ATTITUDE, HEADING AND POSITION - DESCRIPTION AND OPERATION

** ON A/C NOT FOR ALL

1. General
The Inertial Reference (IR) portion of the Air Data/Inertial Reference Unit (ADIRU) supplies the primary data that follows to the aircraft avionic systems:

Precision attitude
Magnetic heading references
Navigation data.

The attitude, heading and navigation data is shown on the displays of the Electronic Flight Instrument System (EFIS):

Primary Flight Display (PFD)
Navigation Display (ND).

The IR portion also supplies data from the selected MMR and the accurate GPIR hybrid position.

** ON A/C NOT FOR ALL

2. System Description

A. General
The IR portion is a strapdown inertial system which provides a quality reference for attitude, heading (true and magnetic), angular rates and accelerations.
The IR software also computes:

the inertial position
the ground velocities
the baro inertial vertical speed
the drift angle
the wind data
the flight path data.
The GPS partition integrated in the IR portion provides both the GPS "autonomous" and "hybrid" navigation solutions. The term "hybrid" is used to indicate that the navigation solution is a result of combining the GPS, Inertial, and Air Data altitude data. The "autonomous" navigation solution denotes a solution derived solely by the MMR using only satellite data. For each type of data, hybrid and autonomous, the software provides:
the position
the velocities (Ground, N/S, E/W)
the accuracy parameters
the integrity parameters.

B. Inputs

(1) Digital inputs

(a) FMGC inputs
The IR portion is provided with two ARINC 429 low-speed buses from the two ARINC 702 Flight Management and Guidance Computers (FMGCs). These buses transmit the following data words:

label 041: SET LATITUDE
label 042: SET LONGITUDE
label 043: SET MAGNETIC HEADING
label 256: FIELD ELEVATION
label 270: FMGC DISCRETES

These data words are used for initialization and BITE purposes, and barometric data setting.

(b) CDU inputs
The IR portion is provided with one ARINC 429 low-speed buses from the CDU.
This bus transmits the following data words:

label 041: SET LATITUDE
label 042: SET LONGITUDE
label 043: SET MAGNETIC HEADING
label 277: CDU TEST.

These data words are used for initialization and BITE purposes.

(c) ADR inputs
The IR portion is provided with three ARINC 429 low-speed buses from the two other ADIRUs (ADR portion) and from its associated ADR. These buses transmit the following data words:

label 203: ALTITUDE
label 210: TRUE AIRSPEED
label 212: ALTITUDE RATE
label 241: CORRECTED AOA.

(d) CFDS input
The IR portion is provided with one ARINC 429 low-speed bus from the Centralized Fault Display System (CFDS). This bus transmits the following data words:

label 125: UTC (BCD)
label 126: FLIGHT PHASE
label 150: UTC (BNR)
label 155: AIRCRAFT CONFIG
label 227: CFDS COMMAND
label 260: DATE
labels 233 to 236: FLIGHT NUMBER
labels 301 to 303: AIRCRAFT TAIL NUMBER

For more details Ref. 34-18-00.

(e) GPS inputs
The IR portion is provided with two ARINC 429 high-speed buses from the GPS portion of the Multi-Mode Receivers (MMRs).
These buses transmit the following data words:

label 057: USER RANGE ACCURACY
label 060: MEASUREMENT STATUS
label 061: PSEUDO RANGE
label 062: PSEUDO RANGE FINE
label 063: RANGE RATE
label 064: DELTA RANGE
label 065: SV POSITION X
label 066: SV POSITION X FINE
label 070: SV POSITION Y
label 071: SV POSITION Y FINE
label 072: SV POSITION Z
label 073: SV POSITION Z FINE
label 074: UTC MEASURE TIME
label 076: GPS ALTITUDE (MSL)
label 101: GPS HDOP
label 102: GPS VDOP
label 103: GPS TRACK ANGLE
label 110: GPS LATITUDE
label 111: GPS LONGITUDE
label 112: GPS GROUND SPEED
label 120: GPS LATITUDE FINE
label 121: GPS LONGITUDE FINE
label 125: GPS UTC BCD
label 130: GPS HORIZONTAL INTEGRITY LIMIT
label 136: GPS VERTICAL FOM
label 140: GPS UTC FINE
label 150: GPS UTC BIN
label 162: DESTINATION ETA
label 163: ALT WAYPOINT ETA
label 165: GPS VERTICAL VELOCITY
label 166: GPS N/S VELOCITY
label 174: GPS E/W VELOCITY
label 247: GPS HORIZONTAL FOM
label 260: GPS DATE
label 273: GPS SENSOR STATUS
label 343: DESTINATION HIL
label 347: ALT WAYPOINT HIL
label 352: GPS Maintenance Word 1
label 355: GPS Maintenance Word 2
label 377: EQUIPMENT IDENT

(2) Analog inputs
The IR portion is provided with analog inputs for power supply and GPS/IRS synchronization purposes (Time Mark).
For more details Ref. 34-12-00.

(3) Discrete inputs
The IR portion is provided with the following discrete inputs:

---------------------------------------------------------------------

! INPUT SIGNAL ! INPUT ! INPUT !

! ! ! DEFINITION !

---------------------------------------------------------------------

! Mounting position 1 ! Open/GND ! see table 2 !

! Mounting position 2 ! Open/GND ! see table 2 !

! CDU ON/OFF ! Open/GND !Not displayed/displayed !

! IR mode select M1 ! Open/GND ! see table 3 !

! IR mode select M2 ! Open/GND ! see table 3 !

! Auto ADR.DADS select ! Open/GND ! see table 4 !

! Manual ADR.DADS select ! Open/GND ! see table 4 !

! Enhanced Alignment ! Open/GND !Basic/Enhanced alignment!

! IR remote test ! Open/GND ! No test/test !

! MAGVAR select ! Open/GND !Reserved/expended model !

! GPS sensor 1 present ! Open/GND ! GND = present !

! GPS sensor 2 present ! Open/GND ! GND = present !

! GPS priority select ! Open/GND !Normal priority/ !

! ! !Reserved priority !

---------------------------------------------------------------------

Table 1 : IR Discrete Inputs

(a) Mounting positions 1 and 2
These discrete inputs are used to indicate to the IR the orientation of the unit. It is needed to know the longitudinal and lateral axes of the aircraft.
Table 2 below gives the unit position as a function of the discrete selection.

---------------------------------------------------------------

! Mounting ! Mounting ! Connector Position/Aircraft !

! Position 1 ! Position 2 ! !

---------------------------------------------------------------

! Open * ! Open * ! FWD * !

! Ground ! Open ! AFT !

! Open ! Ground ! RIGHT !

! Ground ! Ground ! LEFT !

---------------------------------------------------------------

Table 2 : Mounting Position Discretes

* The discretes are wired in FWD position.

(b) IR mode select
The IR portion uses these discrete inputs to know the position of the OFF/NAV/ATT selector switch as follows:

----------------------------------------------

! M1 ! M2 ! OFF/NAV/ATT !

! ! ! Selector Switch Position !

!--------------------------------------------!

! Open ! Open ! OFF !

! Ground ! Open ! NAV !

! Open ! Ground ! ATT !

----------------------------------------------

Table 3 : IR Mode Select

--------------------------------------------------------------------

! Auto ! Manual ! IR Selection !

! ADR DADS ! ADR DADS ! !

--------------------------------------------------------------------

! Open ! Open ! The IR uses the air data received !

! ! ! on port 1 !

!-------------!----------------!-----------------------------------!

! Open ! Ground ! The IR uses the air data received !

! ! ! on port 2 !

!-------------!----------------!-----------------------------------!

! Ground * ! Open ! The IR goes automatically from one!

! ! ! air data source to the others !

! ! ! according to their validity and !

! ! ! priority. * !

--------------------------------------------------------------------

Table 4 : ADR DADS Select

* The discretes are wired in the automatic ADR selection mode with the following priority:
1: its own ADR unit
2: ADR received on port 1
3: ADR received on port 2.

(d) IR remote test
The IR portion uses one discrete to select the remote test by external control.
When this discrete is open, the test is not activated.
When this discrete is grounded, the test is activated.
On the A/C, this discrete is open.
In normal operation this discrete is open (unused) but can also be activated via the CFDIU on the ground (Ref. AMM D/O 34-18-00-00).

(e) CFDS message select
On the A/C, this discrete is open.

(f) GPS present
These discretes are used to activate GPS/IRS hybridization (computation, BITE function).

(g) GPS priority select
The GPIRS function uses this discrete to modify the GPS priority.
Each ADIRU receives data from the two GPS portions of the MMRs on the primary and secondary inputs.
For each ADIRU, the primary and secondary GPS inputs are defined as follows:

---------------------------------------------

! ADIRU ! PRIMARY ! SECONDARY !

! SDI ! INPUT ! INPUT !

---------------------------------------------

! 1 ! GPSSU 1 (MMR 1) ! GPSSU 2 (MMR 2) !

! 2 ! GPSSU 2 (MMR 2) ! GPSSU 1 (MMR 1) !

! 3 ! GPSSU 1 (MMR 1) ! GPSSU 2 (MMR 2) !

---------------------------------------------

Depending on the GPS validity and GPS priority select input discrete status, the GPS source is defined as follows:

---------------------------------------------------------------------

! PRIORITY ! PRIMARY ! SECONDARY ! GPSSU SOURCE !

! STATUS ! GPSSU ! GPSSU !-----------------------------------

! ! ! ! GPS PRIORITY ! GPS PRIORITY !

! ! ! ! SELECT = OPEN ! SELECT = GROUND !

---------------------------------------------------------------------

! 1 ! Valid ! Valid ! Primary ! Secondary !

! 2 ! Valid ! Fail ! Primary ! Primary !

! 3 ! Fail ! Valid ! Secondary ! Secondary !

! 4 ! Fail ! Fail ! Primary ! Secondary !

---------------------------------------------------------------------

CDU On/Off
It informs the ADIRU that it is currently being displayed on the CDU.
Enhanced Alignment:
Shortened alignment time, the full initialization of the ADIRUs require less time.
Automatic position initialization using the autonomous GPS position. The pilot does not need to send a present position to initialize the ADIRUs. If the pilot decides to initialize manually the ADIRUs, there is a comparision of the manual initialization with the autonomous GPS position. Lower risk to initialize the ADIRUs on an erroneous position.

C. Software Computation
The software contains the program memory and provides the following basic functions:

real-time executive
attitude integration
velocity integration
position integration
output computation
built-in test (Ref. AMM D/O 34-18-00-00).

The IR software operates in one of three basic modes: alignment, navigation, or reversionary attitude mode. These modes include various portions of the major functions. The real-time executive and built-in test functions interface with each function in each mode.

(1) Alignment mode
The alignment is the initialization mode for the IR. Its primary function is to initialize the attitude, velocity and position integration functions implemented in the navigation mode. This mode operates on the ground only.
The IR alignment mode is divided into three parts:

coarse level processing
The coarse level processing is engaged during the first 30 seconds of the IR alignment mode. This processing estimates the local vertical using the three accelerometers and the measured gravity.
During coarse level processing of the alignment mode, the software computes the level coordinate frame, pitch and roll, and associated rates and accelerations.
gyro-compass (or azimuth) processing and level processing
Gyro-compass processing is engaged after the 30 seconds of the IR alignment mode (coarse level complete) and runs for a minimum of 9.5 minutes.
Gyro-compass processing is used to point body frame to North (using earth rotation detection by gyros).
During this alignment submode, an estimated latitude is computed using the local vertical component of the earth rotation.
During this submode, the results of coarse level processing are sharpened to have a better knowledge of the coordinate frame.
position entry data processing
This position initialization can take place in coarse level processing or gyro-compass processing.
The latitude and longitude pair processed for position initialization is received from the same source (FMGC 1, FMGC 2, GPSSU1/MMR1 or GPSSU2/MMR2).
If a GPS position data is available and if there is no pilot entry, the GPS data is used to perform the alignment.
If a GPS position data is available and there is a pilot entry, the pilot entry is compared with the GPS position data.
The discrepancies between the two latitudes and the two longitudes must be within 5Nm. If the discrepancies exceed 5Nm, the ALIGN annunciator flashes.
If no GPS position data is available, the software performs a BITE test to check if the entered latitude and longitude are within the following limits versus the position recorded at the end of the last power-up cycle:

Abs val(lat entered - lat recorded) less than or equal to 1 deg.

Abs val(long entered - long recorded) less than or equal to 1 deg (Ref. 34-18-00).

A second BITE test is performed on the entered latitude when an estimated latitude is available during the gyro-compass processing:

Abs val(cos (lat est) - cos (lat ent)) less than or equal to 0.01234.

Abs val(sin (lat est) - sin (lat ent)) less than or equal to 0.01234.

The alignment is completed if a valid position data has been received and verified by the IR.
The typical alignment time will be calculated for a given latitude as follows:
- ABS (5 minutes/cosine (latitude)) for latitude between 60 deg. South and 60 deg. North
- 10 minutes at 73 deg. South < latitude < 60 deg. South
- 10 minutes at 60 deg. North < latitude < 73 deg. North
- 17 minutes at latitude < 73 deg. South
- 17 minutes at 73 deg. North < latitude.

ADIRU - Alignment Time in North Hemisphere ** ON A/C NOT FOR ALL

If not, the automatic sequencing to the NAV mode will be delayed (up to 1 minute) after the position data is received.
The operations to enter position and the warnings associated to the tests performed in alignment mode are described in para. 3 (operation/control and indicating).
The IR also offers the possibility to enter into a variant of the alignment mode called "rapid realign" or "30-second realign". This mode is selected by moving the CDU selector switch from NAV to OFF, then to NAV within five seconds, when the aircraft is on the ground (ground speed less than 20 knots). A valid position data must be received. During the "rapid realign" mode, all computed velocities are set to zero and a fine tuning of the alignment is performed using the attitude reference vertical and the heading data available from the last NAV phase as initial conditions.
During the alignment mode, the IR outputs on the ARINC 429 bus may not be available.
Position initialization of the ADIRU is transmitted to the MMR for its own initialization.
In addition to this position, the MMR requires initialization data of date and UTC. The IR portion receives the date and UTC from the CFDS and transmits the data to the MMRs. The chronology of the validation of the outputs during the alignment is given in para. 2-D (IR output data).

(2) Navigation (NAV) mode

ADIRU - Navigation Mode Functions ** ON A/C NOT FOR ALL

The NAV mode is the primary operating mode for the IR and is implemented in software as unaided strapdown inertial navigation computation. The basic operating elements consist of three integration functions (attitude, velocity and position) driven by input gyro and accelerometer strapdown sensor data.
The following equations are used to compute the main parameters:

body pitch, roll, yaw rates (labels 326, 327, 330):
they are representative of the aircraft body rotations relative to the aircraft body axes and are directly measured by the laser gyros.
body longitudinal, lateral, normal accelerations (labels 331, 332, 333):
they are directly measured by the accelerometers but with the gravity effect subtracted to have 0 g on the normal acceleration when in level.

pitch and roll attitude rate (labels 336, 337)

Pitch Att rate = Q. cos (Ra) - R. sin (Ra)

Q. sin (Ra) + R. cos (Ra)

Roll Att rate = P + -------------------------

cos (Pa)/sin (Pa)

where: Ra = Roll angle

Pa = Pitch angle

P = Body roll rate

Q = Body pitch rate

R = Body yaw rate

flight path angle (label 322) = angle between the aircraft velocity vector and the horizontal plane

(VZ)

FPA = Arc tan (--)

(VG)

where: VZ = inertial vertical speed (label 365)

VG = ground speed (label 312)

flight path acceleration (label 323) = aircraft acceleration along the total velocity vector

Vx.Ax + Vy.Ay + Vz.Az

Flt Path Accel = ---------------------

______________

/ 2 2 2

V Vx + Vy + Vz

where: Ax, Ay, Az, Vx, Vy, Vz: accelerations and velocities in the earth frame.

wind speed and direction computation (labels 315 and 316)

___________________

/ 2 2

Wind speed = V Vwind N + Vwind E

(Vwind E)

Wind direction = Arc tan (-------) + 180 deg.

(Vwind N)

Vwind E = Veast - cos (Pa). sin (Hdg). TAS

Vwind N = Vnorth - cos (Pa). cos (Hdg). TAS

where : Veast = east velocity = label 367

Vnorth = north velocity = label 366

Pa = pitch angle = label 324

Hdg = heading = label 314

TAS = true airspeed.

The TAS is received from the ADR. The ADR source to be used is selected according to the configuration of the discretes described in para. 2.B.(3)(d). The IR does not compute the wind if the TAS is less than 100 knots or if the air data sources are no more available. In this case, the wind labels are sent with their status matrix coded NCD (No Computed Data).

inertial vertical speed and inertial altitude computation (labels 365 and 361)
The IR software contains a baro-inertial loop to compute the Inertial Vertical Speed and Inertial Altitude. This loop permits to take advantage of the different qualities of the inertial and air data systems. The IR brings its better behaviour in dynamic maneuvers while the ADR brings its stability in time (no drift of the outputs like in IR). The principle of the baro-inertial loop is given in the figure
IR - Baro Inertial Altitude Filter ** ON A/C NOT FOR ALL
The ADR source to be used is selected according to the configuration of the discretes described in para. 2.B.(3)(d). When no ADR source is available, labels 361 and 365 are sent with their status matrix coded NCD (No Computed Data).
magnetic deviation computation
The principle of the inertial system is based on geographic referenced measurements and computation. To create the labels which are magnetic references (magnetic heading, magnetic track angle, labels 320, 317), the IR computes a magnetic variation which is added to the true values (labels 314, 313).
The magnetic variation is computed as a function of the present position (latitude and longitude) within the range of 82°N to 60°S excluding the magnetic polar region (latitude exceeds 73°N and longitude between 120°W and 92°W). The magnetic variation at any given point is calculated by using four grid intersection data values and a two-dimensional linear interpolation. The grid data comes from the National Oceanic and Atmospheric Administration and must be updated every 10 years in order to meet the accuracy requirements.
Normally the computation and display of navigation data by the FMGS and the EIS are in magnetic references (using magnetic referenced labels from the IR).
polar navigation
Polar Navigation ** ON A/C NOT FOR ALL
At high latitudes, when the IR cannot calculate the magnetic deviation, the user systems and the crew must be advised that they have to go in geographic (or true) referenced parameters. When the aircraft is in close proximity to a region in which the magnetic variation cannot be computed, the IRS sets bit 28 of label 275, and the pilot is warned by MCDU and ND messages created from this bit to push the NORTH REF pushbutton switch 1CB (Ref. AMM D/O 22-72-00-00). When the aircraft enters a region in which the magnetic variation cannot be computed, the IR sets bit 25 of label 270 and, if the pilot has not pushed the NORTH REF pushbutton switch 1 CB, a warning message is displayed by the ECAM system.
GPS/IRS hybridization computation
At the end of GPIR NAV mode ground align processing, an 18-state PR/DR (Pseudo Range / Delta Range) mechanized Kalman filter is engaged to estimate the system error states. The hybrid solution is then corrected by removing its errors estimated from the Kalman filter.

(3) Attitude mode
The attitude mode is a reversionary mode which can be activated only by manual selection of the ATT mode on the CDU.
The mode can be activated on the ground or in flight and is intended to provide a rapid attitude/heading restart capability if the IR has experienced total power shutdown or failures which do not disable the mechanization of the attitude computation. The necessity of selecting ATT is indicated by the IR in its action code (label 350 - code 04 = select ATT) and this data is used by the FWC to display a message on the ECAM displays.
On the CDU, the STS-SELECT ATT indication comes into view if the DISPLAY/DATA selector switch is in STS (status) position.
This mode needs a 20-second initialization phase with the aircraft in level flight. During this phase, all the ARINC bus outputs are sent with their status matrix coded NCD (No Computed Data). At the end of the initialization phase the IR sends valid outputs of:

body axis accelerations and angular rates
pitch and roll attitude and rate
vertical acceleration
vertical velocity
baro-inertial altitude and vertical speed (Ref. para. D - IR output data, list of valid labels).
The magnetic heading may also be valid if an initialization value has been sent by the FMGC (through the MCDU) or the CDU. (Ref. para. D - IR output data for the complete list of valid outputs).

D. IR, GPS and GPIRS Output Data

(1) Digital output characteristics
The IRs have 4 independently-buffered high-speed ARINC 429 digital output buses, designated bus output 1, 2, 3 and 4

digital output table:
This table contains all the output parameters in the digital form. They are sorted in numerical order of their output label.
The following table gives:
EQ.SYS.LAB.SDI: (SDAC, FWC, DMC...) output label for which the parameter is available.
PARAMETER DEFINITION: parameter name.
WORD RANGE/OPER RANGE/RESOLUTION ACCURACY: measurement range. Maximum value transmitted. When the digital value changes, the change step is equal to the accuracy.
UNIT: unit in which the digital value is transmitted.
SIG BIT: indicates whether a sign bit is available.
BITS: number of bits used by the parameter in the label.
XMSN/INTV: output transmission interval. The refresh rate is given in milliseconds.
CODE:
BNR: binary data word
BCD: binary coded decimal data word
ISO: data word coded in ISO5 code
DIS: discrete data word
HEX: hexadecimal coded
HYB: mixed code.
ALPHA CODE: indicates the parameter mnemonic code.

SOURCE ORIGIN: parameter source computer or system.
When the input discretes of THE GPS PRESENT programming pins are grounded (indicating GPS present), both the MMR outputs and the GPIRS integrated navigation solution outputs are transmitted on the IR output buses with the IR output data.

-------------------------------------------------------------------------------

| PARAMETER LIST PARAMETER CHARACTERISTICS (NUMERIC) |

-------------------------------------------------------------------------------

| | | | | | | | | |ATA |

| | | | | | | | | |REF |

-------------------------------------------------------------------------------

! 010 !PPOS LAT !W !Deg ! ! 6 !316.8!BCD !LATP ! !

! ! !90S-90N !& ! ! ! - ! ! ! !

! ! !0.1 !min ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 011 !PPOS LONG !W !Deg ! ! 6 !316.8!BCD ! ! !

! ! !180E-180W !& ! ! ! - ! ! ! !

! ! !0.1 !min ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 012 !GROUND !W 0 to 2000 !Kts ! ! 4 !316.8!BCD ! GS ! !

! !SPEED !0 to 1000 ! ! ! ! - ! ! ! !

! ! !R 1 ! ! ! !323.2! ! ! !

! ! !+/- 8 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 013 !TRK ANGLE !W 0 to 359.9!Deg ! ! 4 !316.8!BCD ! ! !

! !TRUE !R 0.1 ! ! ! ! - ! ! ! !

! ! !+/- 2.3 ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 014 !MAG HDG !W 0 to 359.9!Deg ! ! 4 !316.8!BCD ! MH ! !

! ! !R 0.1 ! ! ! ! - ! ! ! !

! ! !+/- 3 ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 015 !WIND SPEED!W 0 to 256 !Kts ! ! 3 !316.8!BCD ! WS ! !

! ! !R 1 ! ! ! ! - ! ! ! !

! ! !+/- 9 ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 016 !WIND DIR !W 0 to 359 !Deg ! ! 3 !316.8!BCD ! WD ! !

! !TRUE !R 1 ! ! ! ! - ! ! ! !

! ! !+/- 10 ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 041 !SET LAT !W +/- 180 !Deg ! ! 6 !316.8!BCD ! ! !

! ! !90S-90N !& ! ! ! - ! ! ! !

! ! !R 0.1 !min ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 042 !SET LONG !W +/- 180 !Deg ! ! 6 !316.8!BCD ! ! !

! ! !R 0.1 !& ! ! ! - ! ! ! !

! ! ! !min ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 043 !SET MAG !W 0 to 359.9!Deg ! ! 4 !316.8!BCD ! ! !

! !HDG !R 0.1 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 044 !TRUE HDG !W 0 to 359.9!Deg ! ! 4 !316.8!BCD !THDG ! !

! ! !R 0.1 ! ! ! ! - ! ! ! !

! ! !+/- 0.4 ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 052 !PITCH !W +/- 64 !Deg/! ! 15 !19.8 !BNR ! ! !

! !ANGULAR !R 0.002 !sec2! ! ! - ! ! ! !

! !ACCEL ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 053 !ROLL !W +/- 64 !Deg/! ! 15 !19.8 !BNR ! ! !

! !ANGULAR !R 0.002 !sec2! ! ! - ! ! ! !

! !ACCEL ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 054 !YAW !W +/- 64 !Deg/! ! 15 !19.8 !BNR ! ! !

! !ANGULAR !R 0.002 !sec2! ! ! - ! ! ! !

! !ACCEL ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 310 !PPOS LAT !W +/- 180 !Deg ! 29 ! 20 !79.2 !BNR ! ! !

! ! !+/- 90 !& ! ! ! - ! ! ! !

! ! !R 0.00017 !min ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 311 !PPOS LONG !W +/- 180 !Deg ! 29 ! 20 !79.2 !BNR !LONP ! !

! ! !R 0.00017 !& ! ! ! - ! ! ! !

! ! ! !min ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 312 !GROUND !W 0 to 4096 !Kts ! ! 15 !39.6 !BNR ! ! !

! !SPEED !R 0.125 ! ! ! ! - ! ! ! !

! ! !+/- 8 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 313 !TRK - TRUE!W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! ! !R 0.0055 ! ! ! ! - ! ! ! !

! ! !+/- 0.23 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 314 !TRUE HDG !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! ! !R 0.0055 ! ! ! ! - ! ! ! !

! ! !+/- 0.4 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 315 !WIND !W 0 to 256 !Kts ! ! 15 !79.2 !BNR ! ! !

! !SPEED !0 to 100 ! ! ! ! - ! ! ! !

! ! !R 0.0078 ! ! ! !80.8 ! ! ! !

! ! !+/- 8 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 316 !WIND DIR !W +/- 180 !Deg ! 29 ! 15 !79.2 !BNR ! ! !

! !- TRUE !+/- 180 ! ! ! ! - ! ! ! !

! ! !R 0.0055 ! ! ! !80.8 ! ! ! !

! ! !+/- 10 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 317 !TRK - MAG !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! ! !R 0.0055 ! ! ! ! - ! ! ! !

! ! !+/- 3 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 320 !MAG HDG !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! ! !82 N to 60 S! ! ! ! - ! ! ! !

! ! !R 0.0055 ! ! ! !40.4 ! ! ! !

! ! !+/- 3 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 321 !DRIFT !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! DA ! !

! !ANGLE !+/- 90 ! ! ! ! - ! ! ! !

! ! !R 0.0055 ! ! ! !40.4 ! ! ! !

! ! !+/- 2.3 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 322 !FLIGHT !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! FPA ! !

! !PATH !+/- 90 ! ! ! ! - ! ! ! !

! !ANGLE !R 0.0055 ! ! ! !40.4 ! ! ! !

! ! !+/- 0.28 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 323 !FLT PATH !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !FPAC ! !

! !ACCEL !R 0.0001 ! ! ! ! - ! ! ! !

! ! !+/- 10 % of ! ! ! !20.2 ! ! ! !

! ! !outp ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 324 !PITCH !W +/- 180 !Deg ! 29 ! 15 !19.8 !BNR !PTCH ! !

! !ANGLE !-90 to + 90 ! ! ! ! - ! ! ! !

! ! !R 0.0055 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.05 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 325 !ROLL !W +/- 180 !Deg ! 29 ! 15 !19.8 !BNR !ROLL ! !

! !ANGLE !-90 to + 90 ! ! ! ! - ! ! ! !

! ! !R 0.0055 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.05 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 326 !BODY AXIS !W +/- 128 !Deg/! 29 ! 15 !19.8 !BNR !PTCR ! !

! !PITCH RATE!+/- 45 !s ! ! ! - ! ! ! !

! ! !R 0.0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 327 !BODY AXIS !W +/- 128 !Deg/! 29 ! 15 !19.8 !BNR !ROLR ! !

! !ROLL RATE !+/- 45 !s ! ! ! - ! ! ! !

! ! !R 0.0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 330 !BODY AXIS !W +/- 128 !Deg/! 29 ! 15 !19.8 !BNR !YAW ! !

! !YAW RATE !+/- 45 !s ! ! ! - ! ! ! !

! ! !R 0.0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 331 !BODY LONG !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !LONG ! !

! !ACCEL !+/- 4.000 ! ! ! ! - ! ! ! !

! ! !R 0.0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 332 !BODY LAT !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !LATG ! !

! !ACCEL !+/- 4.000 ! ! ! ! - ! ! ! !

! ! !R 0.0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 333 !BODY NORM !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !VRTG ! !

! !ACCEL !+/- 4.000 ! ! ! ! - ! ! ! !

! ! !R 0.0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 334 !PLATFORM !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! !HEADING !R 0.0055 ! ! ! ! - ! ! ! !

! ! !+/- 0.23 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 335 !TRK ANGLE !W +/- 32 !Deg/! 29 ! 15 !19.8 !BNR ! ! !

! !RATE !R 0.001 !s ! ! ! - ! ! ! !

! ! !+/- 0.17 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 336 !PITCH ATT !W +/- 128 !Deg/! 29 ! 15 !19.8 !BNR ! ! !

! !RATE !R 0.0039 !s ! ! ! - ! ! ! !

! ! !+/- 0.1 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 337 !ROLL ATT !W +/- 128 !Deg/! 29 ! 15 !19.8 !BNR ! ! !

! !RATE !R 0.0039 !s ! ! ! - ! ! ! !

! ! !+/- 0.1 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 340 !TRACK !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! !ANGLE !R 0.0055 ! ! ! ! - ! ! ! !

! !GRID !+/- 3 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 341 !GRID !W +/- 180 !Deg ! 29 ! 15 !39.6 !BNR ! ! !

! !HEADING !R 0.0055 ! ! ! ! - ! ! ! !

! ! !+/- 3 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 360 !POTENTIAL !W +/- 32768 !ft /! 29 ! 15 !19.8 !BNR ! ! !

! !V/S !R 1.0 ! min! ! ! - ! ! ! !

! ! !+/- 30 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 361 !INERTIAL !W +/- 131072!ft ! 29 ! 20 !39.6 !BNR ! ! !

! !ALT !R 0.125 ! ! ! ! - ! ! ! !

! ! !+/- 5 ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 362 !ALONG TRK !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR ! ! !

! !HORIZ !R 0.00012 ! ! ! ! - ! ! ! !

! !ACCEL !+/- 10 % ! ! ! !20.2 ! ! ! !

! ! !of outp ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 363 !CROSS TRK !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR ! ! !

! !HORIZ !R 0.00012 ! ! ! ! - ! ! ! !

! !ACCEL !+/- 10 % ! ! ! !20.2 ! ! ! !

! ! !of outp ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 364 !VERTICAL !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !VACC ! !

! !ACCEL !+/- 4.000 ! ! ! ! - ! ! ! !

! ! !R 0.00012 ! ! ! !20.2 ! ! ! !

! ! !+/- 0.01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 365 !INERTIAL !W +/- 32768 !ft /! 29 ! 15 !19.8 !BNR !IVV ! !

! !V/S !R 1.0 !min ! ! ! - ! ! ! !

! ! !+/- 30 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 366 !N - S !W +/- 4096 !Kts ! 29 ! 15 !79.2 !BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! !+/- 8 ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 367 !E - W !W +/- 4096 !Kts ! 29 ! 15 !79.2 !BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! !+/- 8 ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 270 !DSCRT DATA! ! ! ! !475.2!DIS ! ! !

! !WORD 1 ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 275 !DSCRT DATA! ! ! ! !475.2!DIS ! ! !

! !WORD 2 ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! 1

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 276 !DSCRT DATA! ! ! ! !475.2!DIS ! ! !

! !WORD 3 ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 277 !IRS TEST ! ! ! ! !316.8!HYB ! ! !

! !WORD ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !323.2! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 301 !VERT ACCEL!W +/- 4 ! g ! 19 ! !19.8 !BNR ! ! !

! !(unfiltrd)!R 1.526 E-5 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 302 !ROLL RATE !W +/- 128 !Deg/! 19 ! !19.8 !BNR ! ! !

! !(unfiltrd)!R 4.883 E-4 !s ! ! ! - ! ! ! !

! ! ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 350 !ACTION ! ! ! ! !475.2!HYB ! ! !

! !CODE ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 351 !IR MAINT ! ! ! ! !475.2!DIS ! ! !

! ! ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 354 !LRU IDENT ! ! ! ! !475.2!ISO ! ! !

! ! ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 356 !FAULT ! ! ! ! !79.2 !ISO ! ! !

! !STAT ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8/! ! ! !

! ! ! ! ! ! !19.8 ! ! ! !

! ! ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 377 !EQUIP ! ! ! ! !950.4!HEX ! ! !

! !IDENT ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 242 !BODY PITCH!W +/-128 !Deg/! 29 ! 15 !19.8 !BNR !PTCR ! !

! !RATE !+/-128 !s ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 342 !BODY ROLL !W +/-128 !Deg/! 29 ! 15 !19.8 !BNR !ROLR ! !

! !RATE !+/-45 !s ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 344 !BODY YAW !W +/-128 !Deg/! 29 ! 15 !19.8 !BNR ! YAW ! !

! !RATE !+/- 45 !s ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0039 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,1 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 346 !PITCH ATT !W +/-128 !Deg/! 29 ! 15 !19.8 !BNR ! ! !

! !RATE !R 0,0039 !s ! ! ! - ! ! ! !

! !(unfiltrd)!+/- 0,1 ! ! ! !20.2 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 173 !PITCH !W +/-180 !Deg ! 29 ! 15 !19.8 !BNR !PITCH! !

! !ANGLE !-90 to +90 ! ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0055 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,05 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 202 !ROLL !W +/-180 !Deg ! 29 ! 15 !19.8 !BNR !ROLL ! !

! !ANGLE !-90 to +90 ! ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0055 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,05 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 372 !BODY LONG !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !LONG ! !

! !ACCEL !+/- 4,000 ! ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 373 !BODY LAT !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !LATG ! !

! !ACCEL !+/- 4,000 ! ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 374 !BODY NORM !W +/- 4 ! g ! 29 ! 15 !19.8 !BNR !VRTG ! !

! !ACCEL !+/- 4,000 ! ! ! ! - ! ! ! !

! !(unfiltrd)!R 0,0001 ! ! ! !20.2 ! ! ! !

! ! !+/- 0,01 ! ! ! ! ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 076 !GPS ALT !W +/- 131072!ft ! ! 20 !950.4!BNR ! ! !

! !(MLS) !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 101 !HDOP !W 0 to 1024 ! ! ! 15 !950.4!BNR ! ! !

! ! !R 0.031 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 102 !VDOP !W 0 to 1024 ! ! ! 15 !950.4!BNR ! ! !

! ! !R 0.031 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 103 !GPS TRACK !W +/- 180 !DEG ! ! 15 !950.4!BNR ! ! !

! !ANGLE TRUE!R 0.0055 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 110 !GPS PRES !W +/- 90 !DEG ! ! 20 !950.4!BNR ! ! !

! !POS-LAT !R 0.000172 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 111 !GPS PRES !W +/- 180 !DEG ! ! 20 !950.4!BNR ! ! !

! !POS-LONG !R 0.000172 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 112 !GPS GROUND!W 0 to 4096 !KTS ! ! 15 !950.4!BNR ! ! !

! !SPEED !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 120 !GPS PRESS !W +/- !DEG ! ! 11 !950.4! ! ! !

! !POS-LAT !0.000172 ! ! ! ! - ! ! ! !

! !FINE !R 8.38 E-8 ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 121 !GPS PRES !W +/- !DEG ! ! 11 !950.4!BNR ! ! !

! !POS-LONG !0.000172 ! ! ! ! - ! ! ! !

! !FINE !R 8.38 E-8 ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 125 !GPS UTC !W 23:59.9 !H/ ! ! 5 !950.4!BCD ! ! !

! ! !R 0.1 min !min ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 130 !GPS INTEG !W 0 to 16 !NM ! ! 18 !950.4!BNR ! ! !

! !LIMIT !R 1.2 E-4 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 131 !HYB INTEG !W 0 to 16 !NM ! ! 18 !950.4!BNR ! ! !

! !LIMIT !R 6.1 E-5 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 132 !HYB TRUE !W +/- 180 !DEG ! ! 15 !39.6 !BNR ! ! !

! !HEADING !R 0.0055 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 133 !AUT VERT !W 0 to 32768!ft ! ! 18 !950.4!BNR ! ! !

! !INTEG !R 0.125 ! ! ! ! - ! ! ! !

! !LIMIT ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 134 !HYB VERT !W 0 to 32768!ft ! ! 18 !950.4!BNR ! ! !

! !INTEG !R 0.125 ! ! ! ! - ! ! ! !

! !LIMIT ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 135 !HYB VERT !W 0 to 32768!ft ! ! 18 !950.4!BNR ! ! !

! !FOM !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 136 !GPS VERT !W 0 to 32768!ft ! ! 18 !950.4!BNR ! ! !

! !FOM !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 137 !HYB TRACK !W +/- 180 !DEG ! ! 15 !39.6 !BNR ! ! !

! !ANGLE TRUE!R 0.0055 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 150 !GPS UTC !W 23:59:59 !H:M ! ! 17 !950.4!BNR ! ! !

! ! !R 1.0 !:S ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 162 !DESTINA- !W 23:59 !H:M ! ! 11 !475.2!BNR ! ! !

! !TION ETA !R 1 !M ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 163 !ALT !W 23:59 !H:M ! ! 11 !475.2!BNR ! ! !

! !WAYPOINT !R 1 !M ! ! ! - ! ! ! !

! !ETA ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 165 !GPS VERT !W +/- 32768 !ft/ ! ! 15 !950.4!BNR ! ! !

! !SPEED !R 1.0 !mn ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 166 !GPS N/S !W +/- 4096 !kts ! ! 15 !950.4!BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 174 !GPS E/W !W +/- 4096 !kts ! ! 15 !950.4!BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 175 !HYB GROUND!W 0 TO 4096 !kts ! ! 15 !39.6 !BNR ! ! !

! !SPEED !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 241 !CORR AOA !W -40 to +90!DEG ! ! 16 !79.2 !BNR ! ! !

! ! !R 5.493 E-3 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 247 !GPS HORIZ !W 0 TO 16 !NM ! ! 18 !950.4!BNR ! ! !

! !FOM !R 6.1 E-5 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 254 !HYB LAT !W +/- 90 !DEG ! ! 20 !79.2 !BNR ! ! !

! ! !R 0.000172 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 255 !HYB LONG !W +/- 180 !DEG ! ! 20 !79.2 !BNR ! ! !

! ! !R 0.000172 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 256 !HYB LAT !W 0.000172 !DEG ! ! 11 !79.2 !BNR ! ! !

! !FINE !R 8.38 E-8 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 257 !HYB LONG !W 0.000172 !DEG ! ! 11 !79.2 !BNR ! ! !

! !FINE !R 8.38 E-8 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 260 !GPS DATE !W 31:12:99 !D:M ! ! 6 !950.4!BCD ! ! !

! ! !R 1 !:D ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 261 !HYB ALT !W +/- 131072!ft ! ! 20 !39.6 !BNR ! ! !

! !(MSL) !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 263 !HYB FLIGHT!W +/- 90 !DEG ! ! 12 !39.6 !BNR ! ! !

! !PATH ANGLE!R 0.044 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 264 !HYB HORIZ !W 0 to 16 !NM ! ! 18 !950.4!BNR ! ! !

! !FOM !R 6.1 E-5 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 266 !HYB N/S !W 0 TO 4096 !kts ! ! 15 !79.2 !BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 267 !HYB E/W !W 0 TO 4096 !kts ! ! 15 !79.2 !BNR ! ! !

! !VELOCITY !R 0.125 ! ! ! ! - ! ! ! !

! ! ! ! ! ! !80.8 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 273 !GPS SENSOR! N/A ! ! ! !950.4!DIS ! ! !

! !STATUS ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 274 !GPIRS ! ! ! ! !950.4!DIS ! ! !

! !SENSOR ! N/A ! ! ! ! - ! ! ! !

! !STATUS ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 343 !DESTINA- !W 0 to 16 !NM ! ! 13 !475.2!BNR ! ! !

! !TION HIL ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 345 !HYB VERT !W +/- 32768 !ft/ ! ! 15 !39.6 !BNR ! ! !

! !VELOCITY !R 1.0 !mn ! ! ! - ! ! ! !

! ! ! ! ! ! !40.4 ! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 347 !ALT !W 0 to 16 !NM ! ! 13 !475.2!BNR ! ! !

! !WAYPOINT ! ! ! ! ! - ! ! ! !

! !HIL ! ! ! ! !484.8! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 352 !GPSSU RCVR! N/A ! ! ! !950.4!DIS ! ! !

! !MAINT ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 353 !GPIRS ! N/A ! ! ! !950.4!DIS ! ! !

! !MAINT WORD! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

!--------------!----------!------------!----!----!----!-----!----!-----!------!

! 355 !GPSSU NAV ! N/A ! ! ! !950.4!DIS ! ! !

! !MAINT ! ! ! ! ! - ! ! ! !

! ! ! ! ! ! !969.6! ! ! !

-------------------------------------------------------------------------------

Table 7A :IR Digital Output Characteristics

----------------------------------------------------------------------------

! BIT ! SIGNAL ! "1" CONDITION !

!-----!--------------------!-----------------------------------------------!

! 1 ! 1 - ! !

! 2 ! 0 ! ! !

! 3 ! 1 ! ! !

! 4 ! 1 ! LABEL 270 ! !

! 5 ! 1 ! ! !

! 6 ! 0 ! ! !

! 7 ! 0 ! ! !

! 8 ! 0 - ! !

! 9 ! SDI - LSB ! !

! 10 ! SDI - MSB ! !

! 11 ! Alignment Not Ready! In Align Submode !

! 12 ! Rev Att Mode ! In Attitude Mode !

! 13 ! Nav Mode ! In Nav Mode !

! 14 ! Valid Set Heading ! A valid set heading has to be input to the !

! ! ! IR. Magnetic heading outputs are no longer !

! ! ! being computed, but have the characteristics !

! ! ! of a "Free Direction Gyro". !

! 15 ! Attitude Invalid ! Attitude Critical Fault !

! 16 ! DC Fail ! DC Power Less Than 18 V !

! 17 ! On DC ! On DC Power !

! 18 ! ADR Fault ! The IR has detected an ADR input (TAS, ALT !

! ! ! and ALT RATE) as FW or NCD. Note functional !

! ! ! test data is ignored by the IR and last valid !

! ! ! input is used. !

! 19 ! IR Failure ! Navigation (Non Critical) Fault !

! 20 ! DC Fail - On DC ! The IR has detected that a DC fail occurred !

! ! ! while on DC from last turn on. !

! 21 ! Align Fault ! The IR has detected a position miscompare !

! ! ! or a Quality of Align fault. !

! 22 ! No IR Initial ! IR does not have position data or data !

! ! ! received is invalid. !

! 23 ! Excess Motion Error! X or Y velocity greater than 0.011 ft/s !

! ! ! during align. !

! 24 ! ADR/IR Fault ! No data has been received from the ADR or !

! ! ! was received with a parity error. !

! 25 ! Extreme Latitude ! Latitude exceeds 73°N (+/-0.5° hysteresis) !

! ! ! while Longitude is between 120°W and 90°W !

! ! ! (+/-2.5° hysteresis) or Latitude exceeds !

! ! ! 82°N (+/-0.5° hysteresis) or Latitude !

! ! ! exceeds 60°S (+/-0.5° hysteresis). !

! ! ! Magnetic Deviation is set to zero. !

! 26 ! Align Time Status ! Bits 28 27 26 Time Until Nav !

! 27 ! ! 1 1 1 7 - 10 minutes !

! 28 ! ! 1 1 0 6 minutes !

! ! ! 1 0 1 5 minutes !

! ! ! 1 0 0 4 minutes !

! ! ! 0 1 1 3 minutes !

! ! ! 0 1 0 2 minutes !

! ! ! 0 0 1 1 minute !

! ! ! 0 0 0 IN NAV MODE ONLY !

! 29 ! COMPUT LAT MISCOMP ! SIN/COS OF LATITUDE TEST FAILED !

! 30 ! SSM ! !

! 31 ! SSM ! !

! 32 ! Parity ! !

----------------------------------------------------------------------------

Digital Word 270 (IR Discretes)

Digital Word 275 IR Discrete 2 ** ON A/C NOT FOR ALL

Digital Word 276 IR Discrete 3 ** ON A/C NOT FOR ALL

The data field of the test word 277 (21 bits) alternates between the four first patterns shown in the table below, except during the REALIGN DECISION submode and the POWER OFF submode. During these submodes, the data field shall be as shown in pattern 5.

----------------------------------------------------------------------------

! BIT ! DEFINITION !

!--------------------------------------------------------------------------!

! 1 ! 1 - !

! 2 ! 0 ! !

! 3 ! 1 ! !

! 4 ! 1 ! LABEL 277 !

! 5 ! 1 ! !

! 6 ! 1 ! !

! 7 ! 1 ! !

! 8 ! 1 - !

!--------------------------------------------------------------------------!

! 9 ! SDI !

! 10 ! SDI !

!---------!----------------------------------------------------------------!

! !PATTERN 1 !PATTERN 2!PATTERN 3!PATTERN 4! PATTERN 5 !

!---------!----------!---------!---------!---------!-----------------------!

! 11 ! 0 ! 0 ! 1 ! 1 ! BCD MODE TIMER !

! 12 ! 1 ! 1 ! 0 ! 0 ! (LSD) !

! 13 ! 0 ! 1 ! 1 ! 0 ! (REALIGN AND !

! 14 ! 1 ! 1 ! 0 ! 0 ! POWER OFF) !

!---------!----------!---------!---------!---------------------------------!

! 15 ! 0 ! 0 ! 1 ! 1 ! BCD MODE TIMER !

! 16 ! 1 ! 1 ! 0 ! 0 ! (MSD) !

! 17 ! 0 ! 1 ! 1 ! 0 ! (REALIGN AND !

! 18 ! 1 ! 1 ! 0 ! 0 ! POWER OFF) !

!---------!----------!---------!---------!---------------------------------!

! ! ! ! ! ! MODE FLAG: !

! 19 ! 0 ! 0 ! 1 ! 1 ! 00 = PWR OFF SUBMODE !

! 20 ! 1 ! 1 ! 0 ! 0 ! 11 = REALIGN DECISION !

! ! ! ! ! ! SUBMODE !

!---------!----------!---------!---------!---------!-----------------------!

! 21 ! 0 ! 1 ! 1 ! 0 ! 0 !

! 22 ! 1 ! 1 ! 0 ! 0 ! 0 !

! 23 ! 0 ! 0 ! 1 ! 1 ! 0 !

! 24 ! 1 ! 1 ! 0 ! 0 ! 0 !

! 25 ! 0 ! 1 ! 1 ! 0 ! 0 !

! 26 ! 1 ! 1 ! 0 ! 0 ! 0 !

! 27 ! 0 ! 0 ! 1 ! 1 ! 0 !

! 28 ! 1 ! 1 ! 0 ! 0 ! 0 !

! 29 ! 0 ! 1 ! 1 ! 0 ! 0 !

! 30 ! 0 ! 0 ! 1 ! 0 ! 0 !

! 31 ! 0 ! 0 ! 1 ! 1 ! 0 !

!---------!----------!---------!---------!---------!-----------------------!

! 32 ! Parity !

----------------------------------------------------------------------------

Digital Word 277 (CDU Test Word)

NOTE: Time (seconds) remaining in the POWER OFF submode and the time (seconds) remaining in the REALIGN DECISION submode are transmitted with the BCD data (bits 11-18).

----------------------------------------------------------------------------

! BIT ! DEFINITION !

!--------------------------------------------------------------------------!

! 1 ! 1 - !

! 2 ! 1 ! !

! 3 ! 1 ! !

! 4 ! 0 ! LABEL 350 !

! 5 ! 1 ! !

! 6 ! 0 ! !

! 7 ! 0 ! !

! 8 ! 0 - !

!--------------------------------------------------------------------------!

! 9 ! SDI - LSB !

! 10 ! SDI - MSB !

!--------------------------------------------------------------------------!

! 11 TO 14 ! SPARE !

!----------!---------------------------------------------------------------!

! 15 ! TIME UNTIL NAV LEAST !

! 16 ! TIME UNTIL NAV SIGNIFICANT !

! 17 ! TIME UNTIL NAV DIGIT !

! 18 ! TIME UNTIL NAV (BCD) !

!----------!---------------------------------------------------------------!

! 19 ! TIME UNTIL NAV MOST !

! 20 ! TIME UNTIL NAV SIGNIFICANT !

! 21 ! TIME UNTIL NAV DIGIT !

! 22 ! TIME UNTIL NAV (BCD) !

!----------!---------------------------------------------------------------!

! 23 ! Action Code (1) Least !

! 24 ! Action Code (1) Significant !

! 25 ! Action Code (1) Digit !

! 26 ! Action Code (1) !

!----------!---------------------------------------------------------------!

! 27 ! Action Code (1) Most !

! 28 ! Action Code (1) Significant !

! 29 ! Action Code (1) Digit !

!----------!---------------------------------------------------------------!

! 30 ! SSM !

! 31 ! SSM !

! 32 ! Parity !

----------------------------------------------------------------------------

Digital Word 350 (Action Code)

NOTE: (1) The action codes corresponding to the maintenance messages are listed in the following table.

---------------------------------------------------------------------------

! ACTION CODE ! MAINTENANCE MESSAGE ! DESCRIPTION !

!-------------!---------------------!-------------------------------------!

! 01 ! IR FAULT ! Critical failure; Remove ADIRU for !

! ! ! maintenance !

! 02 ! DELAYED MAINT ! Non-Critical failure; Service ADIRU !

! ! ! when convenient !

! 03 ! ENTER PPOS ! Enter present position !

! 04 ! SELECT ATT ! Hard failure; Select ATTITUDE MODE !

! 05 ! EXCESS MOTION ! Excess motion detected during ALIGN !

! 06 ! SWITCH ADR ! Air Data Reference invalid !

! 07 ! CHK C/B ! Check circuit breakers !

! 08 ! CDU FAULT ! Remove CDU for maintenance !

! 09 ! ENTER HEADING ! Enter heading for ATTITUDE MODE !

! 10 ! ! Unassigned TBD !

----------------------------------------------------------------------------

Action Code - Maintenance Messages

Digital Word 351 IR Maintenance ** ON A/C NOT FOR ALL

IR - BCD and Special Output Words ** ON A/C NOT FOR ALL

IR - Binary Output Words ** ON A/C NOT FOR ALL

-------------------------------------------------------------------------------

! BIT No.! FUNCTION !

!--------!--------------------------------------------------------------------!

! 9 ! SDI !

! 10 ! SDI !

! 11 ! MSB OF SATELLITES VISIBLE (16) !

! 12 ! DADS STATUS Present = 0 Not present = 1 !

! 13 ! DADS SOURCE Primary = 0 Secondary = 1 !

! 14 ! IRS/FMS STATUS Present = 0 Not present = 1 !

! 15 ! IRS/FMS SOURCE Primary = 0 Secondary = 1 !

! 16 ! - !

! 17 ! ! NUMBER OF SATELLITES VISIBLE (0-15) !

! 18 ! ! !

! 19 ! - !

! 20 ! - !

! 21 ! ! NUMBER OF SATELLITES TRACKED (0-15) !

! 22 ! ! !

! 23 ! - !

! 24 ! - 00 = GPS !

! ! ! SYSTEM DESIGNATOR 01 = GLONASS !

! ! ! 10 = GPS GLONASS !

! 25 ! - 11 = Spare !

! 26 ! - !

! 27 ! ! MMR OPERATIONAL MODE (Ref table below) !

! 28 ! - !

! 29 ! MSB OF TRACKED SATELLITES !

! 30 ! SSM !

! 31 ! SSM !

! 32 ! PARITY !

-------------------------------------------------------------------------------

Discrete Word 273 Output Format

-----------------------------------------------------------

! MMR MODE ! BIT 28 ! BIT 27 ! BIT 26 !

-----------------------------------------------------------

! SELF TEST ! 0 ! 0 ! 0 !

! INITIALIZATION ! 0 ! 0 ! 1 !

! ACQUISITION ! 0 ! 1 ! 0 !

! NAVIGATION ! 0 ! 1 ! 1 !

! ALTITUDE AIDING ! 1 ! 0 ! 0 !

! DIFFERENTIAL MODE ! 1 ! 0 ! 1 !

! DIR/SPEED AIDING MODE ! 1 ! 1 ! 0 !

! FAULT ! 1 ! 1 ! 1 !

-----------------------------------------------------------

-------------------------------------------------------------------------------

! BIT No.! FUNCTION !

!--------!--------------------------------------------------------------------!

! 9 ! - !

! ! ! SDI !

! 10 ! - !

! 11 ! - SA STATUS AS DETERMINED BY THE ADIRU 0 = sa off !

! ! 1 = sa on !

! 12 ! - !

! 13 ! ! POSITION DATA SOURCE/POSITION COMPARISON FAILURE MODE !

! 14 ! - !

! 15 ! - !

! ! ! SECONDARY MMR VALIDITY 00 = Valid !

! 16 ! - 01 = Inactive !

! 17 ! - 10 = Functional Test !

! ! ! PRIMARY MMR VALIDITY 11 = Fail !

! 18 ! - !

! 19 ! MMR SOURCE Primary = 0 Secondary = 1 !

! 20 ! - !

! 21 ! ! NUMBER OF SATELLITES TRACKED (0-15) !

! 22 ! ! !

! 23 ! - !

! 24 ! - !

! ! ! SPARE !

! 25 ! - !

! 26 ! - !

! 27 ! ! GPIRS SENSOR OPERATIONAL MODE (Ref table below) !

! 28 ! - !

! 29 ! MSB OF TRACKED SATELLITES (16) !

! 30 ! SSM !

! 31 ! SSM !

! 32 ! PARITY !

-------------------------------------------------------------------------------

Discrete Word 274 Output Format

-----------------------------------------------------------

! GPIRS MODE ! BIT 28 ! BIT 27 ! BIT 26 !

-----------------------------------------------------------

! SELF TEST ! 0 ! 0 ! 0 !

! INITIALIZATION ! 0 ! 0 ! 1 !

! ACQUISITION ! 0 ! 1 ! 0 !

! NAVIGATION ! 0 ! 1 ! 1 !

! ALTITUDE AIDING ! 1 ! 0 ! 0 !

! SPARE ! 1 ! 0 ! 1 !

! SPARE ! 1 ! 1 ! 0 !

! FAULT ! 1 ! 1 ! 1 !

-----------------------------------------------------------

-------------------------------------------------------------------------------

! BIT N° ! FUNCTION !

!--------!--------------------------------------------------------------------!

! 9 ! SDI (LSB) !

! 10 ! SDI (LSB) !

! 11 ! - !

! 12 ! ! !

! 13 ! ! !

! 14 ! ! !

! 15 ! ! !

! 16 ! ! !

! 17 ! ! !

! 18 ! ! !

! 19 ! ! !

! 20 ! ! RESERVED !

! 21 ! ! !

! 22 ! ! !

! 23 ! ! !

! 24 ! ! !

! 25 ! ! !

! 26 ! ! !

! 27 ! ! !

! 28 ! ! !

! 29 ! - !

! 30 ! SSM !

! 31 ! SSM !

! 32 ! PARITY !

-------------------------------------------------------------------------------

MMR Maintenance Word (Label 352)

-------------------------------------------------------------------------------

! BIT N° ! FUNCTION !

!--------!--------------------------------------------------------------------!

! 9 ! GPS SYSTEM FAILURE !

! 10 ! DUAL GPS CHANNEL FAIL !

! 11 ! NO IR DATA !

! 12 ! INVALID IR DATA !

! 13 ! TM MISSING ON PRIMARY !

! 14 ! TM MISSING ON SECONDARY !

! 15 ! ARINC TRANSMISSION FAULT !

! 16 ! NO AUTONOMOUS DATA FROM PRIMARY !

! 17 ! NO AUTONOMOUS DATA FROM SECONDARY !

! 18 ! AUTONOMOUS/IRS LATITUDE MISCOMPARE !

! 19 ! SPARE !

! 20 ! AUTONOMOUS/IRS LONGITUDE MISCOMPARE !

! 21 ! SPARE !

! 22 ! CLOCK PHASE MISCOMPARE ON PRIMARY !

! 23 ! CLOCK PHASE MISCOMPARE ON SECONDARY !

! 24 ! TM TIMING/UTC MISCOMPARE ON PRIMARY !

! 25 ! TM TIMING/UTC MISCOMPARE ON SECONDARY !

! 26 ! - !

! 27 ! ! RESERVED !

! 28 ! ! !

! 29 ! - !

! 30 ! SSM !

! 31 ! SSM !

! 32 ! PARITY !

-------------------------------------------------------------------------------

ADIRU Maintenance Word 353

-------------------------------------------------------------------------------

! BIT No.! FUNCTION !

!--------!--------------------------------------------------------------------!

! 9 ! SDI (LSB) !

! 10 ! SDI (MSB) !

! 11 ! - !

! 12 ! ! !

! 13 ! ! !

! 14 ! ! RESERVED !

! 15 ! ! !

! 16 ! ! !

! 17 ! - !

! 18 ! CFDIU INPUT BUS (OMS) No activity = 1 !

! 19 ! DIFF BUS No. 2 No activity = 1 !

! 20 ! DIFF BUS No. 2 No activity = 1 !

! 21 ! DADS BUS 2 No activity = 1 !

! 22 ! DADS BUS 1 No activity = 1 !

! 23 ! IRS INPUT BUS 2 No activity = 1 !

! 24 ! IRS INPUT BUS 1 No activity = 1 !

! 25 ! GPS Fail = 1 !

! 26 ! RF INPUT Fail = 1 !

! 27 ! SENSOR UNIT Fail = 1 !

! 28 ! TEST INHIBIT Inhibit = 1 !

! 29 ! COMMAND WORD ACKNOWLEDGE Forced = 0 !

! 30 ! SSM !

! 31 ! SSM !

! 32 ! PARITY !

-------------------------------------------------------------------------------

GPSSU Navigation Maintenance Word (Label 355)

(2) Discrete outputs
The IR provides 3 discrete outputs.
The following table defines the characteristics of these discretes.

---------------------------------------

! SIGNAL ! OUTPUT ! DEFINITION !

!----------!-------------!------------!

! ON BAT ! OPEN/+28VDC ! NO/YES !

! IR FAULT ! OPEN/+28VDC ! NO/YES !

! IR ALIGN ! OPEN/GROUND ! NO/YES !

---------------------------------------

Discrete Outputs

ON BAT
When the IR is powered with batteries, this discrete delivers a 28 VDC state and sets the ON BAT light to on.
IR FAULT
When a failure is detected by the IR, this discrete delivers a 28 VDC state and sets the FAULT legend to on.
IR ALIGN
When the IR is aligning, this discrete delivers a ground and sets the ALIGN legend to on.

** ON A/C NOT FOR ALL

3. Operation/Control and Indicating

IR - Operation/Control and Indicating ** ON A/C NOT FOR ALL

A. Control

(1) Modes of operation
The operation interface with the IR is performed through the Multipurpose Control and Display Unit 1(2) or the CDU. The MCDU 1(2) is used for entering initialization data and displaying IR data.

IR - Alignment Procedure from the MCDU ** ON A/C NOT FOR ALL

The CDU is used for mode selection, IR annunciation (FAULT, ALIGN), for entering initialization data and displaying IR data.
The IR has three selectable modes: OFF, NAV and ATT.
The relation between the mode selection and system response is shown in the figure

IR - Mode State Diagram ** ON A/C NOT FOR ALL

(2) OFF mode
When the OFF/NAV/ATT selector switch on the CDU is in the OFF position, all circuitry in the ADIRU is de-energized except for any logic associated with the power-off function. When the ADIRU has turned off, it consumes less than 10 milliamps (needed for power supply turn-on control). The power supply of the ADMs is switched off.
A period of 15 seconds is required between switching to OFF and actual power-off. During this sequence, the last position computed is stored in the NVM.

(3) NAV (Navigation) mode
After selection of the NAV mode on the ground, the IR automatically enters the NAV mode if a self-determined satisfactory alignment has been completed. If alignment is not completed, the IR remains in the Align submode.
No updating of the IR present position latitude and longitude is allowed once the IR has completed the Align submode.
The IR latitude and longitude entered during the alignment is the starting point for its computation.
The following logical processes are mechanized:

OFF to NAV provides automatic alignment in 10 minutes for latitudes between 73°N and 73°S, with automatic entry to the NAV mode. Requires initial position data to be entered or GPS data to be valid.

NOTE: The automatic alignment requires a 17 min delay for latitudes between 73°N and 82°N.
For high latitudes, the alignment is provided by an operational procedure which delays the entering of the initial position by the crew. Accuracies of the system are slightly degraded.

A message on the UPPER ECAM DU indicates that the IRs are in ALIGN submode with the maximum time until NAV.
In the NAV mode, rapid realignment of the IR is initiated by switching the OFF/NAV/ATT selector switch from NAV to OFF and back to NAV within 5 seconds. The IR starts a 30-second realignment submode with existing attitude and heading angles and rezeroed velocities.
The system does not enter the rapid realignment sequence if the ground speed is greater than 20 knots.

The CDU permits to observe some particular parameters (Ref. AMM D/O 34-12-00-00).

In NAV mode, the MCDU 1(2) permits to observe the values of IR data. This is done by the IRS MONITOR page which displays the IR status (from label 350 action code received by the FM), the drift and some particular parameters.

(a) Initialization data

MCDU - INIT Page ** ON A/C NOT FOR ALL

IR alignment is carried out on the ground before takeoff and after the acquisition of valid position data (either GPS data or pilot entry on the INIT page of the MCDU 1(2) (Ref. AMM D/O 22-72-00-00) or on the CDU (DATA DISPLAY selector switch in PPOS position)).
A valid initial position data must be received and verified by the IR during the alignment, or automatic sequencing to the NAV mode will be delayed after position data is received.
Initial position data is verified by the IR if Set Latitude and Set Longitude compare within one degree of the last latitude and longitude from the previous flight. If a miscompare exists then:

on the ADIRS CDU, the ALIGN light flashes.
a message ENTER PPOS is displayed on the CDU (DATA DISPLAY selector switch in STS position) and on the MCDU.

The miscompare is removed and the position data verified by the IR when:

the last two Set Latitudes received by the IR are identical and the last two Set Longitudes received by the IR are identical, or
the last Set Latitude and Set Longitude received by the IR compare within one degree of the latitude and longitude from the previous flight.

(b) Latitude comparison
The IR compares Set Latitude with a self-computed gyro-compass latitude after 10 minutes into alignment or any subsequent time when a valid Set Latitude is available.
In case of discrepancy, on the ADIRS CDU the ALIGN light flashes.
The message ENTER PPOS is displayed on the CDU (DATA DISPLAY selector switch in STS position) and on the MCDU.
The discrepancy exists when:

the cosine of entered latitude differs from the computed cosine of latitude by more than 0.01234, or
the sine of entered latitude differs from the computed sine of latitude by more than 0.01234.

The miscompare is removed if a subsequent entry of Set Latitude passes the test.
If the sin/cos test fails two times with identical set latitude inputs then:

the IR FAULT legend flashes on the CDU
a warning message appears on the upper ECAM DU:
NAV IR 1(2)(3) FAULT.

(c) Excessive motion
The IR performs an excessive motion test during the Align submode.
If taxiing or towing causes a step input which exceeds 0.5 ft/s in the X or Y velocity, then:

the EXCESS MOTION message is displayed on the CDU (DATA DISPLAY selector switch in STS position) and on the MCDU.
the following message is displayed on the upper ECAM DU:
NAV
IR 1(2)(3) NOT ALIGN
EXCESS MOTION
IR 1(2)(3) IN ALIGN
the attitude information is flagged on the PFD.

Thirty seconds after motion detection, the system reverts to a full alignment (time to the end of alignment will revert to 9 min 30 s).
It is not necessary to re-enter the position.

(d) Thirty-second rapid realignment
A thirty-second rapid realignment is provided by moving the OFF/NAV/ATT selector switch on the CDU from NAV to OFF and back to NAV within five seconds.
A subsequent switching on the selector switch from NAV to OFF and back to NAV within 5 seconds during the 30-second realignment causes the system to start the 30-second realignment again.
The realignment is initialized with existing attitude and heading angles. The velocities are zeroed.
Valid position data must be received and verified by the IR during the 30-second realignment.

(4) ATT (Attitude) mode
The IR has a reversionary mode which can be activated only by manual selection of the ATT mode on the CDU. The mode can be activated on the ground or in flight and is intended to provide a rapid attitude/heading restart capability in the event that the IR has experienced a total power shutdown or a failure has occurred resulting in the following:

IR FAULT legend flashing on the CDU
IR 1(2)(3) FAULT message displayed on the upper ECAM DU:
IR x MODE SEL...ATT
SELECT ATT message displayed on the CDU (DATA DISPLAY selector switch in STS position) and on the MCDU.

The IR is designed so that the ATT mode can be used after the BITE has detected failures which will cause excessive NAV mode data errors but does not disable the ATT mode mechanization. However, it is recommended to stay in the NAV mode even with excessive navigation errors because of higher accuracy of attitude signals and a more complete signal processing. The ATT mode must always be used after loss of power or a similar situation in flight where a new alignment/leveling is required.
The ENTER HEADING message is displayed on the CDU (DATA DISPLAY selector switch in STS position) when the ATT mode is selected until valid heading initialization is received from the MCDU or the CDU.
The ATT mode is normally engaged with the aircraft in level flight.
A 20-second period is needed with the aircraft in level flight to perform an attitude erection to initialize a "level" attitude. During this period, the data normally computed in the ATT mode have SSMs set to NCD.
In the event the ATT mode is engaged with the aircraft not in level flight, an erection cut-out function delays erection when the yaw rate exceeds 0.5 deg/s and permits erection to continue when the yaw rate drops below 0.25 deg/s. Twenty seconds of flight with the erection cut-out switch disengaged is required to erect the attitude.

B. Indicating
The attitude and heading information is computed by the ADIRU (IR portion) and processed by the associated DMC. The attitude data is displayed on the PFD and the heading data is displayed on the PFD, the ND and the RMI.
In addition, the vertical speed (V/S) is displayed on the PFD and the Ground Speed and wind indications are displayed on the ND.
In normal configuration, with the ATT/HDG selector switch in the NORM position, the IR1 data is displayed on the CAPT PFD, ND and the RMI (Ref. ATA 34-57-00). The IR2 data is displayed on the F/O PFD and ND.
The following parameters can be displayed on the CDU liquid crystal display according to the position of the DATA DISPLAY selector switch on the CDU:

wind (WIND)
present position (PPOS)
true heading (HDG)
status of selected system conditions (STS)
track and ground speed (TK/GS)
test values (TEST).

The sources of the data displayed are controlled by the SYS DISPLAY selector switch on the CDU.

(1) Attitude information

IR - Attitude Information Display ** ON A/C NOT FOR ALL

The aircraft roll and pitch attitude is indicated in the center part of the PFD by a sphere representing a conventional ADI drum (Ref. 31-64-00 for sphere definition and display).

(a) Pitch angle information (item A)
The A/C present pitch angle is given by the vertical displacements of the pitch attitude scale with respect to the center of the A/C reference. The scale moves behind the cut-sphere shaped window, limited by the lines of an upper and a lower sector. The scale rotates around the center of the A/C reference in accordance with the A/C present roll angle.
The pitch scale comprises white reference lines and associated pitch angle values. The lines are given every 2.5 degrees from 0 to 10 degrees, then for the 15 degrees, 20 degrees, 30 degrees, 50 degrees and 80 degrees values. Beyond 30 degrees, red large arrow heads (V-shaped) indicate an excessive attitude and the direction to follow in order to reduce it (item B).

(b) Roll angle information (item A)
A yellow triangle which remains on the line going through the center of the A/C reference and which is perpendicular to the horizon line, moves against the fixed roll scale on the upper contour of the attitude sphere.
This fixed roll scale comprises white marks for the 10 degrees, 20 degrees, 30 degrees and 45 degrees significant values, on either side of the zero position (horizontal wings) which is indicated by a small fixed triangle. The 60 degrees roll indication corresponds to the limits of the upper contour of the cut-sphere shaped window.

(c) Attitude failure
In case of attitude failure concerning the pitch and/or roll information the attitude sphere goes out of view and is replaced by a red ATT flag which flashes for a few seconds then remains steady (item C).
In case of discrepancy detected by the FWC between the pitch or roll attitude information presented on the CAPT and F/O PFDs, a CHECK ATT amber message flashes for a few seconds on both PFDs, then remains steady (item D).

(2) Heading information

IR - Heading Information Display on the PFD ** ON A/C NOT FOR ALL

The aircraft magnetic or true heading is displayed on the PFD, the ND and the RMI.
The true heading can be displayed on the CDU.

(a) On the PFD
When the true heading is displayed, a TRUE white message appears above the heading scale (item A).
A blank heading scale (with 10 deg. spaced marks without any indicated value) is provided on the horizon line. The marks are just under this line.
This scale moves as the aircraft heading varies. For important nose-up or nose-down, the heading graduations remain at the lower or upper sector limit.
Below the sphere, a heading scale provides the pilot with the aircraft actual track and relative selection. This heading scale is graduated every 5 deg. (item A).
In case of failure, the heading graduation disappears on the two scales and a red HDG flag appears on the lower heading scale (item B). It flashes for a few seconds, then remains steady.
Furthermore, in case of discrepancy detected by the FWC between CAPT and F/O heading indications, with the heading signal valid, a CHECK HDG amber message is displayed at the center of the heading scale (item C).

(b) On the ND

IR - Heading Information Display on the ND ** ON A/C NOT FOR ALL

The heading data is displayed on the ND in the three following operating modes: ROSE, ARC and PLAN.
The ROSE mode and the ARC mode are oriented with respect to the aircraft heading, while the PLAN mode is oriented with respect to the true North.

1 True heading display
In ROSE or ARC mode, when the true heading is displayed, a cyan TRUE message appears at the top of the ND.
Grid information appears automatically in digital form (green) at the top of the ND when the NORTH REF pushbutton switch is selected TRUE and the latitude is above 65° (North and South).

2 ROSE mode (item A)
In this mode each pilot has three different sub-modes of presentation on his ND: ROSE-ILS/ROSE-VOR/ROSE-NAV.
In the three ROSE sub-modes, the ND provides a display which is similar to that of a conventional HSI, i.e. a rotating heading dial oriented to the North and giving to the pilot the aircraft actual magnetic or true heading with, as reference, the fixed yellow lubber line at the top of the dial.

3 ARC mode (item B)
In this mode, the ND displays a 90 deg. heading sector ahead of the aircraft giving the aircraft actual magnetic or true heading with respect to the fixed yellow lubber line at the top of the scale.

4 PLAN mode
The ND displays a static map oriented with respect to the true North.

5 Heading failure (items C and D)
In case of heading failure, the scale and all symbols positioned on the ROSE and ARC scales go out of view; a red HDG flag comes into view below the scale after flashing for a few seconds, when the DMC has detected an anomaly concerning the heading parameter.
In addition, if a discrepancy between CAPT and F/O sides is detected by the comparison inside the FWCs, the CHECK HDG message is displayed in amber on both NDs (item E).

(c) On the CDU
The time heading can be displayed on the CDU if the DATA DISPLAY selector switch is placed in the HDG position.

(3) Ground speed

IR - GS, Wind, Vertical Speed Information Display ** ON A/C NOT FOR ALL

The ground speed is displayed in the left upper corner of the ND for the ROSE, ARC or PLAN mode (item A).
The GS title is displayed in white color and the ground speed value in green.
In case of failure or NCD, the ground speed value is replaced by three dashed lines (item B).
The ground speed can also be displayed on the CDU if the DATA DISPLAY selector switch is placed in the TK/GS position.

(4) Wind indications

IR - GS, Wind, Vertical Speed Information Display ** ON A/C NOT FOR ALL

The wind origin, force and direction are displayed in the left upper corner of the ND, for the ROSE, ARC and PLAN mode (item A):

the wind origin is displayed in green color in degrees with respect to the true North
the wind force is displayed in green color in knots
the wind direction, in analog form, is represented by means of a green arrow oriented with respect to the north reference in use.
This arrow is displayed only if the wind force is greater than 2 knots.
In case of failure or NCD, the digital data is replaced by three dashed lines and the wind direction arrow disappears (item B). The wind indications can also be displayed on the CDU if the DATA DISPLAY selector switch is placed in the WIND position.

(5) Vertical speed

IR - GS, Wind, Vertical Speed Information Display ** ON A/C NOT FOR ALL

The inertial vertical speed is displayed on the right side of the PFD (item C).
The vertical speed scale consists of:

(a) A trapezoidal grey background colored surface.

(b) A fixed white scale with 500 ft/min spaced marks from -2000 ft/min to +2000 ft/min.

(d) A number in a moving blanking window. This window accompanies the needle (above) if V/S > 0, below if V/S < 0).
The number gives the V/S value in hundreds of ft/min.
Between -200 ft/min and +200 ft/min, both the window and the number disappear.

(e) Above +6000 ft/min (or below -6000 ft/min), the needle remains stopped where it is.
When the vertical speed exceeds +6000 ft/mn or -6000 ft/mn, the digital indication and the analog needle change from green to amber.

(f) In addition, those indications change to amber in approach, in the following cases:

V/S less than -2000 ft/min below 2500 ft RA.
V/S less than -1200 ft/min below 1000 ft RA.

In case of failure, the inertial vertical speed display is automatically replaced by the baro vertical speed display (Ref. AMM D/O 34-13-00-00).

(6) Reconfiguration display
In case of loss of inertial parameters on the CAPT or F/O PFD and ND, the IR3 can be used as a back-up source by placing the ATT HDG selector switch in the CAPT/3 position for the CAPT PFD and ND or in the F/O/3 position for the F/O PFD and ND.

C. Warnings

NAV IR 1(2)(3) FAULT Message ** ON A/C NOT FOR ALL

NAV IR 1+2 FAULT Message ** ON A/C NOT FOR ALL

NAV IR 1+3 (2+3) FAULT Message ** ON A/C NOT FOR ALL

NAV ATT DISCREPANCY Message ** ON A/C NOT FOR ALL

NAV HDG DISCREPANCY Message ** ON A/C NOT FOR ALL

(1) In addition to the ATT or HDG flags displayed on the PFDs, NDs and on the CDU, warning messages are displayed on the lower part of the upper ECAM DU.

(a) NAV IR 1(2)(3) FAULT
NAV IR 1(2) + 2(3) FAULT
When these messages are displayed:

the MASTER CAUT lights on the glareshield come on
the Single Chime (SC) sounds
the IR FAULT legend flashes on the CDU.

(b) NAV ATT DISCREPANCY
This message is displayed when a difference higher than 5 deg. is detected by comparison inside the FWCs between the roll angle or the pitch angle provided by two IRs. When it is displayed:

the MASTER CAUT lights on the glareshield come on
the Single Chime (SC) sounds
the CHECK ATT message appears on the PFD.

(c) NAV HDG DISCREPANCY
this message is displayed when a difference higher than 7 deg. (or 5 deg. in true heading) is detected by comparison inside the FWCs between the heading value provided by two IRs. When it is displayed:

the MASTER CAUT lights on the glareshield come on
the Single Chime (SC) sounds
the CHECK HDG message appears on the PFDs and NDs.

(d) NAV GPS 1(2) FAULT

NAV GPS - Fault Messages ** ON A/C NOT FOR ALL

The GPSSUs are monitored by the three ADIRUs using the status word sent by the GPSSU and the BITE of the IR portion.
This message is accompanied by:

activation of the MASTER CAUT lights on the glareshield panel
aural warning: single chime (SC).

D. ADIRUs Performance Criteria

(1) History
The inertial parameters to be considered to evaluate the level of performance of an inertial system after flight completion are:

the radial position error (in NM)
the residual ground speed error (in kts).

Depending on their magnitude noticed at the end of the flight, the concerned inertial system(s) shall or shall not be removed from the aircraft.

(2) Radial position error
In order to address the statistical term of this requirement with the most relevant approximation, the removal criteria use a limit based on the recording of the radial position error on two consecutive flights.
The use of a two-strike method presents the advantage to decrease the removal rate of healthy units that have shown, by chance, or by an inaccurate position entry at alignment, a radial position error beyond the specified criterion.
The removal boundaries described on the figure present three different areas:

ADIRU RPE Removal Criteria ** ON A/C NOT FOR ALL

Area 1 - ADIRU OK all the time
Area 2 - ADIRU to be checked after second flight
Area 3 - ADIRU to be replaced.

NOTE: Area 2 is applicable when the residual radial position error ranges within the limits described in following paragraphs.

(a) Lower limit for removal criteria
The integration of the drift rate results in a lower limit for the radial position error:
Radial position error (NM) = (2 (NM/h) * T (h)) + Offset (NM)
The presence of an offset is necessary to avoid the unjustified removal of healthy units subject to the natural Schuler effects and to the Present Position inaccuracies entered during initialization.
It should be pointed out that the adverse impacts of such inaccuracies over the radial position error will reveal stronger for short flight durations (below 1.5 hour).

Flight duration < 1.5 FH:
The lower limit of the grey band is fixed at 5 NM.
1.5 FH < Flight duration < 10 FH:
The lower limit of the grey band is fixed at 2T + 2.
Flight duration > 10 FH:
The lower limit of the grey band is fixed at 22 NM.

(b) Upper limit for removal criteria

Flight duration < 1.5 FH:
The upper limit of the grey band is fixed at 7.5 NM.
1.5 FH < Flight duration < 10 FH:
The upper limit of the grey band is fixed at 3T + 3.
Flight duration > 10 FH:
The upper limit of the grey band is fixed at 33 NM.

(3) Residual Ground Speed Error
The residual ground speed for each IR is determined at the end of the flight when the aircraft has come to a complete stop.

(a) Check of the residual ground speed can be made:

On the CAPT (IR1) and F/O (IR2) Navigation Displays (ND):
The residual ground speed of the IR3 can be read on the CAPT ND by setting the ATT HDG selector switch to CAPT/3.
On the ADIRS CDU:
. set the DATA DISPLAY selector switch to TK/GS
. set the SYS DISPLAY selector switch to 1, 2, 3
. read the respective ground speed on the CDU display.

(b) Compare the recorded ground speed values with the following limits:

If the residual ground speed error is 15 kts or greater after each of two consecutive flights, replace the ADIRU.
If the residual ground speed error is 21 kts or greater at the end of any one flight, replace the ADIRU.

[Rev.10 from 2021] 2026.04.02 06:23:10 UTC