not terminating the receiver input. 

4 . EN6-I RONLIENT.AL TESTS 

1.1 Imme rs ion 

Yo interior moisture was evident. 

4.2 Shock Tests 

Deleted by Contract I~iodification. 

1. Operating Temperature Tests 

At O°C, there was no data errors using the self test, 

the LCD display was slow but functional, and the printer 

perforned properly. At 50°C, there was no data errors 

using the self test and all other devices functioned 

normally. 
4.4 Temperature Shock Test 

noted before a doxnhole survey tool emulator was 

not produced. Therefore, the self-test function was 

used. .After the cycling and at room temperature, all 

systems functioned properly h-ith no errors. No physical 

changes were evident. 

4.5 Humidity Test 

The proper response was obtained from the self test. 

5. FIELD SURVEY TEST 

5.1 Initial Measurements 

See Figure - Magnetometer output for Y axis and Z axis 

for rotation about K axis. 

See Figure - Accelerometer output for Y axis and Z axis 

for rotation about X axis. 

See Figure - Magnetometer output for Y axis and X axis 

for rotation about Z axis. 

5.2 Simulated Drilling Trajectory Test 

The simulated trajectory test was done by placing a pattern 

of nine holes in a board as shown below: 

The coordinate distance betkqeen each hole was such that movenent between any two adjacent holes vertically or horizontally 

repositioned the tool by lo in bearing for horizontal and lo 

in inclinations vertically. The simulated survey was perforxed 

by entering the initial conditions for hole 71 at an initial 



string length of 10 feet. Then a survey of the dirst hole 

position uaj Jone and an assumed 10 foot drill rod added. 

The tool vas then positioned sequentially in each hole and 

a survey done adding 15 foot rod sections for each hole until 

hole '1 \Gas repeated. This resulted in a total sinulated 

survey of 120 feet of string length. Figure 26-4 shows a 

comparison of calculated bearings versus tool measurements. 

Figure Z6B gives the sane comparison for inclination. Figure 26c 

compares the theoretical survey path to the computer results provided by the cableless survey system. 

5.3 Drilling Tests 

Drillin2 tests were performed at the Federal #I mine in 

Granttown West Virginia. The following deviations from this 

test plan are noted. 

The hole depth was terminated at 330 feet 

due to drilling problems with the drilling 

equipnent and the contact of a ceized drill 

string located in an adjacent hole. 

No readings were taken with the Sperry Sun 

Multishot system between 75 and 165 feet. 

Figure 2: shows the comparison of vertical deviation as 

measured by the tido system. 

7 - Figure - . '\.'ertical Survey of "Horizontal" Drill Hole 

!)sing S~errv Sun Survey Svstem and Cableless 

Electroni c Survey Sys ten 



APPENDIX D 

SYSTEM SCHEMATIC DIAGRAMS AND SOFTWARE LI STI NGS 
C0N;;ECTOR DESIGNATION .AND PIN 

ASS IGXIEYTS FOR DOJ"!NHOLE P.4CK.AGE 

Sensor Canister/Electronics: J1/P1 

Connector: Bendix PT02.A-14-18S/P 

Pin Signal 

Wiper Pressure Switch 

X Axis Accelerometer 

Y Axis Accelerometer 

+12 volts, Z Axis Accelerometer 

Power Return, Z Axis Accelerometer 

YC 

Signal Return, Z Axis Accelerometer 

+12 volts, X,Y Axis Accelerometer and 

X,Y, Z, Axis ?Iagnetometer 

-12 volts, X,Y Axis Accelerometer and 

X,Y, Z, Axis Magnetometer 

Power and Signal Retrun, X,Y Axis 

,Accelerometer and X,Y, Z, Axis Magnetometer 

+12 volts, Pressure Switch 

Signal Return, Pressure Switch 

-12 volts, Z Axis Accelerometer 

Signal Output Y Axis Magnetometer 

Signal Output X Asis Accelerometer 

Signal Output X Axis Magnetometer 

Signal Output Z Axis 3lagnetometer 

Electronics/Batterv Pack: P2/J2 

Connector: Bendix PT06-10-6- S/P 

Pin 

-4 

Signal 

Transmit Toriod 

B Return, Transmit Torriod and Case Ground 

C - Battery Voltage 

D k Battery Feturn 

E + Battery J'oltage 
:-.Axis .Accelerometer: 53 

Connector: Sunstrand gate Control C'A-116-15-30 

Signal 

Signal Return 

Signal Output 

-12 volts 

Power Return 

Self Test 

X,Y Axis .Accelerometer: No Connector 

Pin Signal 

+12 volts 

-12 volts 

Power and Signal Return 

K Axis Output 

Y Axis Output 

Connector: PT02-C-19-65 

Pin 

+12 volt 

Power and Signal Return 

-12 volt 

X Axis Output 

Y *Axis Output 

Z Axis Output 








I I 1 f I rAL - F90NT F;?IEI. 

-, , LED'S AND I 

I C SWITCHES 

* 

I J 

. Q Dh LC3 

I' r 1 d 

E 1 * 

I 

L1 * r 

b. '21, METER 

1' F AND 

I SWITCH A 

I r COMPUTER 

I 

n J BOARD PRINTER t - $2 

i 

I 

I J 

I M IPTO IS0 - A 

. COMPUTER 

K BOARD r 

I f d 23 . RECEIVER ,F N i A 

A I 

I I RECEIVER 

I POWER MODULE 

BOARD 

I 

* I 

r- ' POWER 

I 

I 

1 NSTRUMENT 

CASE I 

FROM 

TRANSDUCER 

Processing and Display Subsystem Interconnection Diagram 
CCNYECTOR DESIrJN.ATI'ONS .AND PIN -ASSIGN!IENTS 

FOR UPHOLE RECEILVER/PROCESSOR P.AC:i.AGE 

Right Keyboard to Front Panel PCB: J-4 

Left Keyboard rg Front Panel PCB: JB 

Connector: Burndy 8 Pin 

Pin - Signal 

Front Panel to Computer Board #I: JC/PC 

Connector: .Jugat 110-26001-102 

Pin Signal 

DXO 

+5V m (Switched) 

SYS RESET 
Pin 

Front Panel PCB to LCD: JD 

Connector: Augat 325XGlF 

Pin 

+5V (Switched) m 

+5V (Switched) m 

+5Vm (Source) 

+ SV, (Source) 

+SV, (Source) 

Signal 

BP 

E6 

D6 
- Pin Signal 
Front Panel Electronics to Printer: JE/PE 

Connector: Augat 110-26001-102 

Pin Signal 

DIG 11 

DIG 9 

DOT 5 

DIG 7 

DOT 4 

DIG 5 

DIG 3 

DIG 1 

DIG 12 

DIG 10 

DIG 8 

DOT 3 

DIG 6 

DOT 2 

DIG 4 

DIG 2 

DOT 1 

Llotor Yellow 

Motor Red 

Motor Orange 

Motor Brown 
Front Panel Cable to Printer Element: JF 

Connector: ?art of Texas Instruments Printer EPN9113 

Pin Signal 

?ic 

DIG 13 

DIG 11 

DIG 10 

DIG 9 

DIG 8 

DOT 5 

8 DOT 3 

9 DIG 7 

DIG 6 

DOT 2 

DIG 4 

DIG 3 

DIG 2 

DIG 1 

DOT 1 

Computer Board ~1 to Front Panel: JG/PG 

Connector: -4ugat 110-36001-601 

Pin 

(Same as JC/PC) 

Signal 
Computer Board "1 i..JH) to Front ?anel (JQ), Receiver itJ?4), 

Ext. Computer (JL) 

Connector: Augat 110-16001-601 

Pin Signal Destination 

BSS 

RCVR CLK 

RCVR DXT.I\ 

U-ART CLK 

GND 

300 BAUD 

+jV from TTY 

Printer +5V B 

Printer Pwr Control 

Printer +l?VB 

+SV to RCL-R OPTO IS0 

m 

GND to RCVR OPTO IS0 

SELF Test Output 

+12V from TTY Interface 

UXRT DATA\ 

- 12V FROM TTY Interface 

CR Wait from TTY 

Printer +12VB 

NC 
Computer Board 1,2,3, JI, JJ, JK (all connectors bussed pin for pin) 

Connector: Viking 31-H 36/IJND 

Pin Signal 

+jVC Unswitched 

+12VA 

+ 5Vy 

KTB 

v# 

INT GNT 

SKP INT 

GND 

Sys Res 6 Pwr Up 

Sys Res 

+ 5VA 

-4PU OFF 

MTC 
- Pin Signal 

Wait 

S-T DATA 

DXS 

DXO 

GND 

DXlO 

DX1 

YC 

DX11 

DX6 

GSD 

Awl 

DX2 

IMHZ 

DX3 

Power A CTL 

GND 

DX4 

NCNC 

DX5 

NC 

GND 

PWR B Control 
Pin Signal 

BFI 

External Computer Connector: JL 

Connector: ITT KPTOTE16-26s 

Pin 

A 

Signal 

CR Wait 

Spare 

U.ART DATA 

-12v 

+12V 

GND 

+5V (from TTY) 

U.4RT CLK 

300 BXXD 

Receiver to Computer J>i 

Connector: Winchester !!RE-9P/PR 

Pin Signal 

Receiver Data Out 

Receiver Clock Out 

Computer GND 

+ SV ;\I 

Self Test Input 
External Receiver Input Connector JN 

Connector: KPT07E 16-8s 

Pin Signal 

Input 1 

Shield 

Input 2 

Receiver Power Input: JO 

Connector: Winchester >IRE 95J 

Pin Signal 

+8 Volts 

- 8 Volts 

GND 

Low Voltage Alarm 

+ SV 

External Po~er and Charging Connector: JP 

Connector: ITT KPT07E12-8s 

Pin Signal 

Ext. Pwr 

RCl-R Batt Chg 

RCVR GYD 

Processor Batt Chg 

Processor GYD 

Spare 

RCVR Batt Sense 

Proc Batt Sense 

Front Panel to Computer Board $3: JQ 

Connector: Xugat 110-36001-601 

Pin 

1 

Signal 

AF4 

.4F 3 

B 5 5 

BW3 
Pin Signal 

+ 5\.- B Printer 

Printer Power Control 

+12V Printer B 

+1ZV Printer 3 

Battery >Iodule Connector: .JR 

Connector: Winchester >IRE 95 

Pin Signal 

Ext Pwr 

RCVR Batt Chg 

RCVR GND 

Processor Batt Chg 

Processor GND 

RCVR Source 

RCVR Sense 

Processor Source 

Processor Sense 

Po~er Supply 3oard: JS 

Connector: Elco 6007-22-44B 

Pin Signal 

NC 

-8V to RCVR 

+8V to RCVR 

+SV to RCVR 

RCVR GND 

RCVR LOW Voltage Alarm 

NC 

RCVR Batt Sense 

RCirR Pwr +5V (Unswitched) 

RCVR Batt Source 

Proc GND 
Pin Signal 

Proc Batt Low .Alarm 

Proc Battery Sense 

+5VC to RU1 I Proc. Switch (C'nsuitched) 

Proc Batt Source 

+12VB to Printer 

Printer Pwr Control B 

+SVbl to Proc 

A'd9511 Pwr Control A 

+5V to Printer B 

Power Supply Board to Power Switch JT 

Connector: Lqaldom 03-06-1041 

Pin Signal 

+5VR Unswitched 

GND 

+SV Switched R 

Battery !vlodules to Concience Fuser: JV 

Connector: ivaldom 03-06-10Y1 

Pin Signal 

RCVR Source 

RCVR Source (Fused) 

PROC Source 

PROC Source (Fused) 

Front Panel SIeter to Power Supply: JW 

Connector: Lqaldcm 03-06-1041 

Pin Signal 

PROC GND 

RCVR Source 

PROC Source 
Front Panel ?.ieter to RCLyR: JX 

Connector : RC.4 Phono 

Pin 

Tip 

Ring 

-- 

RCVR VCXO Control Voltage 

RCL'K GSD 
A 

w A 9 I 

- 

' 

- 

mnrr 1 ucc~w 

a*.. 1c.110. 

a omw I 1 0111..10.m b1I I8 1.c.an 

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10l IlAmC88 

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The following schematics reTresent auxiliary equi?nent 

developed during this yroject, but are not parc of either 

the do\rnl?ole or uphole package. None of these i~erns are 

required for operational use. 



The microproc~~sor enployed in the uphole processor is the 

Intersil I\I6100. It is 3 11 bit C!!CS typ? LSI Integrated 

Circuit that evaluates the joftuare of the Dizital iquipnent 

Cor~oration (DEC) PDPS/E. .A11 of the assembly language 

?rogrlns lis~ed belo\< are ajsenbled using PDFY/E assenbler 

available fro?. 3FC. 

COMPUTER PROGktM INDEX 

ACC 

ANG , AVG 

ANGA, ANGE 

AON 

APU DRIVERS 

AVGV 

BATCHK 

BLANK 6 DISPR 

BRTAB 

CHEK 

CHLITE 

COM, CO>I1 

CONOE 

CONV 

DATA 

DATCAL 

DAT 1 

DELAY 

DI P/CXL 

DISCO 

DISTR 

DOOB 

ENT 

EXEC 

EXEC OVERFLOW 

Accumulate keyboard #'s 

Displays angle average 

Displays angle; changes keyboard B 

to radians 

Turns on APU power 

FLT;, DIVF; ADDF; SUBF; PUSH; ARTAN; 

POP; MULF; MULD; ARSIN; SORT; FIX; 

DIVD; SUBD; SINE; CRAB; BW; WTAPUF; 

RDAPUF 

LDS; ADDS; MULS; XCH 

CHS 

Averages values 

Checks batteries 

Writes Display 

KYSR branch table 

BATCHK extended 

Changes lights 

Compares 2 values for out of limits 

Continue or enter 

Displays memory 

Accepts receiver data 

Calculates data; battery condition 

and temperature 

DATCAL extended 

Delay 

Calculates dip angle 

Displays code 

Distributes data for XPU 

Loads and floats 

Enters 10,000 

Examines and modifies 

ESEC extended 

ESEC extended EXITE 132 
COMPUTER P!?OGRA>l INDEX (CONT ' D. ) 

FAULT Handles the 9 code 

GET Gets a data word 

GETIN Comptes initial conditions 

GTIN Sequences initial conditions 

GTIN EXTENDED Extends rouginte GTIN 

INIT Initialization bootstrap 

INITCO Initial conditions print routine 

KYBLK Key blank; KYSR patch 

KYEX KYSR extended 

KY SR Left-hand keyboard service routine 

KYSRC KYSR calling routine 

LOA, B Lights off - A,B 

LSW Least significant word 

WIN1 ?lain program, part 1 

WIN2 ?lain program, part 2 

>lAlEX WIN1 extended 

YONITOR System monitor 

Y2EX 41,A I .L;2 extended 

NO RV Nornalizes data 

ONES FILLER Fills memory with 1's 

PIXS Pi; add or subtract 

POF Adds .@05 

PRINT Operates printer 

PRINT ROUTIYES INCO; EST; SUR 

PROCl Process 1 

PROC2 Does survey calculations 

PROM BURNER Burns programmable read-only rnerrlory chips 

PROPA Prccess 1 extended 

RBAT Checks receiver batteries 

RDT Handles data monitoring 

RESTR Restart -print routine 

REST.\FIT Restart 

RSTC 2estart calling routine 
S C DATA 

SELF TEST 

CALLS G 

PATCHES 

STATUS 

STEST 

STESTC 

STZ 

SUM 

S URVEY 

TEME 

WAIT 

.9 0 5 FLOAT 

CO'.iPUTER PROGRkL1 INDEX (COST' D. ) 

Scale data 

STST; STSTD; STSTC 

Checks sign of APU # 

Self test 

Self test calling routine 

Scale data; call 

Sums keyboard numbers 

Survey-print routine 

Temperature errors 

Waits for receiver clock 

S-upplies the number .005 
I/ fro^ Dl.. ..Add or Subtract 

+ : 1, 1:1 5 

,=jGIq T+? 'EI-IF:/ if PBiJF is f) 

;;4G, ILG: 

-,rip F i 1:: : /re turn 

1IHLL; /otherwise, load P1 and proceed 

Fm 1 : 

Tt3D tEr'T; /if keyt hard O 

:tjt=I CL?: 

JtlF' Fol? /aid P1 

-. q /otherwise, subtract P1 

-1 ptF F 1 1:; 

pi:, p 

Fl 111 q F8ETl-:G!4 

Fzc'p1 -4 : 

Tt-rL;, -:a 

1,:~-, I:TK:: /make CTR? point to beqinning of data 

74~ T$J~I: /make CTR count 3 thinys 

1113 : 

TFIl CTFZ /.4C ~oint to 1st word , I: ,l~rite the word 

7 : ,/square it /of : 

Tcrl ~~pl: /uKw 

C-- ,-7- 

makes TEY point to next ~ord 1-- #- (r: /3 times? 

h q 

/ v.'(DIVl) '+ (I)\+/:) '+ (Dl)'3) -=y 

3 

- -,F T ; - - 

TilLl TH8' /set u? CTR for i thin55 ayain 

18iZ;t I_'Tz ; 

7-11 ,:T;=~: ; ,/point to 1st world a~ain 

-+I! -:-I: /~oint back to D!Vl 

T ri il r 7 y.; : /re~lace DIt;1 1% ith D!c'l +N 

- 

--9 -- .-C I - I?: /'; times'? 

1 :,I = ;'El /no, do it again 

'. ET -lFfi /ve5 

.!I : 

1 I;!:: 

i,i : 

T fi 11 I; :j ;..: : 

;,I 

tq : 

,:='LL : , t-. 

, .. 1- ti : 

r.: 

TAII I:G.:,F : 

F: 

TPD 

\,I : 

IIFLL ; 

I:+: : - - a-+LL : -7--, -. - I :+! 1 ,-:- . r,t-,q 1 T & - 

TGyl ,3,:;:: 

id! : 

lI,FLL ; 

:ii: ; 

1: FL.~. : 

1 r; TI-: : : 

p~;a ~E,,-'F: 

11 ; 
PROC1, Page 3 
TTj ? - .-. .- -8 r= 

DAT! 4 247 

Loads UD the data bytes 

Comes back !<ith .AC=O. . . t i~eout 

error, >25 ms bet\ieen clks 

1.. .no errors 

DeTli* CL'I JILL 161: F15L /000z9 

1: 4LL 

DIII:~ /dis~!av "2" 

!I "I-L 

LQ? /lights off 

:~i/make sure all of L1 is off 

l:fi!JL 

1:HLITE 

T5i1 ~'i/set CTR up to count 30 data bits that \$ill 

PlIA l:TF/#l has already been be thrown away 

lt.p ;3;F 2 1 thrown awav by EXEC, so 

~LFP. I:?LL /jurnn riqht to GARB1 

:I14 I T 

1 ;it=i 

F ET;,IF Ii 

I?GFE.I &:H ~E~':l:l/has a 1 if no timeout error here 

I: CTF- 

_ltelP G?F E /throw awav another one 

TFtD LirTl/addr of 1st 4 bvte data location 

;I!:A I l::/into an autoindex 

TGrl TE/CTR~ is channel counter, jet up riith lDIO 

~I:A IITF ! 

4, :,;:fi F!I-,F /clear PFOB 

~Ifi~~/yet a data riord of 12 bits - - 1==T 10 

Ir+{ lITL;l/tirneo~_rt error? 

FETl-IFrl /ves 

T745 TE:l:,/~et data r~ord 

~ii/adjust it to be 2's complement binary 

11 rsi fi 
J? 

T, & 

& . m 

. w fi 

P - - 

Tr sC H 

F- 3 3 A D4T.4, Paoe 2 - 4 - 4 

H m 

n w 

4 

I 

L 

'3 A 2 * 5 4 

Fs 9 F' " . - P - -

~:hL~/form 

111: 13 TEt-+i//and 

16 bit 

save it 

in TEJI2(LO) 

- 

TFIl(H1) 

- 

rlI:Tc 

TfiD TEPiLz-/get data word LO 

;l:Fi I 1 ;:I/DU~ in 1st of 4 bytes (i .em, location - 214 5 245) 

ThD TEPll/qet data word HI 

DCA I 1 ~:l/put in 2nd of 4 bytes. Now a sin~zle ?recision 16 bit 

I'IIIF~ I 1 I:] /INCR autoindex inte2er is available in the for 

Il!:k I 11:l /I?JCR autoindex the .VU likes 

11 h~~/wai t for next ' clock Ill6 I T 

: tjF! 11 ~h /timeout error? 

F ETILF ri /yes 

iILH I:LL/~O, get parity bit 

PEADTr 

*!!TI fll:t /mask off LSB, bit 11 

TGK F EII-IF /add the narity counter 

sl;~8/get CSB of result into link - -1 

- -L IILA/Parity OK? 

JV~ 11 /no 

1 I : 1: T;, 1 /paritv OK, chalk up another channel in CTRl 

-l:mlft /get another one 

-1r1F D /all done 

11 ?;q/turn on data error light 

pi !I' !- 

~~~./link is set, so make bit r)=l for ''data error" liqht 

1: ,Gl,~/do it 

C~LITE 

TfiTl I I /display a "6" for parity error 1: hLL 

Dl lllC 

KIII~ TEPllTl/put a 0 in mv to siqnal "data error" 

-Ita1F' A /qet another IV-ord without stoppinq 

II SLL/get receiver data 

I~ET 

C LA/timeout error? 

G ETI-IF tc /yes 

TsIl TEPE'/TE?I2 has binary receiver data 

1 1 ;: /nut it into last data location 

T3D TErIlr'/recall error info - -- I- kTI,IF '1 
1-1 /CHLYC,E L ITE 

LIM: 0=L3 latches 

l=L4 latches 

1 O=turn off an item 

O=turn on an item 

AC: bit to be turned on or off 

turn on-all zeros but desired bit 

turn off-all ones but desired bit 

TpD L J /.\c=11003 siqifies L1 latches 

Tiirl L /.Ac=10008 signifies L3 latches 

Ill1: F'fia /select the appropriate latch - -8 

,L 1:LE 

,IFIF T 

TKl ~:hl:/if L3, load TE'C with L3R address 

GI: Q TTEplr: 

-! k,l F' 1. I 

TW l,l-a/if L3, load TEYC kith LJR address 

III:& TEp711 

:lI;P/see if it's a turn on or a turn off 

--a - - 11i-G I t,* C, lIsZ/its a tum.on -- - T511 I 1 =pll: /qet contents of latch reqister for turn off 

Gt43 TEi.1 l/tl-lm off the selected bit (i .e. , latch the register; 

6111i /bv doinq an .4V2 

-1p;c- I=: ' 1 T 

T311 1 TE!,?l: /yet contents of latch reyister 

~~ll?L/nut in 'I0 so can do an OR 

TPIl TEr'7 l/qet the turn on word r:l:+/OR the latch register ~ith the desired tui-n on xord 

El1;5/turn on that bit 

1113 I TEP1C /update the latch holding register 

II ~i 

F FTI-lF'tl 

1 1:' \:I I:! 

4 1:t 1:1 

LIF. 

&; P 
7   ~1l-n iI.T? 

DiI A TEl.l2/clr TEJI2, the data word accumulator (D1J:A) 

GET! ? F3L/qet link back in bit 11 

- ! MLI - r TE?lE/put into fiVA 

pt3L/rnove to the left r-- 11'- I+ TEPlYstore back . 

lIsLL /wait for a data clk 

.!I A I T 

I:le/timeout error? 

FETI_IFl'i/veS 

IILA IILL' 

FEFiDD /read a data bit (ap~ears in .Acts LSB) 

A~JD ~?It:1 /and mask it off 

F.GR /put it in link 

1'~L/is it a l? 

1.: FE:l_iF/yes, coutn it in PBUF 

I I2 i:.TF8/no or ves, count + of bits, ski? if lf10 counted 

-.I rw 13 z T l/qet another one 

?+L/put LSB of data into bit 11 

TSD T- .. -' I 1;;; /add to Did-4 

DCt? TEP12 /P, replace 

11 LL Iiq'S /signal no tirneout error , 

6 STI?F,li 
1-1 Fons a 16 bit 2's complement binam = for .ipU 

+ j: 2 I:I:, from data word 

~I~T~, 115t01 

T5Ii FFa /set up CTR to count 1 tines 

~III~ 'ITF 

TAD ~c'r,l~/yet data word 

11111 I~~~,/qet 5 msb's into 4 LSB's of !io 

F4L 

I !,IF' 

Ft4L 

1 IvlF 

1,': 1:TP 

-1 F' 11 I 1 1 

/put 8 LSB's of data word back in place 

F Tf. 

DCt3 TEE /store in TM2, call it DATA WORD LO%' 

IIIP 

III:~~ TEWl /store in 'lFIL, call it DATA WORD HI 

Tar1 TEKI 

FVD hlHII. {mask off si~ bit 

1 1: Lli /nesative? 

Jp;P ,+: 

166 I.jI!i/its negative.. .fill in one's for the 3 bit .VU 

A 11 T E ?11/ qet D.AT.4 I\rORJ) HI 

Dl: ;=1 TEPl 1 /rest-re 

11 LL 

F :TI;= r? 

~~~cirib.= :,e, [:I<( Enter with to be messaze in .4C 

T~'.1~r=~~ exits with that saved in TDlD 

11 1 I I:= I:<,TZ 

111 =24 

~l~=~y 

11 1 1 F F'= f: <, 1: 111 

10 4 

DI I1:C IllIR TE:?D : /save .AC 

1, r'!-L : /blank display 

?L::i! : 

- - 

I -11 1-Erq'T : /get display number 

TG~I Li'Ir /put all one's in first t~0 %D's of dis~lay 

1 fi 1 i :/put in D? 

1 : put a 1's in last 3 \!SD's of display y-- 

11-9 111: 

GIL : /DISJ puts D?-Dl onto dis~lav 77--. 

LJ. 1' - - 1- L ,4 : 

6 ET1-lL;{ ; 

pp1-1 , ;- I ? - '-1 - 
I,,':!',,!T , Ili ; 

THU PIT; 

Ill ; 

-. 

;. ? 

1: l=l L L .: 

5 I:{E: 

PI : 

TAT1 LIi : 

I,! : 

[-I /used bv D.4TC.X to enter 10,000 and float it 10 

F= -[PI 1 FLT 1- ,-LT=1+4 

; ;I; 1 =< 44 1 0 - 

I H=?l44 

I11=4 1 1; 

1 yf - I ;{c;=c:'L I 

i#l=4 15 1-1 

F=4:4: 

1 111 +. 111 --- I i I-' i- - - , =. 4 ':I 

=zz 1 

4 lr,4 

1 2 1-1 = 1 .:a 1-1 1; L.- 

- -- - ' 0 

,, 1-1 2 t, 

1 -.F,=,c, 

4172 

.:; 1 2 4 

41C.4 --- 1 I-! yo 

4 1 'I' -' - I 

4151 

1 2 11; 111 

1 2 lil? 

,:: 1:; 2 f 

1 -Iz< 

'4172 

i, 1 ,? 4 

4 L5-l 

415:: 

1 2 111 <, 

4 1 :;7 

41c0i 

-+I=: 

7 1 l:l 1:i 

- - 1 I? :, i 

- 1-1 ! ;-i 8 -A. 

--- - c.d 1; 

= - .:: - 111 7 

117: L 

I: 7 kt 1 

1 ,i 1) 4 

4142 

1 1:1>7 

7 4 5 1:1 

=.-9 

-1 11 i 5 - - -. - :: 1-1 i r, 

1 2 1-1 4 

4lTZ 

< 1:1 1 4 

1 2 1-1 A 

,.-- 

71 I,! 

1 I:( 7 1' I-!,:; ;- -. 

:.5;5 

:ti:, l:Lt=! 

-1 :,? F' 1 111 :: 

1: SLL 

- - i- 9 - - -/itnlI:, - TFLI F< : ' . ?- q 

Tnrl t E I'I TF' 

:t4:=l : 

F ETI-it; r: 1.1 11 Cj 1 1-1 7'1 T : 

TqD Fc, : - - 1-HLL : ,- -' j',,,i : - - 

TGEl LC: 

8.1 - -,-I - 11;T 

T+r! :I-~~,:T: 

p,:a 1 E, l:yL4: 

F ETI-'F8:{ 
7-:;: _I I - - 4 17.2 

-, - -, - it ill 

1 1; :; 1 - - 5 - .:' Z' - I -.- 

41'2 

-, - .-,, 9 

il tr' 

1 - I;,:: - 111 c- -, - -1 ,' :< .:. 

/take a number in the .4C and load it into 

-4PU as a' sinqle fixed .1 

E.'iI 1 

1: Lt3 

Iq1,i 1 

K T 1-1 F, 1 { 

- 1 I A 

15- 

154 

F;!,l 

1TfiLL /add TOS and YOS as single fixed 1- C*QE: 

TW :I';tI;D /zet ADDS code - ' I 11: / qo clo the command and re turn 

!:ALL /multiplv TOS and UOS as single fixed 1: 5 6 1: 

Tti11 :?lI-iL 

-I1elF 1 ~,!II;: - - I-YLL /exchange TOS and YOS as double "s i: F fi En 

TqIi , .~IHD 

1 Ell/:' 

111 1:1 I:! :. 

<, 1:) 1-1 !:I - --- I! I.! : 

/Lights off -4EB 

+::I=! Turns off LED'S 6 othcr bits in the latsher, escey! 

i, , ,c 111 111 111 : LOB - all but -,. and error lites - - L4 c:' 

~2;. I i ~i : /tell CHLITE to turn off Ll'j k-2-l * #- - ' - 

1 il11 L 1 : /turn off all but ninus 8 decimal ~oint 1: PLL : 

I: I TE : /comes back with CLL 

:*;I: i :/turn off all of L3 

II,+LL: 

1; LIL 1 TE L-'l - - ,,. . I:LH .TL : /set up to turn off Ll's 

L : 

TFri ~4: /turn off all but LO B.477' G - E . 1:eLL: 

I:L~LITE : .,. - 8 . (1-l~ /turn off L3's 

i L 1 : /except for 1-11 El!? 6 D.4T-\ ERROR 

:GLL: 

1: IL I TE : 

z E 7 I-; (Z { 
F= 1cl4 : /.Arith.netic Processor Unit 

FLT, DIVF, -4DDF, SUBF, FUSH 6 QJLF can be 

executed with a sinqle instruction like 

Jbf D; .where 9 is the RXi,\I location for a 

subroutine calling Dropraq loaded bv IYIT 

.U1 the rest require, e.q., CXL; POP 

4 111 1:i Result always in TOS if a function 

Zt c 

- - - a - 8 

i 

: 111 

- 

I - - I 1.1 

5 <, 

- 

I 

i 1 

- - 

C 1 

- - C I; 

- - -' I 

=- 

_I I 

-- h 

I~;LL /set UD .QU for comand 

,I = 3 E, 

TlifIl FLT 1 /qet FLOAT code (floats a sinole fixed =) 

1: 5 LU qo do the comand E:iIf 

-1tlfF. I exit throuqh address stored in Paqe 0 

i14i-L /divide YOS bv TOS in float 1: 5 61, 

ThD FIlI 

II 4LL 

E:lll 

-1 tml I D 

Chi-L /add TOS NOS in float 4: F'H6 

TtiD Fi;L 

11 4LL 

E:III 

-1 !*IF I A 

~:fi~i/subtract TOS from NOS in float 

11 e fi 1- 

TI;D -'II_I 

IIALL 

i:'ll 

-I t-1 F' 1 

~:l;ii/~ushes TOS to NOS in float. Last variable is lost. 

11 '= G 1. 

T+Ii FTX 

1: " I.- L 

F 111 

-iflF' I F' 
1:SLL /set up .WU for cornads I: F4EV 

THIl 5~,5ii/get code for Arc tansent 

LrlF Eslll /exit thru Blv 

1: $LL/DO~ NOS to TOS in double ~recision 

11 ?HE: 

Tt3D F~FII 

-I t11 E: 111 

1: GLL/multi~ly TOSxYOS in float 

1: F G=lf: 

T A 11 F '-1 i,' L 

1: ifLL 

E~III 

_I Iol P I PI 

I~LL /multiolv TOSxSOS in double prec. inteuer 

11 C E: 

TALI r~:ir-iL 

jgP E:I1l 

1:5Li/do .Arc sin in float 

11 76;: 

T911 FI 1 Ili 

-~*~l~ EsIII 

!I~LL/~o SORT of TOS 

IIIC;A~ 

I PlI /code for SORT 

-lp!C' Piti 

l:sLi/FIX the TOS from foalt to sinqle precision 

c 6:' 

TqD FI:.:: 

-: ::P EL:,! 

r%~;/divide NOS bv TOS in double nrec. integer 

: = AE: 

T9D DDI1:' 

-Irq1F 611i 

1:ti~usubtract TOS from NOS in double prec. inteqer 

11 5 a 1: 

T4f1 Dz0-iE 

I'#!co E,!ll 

I: fi~~/do SIYE of TOS 

1: c'fi E: 

IIL~ lILL IeiI FSL -1::~ EII~ 
.WU DRIVER IIOUTIXES, Paqe 3 

- .- I ; lit 111 

1 111 1: 

,5445 

- 

1 2 111 111 

5575 

544 1 

c, hi 52 

5 .I: 1: 5 -. L 111 111 

<a445 

5'375 

1: I:! 1 111 

E.445 

1 .Is - <, ,' I 

- --- -: 1-1 ;= 

1 4 : 111 

f.441 

- 

; 2 111 111 - --- l.lik 

5 1: -; f 

el c -, - - - I 

7 111 !:! 1 - -- - 1: 1) 

6, 4 -1 5 - -. . 1 I: I c, I; 111 ,z 2 

1 111 2 { 

1 2 1:1 1 -I I- - - -, !-I ,= c, 

c, 4 .+ 111 

- -I 

1 ,= 1:1 111 

c, 4 111 

:q:'- 

-) L T' 

1 l:,iC 

- -- 1 ,*I I 

- -- - -; 1; '-' +, - L- 

- --- IjiL 

f l'<, a 

5742 

--- 

Ill4 

9--- 

1111 

1IF'AE:- l:~A/~et up.LDU for command 

TAD ~I~t?/qet code for FLAG1 on, all else off 

Ijil:FAE: /write Cm of PIE 8 

1:. L 6 

FST!JF:i{ 

E:lli . E:!lll/do the comand 

11 f: / (or B53) wait for .VU to do it 

-IPlF' .-1 1: Lq 

1111: F'N: /reset PIE B for IZPU "D.4T.A" 

ET1,1F I4 1st byte of 

illTt3FI_!F. 21I4 TEt1 /call WT.VUF by doinp 3IS 0137, .AC=(floatin~ * to be) 

IJCPAE: /set up NU for "DATA" written into .V!J 

TnII FP!/count 4 things Dl-: 4 I: TF 1 arranqed : 

I,; 1 . T5D I TEPi /set 1st (or next) of 1 bytes ( 1 LSB; 2--; 3-4 

E:llI 1 4 LISB 

1: LP 

I : z 1: TFtl/done 4 bytes? each byte: 

-i;a?F1 l~il/no 000/ OO~/xxx/xxx 

J1P I :JT/yes; exit via zero page bo bll 

. 161:/call RDIVTJF:Jh/IS0142 

TII:~ TEP;l/enter with .C=@st byte of destination for TOS) -1 

IlliI FtiE /set up "DAT-4" for .VU 

T5D FPl/count 4 things 

TirIq 1:TFl 

TFiD TZP11 

Tiiil ~:~:/adci 3 to address, since data comes off XISB 1st from 1 

r1!14 TEP1 l/store back in TE\U 

F1- E:F 1/lst BRl gets up .QU fo read,but ~uts garbage in .AC 1: LFi 

Eqc l/?nd BRl actually reads it 

DII Ft I TEV 1 /store in destination 

T9D TEpl l/decrement address po inter 

TAD 0t1Pi 

111: H TEM l/replace - - I -, IITF;1/4 times? 

-I!,lP FlIn0 

-I:.:F I FD /yes, exit thru RVt 

F?' 1 -4 

CtlPl . - + 
IILli 

TAD i4 

l!liI F 54 

CLFI \ILL 

TtiD i4F 

Fi i.i TI1; F' 

fiI,,.lZ 

:11:.t=! L4F 

PETI,I"'{ 

51 111: 6 11' 

FfiL 

11,I.n TEr-11 

T4D i 'E'I.'I: TF;' 

TfiD 1171 

.:ttfi 1ILfi 

,-i[*:p ,.'E'l'y 

1: E'I'iITF 

T$iil I;f, 

I.:{+ 11 L# 

1 rt- F, 1 E c. -, r - -1-1 1 TGLi 111 IFLF,z 

/#I I? L 

:(Fa 

11 11 FI (I 1-F 1 

Tt711 ::I IFF. 1 
BLW .OD NSPR, Page 7 

1:LL FEL 

'1 :liF' 

FAL 

,- -. IlIF 

1.1.Z I:TF~ 

-!;#IF 11 1 : 2 

TAIl el:' 

DCA D 1 ',.FF;. 1 

:I I~IF 

111:fi 111.:~~: 

Tt7D Tc'l'll 

1.1 6 1:: L fl 

.J:lF- 1 1 ,I :: 

~:.Lii CLL IAC 1:. !?LL 

LOP4 1 

111:.fi TEP11 

.,I p1 F' 11 1 .: 1 

TtiU 12 

ll,ll::~~~ 

r::L fl 

T I=I Ti D I .I F 9 ,=: 

PiliE 

CLA 

TtiD L1 

llllI pfi3 

1: Lii 

TALI DI IFF1 

q1112 

lILA CLi 

TGLl 13: 

f'ETI1F ti 

11 ?~~E:=ZTZ: CHanze Sign 
fir it;+ ;1tiljE 1 !.LUG.\ takes an anqle in radians, converts to 0-ZT 

radians, then gets .k.G to display it in degrees 

: 

F; Ei'-:G i;=Ff 7f : /.i'p'l;E- see next naye 

l,'=4 1 1'7 : 

F=4!15; 

;TciTU:=4f47: 

I=i,l44 

s=ii 15: : 

!I;=: 57 : 

11=4 1 ,< 1 : 

1 =4 1 yt, : 

l--H;=:;f 1 : 

- - I t"laE,=5 1 ; 

Fzct=zc,<, 1 

cz;JL:=,fTj ; 

1 E ,'I:TF=~; 

5214 

- - &ily 

-- - di 1 c, -- - :dl, 

---- &id 1-1 

--- =ci 1 ---- , 9 

-LLL 

---- 

-' -' -( -' ILL -' 

- - - dL'c4 

---- --- . a- 

- L L -' 

---. , , 

ZLC'I, 

- - --- , -I - - -L- I 

--- - ,. , --, 1-1 

--- z,d :1 ---- 

CL :,; 

*??I4 

4 1: . :,I : /:vyite the val~le 

4 P:/save 

4 1;-2 +:'~'LL ;/+ or -? 

4 :,.-I 7 ~~~~~-1~~~ : 

- . -- - , =, 1, ! 1 -*- - - .;-- ~-iri:/l if minus; 0 if US = ,-: 7, 111 --- '.,I; +I, 1 : 

4 1 .,- : I~LL; /-, add 11 then dis~lay it 

=,I44 F,i: 

- - dl-: 1- YL i- : 

e 1 .; -1 =. j r . 3+=-- 1 - 1, I - 

4iTI - 

Gtfj ., :*LL : /+, its gI( - displav it c, 1, =, ; - -- qt4;;+1 ; 

Sf Tf - - p =- r :-;; r{ 
.-I -, c - LC.-' I' 

-- - - LZt, I! - - i'i'c, 1 - - 

=,<, 2 --.- ., = ,. 8 c, 2, 

Z'ZE 4 - 

- =' 3 <, = z.?<,c, 

-, .-, .- - ;(It1 I 

.:, - -- L I 111 

227 1 - -, - .-, ~CI L 

-, -, - .-, -- - --I - 

L, =' =,--I I 

=m =,-c, LLI - -, -, - .- 02 (I I' tb 

/.LUGE adjusts a number in~ut bv the keyboard so it is in 

-T< a <T form in TOS 

4, $rq1jEq D:/ t iso/-r 

4 145 F : ,/save it 

4172 l:FLL:/see which hemisphere it's in bv subtracting PI 6 checkinq siqn 

<.14J F'r : 

-. 4 lTF * 

47 t:i=iLL: 

347 I TAT[-I I : --- i I: - ,H 1:L;r : /n if pos, 1 if neq 

5:f 1 Lr.1F' Gtil?F'/OK do it 

417: IXLL ;/needs to have ..r subtracted so answer is -T< x <7 

1 FI : 

-. 4 15L8 q 

: I: 1 1': Fi TEZ:,: :/clear TEGIS, which indicates 'ANGLE' 

5575 c ETI-15 14 -L -- 1 RI-I?- CELL: /yet answer on TOS 

2<~,1 rTr iir : - -- : I I 1 I! I: 74 T E PI :I-' : / c 1 ear TEJ8 

Tf;;y F'ET!-.IF'!l 

1-1 *~25; POF/point OOfive used by convert to avoid round 

4 7 . lil : /write + u~/down error in COW 

414'5 -. 

I- / save 

JlTZ ;~L-L : /tor-? 

.i ?AT 1 TPT:-II : 

7 4 : tu!~I~L :/save answer in \.K? 

1 T311 FF : /write .005 

J 1 1,; I,/ : 

I :.io:3 :/look at >? 

7 < 5 111 - PCP lI~;1:/1 if + neq, 0 if + was pos 

.l!.?C. .+I::/pos, get add .005 

dl-=* I , 1:GLi ;/neg, subtr .005 - - 1 : 

41'5: 

1' 111 11 - -' L I [III q I E I'I: TE" : /zeroize KEYCTR 

Sf 75 F'ETI-;Fri 

4 2 FeF F Cjp- l/address of floatin? .005 

----, 

Ill-' 

:t 5 111 1 

111 111 1 7 -8 : q .la -' -' - -' 

.:; - =; - 111 7 

1 4 I:! 111 

7 1: 5 -, 

121 1 = :, = ;, ---- 

111 111 1:1 1 

j.2'14 

'=, :' c ;, ---- 

!:! I:! 111 

- - lct l. 

'7 -:.ye - 

111 1:; 1) 1, 

1222 

= -,= - I :, -' 

111 1:1 1:14 

1 zz=, 

C .- C; ;, .-I .:, - - 111 111 111 5 

1 1 :I 

L- - = :=;, ---- 

-.-. 

1-1 !-I I ., =, 

1 :, 1; 1 - 

c== - - - -? 

I:I 111 I-i 7 

1 ,:, :, +:, -- - f f: f <, 

I:! 111 : 111 

1 2.1 1 

5:yc 

111 111 : 1 

- - - .-, 3 1- 1- ; ? 

---- 

tj I-. I-' ::, 

TW L-4 

1,111 FrPh 

CLt3 It311 

11 1,: t3 

;ItiD L-~F 

pll;z 

C#IA L4F 

IILFI ITL FqF 

rllx ?1ItilJ1 

1 TL 

_IFIF' AIIIZS 

i TZ ilGt{EF 

_r?lF' I Rl 

T4D t E'I'II TFF 

T5D FI1#:'E 

:!iL 1ILti 

_IFIF' I ti1 

II '1LL 

D I IF'F' 

1111 R IiutlEF 

TBD F 1'4 

1111 t' E'I'C TF 

JYF' I 61 
.I TL --- .-I !,I H I-. I- I: 

T511 PI Ifll-1: 

F'S 1: Lfi 

-1 ~1 F' GI: 1: ti 

I .I z ri I t r 1-1 '1 

TAII L4H 

I!: 11. F fi fi 

1: LG 

T F, 11 p1 1 r ; 1-1 '1. 

F,TF' 

- tq 4 11' L fi 

.-I !a1 Fs 1:;. '.I ' PI 1 

I 515 

1: fiLL 

~Cliil 

J!*1? HiIlIfi 

l:L4 131:. 

11 y R 

~:.III ~417 

a!iis 

III:~ L4I7 

I rn; fi !I 15 fi 

!I FiLL 

E: L P t.4 I:.' 

1 2 6 ,I 1: 6, 

,- qi-i 

- '-1 p1 

F ETI-lF ii 

1 :01 *= ; 1: Fi 

;yp 3;:l;R 

t:'.,.,K 

1 t.1;~ t, ole;!; 

IrsiP '('4 

Jp1F I "lmlI 

-1 7 I:.' ' p1 

i7yF' t:'i'5 

.-It1 F' t. 'i' 1 

.-I:fP t-"I'D 

1 p.j <--, 1 + ,+ - , r. 

ltqFv 1 - I 

;;,1p 1 .',*Z 

it*??- 1 'l'E 

; p,. ,=! , . ' ' _I I I 

ir,1C' \ I, 7 

/~,l~~ 1. 'la :; 

-1 :a1 Fh 1 '1, .I. 
KC, Page 5 

- 

I I i a I-! T 1 

<$ 4 :: 111 ---- 

1-1 lj : 

i I:I 1 

:: 111 1, 1:i 

=- - - -I I t C 

- 

:, I-, --- =, : + 1; ;I 1; , 

7 < :, 111 c- '- -' I-i : 

c-- - t 1.1 4 

<,5'=4 L 21 . 

1111,3 t7 

11 ;14 

--- ~11-H t 1 

1: r1il 

111:q t 2 

1: r.1 

1; 11 6 1 :: 

1: 174 

c 4 

1 c51;1; 

-1 !*I F' . - 1 

tiZF' 

tiof' 

ti!3F7 

r 1 c = 

rw 

FicG 

:I LL 

6F 2 

Pt1D 4 11, PI! 

T?Tr t F 

111Ifi -1;tIFF' 

-I!.I~ I 1- El /qo mite ou what KYBLK is 

1l4IG PI: 

:L 1:LG 

1ys4E I 6 

-It!:' 1 h-l IT 

f tLt 

-- -- Z: ::to =I 

takes LNS of a floating " displays it 

- 7 - <. 5 111 1:I 1 7 rq 1. , 1 7 : -- - - ; ,, 1 4 Fm 13 1 . C 1: I : - - 2 8-7 - - - - -, - -, t, 111 2 :' Fm 13 I 9 & !? 1 - : -8 -, 7 - - - -, I 111 1 1: - - L I 1.J 9 T9 11 c 13 1 r.1 : /get TOS into scratchpad 58 :a - 1 -a -% I 4 1 Lib 2 -1 1'1 1 F' 1, : 

1, .-, - =, ,, 1;,<.{. TGD 1 tlSl :/get LSV -, -, ' .-( 

--. - -. -, I .., 111 .I, : +tilil ;el:r : /mask off least si~qificant 1 bits 

.- 

- -, a I;;.: II ,+LL :/display them as a decinal 1, usin2 DISPR. DISPR ~ushes the -, I. 'C 1, : - - - - - I! 1; 1 : displayed 1's to the left to make room for the new one. 
[-1 /from COX time Or Enter 

+ 7 7 1:1 111 

TEN l:l=5J: /holds proqrm and flashes the li.rhts to let onerator hand --. 1 Fri=C,4: , 

n=i=c4 ::I:! : /anv errors: messing DISP shorn the last nessaqe code 

TEPtD=75: displayed (if "1", no errors), pressin? COX \<ill not accel 

I I 1 = 2 4 : the current ?arameters . EhT does accent them. \lust 

E:LHrtt =I<,l:l<, : enter with TEGCL'=Q, exits with TEJIN=l if CLR/CO?;T Dressel 

LJE= :, 15-1 : 0 if FYT nressed 1: A+F 1 =<, 

l:fiLL=4 172 : 

FETl-lFri=.r',Y75 : 

TEpltl= 1 111 1 : 

LCIti 1 =-+c.zi 

11 t{T I - I , I , .IIFI -7: 

tat! 1 17: 

ETtT 1 -1 i: 

1: CraE I Tfin FL :H : /flash all the lights 

1:nLL: 

Lart 1 

~Ittl , t FS/wait for a KBR 

-/PIP .-I : -- - -F'C /read 6 mask it 

tn1k : 

Ill: 1:kEF 1 : /and store in CICIZRl 

TGIl ~:Hrlt. 1 : 

TAD l:TiT :/is it CLR/CONT? 

--- - --d -it=! 

-1PlF ll!ti :/no, try a,oain 

I I1 1-E:W :/yes, indicate such in TDfl 

1:' . .: ~LL : /blank display 

ELrlrit : 

{:ALL : /turn off liqhts 

klJ!=l: 

F ETl-l7tt 

11 r{z q T511 11 hfiF4 1 : 

TFIU 113 :/is it DISP? 

I18 l:L6: 

.-lP1F- CiiI: :/no, try again 

TFID TEPID :/fetch the last displayed messaye 

II~ILL : /and disnlay it 

11I-J : 

_~t.tP ~::cl/wait For another keystroke - - '_tI_ . T+2 l:p,FsG1 : 

TI-II~ E:'T :/is it EYER9 

1:s (:LA: 

-itslt 1I:il ;/no, illegal entw. Igore 6 start over 

-';'IF I-' /ves , exit :ci th EN=O 

'LIH. :I:/ 
1-1 /calculates DIP anple 

,C I,q:=iz 11': 

F pl-'C=~ I : 

} ESI'T=I I:: 

DgTrI ,;L=4cy r-t : 

APTfir{=tryy : 

pE1:4=?:; : 

firi13=y: 55 : - ,;,Ft T - 1, - I:, :a 

-LI -, 

1 TfiTl-i 1 =+ 1,-+7 : 

11i=4 1 7 : 

p=4 1;: : 

F=414f: 

PI= 4 1 7 111 : 

fi=417I'; 

Ir=41<,1 : 

','I: E =:4 :, 

; ;~-~~=~~y- : 

:1:0:=;47 

+574'5 

111 ;: ',' , 'I 11 Q 1 : 

111 3 y 1 - , ,'l:g: : 

1:1 : 7 --C-. 

-I-&-* 

r:l5?7 P4 

1- III=;:~L, T91; 'I :/mite Y sos 

3 1:;; 111 : 

-. 4145 p* 7 

4 ! 1 re1 ; /YCOS - 

lI47 TfiIi -1;: 

4117 I,i : 

4 F: 9 

d 1 r-1 : / ZCOS - 

41-I FI;/YCOS~+ZCOS' 

4172 1:FlLL: -, 9 - - z I 1-1 : 1 ,:IF T :/J;~os'+zcos' 

li4eI Tfii~ ::: 

4 

41f-1 

1 Ill 

D~.YCOS+~/~~COS'+ZCC)S 

: n 
-1 /sequences throu intitial conditions necessarv i: 3L~=4! ;': : 

?ETI-iFr{="=-' --I -I' ' 

fq=47 1 I:' : 

L=47 1: ; 

Lg3= :< 154 : 

E=;<,c,4 

I~ET 1 t{=444: : 

p14 1 r{Z=<,e,t 1-1 : 

1 LEtI=47 111 1: 

+ 5 4 111 111 

13TIri ;IFILL : /liqhts off 

LC9 : 

C 4LL : /go to BRT.4B to handle I?IITIAL BER in~ut 

L: 

1Sj2LL : /lights off 

LEI3 : 

1:fiI-L : /go to BRT-AB to handle INTI-ZL IYC input 

PI 

:IfiLL : /liqhts off 

igfi : 

l:fiLL: /go to SRT.4.B to handle INITIAL ?OD innut -. 

E ' - - 'TIli! . 1-hL-L : /lights off 

La9 : 

lIt3-L: /go to BRT.AB to handle IYIT1.U SLEW innut 

ILEil: 

-libtP E: :TETi : /natch to EXTEN (5466) 

?IF I tiZ /unnecessary 

V~E: : . I: ;.'PI :/disallow continue 

LIIIB TEpjl :, : 

:IFILL :/wait for new data or ".4R","E?JTER" 

E: :El: : 

TFtD TEF! 1 l/what was it? 

-r-?q 11Le: 

LP1P I ilri4 :/new data, zo back to \I4 

I:ALL :/.U EYER 

<42r: : 

IG~i;/qet the PROC2 values 

=;:PI-? -A - L 

1 h,i =, 

, I ,-:t!?/,oo back to ?.LAIN2 

,,? plIq Ir4: : 

rt'r!4 i1-4 

4 2 111 1) 

4 2 1:1 1 - -- 4.: I.! c' 

4 1, 1-1 -: L., 

a: 1114 

42 1:15 

4 2 111 <, 

4 2 111 7 

42 1 

a211 

4 .:a 1 2 L 

4 2 1 .:; 

4Zl4 

42 15 

4 1, 1 .-, L e 

42 17 

423 111 

422 1 

4zz 1, - 

4 2 2 .I; 

4224 

4;zC; 

4 2 L=: c, 

4zzT 

4 I-; 

4 2 ::; 1 

4 2 .I, 2 

4 12 .I; :; 

4 2 .I; 4 

42 i: c, 

4 1; c, L .- 

4 '=' L --' :, - I 

424 11; 

42'4 1 

-lz42 

424 .:; 

4 L 

4245 

424<, 

4247 

5 slrq I: . 1: <, 7 GLXVGED THE V.4LUE.S 

4+. ( 

DArlTC.4L DOES : 

TEI-~F=. . ?:'I: /downhole temperature 

TEr-;L 4 /temperature linit , high end rll q .: L. . 4 Ill 

T'FA I TC,FG- 1 .. ..- 2 -4'7 /reference voltage check 

<,4?4 

e, e, ': C, 

<, 4 111 2 

TFaA 1 T P r=, - 1 .:.' 0 .y 

e.714 

c-714 

-, 5 7 4 

DATI: AL II t?LL /scale the data 

: 1: r.:AT1=1 

Tali TPF#/check reference voltage 

1 IIIT 

TPIl FsEi 

1 111 T 

-I;,1 I I :-lEIF /APUTOS has 2.47-YEF 

(I 9 1- L 

I Tt3Tl-r I 

I tin 11 LA /negative? 

-I:.lF .+::/no, skip ahead to 4265 

l:,ql-L/ves, falut 

i=Gl-'L T 

TWl TF'a /subtract .'35 from the remainder 

-'?iI 14lT 

-1 PI 1 1 IJE i 

~IiiiL 
C.ATCa, Page 3 

5 itq'-I-1 I --- - - ,H 1- LP/positive? 

-iplFs .-:/no, 3K 

II 5LiL/ves, 21'-rd- . 05 \%.as >O 

Fat-'LT/fault displays "9" F, waits for a qo-ahead from iK3R 

Tq D T:';/check for interru~t , load .V!~-r.i-;th tern. *ord 

-''?I '!IT 

7x1 ~~;,~~,/load tevDerature lim.it (1.9 is IQ°C) 

CFLL 

LD I 

p ,ZLT ,should be a PIS SUBF here 

f:fi~~<lc~ikk if negative: 0 is 00, 1 is x<i) 

I T4TI-I I 

I riq 11 LR<-should be SZ,j, Cu 

,ip?F8 TIAT? 

CXL/temperature error-TFtE sets HI light E puts '7'- 

TErqlE/into TELD and 9001 into TBD( 3100) 8 

DGTZ iPD EhTtl/,et addr of n& batt voltaze 

,iT'lI ~IIT /mite it 

l:aLL/chanqe si-gn 1: 3 1 

TFID TFFP/mite 2.5 

-1y11 IIIT 

I r-7 1 - UE1F/qet BAT'Y- 2. SV 

l:fiLL/CI-?EK sets LO Bat light $ ~uts 1into TEMP(O1I)O) if &ror 1: +El 

TgD E:aTP/mite postive battery voltaqe 

-1r1 1 itlT 

TW TF'FP/write 2. SV - It*; - - ItrT I t,. - - - -:-lEc/qet Bat 13-3.5 

llFLL/ClqEK sets Lo Bat liqht $ puts 1 into TOIP(3100) if error 

I: '+E t 

l~c~~/check receiver batterv; if OK, return; if not OK 

 set LO B.-ln lite 6 ~ut 1 into T=f?(Olr)O) 

riip I :II /load CT93 to count 6 y-- - ~1'- h -TF? 

TMI set TI313 to point to data coefficients 4L*1-> XI6 

It 11 fi T E!,? 

Tii11 35T~/set AC to point to 1st data ~ord I F 1 . + 1 

I1ATl/end of DATCIL is located at 4301 

E,~=Trit iB-- , 1. : 

EeTP + 1 I~I 7 

TP1 9 - - 

.4C=r) if positive 1- /checks -\PU TO5 E exits : 4c=l if ne9ative 

04-4~. 

1:1 1 1:1 I:I :,' 4 1 . 1 11, 111 

4 172 1 TATIj: . (I --L/qet status word from .\?U -, - -, - 

i, Ci 11 C Z E: <, 44 111 E:Y 1 

- -, - 1 ~I:ll;l I. LY 
I :GI! I /C33P.L% - works out data limits 15 detenines if out of li- 

-=41'7< ; 

llr=41 :7 : 

Tsrqs3== - : - 

41.5<, 41:: r:ci-1. lii: /:\;rite 2nd ?ammeter 4 -c- ..~-II 4lfF 1 : /paran 1 - para.. 3 

47<,1:1 4172 I~LL : /qet absolute value 

4::<1 4147 1 TGTl-1 1 : 

4:<,: T<,~I:I IFiFl CLt? : 

4:~~: 5:;: FETi_iFti:/done - its positive 

43~~4 417: ::riLL : /change si-gn - its negative 

4 _:;-.{I 119:: 

4: 5575 FnET1-1Fri /done 

4 1 ::I 1: Otrt 1 q 111 : /subtract limit from parameter difference 

415< 1 

4172 119l-L: 

4147 1 TfiTl-i 1 : 

71 1-R 1:~i :/error? (result of line 4370 will be neq if linit was biqg 

5575 F ET!-:F rj : /no than difference, i.e., OK) 

I 1:- TEt.iq?: /yes, siqnalTFf9 

F ETI-IF r! 

/D-ATCU., EXTEUDED - does (data word) ~10000 -A\' 

--9 

XAI 

1114 T:,IDq -4 11 1: IfaT i q 111: Q TEl'!/put start of data into TE?! 

I 1lFiT::q Tiirl TEPI 

4127 -It81 1 lI1T/hrite data word 

417: 

---- 

I: HLL /enter 10,000 

21 t(1 EtiT 

d 1 7 111 -Irql 1 ~l~_'L~/multiply 

4172 1: El-L /load 5 float 1st (next) coefficient (.A\') 

442e IIE~UE 

4;Yt ,;PI I I L;E F,/subtract 

41-2 1: Ft LL /load float 2nd (next) coefficient (.&\I) 

44Lc DCOE: 

41i 1 ,;PI 1 11 I '!F/divide 

1 111 1 I:! TGD TE?; /~oint back to 

1 : 111 I) TAD T?IT! /beqinninq of this word 

414: -1P1 I F Il/re~lace if with adjusted value 

2 111 4 2 I 1 Z 1: TF /done it 6 times? 

7 2 111 2 ,!TIP TlRT' ' /no, do it aqain - -- ldi-, T411 DTL/ves, make AC point to besinning of data 

-I 17: 11 3LL /nomali~e the data 

< 5; 11 t 1 Ft P1 11 I+ L cc,-r 

__I _ Fs ETI,'i' 

1 TGD I ~5::: - /loads floats ti pointed to by TEI3 

i 111 1 
1 111 111 I:! 

111 y 111 7 

I-, 7 3 .:, - - A-- 

111 4 111 : 

12 4 1 '1: 

111 4 ; :

1:1 4 1: .I; 

4-::, I L 

4 7 1 

4 7 111 

4C 45 

4727 

4 e, 7 <, 

7 1 :1: 

- - 4 -- ,I L F-6 1 

4172' - - 1.4 -, c; --- 

I,., I 

1 5 -1 el -, 1-1 - -, -, - I c 

1 I:-$? 

.:: I:/ 1 1 

1 1.a : 

1, 1.1 <, 4 

1 ::.44 

:, 111 f, 7 

1 z.44 

.f: 111 <, 7 

4172' 

:: 154 

1 1:,:5 

4172 

-t < ,? 2 

- I 1:t 4 <, 

7 111 1:1 +, 

:: 111 .; 5 

1-11! 

f: 1:1< < 

2 1;l:z 

C - -7 - I 1-1 +:, - 

417: 

1, ! 5: Ll 

5% 75 

FE:T+GT /sequence thru !chat values are necessary to put I---,, - - L=LI 7: : comnuter at an old position in the borehole; ET'-!= r{=fTFy : \\ill fill in value for BER1; I\:Cl; SLEq; L4T; ~~4; :? : ClEP 5 I'ertical De~th 

r? = 4 7 1 I:/ : 

q=qT ;I! 1 : 

E =-l,i 45 : 

i =J,:f: 

- --- =4r, 

- -- -. 1- "A=TZr 

TEtl==Jy : 

LZFi=:154 : 

LG;{=4r 2 : 

LL'[{ 1 =4< z: : 

TEPl:':=f 1 : 

TI=-IC 5: 

+51;5 

F' T r 1 I:I I:I ~:i : 

E.i{l? * f /BER? (not used) 

I ril: L r T 1 I : /INC2 (not used) ILE . -II:I: : 

L97-1 r 41,#: 

~IFT 42 z, : 

'8,; 11 11 4 4 1, 

~k , L : /SER1 

Xp 1.1 : / INC1 kc r H:/SLEr\l 

1.1 , E :/LAT 

1 ; , 1 :/DEP 1;: . I, : //D 

ir $1 Ll -1 

sr-+j. LA I 171 : -- . 1- #dl!- 4 

,IfviP 1 i4: 

- - ;!t q - r -7 - - I . 1 :tb1:/6 parameters (put LSZ CET4 in such a lace that 

1114 iITFJ : needs to count to ') 

TW i: -f : /start with BER address in BRT-4B 

TIII~ : : : /put in autoindex 

Ttrl11 Lf71 i : /set up call routine in RS! 

1113 <4 : 

:Fir1 r-*cr:+ 1 : _-- -- 

-11-4 r :I

T+[I Fzi{+i : 

111:fi <; 

F ,'TI IIFLL :/liqhts off 

LC" : 

T611 FLT : /turn on "S" li,oht 1: ri~i ; -PI* . i-. A ' -in42 =;I-: 

=TL; 

ilI,4 --r-4r I - :/siqnal "1NITI.X" to KYSR f1Z\15>0) .AC="6' L=l and 

TALI I 1: 

11 ; - - 

j - - 11 T=4 : 

-. - "lG* --r I - - 

lIGL~ : /all donelturn off liqhts 

PCXKY PtP I+l is--6) 

-I 6-l~ 

16 7 
IIHLITE=?~< ; 

l:fiLL=417: : 

F8ET!_IF ;4=557? : 

TEI.j<=4c : 

TE[-1.?=5 1 : 

TEr*l==-)=, : 

1 1 ?=ye, 1 1 

'., -= I - - J<47 : 

1 ','~p;=~~ 1 

+ 4 <, i:t t: 

IlIF q -!tmlF ti :/branch table 

LAT 9 ,'.:F 1:: 

TE -?F I 1 F : /iqnore, start over at KYSR (5611) 

IriIT* -iP!F' 1 12: /initial into senrice with WSRZ (5631) t,,!xlE'm! q -iplF 11 : 

TUIl , j;:F' 11 

eDFD. I I t Fi/i-gore, start over at XNSR (5611) 

F zD q -i:'= E : 

LIIE1~,~', -Fa:F F: 

' 1' D -r -,IF 1; : 

q -;i.'P H : 

I;:,;, -1plF p1 

CZT, -: _1: <..= IlEF , ,I I 1 : - - T - q -ii*'F i k F :/ivore 

E,EF -1P'F L 

LCti , !ILL : 7 

-LF,: call LON mites an L1 LED latch with contents of .4C 

Lzlll * 1 TL : 

in1 1: : \ 

1.1 I:! A : \, call LON1 writes an L? LED latch with contents of .AC 

lFi a it's &I anple bv putting somethin in mf8 

III:~~ TE;'::; : 

-IFF I 1 C /back to MSR to finish (564') crir~.TI::;^ TEla+<.;/put value in TE.16 

LII:~'! TEi,l::: : /clear ?XIS 

;?IF I t II /back to KYSR to finish (561') 
Lgrr : 

T~LI :/zet addr of DIP 

-'t~lF, WlS~/exit [angle) . TGL~ LTL : /turn on L4T liqht 

1yfLL : 

LE;4 1 : 

,Ti /get addr of LAT 

-ir~io EriTl /exit 

11 Tq 11 ,. '-.: :/turn on I' DFI'IATION 

CFLL : 

LC11 : 

TFLl ::'TIE :/qet addr of mEL' - 

,IMP EtiP 

11 TGTl THflL: /turn on THD 1: ~LL : 

LC111 : 

TqD TH: /get addr of n-fD 

JPIF ElrE /exit 

El TF1F FEL: /turn on ROD 1: BLL : 

Lori : 

TAD F.P:/qet addr of ROD 

JPlF' EijD /exit 

1 TfiP LI; :/turn on HOR DEI:Ia4TION 

rI ALL : 

LZtt : 

TFIl L'b! : /get contents of LDEV 

-IPfF' EtlD /exit 

!3 1 TFK, ':,'TlL :/turn on VD (vertical depth) 

'I t3LL : 

LC,'{ 1 : 

T3Ii ':!IlF : /qet contents of \;D 

-rra?F Ei+Tl /exit 

hq TGil IL :/turn on string length 1: 6Li- : 

LC/{ : 

TfiD 1 T= : /set contents of SLEIV 

-I:-tP EtiD /exit 

PI q 1: LL I Fll F FtL :/turn on I?JCLI?I.ATION 

/:FILL : 

: 

TPT1 TEN5 : /"I?IITI,~" 

IZFi :/DO WT CW 

Tit11 T:.I : /\~es, subtract 1610 (if "INITIM" ?3315=-1) or 24 C) (if QEST-\RT 

TfiIi GO,!; : /no . ust TF;\15=9 COES MIS) fro I iaddr of U;INC) 

J:F ~r-~/eni!~-&~h@f~ to make it addr IISC or IYC~ 

-1 - TGLl FT:/turn on ROT.ATIO?J licht - - -~LL; 

- LL,'~ : - 

r ,XI FLT& : /qet addr of ROT 

-1ieIF PT1~li /exit (angle) 

t - TFIII [lF~:/turn on DE?WTURE liqht 

1:aLL: 

LZii 1 ; - - r nil IE: /qet addr of DEP 

-\;#IF /exit 
BRT.U, Page 3 

L. TA~I EF : /turn on BEARING-liqht 

lIl3LL : 

LCtf : 

Tfi11 TE;.?: ;/"INITI.~" pressed? 

1 1 i=l i/ do not CL1 

THD pi :/ves,subtr 1610(if "INITIAL" TEV5=-1) or (if F(EST.I!!T TEYI! 

~li11 fil::~ :/no, just load addr of does this) from a8dr of .ALBER 6 p~ 

~l.1~ fi,113~/exit .Ai9ER Into LAC in 4C (induce it -4-BE3) or BERl 

LTL . 4l:l: (anqle) 

fi F L . 1 111 111 : 

lm,ol 11 . 11, 111 : 

TH~ILT 41111:1: 

1;F. ::IT: 

L-. 41,; It,#' Is,! . 4 111 111 : 

I! E . 4 7 :, : 

TY I 441% 

c g . 1 111 1:1 : - -9. Fe 11 . 1 c, 1 . L 11 . 1 111 ; 

-. L'a,.' . 4+ I , 17- 

,,, Lt i-# , J : 

I-. :I:i: 

- -- - 1 r- . 41j: : 

TP1q -17:/-151q fil,,!i , Cz8-f 

- I- - /.\irlxc ;;I, !*#--- I - rLl- : 

t F. ',a:F; 

12, 

F T . 2 111 111 : 

C'T6. -I - 1:. -a 

1E. qc:,; 

EF. 41:i; 

lil.:'E: * YlT/.AT,BER 

F fi L . 1 1-1 111 
757 l, 

1 11 111 ;:( 

'rcz=, 1 - -L-L 

;:I :, J 7 =c< - ..# - * '=. 

!:I 2 7 

- :,- - 1 _' 

< 7 1;; 

<,41 7 - - t,l :: 

< 4 1.1 1 

<, 4 111 1:; 

,:, 4 111 1-1 

- - I=. 4 ;:I 

E 4 r:i -1 v- 

, , 

55 I:.q 

1 :- :: <I -- - - -- I! I.! , 1 

5- 1 - - 1 _I 

191~ I T611 1;~~fi: /start. set up return addr 

5 1 TL!~, : /in 0071 so vou can 

-7 1 1 TC /do --06 routine in \IOUITOR 
TGI! ?I13 :/out in .RG,NETIC IECTOR 

,=: 

TfiD TF:/put 10 floated into TENF 'I1 : 

TItf11 TEtiF: - 

P 

TFIl = OT : /nut 7/2 floated into PIT 

181 : 

T;ID F IT: 

-. 

.- * 

-Il.tF I Itic'/jump wherever callinq routine wants to go 
Exits kith TE\.Ul=O got a data clock 

1 "continue" ~ressed 

-7y7 "ADD ROD" ,"EST" messed "'8 

14=<4?! : 

C*cr=Ti:~ 1 : . - I-hfiF 1=t,: : 

l:fiLL=417: : 

----. F*ETI-IFIJ==: , I+ 1 

- -- ;z'-14t{l = : y 4-,t 

TEr.11 : 

Hrz=<,+ 1 1) : 

t I:F=?f11: 

TEr.11 I=27 : 

t s I=<,.: -8: ; - L 

;TEIT=e412; 

FaIT=T147 

111 :I:Z=::::-+ : 

1. FZ=< 4 1. '_, ; 

LOR=: 1 y.J : 

AFaI_lCF=f.<, 111I: : 

4nri=544 111 : 

E't FT=4 1C.7 

1 '!':FI: =tj,z 1 I: : 

FITiI=p 1 : -LC-- 

,TE.FTt:=<,z!y: 

E; ;E; :=< 111 1:: : 

: 1 TE=<244 

4 7 111 i:l 111 

-. i111!= q -, , ttICL , 17: I IL 

Tq7-F , F TIT ; 

I: 11-T - : rc - r -. I -- I ' -L' 

,Gig, -= : 

4-rn TT*l -- 1 

- - r- ' -I<: 

EiiT. -1: 

E: EC -'ralF' I .+l : /patch to 62Q0 -- 

L - E" : /C.V, turn on "RESET" lite, turn off .WU 

-r.i~, E4 :/no 

,LF~ , • /yes, mask 6 save 

5tiD P1Et : 

Di_--i IIL;FF'1 

TFiil 11 h@F 1 ; /recall ---r 

I PL~ 51 :/\*.as it DISPLAY r=quest9 

1:; l:kfi; .- -- -'I ti : 'no, check further - - I- : /L-eS 

. 5;- - - 7 - ZL~ T+Il 'T$':/\<as it \!ONITOR request? 

TALI I;++ i : --- - - --i I- 13 

.I:'= E: :/no, check further r-7- 

_ -, . /yes, see if TPI' plucqed in 

-. i:zp 

-~'lc~ I IlFiTF /doesn't natter - qo to FDT ('q35) - calls out ra\~~ data 
r-i k 

... 

\ 

9 

vl 

I,: I 

11: 

.A 

v, -4 Q, 

cd o on 3 cn cd . m 

. 1 . Q, lfl > Q, it. A 11-1 \' E 

IJ \ 

-J 3. 'C 

Ll 1.T 9- A 11- 1-1 

11 I I <- 11 rl IL I I --I -J ++ 

-J 1-1- \ - -J I I 11 1-11 IIJ a I I. H -J u -Z it. L 

1-1 0 1-1 A -1 lL 11 

-. .- I-, 4 I.IJ 1-0.8 b-I 'J-I f - *Zs 4 ITIJ #---I ?f b-I *.i~ f.- ~2 A I-IJ I~*:I -f b-I *.it r.- 1x1 -I I:IJ #-*:I *j b-I .LI r - I=* -I I:IJ I---# 3 11-1 *LI I - -=* -I I-IJ 1-0.1 

.i~ I- - 

I I I I -j- 3 rf -j- rf rf -j -j b-1 b-1 b-1 b-1 b-1 by1 b-I b:l *.il *.it *.it #.it ail 1.il ,.LI 1.~1 I..- I..- 1.- 1'- 1 .- 1 - 1.- 1'- PI* 4 4 -I 

*I. *=v .ID I=* '1' *I' 'X' '=' '1, '=' .> .> .=. .=. ,=, ,=. .I. ,=, .=, ,=, ,=, *=, ,=, ,=, ,=, *> ,I' '=' .=, ,I, .-, ,I, .=, 4 -I '+ 4 4 4 -I 4 4 4 -I 4 

b-I b-I b-I b-1 b-I 11-1 b-1 b-1 b-1 b-I b-1 b-I b-I b-I b-I b-I b-I b-I b-I b:~ b-I b-I (1-1 b-I b-I b-I 11-1 b-I b-I b-I 11-1 b-I b-I b-I b-I 11-1 b-I k-1 b-I b-I b-I b-I b-I b-I b-, 11-1 

VEDS IVORK 

CTR3=>counts ? of shots for 

DIP averaqinq 

IiEri 4 

1 , I r tart. put return addr from "INIT" in loc $0-0 

;l:q 1;jF: 

-li*lF' I I IdTG /go do IYIT 

rs~t{l , !li!IF+t7 : /set up PIE 

E 111: : 

-1 :,I P I .+l :/patch to 6227 

ItHlE:, /if KBL, continue \IN; if KBR, 40 to N41N2 '_3 WZ; also clears 

!l?ri r:: r: TP I: : /clear CTR3 

/ILL : 

TFIl 111: !turn on "DIP" LED + "IYITIAL" LED 

/:pLL : 

illti : 

PC Fi TEd 1 i: :/a-low "continue" 

TY 11 11 I FP :/display current di~ value 

1:FLL: 

fitill :/displays + stored as binary radians is 0-365 anqle 

11 r.1 q 

III;,~ TEtslF : 

[I FLL :/go to EXEC for further instructions 

E: (El: 

T4D TErstll :/data received? (i.e., TE?4ll=O?) 

IZ3 1ILfi: 

-' fa! = I.1 ,i :/no , go on 

i lIa I P i= 1 :/clear "DIP" 2 LOC 0320 --- 

111- - 1 11iF;: 

1116 1 It:,=?: 

:11:3 1 2IE-l 

~11 . I:GLL : /so get new data set 

I BTA :/.\CZO, timeout error. Ac=l 

11154 TErlll I:I:/TE!~LO now has error information from DATA 

DCfi TSFi : /clear EJIP - - I-W-L: /:-n on .VU 

Ficri : 

1: 6L.L :/do data calibration 

Kli4T~:hL : 

llALL;/calculate dip Fj put it in ROG4 F, displav it 

DIFCitL 

TAD TEtlFa : /is there a battery or other mK error? - - --t=I 11~5: 

-'tn'c .-2: /yes 

lC . +4 : /no 

TG: TEi.11 111 :/yes, get TEJI10 

Pli: /cornplementino TEUO make sure it indicates an error, no matter 

11124 TEVl ;:I :/how DATA came out T-7- 

1 -it I'F :/light UD DIP liqht onlv - - 1- IPLL 

ILZ', : 

Ti-T! =1l4 :/~et .\C to point to REGS for \YC; 

'I ~LL ; /display REG3 as an an7le 

r?r{lj : 

tiTl-iCi- : /turn off .VU 
--- 1 2 I-! & 

11: 3 TEPlti : /clear 

11 PLL : ,I50 to CONOE to handle anv data error 

;I C,;igE : 

rpp TEi0'ti /CLR/CONT or EhT pressed? 

It45 1:Lfi: 

!tclFL t81:i:: /Em ~ressed, go on I:P% /CLR/CONT ~ressed, put 37773 into TM13 to disallow COhT 

1111 i3 TEF'1 1 Z: ;/in EXEC 

CALL :/wait for operator requests or DATA. Assumes vou didn't 

E: :El: :/like that Dip readino. It gets thrown awav 

_rr~~F t.11 : /zot a data clock, back to Yl 

PI,: TAIl 11 TF l :/we are continuin? with a valid DIP readins 

IJI:~ TEr#?'?:/put current CTR3 into EM9 for .AVGV 

Tt311 754 :/point to current value of dip 

pl:R TEPlll/put in El11 for .AVW 

TBD r! I fp :/make TEY7 point to accumulated averaue for .4LTGV 

111: fi TEK : 

11 ALL :/turn on .VU 

9CtI 

IIALL: /do the current average for DIP 

fi , , 13 l*;l : 

TAD DL :/turn on DIP light 

CALL : 

LE;l : 

TFIl IIIFP: /yet current DIP averaze 

11 FLL : /display as an mqle 

fit!rS ; 

IIIH TEtfl ljallow continue 

: FLL : jxait for operator comand or data 

E: 'El- : T-- 

I r( LI i E Pll l/xhat happened? --- - --3 LLti: 

-IT.IF tmt,i ;/continue pressed (actually "-U!',"EYT" will qet here too) 

I : Z 1: TF T :/increment averaye counter 

-t3;c ivll/do it again 

PI:. 1:p1ti: 

1,;: fi TEPl5 ysipnal "INITI?IL7' by making TEIS#O 

It4P I *+I : 

5-r 1 ij /zo on ---. IlIF 1 . :cl! * 

itIFi. ---, r:= :,. -,=1 

rJF4. 1:: 

1 Ft1=t412; 

fiF,Z=: 4 12 ; 

I, HFiF =+ 1 : 

TEtl I ; 7- , tp17=5 /:I : 

TEPl?=Jf : 

TEP114=tZ 

111 :I:G=:::~ : 

611 1: 1 = 1,:: : ; 

1 €','I: TF=zT: 

l:aLL=4; 7;: 

F'ETI-~F~I=~~~~ : 

Lafi= 1: 15-4 : 

1: i-J[{'-:=f 1:1 14 

TEPle,=-$< : 

LDti=L< 2 I:! : 

fit{G=Y 15' : 

p1=4 1 7 111 : 

p=41.42: 

Ill=-$ 1 ltT : 

- - 1 ','ES 'zt 4 1 : 

E:Lfit{I = f, 1:,i, : 

D=4 16 1 

nr{rE=c; 1:: 

5 c, 111 111 

.-. t'11L i q I q 

-. 1rj1 q -: q 

. 4=1: 1:: 

:I 14 q ,I!JrJ-l : 

IIC,~ q <T-$l:i: 

;ye, : 

z,7 1: : 

c, 4 I:! i -? - -tc I 

I I cmq I: : /liqhts off 

LSti : 

1: ~LL : /blank disnlay 

E -3r:c : 0-not "INITI-AL" 

1111 13 TE~.l?/clear TErS-used for else-"IYITIX" 

1-Eil:i: :/clear TBI8-used for (?=not an angle 

$1 W/clear any requests else-an angle 

1 P 1 :/wait for KBL request 

,I'-lF. - 1 ; 

3F 2 :/read keyboard 

"r+S F8-It t ;/mask least significant 4 bits 

111:q II-GF : /save 

Tzil :d+F /recall 

TaTi : ;{ 1 : as "INITI.IL" ~ressed? 

124 iIL,G : r-:c. I :Fl/no, 50 on 

t IF11 : /yes, li,oht "INITIAL," li~ht 

1: LL i- : 

LEt4 : 

111 ;4 : 

111: H TFiatF /load El5 lcith '--" 
kYSR, Page 2 

1 2 7 

: 5, 5 111 

5575 

1 1:145 

765 1) 

5272 

1 1:' 5 1 

; e, 5 111 

c:, -- -I L 'I' I 

1 2 111 1 

t '~':Fi~q r P1 :/next press? 

-1PlF' . - 1 : 

"2 : /get it 

Sf{Il PI 1 t t : 

Dl19 ~IMitg/save it 

I'IFl q TGII ~IdfiP 

1 'l1IE,iiq TilU 111 : /add branch table startinu addr to it 

IlllA TEP11-F: /out in I?,&!! 

-ltutP I TEI-:I 4jjw to branch table, 1600+ CH4R 

' 1 C!'LL : /patch: KYEX displays value 6 gets another one in 

1. 'I E: : /TOS of "I??ITI.JcL" 

l:L=i: 

TW t C'I'CTF : /get KYCTR#if new value has been keyed in :rjq 11i-3: 

F ETl-'c ti /return if no change to selected variable 

7411 T515 :/"I?JITI.&" selected? 

:fdF! 1:Lfi : 

-li.'F 1 F/no ; . error. . .can1 t change parameter w/o "I?TITI.\L" 

Teil T5P1,, ;/is it an angle? 

114G 11~4: 

- : /no 

TGIl 'I lJ ; /yes, load 180/~ 

'1: 

- - I- q~ L :/do the conversion fromdegrees to radians (0" - 363') 

qr413E 

I ii 9 TEE TEt-'< : /outs result in parameter pointed to bv El6 

k' ; 

F ETl-iFt4 

t F 9 TAIl I E :/siynal "7" error message (never does this) 

l_r;LL : 

TI 1: l:G : 1: L=i : 

F'ETI-IF 14 

can do without, just make KR, REWY 
1- /GET initial conditions does initial calculations 

I,/ = 4 1 :- 7 : GTIN actually 5ets param, aten 

F=4147: 

F=4!42: 

I=.IlC<: 

- 1 t~~=~~~~, : 

1I!JI=c,l : 

t.1 = 4 1 7 111 : 

l:fiLL=4: 7: : 

F'ETIJF t4=5'575 

+4442 

F' fi 1 !- 9 4 111 111 : <, 4 1)111 : 

f F, 4 111 : 

< 4 111 7 : 

1 LEti . 4 I:!: : 

LTlq 412: 

FEFFTq Jc::: 

F'ITJ. 1;: 

fiEEF 9 4i.7: 

+[r!l: . 51:t: : 

IEF'l 4<7: 

IFF2 . ~I:I;: 

1'71; 1 . 47:, : 

IrJl:?. 51:: 

j4.ra'EEF 1 517 

-- - fin, :ti,: . :,c::: 

l.ttL v . 4 f I /vd - - ::=TI :? q Tfi11 SF>EF ;/\\;rite .UEQ 8. 

I, I 

F: 

To11 E EF 1 :/put .UER into BErU 

Gb : 

-. 

: . TGTI +:'E:EF; :/and XVBER 

F: 

TG~I E,EF'~ :/and BER2 

F: 

TGD 15 I rll: :/put AINC into I?IC1 

ill 

I=: 

- - I-~IIt{111: =, ' 

Ti? Irill2 : /and INCZ r. 

7 

_ - r, 

1 -Lt ?Ii{11 :

!i : 
TRD F'I TT : /get .I\INC-7/2 

Ill : 

-. 1 

F 

I:BLL : 

1 I!E : /sin (XINC-~/2) 

Tflil ILEri: 

I,I : 

PI :/slemsin(.4INC-~/2)=\rD 

TGT; l.,:Dk :/\'I)->0433-0437 

!2: 

1:FI-L : /COS (.AI?IC-.r/?) 

110: : 

TFD ILEti: 

Ill : 

tq : /slehxcos (.AINC-~/2) 

F: 

TGD T~~F~,store in DEPPT 

F' 

TFII AEFF: 

I!! ; 
,: F ,E C 11 2 

4 111 111 111 

4 1 1 11 1 4 E: 1 . 4 F1 7 ; 

4 111 111 1 1: 5 111 1: 3 1 f 1: . 5 110 :. : 

4 111 I:I 2 111 5 1 7 fi ',,a' i' F . = 1 7 : 

4 I I 1: I 4 I 1 i E . 4 1::: f 

4 I I 4 I:/ I it 7 F Z ,': L . .:: 7 ; 

I I:I~JII! iAT1. 413 

4 I I I:I 1 7 2 1 { 11 1 . 4 7 ': : 

4 111 111 7 111 5 2 1, 3 !a;' 1 1 { 11 . 5 2 :: : 

4 I 1 I I : TI E F T . 4 L =, ' - ; 

-1 111 1 1 1 4 : 1: '.;' 11 . 4 1, :, : 

4l:l~~ ::lqJ:; Te18-q 441, 

I I ~~55. 4:': 

3 lj 1 4 !I! 1 2 7 -- ---, I - r WLI' lL, . 4l:l:y 1:14<,: -LE',61, 4e1,; ---- - --- I. . 41 I I-,:: . ,-r - . 4 1:1 : 7 I-=,='- !,-L 1 ,- TA , :,c 7- : 

4 2 1) I-, 1 -:, :, - --- -L- -' - I::, Liz: : 

4 111 2 1 111 1' 2 1; - , :* 1' :, --- 
41:liz lcl:!c ~,=EII~ q TF~I Irfl: 1 : 

4 111 2 :: 4 1 :: 7 Ill : 

4 I:I d 1 2 11, 7 2 11 fi 1 1 ! 11 : 

I 4172 11 GL 1- : 

J 111 2 e0 .I, 1: c: 'qq9' 1: : 

I 4 7 113LL : 

4 1 ; 1 <. 1 it << 1: a 1 : 

41:1.:;1 1221 TFD lid: -, 4 111 .: 2 4 1 -lz ,- 

4 I I: : 4 I - 1: +LL : 

ql:11;4 272~ :'I/!E : 

I. 1 rrrl IIC~~: 

4 111 .I: <, 4 1 4 i - -. n' . - I $,I: Ci 1 F E1S,3'EF' I EP TO 11 'JFtl:! 9',1' I t.llI. TO THETFi 

L.FI:I:I:T 1:1:1j TfiIl F'GIIL; 

4 111 4 111 4 1 1; 7 Ill : 

4 I: 4 i 1 2 111 ,I: TI=1D Il-Efj ; 

41:142 4137 11.1 : 

41:14:: 415:: 3: 

411144 I TALI :LEG: 

41114If; 4 F' 

I 1111 TqT! E'EF'1: 

41:147 41.1:; !,I : 

4 I] 5 I:/ 1 2 111 2 .r 1611 fi1l>2EF : 

41 4 1IFtLL: 

4 1;) 5 2 5 :: ; 111 q '1,: 1; : 

11, 4 IIFLL: 

412'54 2;~:; litiE: 

I I Tfi11 111: 

41:15<, 4:42 - 

tI 4 7 !:FiLL : 

4 11 6, 11 +, 1 I. ,, 1: c '1 : 

4r:re,1 4 F': 

- 41:1<2 l,!e 1 fifi lIsz:: 11. 4.14: - * 

4 I 7 T-11, 1: sfi : 

41:1<.5 41::: ,,. 

11: 

4 111 c, <# 4 1 5 111 P: : 

41:'e.T 1 I Ten PErL I 

4 111 7 1:1 4 1 .I: 7 11. dl q 

4 I:/ 7 1 4 5 I 11 : 

I 1 I TAD LAT 1 1 

41:iF:: 41:;; 11) : 

41:174 4151, 2: 

41:17f 4 1; II.~!LL: 

41:17f, 4f.47 .;TRTI-II : 

4 111 7 7 1; 111-J ::: 11 6 1' /-IF 

411 I Tea LATI 

41 1:11 4172 lZ3.f-L : - 

4 1 <, 1 T, I, 11 F T T 7-- 4 1 I:I 1; 1 5 1 1 , 11 Ii : , . 411:14 411s7 I,[ s 

I iz1:14 TT~I 

1 1: 111: 

jll:i7 11:' L- + TGLI :IF: 

4lll:l 411:7 I(! ; 

?,' . 41 11 -+~'5~:1 .I * 

41 12 41?,<, 

411:; 1211 I +I 1 I I,,,' 11 : -r-* 

4114 4l4i F' 
PROC3, Paae 3 
1 1:15 1' 

417.2 

18 1: ' -. L -t 

41Cs4 

1 1) 5 111 

4 1 i:- 

4 1 = ':I 

1 111 7 5 

4 1 :a; 

.;15:, 

1 l:ly :. 

--- 

I I.' 1.1 1 

4 172 

1.1:; 

4 : c.4 

41C.l 

1 l:lT !:I 

4142 

cr-.c; 

_I _I I - 

raGe Value 

Enter with lB17 

TI3 19 

TEN1 1 

Exit with TI317 

m19 

mu 1 

(current value 

!+ of iterations @=last time) 

(average value) 

(unchanged) 

unchanged 

(new averaTe value) 

4=41r:n: - - 

D=4 1 < 1 

l:fiLL=-$1::: 

L ZTl-iL - ;{=?'=;? : 

9=4 14,: 

+4555 

F'--I~',.' . TFP TEPF :/fetch current of iterations (N) 

II~~LL: /load 6 float 

LI! 1 : 

F: 

T5D TEK ;/point to accumulated average (.W) 

Ill : 

rol : / (YxAV) 

TfiIl TEPl 1 l ; /write current value (0.) 111 : 

fi / (Nx4V) +CV 

TEi'l'? :/load Y+1 

Ini; : 

IIFLI- : 

LIl I : 

7-lI v~l TEX: /put the result in loc pointed to by EY,I7 -. 
LOI.{I =4g322 ; 

lIRLL=4 172 

F.ET~J~:/.{=~~~!~ : 

1::: 1 =c,442 : 

E:Z~=E.-$-$:~ : 

T E p1 = 1 !:I [I 

-.:;ThT 11:; =-$,I:-$ : .- 

E:::: 1 TE=F,z44 

+ E, 5 111 111 

LE. 21:1: 

E 12.; E 11; 1 , 5 111 1 2 : 

E:ATIIH\::;, E:S 1 :/processor battery low? 

,IPI~ . + :3 :/no , 50 on 

TIiIl LE: Z /yes, turn on "LO. BATTERY" 

- 

Lor-i1 ; - 

S.mLL : /display a "Orr code 

D 1 :.I; C:U 

riuF' : 

IiOF' ; 

.,IPlF' I .+I .: /continue with EX.(ITE 

E ::.:: 1 T E 3 

ria F' 
OZl.? F1:.:.TF.IT, ::14; 

1717 F:E:AT , TRD I F:.:TfiT : /get receiver status h;ord 

I:: t3rd11 :I:TTPl:/mas.k off bit 9 

11 .::riq ~::Ll=l :/battery' OK? c .-. .-I c . I .I# ,= ,-I .-IFIF . + 2 /no Cc-c -I.-I,,I F:ETUF:(.G/).'~~, return 

5:343 _IPIF I:HE~.;'? /exit thru CHEKZ to turn on LO 8.1\?TERY 

/lite and set. F '=I \-it' /,ETpER.\XIRE ERROR HILBLER 

TEP1D=75 

1:: TEI.1E. STL FITFF:: /turn On H'I T'l3IP 

4 172 II:HLL : 

4 1 Lori : 

1411 l:I.lii.:/out 7777S intb m(D 

::: 111 7 5 DI::H T~PIII: c c - .-I.-..-I~~ ,IPiF l::HEt:13/.e?tit thru CHEK3 to set np-1 

111 1:1 z 11 

111 (I 1 [I 

4 17z 

4 '7: 4 7 - 7 .-c - 1 .-I 1) 

cc-c 

. I .-I I' .,I 

1 1:: :3 5 

4172 

.-, .-, .-, .,# .,# 4 

1 1:; :; 4 - - 4172 

4c,zz 

7 111 111 1 

.:: 1 111 111 cc-c bl .-I ( .-I 

1-1 .'used to handle battery check 

TEN 1 i1=54 .: 

Lg1.{=4<,Z 0 

LITE, ZI~I: 

~13, 10. 

CHE~: 9 CHLL l /number in MS'negative? 

:::TATU?Z : 

'::pin 11:tR .: 

I?ET~JF:~.~/)~~S 

CHEKH , THD D IS /no, display "8" code 

C.HEb::Z. CHLL : 

11 I:::~.g : 

TA~I L I TE : /turn on "LO ~A'l'T" lite 

[:ALL : 

LOIi 1 /LON1 turns on L3 lites 
534 1 

c,z;+ 2 

c.:z 4 '3 

<,:::4 4 

<,:3 4 5 

E.34 6, 

7 

625 0 

c.35 1 

<,35 5 

c.:,: 5 3 

6354 

c,:;z 5 

6:Z:Z c* .- .:, ,= 9 3 .,8 .,I 1.' 

e,:3 f, 111 

6,::: c, 1 

c, <, 2 

e, :: e, ::: .- .-, . a .:, 4 

5:::6 5 .- .-, .- .- r. ;. 5.5, 

.- .-, .- - en .:, i' 

6, -2 - 111 - b' l 

6,::; 7 1 .- .-, 7 .=, t..,~ I L 

; 'I. 7 70 -. --# I -a 

5::: 7 4 

5 4 4 1:1 

1 1:15 1 - .- 1. I=# 5 I] 

C .-0 C -. Ll .zn .-I i 

1 [14& 

4172 

2214 

5355 

1 111 4 <. 

4 172 

c, 111 1 4 

e, <. 111 111 

1 11145 

7 c, 5 111 

5 77: -- - 7 111 111 1 

4172 

4 <. 2 111 

4172 

.-a c .=, .,'.,'L 1 

7 [I 111 0 

1 1:1 2 7 9 .- I.' h 5 I:! 

5 .,: 7 2: 

5575 

:I: 111 2 7 CC'C .,' .J 9 .,I 

+e,34 1 

K'r'E:::. CHLL :/turn on 

AOPi 5 

TFiD TEf.1:;:: /is it an angle? 

5.1.4 l::L H : 

p1 F, '. .' .- 

I .; F: D 5 /-no 

THD TEP~F. :/yes, display as 0°-360' 

CF1I-L ; '

RT113fi : '

.JP1 F, t::E 

t:::ll/z~r~ fin ~~plc,:/display as a length in feet 

C6I-L : 

r,OTJ 

t.::E HF'L~CJF l /turn off +VU 

TAU TET.15 .:j"INITI,U"? :;:/.in CtH: 

.ltsl F, Kt-1 : /no 

IHC : /yes, turn on "1NITI.U" lite 

CALL: 

LOP{ r 

ISRLL : /get a 4 from operator 

11: I: : 

If OF' 

-TGIl ~:::E'I-'C:TF: :/was. a new d entered? 

::HA 13ifl.: 

.*IF' t:;Pl ;/no 

F:ETLIF;r:N 

t:tM :. DCFi t:::E'r'C:TF: s /zeroize keycounter 

RETU6:t.I 
- -. - - 7 - -- _, -'- V. - -- ' 

. - 

R Fa 1-1 0 F = E. I:I : 

E:..::El: =5 0 13 ; 

:T:TEZ - T=t5,4 12 : 

1:: s.iu ..: F; - C .- ' -.Jtmll? 

F..I:T=5 147 ; 

I:ALL=~ 172 : 

F.:ETlJF:l.{=S575 

L nr.{ 1 = 3 ' '-' " ' r=*LC 7 

~~~15=57 .. . . . 

...' E '>:' E >; ' ,I 

+&21:11j . . . 

E. I:l 1:17 E:.::E:\:: . 11:fiF .: /clear all requests 

I ~~1_r(7F:/turn off .APU 

121:17 TRD F:DY: /turn on RESET lite 

4172 CALL.: 

4t322 L-JP{l : 

SCm I:I~ ,lp?P 1 E;,::E /return to EXEC 

31:11:3 . E)::E , E).::El:; 

2 111 111 111 F: 11 '.( . 2 1:1 111 111 ..., ',-I :: E; 11: 

4 172 t::tiLL : /callins routine for WSR 

4172 C:ALL ' /?-all ing routine for STEST 

....' F: : T C 1-1 ~IHLL : /calling routine f~r RST 
k Ln cJ 

c, kC'. 

kc00 

rd Q) ,C, 

4J4 

mu24 

U -. -cd 

0 ma C a,'. 1 >- mw. 

.w,' 

;A: m-. I:IJ 

w 5 11 

dLZ 

'1 LJJ zk-w 

+ '1 $ L 1-1 L 

7 l=l -J 

151 

\ 

wr. 

ww. 

lL + 

- + a w 

!.,.:I 

r. mci mw. ., w 

s=, 11 1 mr. 1:lJ 
I-1 *6:31:10 /%ale Data 

F: 9 L 543 

FI LI C 

TT.111 ? -4 

TFS, - 

4 

TE r -12 

SCDHTHI TAD TE/ITB~~C~RZ count lolO times 

DCfi CTRZ 

TAD E /put addr of 1st data loc (241-117) into T 

DC:H TEPl 

:::c:fi . TfiD FI/load 5 into TOS 

IZHLL 

LIIS 

TRD TEN /load 1st (next) data word [D.W.] as 32 bit 

.-I PI :I: I! T 

i:Fi~L/create 16 bit + (sinsle] for DIV 

13 D D:: 

CHLL /Diq (si-n9le) x5 (single) 

p1 1-I L .I: 

.,IM:I: FLT /float the result 

1:MH /load ?047L0 (float) - E 111 1 

~T.411 ,TF:S 

E: 1.J 1 

,In:: FLT D.W.xS ifloat) 

.JM:Z: TII!:'F/~~~ 2047 

~Fi~~chde sin to compensate for dohnhole inver I-. H 17: -0 - TAD TEN /WT advances the addr in TEN, so get- it 

TR;U TPID /back and load with the scaled data 

.,Ip1C Fr: D 

1:: CTEZ /lo times? 

.-IT.fP .?':CR/no, d 

EETI-IRN 07- , /yes, a9ain return 

LZP= 11 54 : 

Fa-T=4j 12 cF-l 11 1:LL L; 

LC9 : 

1.1 101 '.I I! I : 

.-i 1.1 F I . + 1 5 

F: 'l. T 

FEITF'1 ? rolEP1r!cR: 

::.ALL : 

E: L fi 1 4 I::, : 

F: E T 1-1 F: Pi 

'.:' 11 I,,,' T =:I: 2 f <, $ 

.1..I,IF=4.1& : 

E:Lfipik = It<, I:I~, 

'451 4172 r-pI;LL: 

~~45; - .~,~~~, 8.,; 11 I,,! T : 

4 5 .:: 6, 1 I:I 111 E :I. l,I : 

4,454 y<,zz .-!PIP I .+I: 

{,455 4424 :::I-IF 

<4515 ~,~I~II:I :~:i-iFol~,!l~ P?E?I:i?J/?: - '" TY -ti 4172 ,:,ALL: 

f 4 ,{, 111 c, 111 e, E: L ri 1:'. : 

:4e, 1 =,=-= 

_ -1 1 -I F. E T I-: P 1.4 
LJ /displavs a ' as a decimal * 

+i. 111 00/enter with ' to be displayed in-TOS 

FCIUF: 9 

E:LK ? 

TENF ? 

FI r 

HTH ? 

HTHL I 

Fr.132 . F:I~ZM ? 

T !#.I ? 

1:: 0 r-4 '0) . 

4 

7 1:1 111 [I 

2 17 /addr of 10 floated 

-5 

2 4 111 --- 

i 1-1 I=, 

1 

!:I 

HTH-1 /addr of HlX for WT routine 

PEG2 

F-ElZ-1 /addy of REG2 for NT routine 

1 

CHLVif is ~.yxx~.?cuS, rounds up. <.m..n5, rounds dokn - F'OF 

Jr=tD FI/make nR2 count to 5 

DI::~ i:TF:s 

C:RLUblank display 

E:LAPtK 

THD TEPiFlload 10 

JMS I.l!T 

.Jplp PIJCH 

.JP15 PllALF 

.JP1:S PlI,ILF/create "100 

CALL /plus or minus? 

:J TflTl-lS 

:::tfA 

.-lrlP . +4 /plus 

C:ALL/minus, change si-q, 6 

I-'H:7. - -' 

IAC: RTR/put 1 in JEB of -\C 

D C t3 1.1 I l'{lJ Z./ store in )IIwS 

lIfiLL /FIX (double precision -16 bits) the 4 

F I :::: D 

TFfIl HTHL /h~ite 100,000 .,I PIS I)IT 

11: L. .2 , CLL 

1 :- - E '. .I 

-., . I lI:TF:/ increment keystroke counter 

TAIl F:lZM /put TOS into REG2 (will have the next pohier. of 10 

.-I pis p11 

JM:% PI-I:I..H/push the working number - 

TliD F:GZM /get the power 6f 10 back 

.IN .': 

I~LL / : by the power of 10, truncate fractional part 

11 I '4~ 

._IPI:? Fl-t:;:~/save it in the stack 

CALL/picks off the 4 LSB's of TOS $ uses DISPR to display 

L 2 I!.I it as a decimal < nrok-s 

TAU EGZI.1 /get uobcer of 10 out TOS 

.Jp1:: I,jT 

1: ALL /multiply by trmcated inte~er 

r.ll-1 L D 

11:fiLL /remove !!SD from working 

::. 1-1 1: 11 

I :Z:Z C:TF:Z/done 5 times? 

.JP?F' /no 

I SS ):;E:iC,TF' /causes DISPR to put in deci~al pt .. after 1 e, 

CALL/goes to DISPR with 6th digit 

L !!I 
4 1 3 7 .-I 1.1 .:; 11.1.1 T - : 

~ZI]? TRD TET1F 

4137 .Jpl:s I.ljT. 

4172 . 1: ALL 

g, 1 2: 111 - F I XD 

4172 IIALL - 

.-, 7 ,= , 1 .:: D I 'v'D 

1 2 1 5 .-I TAD. Tl!l/is this tAe 4th the? 

l(142 ' . , . TfiD. 1zTFr2 

7 c, 4 I] . 2.XA [:LA. c, ., ,43 '=< .,IPlF' CZ/no, do it again 

4172 SALYyes, DISPR will push digits over 2 Flsces 5 .-, .- - - .:, c, ::: !A I '::F'F: hut in a deci~al point, then return 

5 2 4 ':; b JMP CZ/do -it again 

1 031 €:><IT , . TAD M IPiIJS /negative 1' 

- .-, 5 1 1. t -1 1- zT.ifi 12Lfi cc-e: 

._I .-I a .A F:ETUF:N/no, return 

1 ~125 Tn11 D ISF'Frr2 /yes, make sure \LSD of displav is bl 

1 2 I:I 1 TRD E:LPl/so minus sign may appear 

.,. it.= L 5 b - ~CA D I:::FF~:~ 

4 I 7~ rT:ALL . 

.-, , b-.3 .- .,' I L D IS$: 

7241:1 IZLA ~1.1Wturn on minus sign 7421 - PI 12 L 

7121 1141: 2:TL 

4172 [:ALL 

251~~ CHLI TE 

5575 Ft ETUEN/done 

417Z FI::.::Il? C:ALL/the "fixdouble"XPUroutine 

2727 11' F: A E: 

1 ::: ::: 5 Tfl11 .+:3 I=-::: 

.-I I - 4 .-IMF' I .+l .-, 7 .? ~t 44 1: I! . 

-. . 1: 111 5 <, .:, 

1 J::-J'Z, 1I:ALUthe cosine routine - 9.-- 2 i' C' i' 11 F: H 1: 

1 f:4-" .-I TJqEl .+3 

5742 .,IPIF' I .+l .-- 

2734 1: 1.11 

111 (1 [I 3 .:, 

. B 

417~ PI, 1l:ALVputs PI in TOS .-8 - -8 - CI.CI‘ I: F: fi E: 

1 :: 5 1 TAII .+3 

5751] .,IpIF1 I .+I 

2 7 :I; 4 1: I! 

111 111 Zo .-' L ::; 2 
7 1:1 1 1:: 

7 1:1 1 1 

7 111 1 2 

7 111 1 ':; 

7 111 1 4 

7 111 1 f 

7 111 1 <# 

7 111 1 7 

--- - 1 1-1 c' I! 

7 111 2 1 

- 1; 2 2 

- 

1 111 2 1:: 

- 

I 1224 

- .Is 1. .LS 

- I;! 2 c, 

- (1 2 7 

7 1:1 1: 111 

7 1:1 1: 1 

---- 

1 1j:::i 

- - -,.yo 1 lj .I, .-t 

7 111 1:: 4 

7 111 .I: 7 

7 1;; j: <, 

---- 

4 'I: I 

7 J 1:i 

7 1:: 4 1 - 

, 111 4 2 

7 1:14 1: - 

, l:i44 

7 i:! 4 5 

- 

I I:: 4 <. 

7 11, 4 7 

7 1;; 5 1:1 

- - I 1-1 5 1 - ,-, = -, 

I I-1 -a ,z - - c -, ' '- - 1, 
4 I ::; 7 --- :L~:: 

- I I-' -LL ' -1, 

- - I 4lrl! 

. 1, 1. :, L & -'L 

- - 

, =: 1:; 1 

e-441 

---- 

1 I-: 1-1 5 

- 

, l:l 1 2 - - -- I) id 1 

<441 

4 l E,.r 

41F01 

41--1 .I C 

7 : <,4 

1224 

4 1 ::; 

4:45 

4151: 

4 : 5 111 . . .= Y*v-n 

-4i51~ 

RilT, Page 2 
- 

, 1 e, I:! 

-4 

4 LC81 -4 - - I * rnL - -- I It :: 

- 

, lC-1 

- -- 1 It?, 

IlcE:lj!j : 

11fiLL : 

1; 12 1.4 I,;' : 

1 I P 7 E ;:.:: E 1:. 

r-iE:.:T I E:.:4: 

-, (81 Ca 1 :: :: 5 11. : 

-lic,7 

TTF * TTF-1 .: 

4 1:; : 

e, 111 111 : 

c, 4 1 ,I, : 

L I_. . 1 111 

7 , '.;., - 1 ; 

#{, 4 111 !:I : --- -. , :a I> I 

5, 4 111 5 

L~I_. . !I fiLL .: 

!I =' fi 1; : 

TGTr L1,- : 

f . + 1 : 

E:III 

5211. 116i: 

!:ALL .: 

E:..: I TE : 

Ft 1: 1:; 

RDT, Page 3 

I 12. 51.::: 

~,e,~l=; ' E:E, E,E- 1 : /Bearing limit : should be approx. 1.5" 

4 I I 6,4 I: : 6 5 6 7 

. I I 6;. 0 i~ : 6-16. 1. fo in radians* IS ON RON 2/21/89 

E.477 6477. 6513 

66 I:I~ 1r4 111- 1 :/inc?iilation limit - .should be approx. 1.5' 

c, 4 I:! I:I ; I$, 4 [:I 111 : 6 7 ; 2 

6jl:lil 661:1'0:6616L2"inradians* ISONRObIZ/2?/80 , 6477: 6571) 

I I I : T H F-I ? 3 

I A'+E:F:.I 517: 

1:15z3 et::Ir{, 523.: 

1:t 111 111 2 - 1 ri L 2 

4172 pifi1r.12.. rl:fi~~.:fturn on APU 

544i1'. finpi.: 

1- TAD A':.'I:E t 

4137 I.,I:,- /replace BERl with .\VBER 

121] (I ,. .TnD E: 1. 5 

4142- r-7': 

1216 THI atl:rrri:j 

4137 I.,!: /replace INCl with ,4LrINC 

lZl]Z TRIl 11.: ' 

4 R 

4 172 PIRZ F CnLL .: /<gait for new data El - .+ 1. 1 I E ):: E 11: 

1 1:155 t.1t32ri ? TeD TEN 11 t /make sure pressing ".4P","E?T" does not 

~E~I:I SX CLH :/move. the program on; only new data 

5 2 :I: 2 .-I b1 F PI H 2 : 

.:o .:# 

. - L Dl1:Fi F:OTlI. TF/clear rotation counter 

*- ta get change these values: (1) on front panel, set initial dip to 

value vou want (e.g., ZO) 

(2) read locations 0321, 0322 6 0323 for the 

3 octal # 's for that angle 
:5I.iA CLG: /out of limit;? 

.-IP1P PIC. 3 /no , SO on 

DCA TEN3 T /yes 

TAD THE J /display "3" code 

r:.fiLL ; 

D I :ZCIJ ; 

t:::F:Z : /wait for KBR to show operator acknowledge 

.,IPlP .-I 

I:.HLL : /lights off 

LOA : 

CALL : /.QU on. (unnecessav) 

AUN -. 
---. t. ( : c, - - -#- -x>l >I 

5, 7 4 1:1 

574 1 - - y#( 42 

{Tjl* 

=,744 

- - r'l 45 

@, 7 4 <, 

574: 

7 7 111 

<,75 1 

<, 7 5 1: 

e,754 

5755 

--=,- r. I .-I e, 

<,7!57 

.--. 

5 , r. I! 

<. 7 c. 1 - - - -, 

7, tsc -- - - rI -y,; 

- - r_., c4 

,<, 7 +, 5 .-- - 1 r_, r. 

-- .- zs I rn I 

. -- c I 1 I:; 

L.7- 1 

!*I<? TkIl iPiL: /turn on IYC lite 

IIPLL : 

il!,t? TEl'lt? :/clear TEEN 

CFLL ; /blink the lights and wait for operator "ENT" or "CLR" 

I,C:IGE : / 

TAU TEPlti: /TEW = 1 if CLR, 0 if ENT 

It!6 1CLt?:/l ENT? 

jro?F' PlT; /yes, go on 

1: r-IP : /no, disallow "CO."ITI?IUE" 

TI!IA TEPil i: /and wait for new data 

III=~LL : /Pressing ".i\Rf1, "ENT" here will cause a time out error 

E, E,: : 

-rptF' r.14 /go back to W4 with new data 

717 T9D FQTIITF': /get Rotation counter 

5114 TZ;.:,.'~ : /set up .4VGV (average value) routine 

7911 E 2 : 

il1:9 TE:11 1 : /with ROTCTR, BER2 .LYD XVBER 

T-T , PLI ,GI. zF : 

qj-q y5p;; L. -1 

'c3LL: 

qO:I :/.4PU on 

!I;1LL 

H':':5'a,m' : /get new average (AVBER) 

Ti12 12 : /now do it for IYC 

I;lIt? TET.111: 

TPIl fit*,.' It{ : 

Dl113 TEP17: 

lI6LL : 

g1:::3l::: /get new avinc 

I : Z ' II T II T F' / advance ROTCTR 

T;ID I !ti : /turn on "INCwlite 8- - 4 GLL : 

L 

-,?:I ,+I, 1 : /display average inclination , 

,4l-L : 

,&:;I; : 

r,~c* T . + 1 : /jump to the NIN2 patch, >ISEX :, 1, s ' . t ,--, 8 

7f .=,T --- -, 

--- 

I , , I:! 

7 5 2 1:1 

75c 1 

111 1: 111 7 

i 11; 111 

1; 

1 1, 11, 1 - 

1 i:f 111 5 

1 1:1 1; 5 L 

YZlf 

f 575 

4 172 

7747 

1127 

- - 1-1 ,= 111 2 

1 2 1:l : 

-- - 1 y 4 I.' 

= - G - !:I 4 

1127 

1-1 - - = 111 : 

7 1 111 1:l 

cc- -' : 1 

- - - - , 5 !:I '11 

4:;: 

- - , 14; 

: 1~4: 

A k-L 

- < i - =, *I - --, -, , -c C'-C; 

-- - 

1:1 < 7 f 

111 2 7 = 

:- 5, ,2 . 1 -c -I - 1 = si~n to save paper I c- - -- ~rri r LIZ 1 = sign to sal-e paper 
MONITOR, P.4GE 2 

---- 

I1 li - -, .- - ,' ; ,=. '=( 

- .-, - .-. ;' ,z ,' :< 

- .-, .-, -, ,' :,.: i 

- .-, .- - --= I --- --c - I I .-I t ---- 

1111 

1: 1: 7 7 

c, J 2 1) 

< 4:; 

7 !;I 111 1:i 

- _- I :: I) 11r 

244 

11; 11; i, 1 .I, 4 c -- - :, lj l:l 7 

,:: ill 1:; 5 

1 2 5 111 

---- 

-: I! I-I =, 

11; I:[ 2 

7 2 7 .:: - - - 2 l:l 111 < 

? .-, ,, 111 111 

<,422 

5 4 1:1 : 

<. 4 2 111 

7 111 111 <: 

7 111 1:1 c, 

- ,. 1 I:! 4 

7 4 1; 111 

5 2 I:, 7 --- 

I I-' I-, 4 

-4-* 

. -rC 1 

- , 4 2 1;: 

7 1; 1 1' - - 

E' f: . '- lL p 

I! IF 

J?lF I TET.1 

cm 1, 

F;' T L 

F' T L 

I:LL F3i 

:It 

' rti rs , I E;ii 

El. Gi 

r,; 1-1 

I rri 

lralC 15 

I:= 1. 

1:c , 

IFE. 

1 Fsfil: . 9 . +I: 1 , --- HI- :: , 

1: , 

- 

!= r 

lI<+t 1. 

-1p;p 1 t{ . ILFIIH, 

! 1 i-lplz , 

111 I-' E I T 

E,EIY 1 r{ 

* 7 1:1 ;-I 

- - - - - 4 

L--t 

--- 

i~ C 

- 4 111 - - ~4 1- 

-:1:1 

--- 

8'- Il 

4 

- -- - - - 1- 5 - -- - - - 1- I 

--. - - - r 1-1 

-IF11 -,~1F'1 - - - c- --I 

ril-nt- 1 -, - - -1 I 

--- I-LP I-LL 

'1 5LL 

- - -, - z I 12 F 

1: ALL 

119LF 

T5P !I5 

1: PLL 

Fc ItiT - - '-L? /ILL 

1; 11 = [ { i-I 

114iL 

FGlIi I - - 1- PILL 

FEED 

T31 iIPtiF 

T51 IF - ;,F - I 

-1 ;1 11 1 F 

11 ,= 

TGT' !I!4fiF 

T;tI E - ri ,: 1; \-3 

-IFt?F E t. FT 

T51 11:cltiF 

Tq1, 1: 

:rip 1:i-A 

.-iPlF 1 RII? 

T31 ::+IF 

T1=tl Fi 

1 ri; 1: Lfi 

-1rt;F 1 GI: 1 

,iPt= F?I-IL T 

1: LL 

1: 9LL 

G--r T 1 

1l"~L 

--- 

k trz 

T51 ril-ip1 

~I-IF rj;-lt~11 

TI;: 11-4; 

751 1~fiIt-1 - r,: :I i,z, 

- 1 rrI 

= p: 2 1, - - ll1 1: ltiF 

TqLz 

1 :,I= 1: l-6 

-,:IF ;*-!71\ 1

-1;:- F+l_lL 7 

208 
SIONXTOR, P.4GE L 
. ---- - : I_'lI -- - - I I-! I-! 

- - 1 7 1 

1 -.-- - 1.1 i' ! 0- 

7 it 111 1: I -- , c, !:I 4 

-- -- I =, 1-1 'I, 

- .- - - 1 c I.' t. f ---- 1 I :m lj ;' 

- ;, 1 111 I - - - ,=ll 

--* 1, 8 I t,lL 

- Ti, 1 .:: - .- I,?, 14 

>. 1 5 

- .- 

I r, 1 el 

- 

1 

7 5-2 111 

- .- - 1. '8C 1 

---- b -' -I 

I -ILL 

- .- -. .- I =, ,= : 

- .- ; t824 

- _- +, 2 '=, 8- - - .- -, .- I re C t$ - 

1 e,z7 

-. 

1 <, .:; 12 

- - .-, 

I r' 1' 1 - - -, .-, , c, -0 C -- - - 1 c,.:: 2: 

- - I 'I124 

--- - I 'I, 1: r, 

7 <, .:; 7 

. ;<41:; 

-- 44 

I ='ti - 

1 e.4: 

- - - ' :s 

8 ; -r -* 

- 

I e4-i 

'<.4f 

7 el 4 el 

7f.47 

, 7 {, 5 111 

7c.y 1 YeL-- 

I F -1L 

7c 5.1: 

7 5 4 

- - I- 555. 

- .- c ' 

I Tt -1 I' -- - - , t=, I-! 

-- - I =, cc 1 -- .- , t, t, 2' 

--. - I =,to :: - .- I =mi 4 

;+,c 2 

-- - - , :, t' c 

-- -- , 'I, t* a 

7, 7 111 

- -- I K.1 1 

- --- I :*I i ----, 

, =,, : 

:+,74 

-L -7 1-1 - -- - I T. 1 r. 

- 4 -,: I, - . L -L 

1 1 lj 

f, 1 1, 111 

1 1 ::I 

7 I:I \:i 1 

7 111 111 1 

.I: 1 :: 1 

= - ,L -lj 7 

'2' 4 ,C -' 

--- 

I t'C5 ----, Ill-' 

tli I:! 111 7 ---- 

!-I c' k, lj 

1 2 1 111 1; 1 .: 1 

12'11 

.7 i:: I;I 5 

2 111 1:1 5 c, It .= 1, -- L -, 

3377 

1 5 :I: 111 

57.:; 1 - - - 7 111 1 1:1 

- 

; 111 1 2 

7 111 1 111 

7 l:l 1 2 

7 1:I 1 111 

7 111 1 2 

11; .: 1 2 

12 1 * - 

4172 

-- ,. , JZ 

21 

51 31 

7 2 2 111 

1 1 :,!:I 

- -- ::: 1 1: 

5-45 

74 1 <, 

4172 

- ,.. 2 I: 17 

I1 24 

7 l:l 1 l: 

-- - - ; >= I-! 1.1 

9 1 .I; 1; . - 742 1 

1 1 ::2 

.f; 7 .I: I:I 

.: 1 7 7 

2 1 7<, 

117.2 

7 111 1 .- = - .- :L -I 1 'I: 

1 =-2 - I 

3 1 7 2 

1177 

=c--, -' -, I C 

:; 17; 

1575 

1; 172 

7 1) <, 1:1 

1 1-5 

1. 1 - <. 

1177 

OlLTI1. 1:: 137 

-i?lF GILT It 

FfSTI,iFf.{ 

GI-IT 1: . TFrl 1 ~{I-~PI 

-!?IF' 1 r41: TF 1 

,rf . GFF' 

FTF' 

CqF, 

TF' 

GFp - 

ZtTF' 

Fril GI: Tt.1). i 

Tsrl ZEFG 
MONITOR, PAGE 7 

[-I 

El:ll-lfiTE 1 

!:5LL=417: : 

F,E JI,;F /i=51f 7% : 

E: 3 11 T F* = 1 111 111 : 

5 1-1 T = 1 !:I ; 

21 I rtsfi= 1 ,: 

111 .I F,Fl =24 ,: 

fi 1 1 ,C*F'z=2fi 

1: 5 = 1 I:I :: : -. - 1 .: : . - '-' --. 

Il=l 14: 

;:!=I 15: 

.-I = 1 1 : 

:=I 17: 

F'O::.TR= 12 111 : 

ELI,:TF= 12 1 : 

11 111 TE:= 122 

5=7: : 

Fl I! F: = 1 12 !:I .: . 

31l.E: f = f Ijf 7 

;I.= 1 24 ; 

11. T 5' '1, = 4 7 

IlIti1~=14~,1 : 

!.,lr:.F:fiIL=(=~,~;1~ : 

E:l.I:;=~,45 1 .: 

D I 11 ~=.1:;34 

... ' :I @ i 4 .I T fi r.4 T ::

+ 5 111 111 1:1 

Is1 .I. I... 1 . 1: 7 : 

11 1 13 1 T , 4 11i 111 111 .: r-71 l-~~-~;qpl. -11;: 

r.1 .I }:. 2 . 1 7 : 

11 T TI , 11 9 T ::. 

I:H~FPI. I:.S~/?: 

E:fifi, 1:S-l 

PO. -2; 

FsO:I:. -<.: 

EL, -2: 

11~. -7 : 

p I!l F: , 4 1:1 : 

FOI-IF:? 4 

FEElZ, P12: 

FEE147 F14: 

f8E5. F'S 

F'Ft ITiT 9 11 ALL ; =#Cb' . I ull ? 

1111 +, F<OI: T/? : 

Dll.3 ELI: TF* : 

11Lfi 11:tJL 

T211 ::A& : 

K!!IFi fil-lTa: 
:zL; 

1. 1 !!I : 

ii!{Il r-1.: 1. 1 : 

TII:A I t?l-lT!J: 

IZL 1:LG 

-i 111 f' F, 2 : 

:TL: 

-:;IF' F'1 ,: 

F.2, T$II 111 IF'FZ,: 

1: ALL .: 

11 1 .; ..I 1-1 E; .: 

TH1l DI.IF'F. 1 : 

1IfiLLI 

11 1 :I: 1-1 E: 

TH~I FGl-iF' : 

1: PLL : 

D 1 .I 11 a .- - r, r .. I rc:T, TfiD fJE5: 

DI::~ PDF: 1 

c, .- , t.. IZLA .:'TI- !?RE:: 

11i::a 1 : 

DIZA DIII-TF:: 

TH~I. E:fifi : 

11 I:. 3 H 1-1 T 

F'! 17 TA1l I fii-lT[7: 

;I'LL F'ALf 

Tit11 II h5F?l : 

11 11.h T 

TSD F'Grl TF: : 

T2D FOI-IF:I.I .- - - --H l:Ll?: 

-I T.1 Fa . + .I: 1 

TEII F'E5 1 

1111~ 3ilF'l : 

.Z.PiL 11Lh 

-ikjp +; : 

1:I.Z T: 

TAD I T: 

.-i ['i 1 6 11 F: 1 

F, 4 F: Ti? 1 

F'TF: t 

?TF: : 

F: T F: 

3 , /q 1.J 11 r,l .f 1.. .=* ' - L! 

11u'T I T'l : 

111I'fi HIIF: : 

To11 11 115 I T : 

llil: FAA 

lIL3 : 

T311 11: 

E'r,;z 

c, ,I. 1-1 , , -- CLFi IGK 

11 1: 6 1: ; 

D:I5 ELCTF: 

F':!:, l,/~IF.fifi 

F.2 , TfiIi 1; : 

sri1! I fi1:F.; 

.I riq : 

.-I [a: Fa F. 7 : 

Tfi11 F I!!F : 

E:I112 : 

114LL: 

E '-i F I.{ 

PRINT, P.4GE ; 
//' , . & - 

lILL FkL: 

LllI t3 1: : 

I1Z ELIITF: 

Tt311 ELllTF 

THII EL1 

1:LW 

.-I 1.1 F' F,,? : 

1111 fi EL11 TF: 

F' 1 I:I. 1;: 1111; TF*; 

T D 11 .: 

llLL FfiP : 

III:'~ D: 

Tt7D DIlITF' 

THD F.G: 

:I r{ fi 11. i=j .: 

.-I F' 1 111 : 

- - rlIl3IT: 

!Jl~I.F:fifi .: 

1:: L fi 

T 3 11 11 .: 

E;l,!Z : 

ll.LFI : 

THE DILTF:: 

TAD LiFa : 

.-za iI:Lfi: . .. 

.-IPlF' I F,EE14 

THE1 FriJl: TF: : -. - .; L h 1: L ,q : 

-!;IF' 1 111 : 

DOT I:P1 

191: : 

1~11 : 

III:.~~ %:IF: 

2 111 

+ 5 2 111 111 

F,~T, -1- = L ? 

111. -12: 

F:O:T'r-{, -<* : 

F'EEC,! Fb<, 

F14- TitD 111: 

Tt3D D 11: TF: : 

:;:r{G I:Lh : 

.-i r-lp F' 1 2 

,IFIF' I .+I t 

F11 

I=-12. TGTI 511F'l : 

T,qrr F u- : 

[II:.;~ GUF 1 

PRINT, P.AGE 3 
"I" 

" L" 

"N" 

"R" 

"S" 

"T" 

lL8 

putting 1312 into 0102 prints 

13,. XXXX . XX 

148 DISPR2 DISPRl 

158 

68 216 

ROOM FOR 18 MORE CHARACTERS 
PRINT, PAAGE 5 
'Tjl :I.: I.,! : 

DCR aLF'H9: 

111:e :;. TEF: : 

1IPLL r 

F'FIP1IT : 

.,i I? F' I . + 1 : - 1-1 F; la,! 1 : -I,! , ~~,~~~; '- . 

1 TF F'T 

1: PLL .: - -. - TFiFtI.1CF : 

lIL=i : 

T511 is/{: 

i1115 TE/:F : 

7311 11 ;-fit{ 

11119 TEi*1r{ : 

III:=t* l:?tLL: 

STEST, PAGE 
STEST, P.4GE 3 
HI? 

La . F'F'EI.1 : 

Ill . F1. 

FZ. 

c :: , I - 

F4 - 

,=, C 1: 1-1 F, I E F: 

,E, 1-1 T 1 !; 4 fi 115 1 [ 1 1 1:l 111 111 

~=I-IT Lzlb: SIIF' It.{ 1l:ll:l~ 

;,I-IT *?," Zpl .I Tt?FST EDF' I ti 1 111 1112 

E;iTEF4 ~~I:II:I FCF: IIIFaITE 

. . T*Et{ , FtF.E :I. " 11 " ' TO , OF: 

.. E i ? E F' 1 2 'I: 111 F C F: E fi 11 

E'ELL FmIt{~jl: Gri EF:F'OF 7 FF.It.1T.Z D IF GI::: 

. EF'COF: Lo11 1:: I/{ II:I~~? FF'Ot.1 I!i=iTA 1.1. ff{ 1 i:lz'I:: 

"I-lOl-ILD E:E" 1:;: 1t.i 11:121. 

..'HnLT:; fiFTE,F: .I TfiF'T TO 15 I1:.'E T Ir,lE FOF: -4 1:l1-,.' ? 1111 l:i/'l!i L IIol IT 

':!OLTA13E TCI E:E Ti-IFtiED Gti. 

1200 G must be executed before turning on 40 vo 

To step in the middle of a burn, turn off -10 v 

first, - then hit break. 
- .- I !:I !:I 

1 :. 1-1 2 LL .L 

1, 2 5 

1 2 I:! 1 --- ;:,--.1:4 

1 2 I:! 4 

<, 4 e, 5 

74 112 

- 2 1: 1:i 

1215 

-- - :::Lo 1 em 

7 <, 1:1 4 

1,214 

: 2 1 l; 

1 LLS 2 :, 

<, 4 c. 1 

- -, , ,= 111 111 < --I ,= 111 5 

<, 4 <. 5 

- - , 111 111 

1 2 !:I 4 

<. 4 S 

- _- I ,=# I;! Ill 

1 c.24 

F, g. 1 1; 

- 111 1 2 

7 1; 1 2 

- 

1 111 1 2 

- - , 111 1 ---- 

1-1 c' t8 

--- : 'i 1 

1 Zd --1 

qe, 1 

1- LH 

T611 FFSr.1 

111:fi Fa 

TI211 LO 

Iil~Fi L 

TfiD Fl 

!,I!: F.6 

HLT 

IT. L H 

THD HI-1T.l 

11 11 fi 11. T F: 1 

LA.: 

TFiIl .A1 

11 11 6 -1 1-i PI 

TFiD F' 

1.11 1 

IILA 

TBD FZ 

I tI 11. F.: H 

1:: LA 

TfiD F1 

1,l.Il:' 9 fi 

II' L H 

TSD I L 

-i pIFa 1 .J IJ fll 

F- T F' 

Fa TF' 

F* TF' 

F' T F: 

5 1 { 11 9 1 1:'' 

:!iIfi HLIl 

T/iD HLIi 

I! 1 

I: L A 

TBD FI: 

1.11 1:F3Fi 

II'LH 

THD F4 

I,,! 1: F: Fi 

1:: L fi 

T+It 1::15 

111:fi I:TF 

1 1: I: TF' 

-1 r.1 P F 1 

Ts11 F.1: 

Ill!: FFi 

1: L5 

T - I H rl 11 5 

Ti 11 fi 11 TF' 

I..;: 11.7-F: 

-1 ;,:Fa F' i Z, 

PROM BURNER, PXGE 2 
--- Filg ,'LI F1 

' ,!I :,q 

1: LFl 

T+~I Ff 

llf~: FA t 

Fs I 

&,'~II :I61 i ,- - &Il-s ?LI'l 

T ,s TI F 1 

l,l!: 

1: Lt7 

TAU HLU 

1: 101 t3 I A 1: 

XI1 HLIll --- --it 1:LH 

-I :q Fn p 1: 

-iT IF' F'4 

F* :: . 111 IITF'I 

-1 : 1 Fs F' 5 J= I:1 . TFIl E:ELL 

F' 11 I : 

-ItplF .-1 

F ltlT 

HLT 

F'4 * 111 F* 

IIZ L 

i{GF' 

i ,311 H I 

11 rtG 

TFD L 

1lLFI "3 c. -(,I, Fc. 

r5rl 11 

Fs !I 1 

-;:IF' . - 1 

F JlJ T

YLT 

F~lll 

<& 1 1 :: 

r {OF' 

-1 1' 1 . + 1 

F EtiD 

PRON BURNER, PAGE 3 
- .- PROM BURVER, PAGE 1 , c I-' 1-1 

1 1'' - i L 'z' 

IC.15 

1,214 

I: c. 1 I: 

1 I..:' 1 L L 

- -- - : <' I! 

c-1:. -'r, A L 
GENER-AL DISCUSSION 

Consider ari5ht-handed rectangular coordinate system X, Y, 2, 

defined by the local magnetic north direction (X-axis) with 

the 2 direction being the local gravitationally defined ver-tical. 

Figure 1 

-$ 

Let the components of an arbitrary vector .A be given by .Ax, 

A and .A, in this coordinate system. Our first objective Y' d 

is to be able to calculate the components of this vector in 

another right-handed coordinate system defined by three sl!ccessive and independent rotations: 

a. -A rotation C$ about the I axis (-T<$<+T) - - 

b. .A rotation 8 about the new Y' axis ('T/~<~<T/~) - - 

c. .A rotation $J about the new KO# axis (-TV~T) - - 

Prepared by Walter Hernandez, Ph .D., Chief Scientist, ENSCO 

ESS/SA4S Divisions. 
AOdenote the components of i in the new coordinate - 5.3- - 

tem defined by the first rotation about Zaxis 04 Iigure 

1. Then we have: 

-> 

Next,Le< denote the components of A in the coordinate sys tern defined by the second rotation about the Y'- axis 

(see figure below). 

Figure 2 

Thus : 
9 9 

Finally, Let fle@denote the components of A in the coordinate system defined by the third rotation about the ~"&s 

(see figure below). 

/ Z"' 

/ 

Figure 3 

Again we have: 

A"' = A4'cos@ + .qz'sin@ Y Y 

Y"' 

A;" = -X0sin@ + X;'cos@ Y - 
In rnat~ix-rn, these rotations can be expressed as 

where the R's are defined by the above equations. 

+ + 

The transformation from -A to the final .A"' is defined by: 
~huj the matrix product 

defines the general matrix for transforming coordinates from 

the initial to final coordinate system. Performing the successive matrix multiplications yields: 

Our second objective is the following. Let the local magnetic + 

field F be defined and known in the (XYZ) coordinate system as 

Fx = Fcosci 

F~ = 0 

FZ = -Fsina 

%here r=dip angle (O<a<r/?). F is zero since the X-axi-s is - - Y defined as the magnetic north. Let the local gravitational 

field be known and defined as 
NOK assume that ice are given measured component5 of F alon; 

the (X"'Y"'3"') coordinate system (or the direction cosines 

since magnitude F is known). .Also, we are given the components + 

of G along the (K"'Y"'Z"') coor,dinate system. 

From this information we are to estimate the values of the 

rotation parameter $, 3, and $. That is, calculate the orientation of the (Xo'Y"'Z "') coordinate system. 

Using the rotation matrix [R] given by equation (8), we get 

for the magnetic field components 

Xcos = cos~cos~cosa + sinesina 

where 

Ycos = -cos~sin$cosa + sin~[sin~cos~cosa-cos8sina] 

Zcos = +sin$sin$cosa + cos~[sin8cos~cosa-cosesina] 

lcos = F;"/F 

Ycos = F"'/F 

Y 

Zcos = F:"/F 6- 

For the gravitational field we get 

G"' = (+sine)G x 

Given the Gi" and G values, eqaation (13) gives: 
Given that G and G"' are well defined and G>O and that 3 is 

.Y 

restricted to -a/1<3 - + T/?, we have a valid and unique estimation for 3 . -- - 

6 PARAMETER 

-- 

The first equation of Jequa$ians (11) can be solved for cosb 

as 

COS~ = 

where 0 and a are known quantities, 

The second and third of equations (11) are solved forsin@: 

2 Zcos (s in^) = s in Jls in@cos 3 + A 

where : -4 = sin$~cos~[sin8cos@cosX - cosesina] 

subtracting the two, and solving for sin@: 

or g = tan 
111 P-ARUIETER 

-b 

The parameter is derived from the components of the G 

in the direction of Gy and G- as follows: I ' / 

-1 -by .iJ = tan 

3 

-8 1s lncllnatlon -T/? $ is bearing and is package rotation. 

f 

Each of the three sensor values from the magnetometers and the 

accelerometers must be normalized as in the following example: --- 

xcos 

- 

YCoSnorm J - 7 

Xcos' + yc0sL + zcos2 

Therefore, all of the operational algorithms use normalized values. 

THE SURVEY EOUAT IONS 

The following are used for survey equations. This is a straight 

line between points, angle averaging method,and the assumed rod 

length normally is 10 feet to minimize errors. 

- - 

cos (INC)cos(BER) rod1 + LAT2 = LATl 

cos (m~)sin(W~) RODL + DEP! = DEPl 

VD2 - sin (TC) RODL = VD1 

/(vD~) ' +(L.AT~) + (DEPllL = THD 

7 

VD1 - sin(AINC - r/?)cos(TAN-I(-)- BER) (LAT~)' + (DEPl) ' = VDE'.. 
Initial Hole Conditisons 

sin (AINC-T/?)SLEN = VD1 

sin (XBER)cos (-AIYC - r/2)SLEN = DEPl 

cos (XBER)cos (.\INC - 7r/2)SLEN = LATl 

where 

XBER = initial bearing 

XINC = initial indication 

- 

BER = average bearing, previous survey and current survey 

FE = average inclination, previous survey and current survey 

VD1 = current vertical depth 

VD2 = previous vertical depth 

LATl = current latitude 

LAT2 = previous latitude 

DEPl = current departure 

DEP2 = previous departure 

RODL = rod length 

THD = tone hole depth 

HDEV = horizontal deviation 

VDEV = vertical deviation 

SLEN = string length