Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

060900,000002:                                                                                                  ## Copyright:   Public domain.
060901,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
060902,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
060903,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM)
060904,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for
060905,000007:                                                                                                  ##              Apollo 15-17.
060906,000008:                                                                                                  ## Assembler:   yaYUL
060907,000009:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
060908,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060909,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
060910,000012:                                                                                                  ## Mod history: 2009-08-19 JL   Adapted from corresponding Comanche 055 file.
060911,000013:                                                                                                  ##              2010-02-06 JL   Fixed a 2CADR that should have been ADRES on page 1418.
060912,000014:                                                                                                  ##              2020-02-11 JL   Fixed errors on p1419, p1432.
060913,000015:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
060914,000016:                                                                                                  ##              2010-07-15 JL   Fixed indentation.
060915,000017:                                                                                                  ##              2010-07-18 JL   Fixed indentation.
060916,000018:                                                                                                  ##              2017-02-05 RSB  Proofed comment text by diff'ing vs Comanche 55
060917,000019:                                                                                                  ##                              and corrected errors found.  There are several instances
060918,000020:                                                                                                  ##                              in which comments are terminated in Comanche 55 by a 
060919,000021:                                                                                                  ##                              very distinct period, and yet the corresponding comments
060920,000022:                                                                                                  ##                              here haven't the slightest indication of a period (nor is
060921,000023:                                                                                                  ##                              there any difference in the code preceding the comment
060922,000024:                                                                                                  ##                              on the same line).  There is even one instance in which
060923,000025:                                                                                                  ##                              the "+0." at the end of a comment is truncated to simply
060924,000026:                                                                                                  ##                              "+" (on p. 1438).  While I feel this is likely a problem 
060925,000027:                                                                                                  ##                              with the printer used for the Artemis printout, I've 
060926,000028:                                                                                                  ##                              nevertheless omitted the "." (or "0.") in those cases.
060927,000029:                                                                                                  ##              2017-03-15 RSB  Comment-text fixes identified in 6-way
060928,000030:                                                                                                  ##                              side-by-side diff of Sunburst 120 and Luminary 
060929,000031:                                                                                                  ##                              69/99/116/131/210.
060930,000032:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 4-way side-by-side
060931,000033:                                                                                                  ##                              diff of Colossus237/249/Comanche55/Artemis72.  My
060932,000034:                                                                                                  ##                              position on missing trailing characters as described
060933,000035:                                                                                                  ##                              in the 2017-02-05 comment above has now been reversed, 
060934,000036:                                                                                                  ##                              and the missing characters have been restored. However, 
060935,000037:                                                                                                  ##                              the presence of the characters in Comanche 55 is not 
060936,000038:                                                                                                  ##                              enough ... the restoration is done only in
060937,000039:                                                                                                  ##                              those cases where the corresponding otherwise-identical
060938,000040:                                                                                                  ##                              line in _all_ other Colossus and Luminary versions has 
060939,000041:                                                                                                  ##                              those characters.  These instances are marked with a
060940,000042:                                                                                                  ##                              ##-style comment indicating the restoration.
060941,000043: 

Page 1417

060943,000045:    4000                                           SETLOC   FFTAG3                                
060944,000046:    4000                                           BANK                                           
060945,000047: 
060946,000048:    5511  E3,1471                                  EBANK=   COMMAND                               
060947,000049: 
060948,000050:                                                                                                  #  FIXED-FIXED ROUTINES.
060949,000051: 
060950,000052:    5511                                           COUNT*   $$/IMODE                              
060951,000053:    5511           34772        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
060952,000054:    5512           54032                           TS       CDUX                                  
060953,000055:    5513           54033                           TS       CDUY                                  
060954,000056:    5514           54034                           TS       CDUZ                                  
060955,000057:    5515           00002                           TC       Q                                     
060956,000058: 
060957,000059:    5516     4760               SPSCODE            =        BIT9                                  
060958,000060: 

Page 1418

060960,000062:                                                                                                  #  IMU ZEROING ROUTINE.
060961,000063: 
060962,000064: 07,2000                                           SETLOC   MODESW                                
060963,000065: 07,2000                                           BANK                                           
060964,000066: 
060965,000067: 07,2627                                           COUNT*   $$/IMODE                              
060966,000068: 07,2627           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
060967,000069: 07,2630           41241                           CS       DSPTAB     +11D                       #  DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060968,000070: 07,2631           75004                           MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060969,000071: 07,2632           10000                           CCS      A                                     
060970,000072: 07,2633           12637                           TCF      IMUZEROA                              
060971,000073: 
060972,000074: 07,2634           05671                           TC       ALARM                                 #  IF SO.
060973,000075: 07,2635           00206                           OCT      00206                                 
060974,000076: 
060975,000077: 07,2636           13622                           TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
060976,000078: 
060977,000079: 07,2637           03616        IMUZEROA           TC       CAGETSTJ                              
060978,000080:                                                                                                  #  DO ALL THE WORK.
060979,000081: 07,2640           41334                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
060980,000082: 07,2641           74763                           MASK     NOIMUDAP                              
060981,000083: 07,2642           27334                           ADS      IMODES33                              
060982,000084: 07,2643           40000                           COM                                            
060983,000085: 07,2644           74764                           MASK     IMUZROBT                              
060984,000086: 07,2645           27334                           ADS      IMODES33                              
060985,000087: 
060986,000088: 07,2646           41333                           CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060987,000089: 07,2647           74765                           MASK     IMUFINHT                              
060988,000090: 07,2650           27333                           ADS      IMODES30                              
060989,000091: 07,2651           40000                           COM                                            
060990,000092: 07,2652           74766                           MASK     ICDUINHT                              
060991,000093: 07,2653           27333                           ADS      IMODES30                              
060992,000094: 
060993,000095: 07,2654           45004                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
060994,000096: 07,2655           00006                           EXTEND                                         #  COUNTER DISABLED.
060995,000097: 07,2656           03012                           WAND     CHAN12                                
060996,000098: 
060997,000099: 07,2657           03207                           TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
060998,000100: 
060999,000101: 07,2660           34764                           CAF      BIT5                                  
061000,000102: 07,2661           00006                           EXTEND                                         
061001,000103: 07,2662           05012                           WOR      CHAN12                                
061002,000104: 
061003,000105: 07,2663           05511                           TC       ZEROICDU                              
061004,000106: 07,2664           34763                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
061005,000107: 07,2665           05223                           TC       TWIDDLE                               #  RECEIVE ITS PULSE TRAIN.
061006,000108: 07,2666  E3,1474                                  EBANK=   CDUIND                                
061007,000109: 07,2666           02677                           ADRES    IMUZERO2                              
061008,000110: 07,2667           41333                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
061009,000111: 07,2670           74760                           MASK     IMUOPBIT                              

Page 1419

061011,000113: 07,2671           10000                           CCS      A                                     
061012,000114: 07,2672           12675                           TCF      MODEEXIT                              
061013,000115: 
061014,000116: 07,2673           05671                           TC       ALARM                                 
061015,000117: 07,2674           00210                           OCT      210                                   
061016,000118: 
061017,000119: 07,2675           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
061018,000120: 07,2676           14651                           TCF      SWRETURN                              
061019,000121: 
061020,000122: 
061021,000123: 07,2677           03606        IMUZERO2           TC       CAGETEST                              
061022,000124: 07,2700           05511                           TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
061023,000125: 
061024,000126: 07,2701           44764                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
061025,000127: 07,2702           00006                           EXTEND                                         
061026,000128: 07,2703           03012                           WAND     CHAN12                                
061027,000129: 
061028,000130: 07,2704           35025                           CAF      7.9SEC                                #  WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS
061029,000131: 07,2705           05260                           TC       VARDELAY                              
061030,000132: 
061031,000133: 07,2706           03606        IMUZERO3           TC       CAGETEST                              
061032,000134: 07,2707           34765                           CA       IMUFINHT                              
061033,000135: 07,2710           64766                           AD       ICDUINHT                              
061034,000136: 07,2711           40000                           COM                                            
061035,000137: 07,2712           71333                           MASK     IMODES30                              
061036,000138: 07,2713           55333                           TS       IMODES30                              
061037,000139: 
061038,000140: 07,2714           34763                           CA       NOIMUDAP                              
061039,000141: 07,2715           64764                           AD       IMUZROBT                              
061040,000142: 07,2716           40000                           COM                                            
061041,000143: 07,2717           71334                           MASK     IMODES33                              #        BIT5 FOR GROUND
061042,000144: 07,2720           55334                           TS       IMODES33                              
061043,000145: 
061044,000146: 07,2721           04714                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
061045,000147: 07,2722           14706                           CADR     SETISSW                               #  PRESENT.
061046,000148: 
061047,000149: 07,2723           13563                           TCF      ENDIMU                                
061048,000150: 

Page 1420

061050,000152:                                                                                                  #  IMU COARSE ALIGN MODE.
061051,000153: 
061052,000154: 07,2724           00004        IMUCOARS           INHINT                                         
061053,000155: 07,2725           03616                           TC       CAGETSTJ                              
061054,000156: 07,2726           03070                           TC       SETCOARS                              
061055,000157: 
061056,000158: 07,2727           36211                           CAF      SIX                                   
061057,000159: 07,2730           05233                           TC       WAITLIST                              
061058,000160: 07,2731  E3,1474                                  EBANK=   CDUIND                                
061059,000161: 07,2731           02734 16063                     2CADR    COARS                                 
061060,000162: 
061061,000163: 07,2733           12675                           TCF      MODEEXIT                              
061062,000164: 
061063,000165: 07,2734           03606        COARS              TC       CAGETEST                              
061064,000166: 07,2735           34763                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
061065,000167: 07,2736           00006                           EXTEND                                         
061066,000168: 07,2737           05012                           WOR      CHAN12                                
061067,000169: 
061068,000170: 07,2740           34767                           CAF      TWO                                   #  SET CDU INDICATOR
061069,000171: 07,2741           55474        COARS1             TS       CDUIND                                
061070,000172: 
061071,000173: 07,2742           51474                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
061072,000174: 07,2743           31307                           CA       THETAD                                #    COMPLEMENT FORM
061073,000175: 07,2744           00006                           EXTEND                                         
061074,000176: 07,2745           51474                           INDEX    CDUIND                                
061075,000177: 07,2746           20032                           MSU      CDUX                                  
061076,000178: 07,2747           00006                           EXTEND                                         
061077,000179: 07,2750           74754                           MP       BIT13                                 #  SHIFT RIGHT 2
061078,000180: 07,2751           56001                           XCH      L                                     #  ROUND
061079,000181: 07,2752           60000                           DOUBLE                                         
061080,000182: 07,2753           54061                           TS       ITEMP1                                
061081,000183: 07,2754           12756                           TCF      +2                                    
061082,000184: 07,2755           26001                           ADS      L                                     
061083,000185: 
061084,000186: 07,2756           51474                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
061085,000187: 07,2757           23471                           LXCH     COMMAND                               
061086,000188: 07,2760           11474                           CCS      CDUIND                                
061087,000189: 07,2761           02741                           TC       COARS1                                
061088,000190: 
061089,000191: 07,2762           34767                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
061090,000192: 07,2763           05260                 -1        TC       VARDELAY                              
061091,000193: 07,2764           03606        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
061092,000194: 07,2765           54061                           TS       ITEMP1                                #  SETS TO +0.
061093,000195: 07,2766           34767                           CAF      TWO                                   #  SET CDU INDICATOR
061094,000196: 07,2767           55474                 +3        TS       CDUIND                                
061095,000197: 
061096,000198: 07,2770           51474                           INDEX    CDUIND                                
061097,000199: 07,2771           11471                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
061098,000200: 07,2772           02776                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED

Page 1421

061100,000202: 07,2773           03005                           TC       NEXTCDU    +1                         
061101,000203: 07,2774           03043                           TC       COMNEG                                
061102,000204: 07,2775           03005                           TC       NEXTCDU    +1                         
061103,000205: 
061104,000206: 07,2776           63663        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
061105,000207: 07,2777           00006                           EXTEND                                         #    MINUS ONE
061106,000208: 07,3000           63053                           BZMF     COMZERO                               
061107,000209: 07,3001           51474                           INDEX    CDUIND                                
061108,000210: 07,3002           55471                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
061109,000211: 07,3003           43664                           CS       -COMMAX-                              #    ALLOWED
061110,000212: 
061111,000213: 07,3004           24061        NEXTCDU            INCR     ITEMP1                                
061112,000214: 07,3005           64771                 +1        AD       NEG0                                  
061113,000215: 07,3006           51474                           INDEX    CDUIND                                
061114,000216: 07,3007           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
061115,000217: 
061116,000218: 07,3010           11474                           CCS      CDUIND                                
061117,000219: 07,3011           02767                           TC       COARS2     +3                         
061118,000220: 
061119,000221: 07,3012           10061                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
061120,000222: 07,3013           13057                           TCF      SENDPULS                              
061121,000223: 
061122,000224: 07,3014           05255                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
061123,000225: 07,3015           00226                           DEC      150        B-14                       
061124,000226: 
061125,000227: 07,3016           34767                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
061126,000228: 07,3017           54061        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
061127,000229: 07,3020           50000                           INDEX    A                                     
061128,000230: 07,3021           30032                           CA       CDUX                                  
061129,000231: 07,3022           00006                           EXTEND                                         
061130,000232: 07,3023           50061                           INDEX    ITEMP1                                
061131,000233: 07,3024           21307                           MSU      THETAD                                
061132,000234: 07,3025           10000                           CCS      A                                     
061133,000235: 07,3026           13034                           TCF      COARSERR                              
061134,000236: 07,3027           13031                           TCF      CORSCHK2                              
061135,000237: 07,3030           13034                           TCF      COARSERR                              
061136,000238: 

Page 1422

061138,000240: 
061139,000241: 07,3031           10061        CORSCHK2           CCS      ITEMP1                                
061140,000242: 07,3032           13017                           TCF      CHKCORS                               
061141,000243: 07,3033           13563                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
061142,000244: 
061143,000245: 07,3034           63042        COARSERR           AD       COARSTOL                              #  2 DEGREES.
061144,000246: 07,3035           00006                           EXTEND                                         
061145,000247: 07,3036           63031                           BZMF     CORSCHK2                              
061146,000248: 
061147,000249: 
061148,000250: 07,3037           05671                           TC       ALARM                                 #  COARSE ALIGN ERROR.
061149,000251: 07,3040           00211                           OCT      211                                   
061150,000252: 
061151,000253: 07,3041           13625                           TCF      IMUBAD                                
061152,000254: 
061153,000255: 07,3042           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
061154,000256: 
061155,000257: 
061156,000258: 07,3043           63663        COMNEG             AD       -COMMAX                               
061157,000259: 07,3044           00006                           EXTEND                                         
061158,000260: 07,3045           63053                           BZMF     COMZERO                               
061159,000261: 07,3046           40000                           COM                                            
061160,000262: 07,3047           51474                           INDEX    CDUIND                                
061161,000263: 07,3050           55471                           TS       COMMAND                               
061162,000264: 07,3051           33664                           CA       -COMMAX-                              
061163,000265: 07,3052           03004                           TC       NEXTCDU                               
061164,000266: 
061165,000267: 07,3053           34772        COMZERO            CAF      ZERO                                  
061166,000268: 07,3054           51474                           INDEX    CDUIND                                
061167,000269: 07,3055           57471                           XCH      COMMAND                               
061168,000270: 07,3056           03004                           TC       NEXTCDU                               
061169,000271: 
061170,000272: 
061171,000273: 07,3057           37673        SENDPULS           CAF      13,14,15                              
061172,000274: 07,3060           00006                           EXTEND                                         
061173,000275: 07,3061           05014                           WOR      CHAN14                                
061174,000276: 07,3062           33665                           CAF      600MS                                 
061175,000277: 07,3063           12763                           TCF      COARS2     -1                         #  THEN TO VARDELAY
061176,000278: 
061177,000279: 07,3064           34763        CA+ECE             CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
061178,000280: 07,3065           00006                           EXTEND                                         
061179,000281: 07,3066           05012                           WOR      CHAN12                                
061180,000282: 07,3067           05314                           TC       TASKOVER                              
061181,000283: 

Page 1423

061183,000285: 07,3070           34765        SETCOARS           CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
061184,000286: 07,3071           00006                           EXTEND                                         
061185,000287: 07,3072           02012                           RAND     CHAN12                                
061186,000288: 07,3073           10000                           CCS      A                                     
061187,000289: 07,3074           00002                           TC       Q                                     
061188,000290: 
061189,000291: 07,3075           44763                           CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
061190,000292: 07,3076           00006                           EXTEND                                         
061191,000293: 07,3077           03012                           WAND     CHAN12                                
061192,000294: 
061193,000295: 07,3100           44757                           CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
061194,000296: 07,3101           00006                           EXTEND                                         
061195,000297: 07,3102           03014                           WAND     CHAN14                                
061196,000298: 07,3103           44772                           CS       ZERO                                  
061197,000299: 07,3104           54047                           TS       GYROCMD                               
061198,000300: 
061199,000301: 07,3105           34765                           CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
061200,000302: 07,3106           00006                           EXTEND                                         
061201,000303: 07,3107           05012                           WOR      CHAN12                                
061202,000304: 
061203,000305: 07,3110           41241                           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
061204,000306: 07,3111           77664                           MASK     OCT40010                              
061205,000307: 07,3112           27241                           ADS      DSPTAB     +11D                       
061206,000308: 
061207,000309: 07,3113           41334                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
061208,000310: 07,3114           74763                           MASK     NOIMUDAP                              
061209,000311: 07,3115           27334                           ADS      IMODES33                              
061210,000312: 
061211,000313: 07,3116           41333                           CS       IMODES30                              #  DISABLE IMUFAIL
061212,000314: 07,3117           74765                           MASK     IMUFINHT                              
061213,000315: 07,3120           27333                           ADS      IMODES30                              
061214,000316: 
061215,000317: 07,3121           44764        RNDREFDR           CS       TRACKBIT                              #  KNOCK DOWN TRACK FLAG
061216,000318: 07,3122           70075                           MASK     FLAGWRD1                              
061217,000319: 07,3123           54075                           TS       FLAGWRD1                              
061218,000320: 
061219,000321: 07,3124           44752                           CS       DRFTBIT                               #  KNOCK DOWN DRIFT FLAG
061220,000322: 07,3125           70076                           MASK     FLAGWRD2                              
061221,000323: 07,3126           54076                           TS       FLAGWRD2                              
061222,000324: 
061223,000325: 07,3127           44754                           CS       REFSMBIT                              #  KNOCK DOWN REFSMMAT FLAG
061224,000326: 07,3130           70077                           MASK     FLAGWRD3                              
061225,000327: 07,3131           54077                           TS       FLAGWRD3                              
061226,000328: 
061227,000329: 07,3132           00002                           TC       Q                                     
061228,000330: 
061229,000331: 07,3133     7664               OCT40010           EQUALS   OT40010                               
061230,000332: 

Page 1424

061232,000334: 
061233,000335:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
061234,000336: 
061235,000337: 07,3133           00004        IMUFINE            INHINT                                         
061236,000338: 07,3134           03616                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
061237,000339: 
061238,000340: 07,3135           45001                           CS       BITS4-5                               #  RESET ZERO AND COARSE
061239,000341: 07,3136           00006                           EXTEND                                         
061240,000342: 07,3137           03012                           WAND     CHAN12                                
061241,000343: 
061242,000344: 07,3140           44763                           CS       NOIMUDAP                              #  INSURE DAP AUTO AND HOLD MODES ENABLED
061243,000345: 07,3141           71334                           MASK     IMODES33                              
061244,000346: 07,3142           55334                           TS       IMODES33                              
061245,000347: 
061246,000348: 07,3143           03207                           TC       NOATTOFF                              
061247,000349: 
061248,000350: 07,3144           34757                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
061249,000351: 07,3145           05223                           TC       TWIDDLE                               #  PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
061250,000352: 07,3146           03155                           ADRES    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
061251,000353: 07,3147           35017                           CAF      2SECS                                 
061252,000354: 07,3150           05223                           TC       TWIDDLE                               
061253,000355: 07,3151           03153                           ADRES    IMUFINED                              
061254,000356: 07,3152           12675                           TCF      MODEEXIT                              
061255,000357: 
061256,000358: 07,3153           03606        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
061257,000359: 07,3154           13563                           TCF      ENDIMU                                
061258,000360: 

Page 1425

061260,000362: 07,3155           03613        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FIAL UNLESS IMU BEING CAGED.
061261,000363: 07,3156           15314                           TCF      TASKOVER                              #  IT IS.
061262,000364: 
061263,000365: 07,3157           34765                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
061264,000366: 07,3160           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
061265,000367: 07,3161           02012                           RAND     CHAN12                                
061266,000368: 07,3162           10000                           CCS      A                                     
061267,000369: 07,3163           15314                           TCF      TASKOVER                              
061268,000370: 
061269,000371: 07,3164           41333                           CS       IMODES30                              #  RESET IMUFAIL.
061270,000372: 07,3165           74754                           MASK     IMUFLBIT                              
061271,000373: 07,3166           27333                           ADS      IMODES30                              
061272,000374: 07,3167           44765                           CS       IMUFINHT                              
061273,000375: 07,3170           71333        PFAILOK2           MASK     IMODES30                              
061274,000376: 07,3171           55333                           TS       IMODES30                              
061275,000377: 07,3172           04714                           TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
061276,000378: 07,3173           14706                           CADR     SETISSW                               #  THAT THE INHIBIT HAS BEEN REMOVED.
061277,000379: 07,3174           15314                           TCF      TASKOVER                              
061278,000380: 
061279,000381: 07,3175           03613        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
061280,000382: 07,3176           15314                           TCF      TASKOVER                              
061281,000383: 
061282,000384: 07,3177           41333                           CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
061283,000385: 07,3200           74757                           MASK     PIPAFLBT                              
061284,000386: 07,3201           27333                           ADS      IMODES30                              
061285,000387: 
061286,000388: 07,3202           41334                           CS       IMODES33                              
061287,000389: 07,3203           74754                           MASK     PIP2FLBT                              
061288,000390: 07,3204           27334                           ADS      IMODES33                              
061289,000391: 
061290,000392: 07,3205           44764                           CS       NOACCALM                              
061291,000393: 07,3206           13170                           TCF      PFAILOK2                              
061292,000394: 
061293,000395: 07,3207           47664        NOATTOFF           CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
061294,000396: 07,3210           71241                           MASK     DSPTAB     +11D                       
061295,000397: 07,3211           64752                           AD       BIT15                                 
061296,000398: 07,3212           55241                           TS       DSPTAB     +11D                       
061297,000399: 07,3213           00002                           TC       Q                                     
061298,000400: 

Page 1426

061300,000402: 
061301,000403:                                                                                                  #  ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061302,000404: 
061303,000405: 07,3214           44772        PIPUSE             CS       ZERO                                  
061304,000406: 07,3215           54037                           TS       PIPAX                                 
061305,000407: 07,3216           54040                           TS       PIPAY                                 
061306,000408: 07,3217           54041                           TS       PIPAZ                                 
061307,000409: 
061308,000410: 07,3220           03613        PIPUSE1            TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061309,000411: 07,3221           14651                           TCF      SWRETURN                              
061310,000412: 
061311,000413: 07,3222           00004                           INHINT                                         
061312,000414: 07,3223           44770                           CS       ACCFINHT                              #  IF PIPA FAILS FROM NOW ON (UNTIL
061313,000415: 07,3224           71333                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
061314,000416: 07,3225           55333                           TS       IMODES30                              
061315,000417: 
061316,000418: 07,3226           04714        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
061317,000419: 07,3227           14706                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
061318,000420: 
061319,000421: 07,3230           12675                           TCF      MODEEXIT                              
061320,000422: 
061321,000423: 07,3231           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
061322,000424: 07,3232           41333                           CS       IMODES30                              #  ISS WARNING.
061323,000425: 07,3233           74770                           MASK     ACCFINHT                              
061324,000426: 07,3234           27333                           ADS      IMODES30                              
061325,000427: 
061326,000428: 07,3235           74757                           MASK     PIPAFLBT                              #  IF PIP FAIL ON, DO PROG ALARM AND RESET
061327,000429: 07,3236           10000                           CCS      A                                     #  ISS WARNING.
061328,000430: 07,3237           12675                           TCF      MODEEXIT                              
061329,000431: 
061330,000432: 07,3240           05671                           TC       ALARM                                 
061331,000433: 07,3241           00212                           OCT      212                                   
061332,000434: 
061333,000435: 07,3242           00004                           INHINT                                         
061334,000436: 
061335,000437: 07,3243           13226                           TCF      PIPFREE2                              
061336,000438: 

Page 1427

061338,000440: 
061339,000441:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061340,000442:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061341,000443:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061342,000444: 
061343,000445: 07,3244           54161        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
061344,000446: 07,3245           03616                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
061345,000447: 
061346,000448: 07,3246           11324                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
061347,000449: 07,3247           03307                           TC       GYROBUSY                              #  SLEEP.
061348,000450: 
061349,000451: 07,3250           34763                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
061350,000452: 07,3251           00006                           EXTEND                                         
061351,000453: 07,3252           05014                           WOR      CHAN14                                
061352,000454: 
061353,000455: 07,3253           34766                           CAF      FOUR                                  
061354,000456: 07,3254           05233        GWAKE2             TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
061355,000457: 07,3255  E3,1474                                  EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
061356,000458: 07,3255           03324 16063                     2CADR    STRTGYRO                              
061357,000459: 
061358,000460: 07,3257           30161                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
061359,000461: 07,3260           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
061360,000462: 07,3261           56161                           XCH      MPAC       +5                         
061361,000463: 07,3262           55324                           TS       LGYRO                                 #  RESERVES GYROS.
061362,000464: 07,3263           74350                           MASK     LOW8                                  
061363,000465: 07,3264           54061                           TS       ITEMP1                                
061364,000466: 
061365,000467: 07,3265           34767                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
061366,000468: 07,3266           54157        GYROAGRE           TS       MPAC       +3                         
061367,000469: 07,3267           60000                           DOUBLE                                         
061368,000470: 07,3270           60061                           AD       ITEMP1                                
061369,000471: 07,3271           54160                           TS       MPAC       +4                         
061370,000472: 07,3272           00006                           EXTEND                                         
061371,000473: 07,3273           50000                           INDEX    A                                     
061372,000474: 07,3274           31401                           DCA      1400                                  
061373,000475: 07,3275           52155                           DXCH     MPAC                                  
061374,000476: 07,3276           07224                           TC       DPAGREE                               
061375,000477: 07,3277           52155                           DXCH     MPAC                                  
061376,000478: 07,3300           50160                           INDEX    MPAC       +4                         
061377,000479: 07,3301           53401                           DXCH     1400                                  
061378,000480: 
061379,000481: 07,3302           10157                           CCS      MPAC       +3                         
061380,000482: 07,3303           13266                           TCF      GYROAGRE                              
061381,000483: 
061382,000484: 07,3304           30161                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
061383,000485: 07,3305           54003                           TS       EBANK                                 
061384,000486: 07,3306           12675                           TCF      MODEEXIT                              
061385,000487: 

Page 1428

061387,000489: 
061388,000490:                                                                                                  #           ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
061389,000491: 
061390,000492: 07,3307           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
061391,000493: 07,3310           30134                           DCA      BUF2                                  
061392,000494: 07,3311           52155                           DXCH     MPAC                                  
061393,000495: 07,3312           33323        REGSLEEP           CAF      LGWAKE                                
061394,000496: 07,3313           15163                           TCF      JOBSLEEP                              
061395,000497: 
061396,000498: 07,3314           11324        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061397,000499: 07,3315           13312                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
061398,000500: 
061399,000501: 07,3316           00006                           EXTEND                                         
061400,000502: 07,3317           30155                           DCA      MPAC                                  
061401,000503: 07,3320           52134                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
061402,000504: 07,3321           34770                           CAF      ONE                                   
061403,000505: 07,3322           13254                           TCF      GWAKE2                                
061404,000506: 
061405,000507: 07,3323           17314        LGWAKE             CADR     GWAKE                                 
061406,000508: 

Page 1429

061408,000510: 
061409,000511:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
061410,000512: 
061411,000513: 07,3324           43560        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
061412,000514: 07,3325           00006                           EXTEND                                         
061413,000515: 07,3326           03014                           WAND     CHAN14                                
061414,000516: 
061415,000517: 07,3327           03575                           TC       CAGETSTG                              
061416,000518: 

Trailing period restored. — RSB 2017.

061418,000520: 07,3330           31324        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
061419,000521: 07,3331           00006                           EXTEND                                         
061420,000522: 07,3332           74765                           MP       BIT4                                  
061421,000523: 07,3333           50000                           INDEX    A                                     
061422,000524: 07,3334           13335                           TCF      +1                                    
061423,000525: 07,3335           03352                           TC       GSELECT                               #  =0. DO Y GYRO.
061424,000526: 07,3336           00202                           OCT      00202                                 
061425,000527: 
061426,000528: 07,3337           03352                           TC       GSELECT                               #  =1. DO Z GYRO.
061427,000529: 07,3340           00302                           OCT      00302                                 
061428,000530: 
061429,000531: 07,3341           03350                           TC       GSELECT    -2                         #  =2. DO X GYRO.
061430,000532: 07,3342           00100                           OCT      00100                                 
061431,000533: 
061432,000534: 07,3343           34772                           CAF      ZERO                                  #  =3. DONE
061433,000535: 07,3344           55324                           TS       LGYRO                                 
061434,000536: 07,3345           33323                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
061435,000537: 07,3346           05167                           TC       JOBWAKE                               
061436,000538: 
061437,000539: 07,3347           13153        NORESET            TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY
061438,000540: 

Page 1430

061440,000542: 

Trailing period restored. — RSB 2017.

061442,000544: 07,3350           44766                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
061443,000545: 07,3351           27324                           ADS      LGYRO                                 
061444,000546: 
061445,000547: 07,3352           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
061446,000548: 07,3353           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
061447,000549: 07,3354           54064                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
061448,000550: 07,3355           74774                           MASK     SEVEN                                 
061449,000551: 07,3356           64754                           AD       BIT13                                 
061450,000552: 07,3357           27324                           ADS      LGYRO                                 
061451,000553: 07,3360           54003                           TS       EBANK                                 
061452,000554: 07,3361           74350                           MASK     LOW8                                  
061453,000555: 07,3362           54061                           TS       ITEMP1                                
061454,000556: 
061455,000557: 07,3363           44774                           CS       SEVEN                                 
061456,000558: 07,3364           70064                           MASK     ITEMP4                                
061457,000559: 07,3365           54064                           TS       ITEMP4                                
061458,000560: 
061459,000561: 07,3366           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061460,000562: 07,3367           50061                           INDEX    ITEMP1                                
061461,000563: 07,3370           31401                           DCA      1400                                  
061462,000564: 07,3371           52071                           DXCH     RUPTREG1                              
061463,000565: 
061464,000566: 07,3372           10070                           CCS      RUPTREG1                              
061465,000567: 07,3373           13406                           TCF      MAJ+                                  
061466,000568: 07,3374           13376                           TCF      +2                                    
061467,000569: 07,3375           13541                           TCF      MAJ-                                  
061468,000570: 
061469,000571: 07,3376           10071                           CCS      RUPTREG2                              
061470,000572: 07,3377           13403                           TCF      MIN+                                  
061471,000573: 07,3400           13330                           TCF      STRTGYR2                              
061472,000574: 07,3401           13536                           TCF      MIN-                                  
061473,000575: 07,3402           13330                           TCF      STRTGYR2                              
061474,000576: 

Page 1431

061476,000578: 
061477,000579: 07,3403           63437        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
061478,000580: 07,3404           00006                           EXTEND                                         #  16 GYRO PULSES.
061479,000581: 07,3405           63330                           BZMF     STRTGYR2                              
061480,000582: 
061481,000583: 07,3406           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
061482,000584: 07,3407           33562                           DCA      GYROFRAC                              
061483,000585: 07,3410           20071                           DAS      RUPTREG1                              
061484,000586: 
061485,000587: 07,3411           30064                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
061486,000588: 07,3412           00006                           EXTEND                                         
061487,000589: 07,3413           05014                           WOR      CHAN14                                
061488,000590: 
061489,000591: 07,3414           36043                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061490,000592: 07,3415           70071                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
061491,000593: 07,3416           56071                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
061492,000594: 07,3417           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
061493,000595: 07,3420           74761                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
061494,000596: 07,3421           54062                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
061495,000597: 07,3422           30070                           CA       RUPTREG1                              
061496,000598: 07,3423           00006                           EXTEND                                         
061497,000599: 07,3424           74760                           MP       BIT9                                  
061498,000600: 07,3425           54070                           TS       RUPTREG1                              
061499,000601: 07,3426           30001                           CA       L                                     
061500,000602: 07,3427           00006                           EXTEND                                         
061501,000603: 07,3430           74753                           MP       BIT14                                 
061502,000604: 07,3431           26062                           ADS      ITEMP2                                #  INITIAL COMMAND.
061503,000605: 
061504,000606: 07,3432           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061505,000607: 07,3433           30071                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
061506,000608: 07,3434           67702                           AD       MINUS1                                
061507,000609: 07,3435           10000                           CCS      A                                     
061508,000610: 07,3436           13503                           TCF      LONGGYRO                              
061509,000611: 07,3437           77601        -GYROMIN           OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061510,000612: 07,3440           13444                           TCF      +4                                    
061511,000613: 
061512,000614: 07,3441           34753                           CAF      BIT14                                 
061513,000615: 07,3442           26062                           ADS      ITEMP2                                
061514,000616: 07,3443           34772                           CAF      ZERO                                  
061515,000617: 
061516,000618: 07,3444           50061                 +4        INDEX    ITEMP1                                
061517,000619: 07,3445           53401                           DXCH     1400                                  
061518,000620: 

Page 1432

061520,000622: 
061521,000623: 07,3446           30062                           CA       ITEMP2                                #  ENTIRE COMMAND.
061522,000624: 07,3447           54047        LASTSEG            TS       GYROCMD                               
061523,000625: 07,3450           03570                 +1        TC       COARSTST                              
061524,000626: 
061525,000627: 07,3451           30047                           CA       GYROCMD                               
061526,000628: 07,3452           00006                           EXTEND                                         
061527,000629: 07,3453           74757                           MP       BIT10                                 #  WAITLIST DT
061528,000630: 07,3454           66214                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
061529,000631: 07,3455           05223                           TC       TWIDDLE                               
061530,000632: 07,3456           03467                           ADRES    TWOPULSE                              
061531,000633: 07,3457           03463        EXITGYRO           TC       GYROEXIT                              
061532,000634: 07,3460           15314                           TCF      TASKOVER                              
061533,000635: 07,3461           34767        OUTPULSE           CA       BIT2                                  
061534,000636: 07,3462           54047                           TS       GYROCMD                               
061535,000637: 07,3463           34757        GYROEXIT           CAF      BIT10                                 
061536,000638: 07,3464           00006                           EXTEND                                         
061537,000639: 07,3465           05014                           WOR      CHAN14                                
061538,000640: 07,3466           00002                           TC       Q                                     
061539,000641: 07,3467           44760        TWOPULSE           CS       BIT9                                  
061540,000642: 07,3470           00006                           EXTEND                                         
061541,000643: 07,3471           03014                           WAND     CHAN14                                
061542,000644: 07,3472           03461                           TC       OUTPULSE                              
061543,000645: 07,3473           34770                           CA       BIT1                                  
061544,000646: 07,3474           05223                           TC       TWIDDLE                               
061545,000647: 07,3475           03324                           ADRES    STRTGYRO                              
061546,000648: 07,3476           34760                           CA       BIT9                                  
061547,000649: 07,3477           00006                           EXTEND                                         
061548,000650: 07,3500           05014                           WOR      CHAN14                                
061549,000651: 07,3501           03461                           TC       OUTPULSE                              
061550,000652: 07,3502           15314                           TCF      TASKOVER                              
061551,000653: 07,3503           50061        LONGGYRO           INDEX    ITEMP1                                
061552,000654: 07,3504           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF

Trailing period restored. — RSB 2017.

061554,000656: 07,3505           34753                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
061555,000657: 07,3506           60062                           AD       ITEMP2                                
061556,000658: 07,3507           54047                           TS       GYROCMD                               
061557,000659: 
061558,000660: 07,3510           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
061559,000661: 07,3511           74757                           MP       BIT10                                 #  ALMOST OUT.
061560,000662: 07,3512           67700                           AD       NEG3                                  
061561,000663: 07,3513           05223                           TC       TWIDDLE                               
061562,000664: 07,3514           03516                           ADRES    8192AUG                               
061563,000665: 07,3515           13457                           TCF      EXITGYRO                              
061564,000666: 
061565,000667: 07,3516           03570        8192AUG            TC       COARSTST                              
061566,000668: 
061567,000669: 07,3517           31324                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
061568,000670: 07,3520           54003                           TS       EBANK                                 
061569,000671: 07,3521           74350                           MASK     LOW8                                  
061570,000672: 07,3522           54061                           TS       ITEMP1                                

Page 1433

061572,000674: 07,3523           50061                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
061573,000675: 07,3524           11400                           CCS      1400                                  
061574,000676: 07,3525           13531                           TCF      AUG2                                  #  MORE TO COME.
061575,000677: 
061576,000678: 07,3526           34753                           CAF      BIT14                                 
061577,000679: 07,3527           26047                           ADS      GYROCMD                               
061578,000680: 07,3530           13450                           TCF      LASTSEG    +1                         
061579,000681: 
061580,000682: 07,3531           50061        AUG2               INDEX    ITEMP1                                
061581,000683: 07,3532           55400                           TS       1400                                  
061582,000684: 07,3533           34753                           CAF      BIT14                                 
061583,000685: 07,3534           26047                           ADS      GYROCMD                               
061584,000686: 07,3535           13510                           TCF      AUG3                                  #  COMPUTE DT.
061585,000687: 

Page 1434

061587,000689: 
061588,000690: 07,3536           63437        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
061589,000691: 07,3537           00006                           EXTEND                                         
061590,000692: 07,3540           63330                           BZMF     STRTGYR2                              
061591,000693: 
061592,000694: 07,3541           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
061593,000695: 07,3542           43562                           DCS      GYROFRAC                              
061594,000696: 07,3543           20071                           DAS      RUPTREG1                              
061595,000697: 
061596,000698: 07,3544           30064                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
061597,000699: 07,3545           64760                           AD       BIT9                                  
061598,000700: 07,3546           00006                           EXTEND                                         
061599,000701: 07,3547           05014                           WOR      CHAN14                                
061600,000702: 
061601,000703: 07,3550           40070                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
061602,000704: 07,3551           54070                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
061603,000705: 07,3552           40071                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
061604,000706: 07,3553           76043                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
061605,000707: 07,3554           40000                           COM                                            
061606,000708: 07,3555           56071                           XCH      RUPTREG2                              
061607,000709: 07,3556           40000                           COM                                            
061608,000710: 07,3557           13417                           TCF      GMERGE                                
061609,000711: 
061610,000712: 07,3560           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
061611,000713: 
061612,000714: 07,3561           00000 00034  GYROFRAC           2DEC     .215       B-21                       
061613,000715: 

Page 1435

061615,000717: 
061616,000718:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061617,000719: 
061618,000720: 07,3563           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
061619,000721: 07,3564           00011                           READ     DSALMOUT                              #  ISS WARNING IS ON.
061620,000722: 07,3565           74770                           MASK     BIT1                                  
061621,000723: 07,3566           67702                           AD       NEG1                                  
061622,000724: 07,3567           13626                           TCF      BADEND     +1                         
061623,000725: 07,3570           34765        COARSTST           CAF      BIT4                                  
061624,000726: 07,3571           00006                           EXTEND                                         
061625,000727: 07,3572           02012                           RAND     CHAN12                                
061626,000728: 07,3573           10000                           CCS      A                                     
061627,000729: 07,3574           13601                           TCF      DONTPULS                              
061628,000730: 
061629,000731: 07,3575           41333        CAGETSTG           CS       IMODES30                              
061630,000732: 07,3576           74763                           MASK     IMUNITBT                              
061631,000733: 07,3577           10000                           CCS      A                                     
061632,000734: 07,3600           00002                           TC       Q                                     
061633,000735: 
061634,000736: 07,3601           34772        DONTPULS           CAF      ZERO                                  
061635,000737: 07,3602           55324                           TS       LGYRO                                 
061636,000738: 
061637,000739: 07,3603           33323                           CAF      LGWAKE                                
061638,000740: 07,3604           05167                           TC       JOBWAKE                               
061639,000741: 
061640,000742: 07,3605           13625                           TCF      IMUBAD                                
061641,000743: 07,3606           34763        CAGETEST           CAF      IMUNITBT                              #  SUBROUTINE TO TERMINATE IMU MODE
061642,000744: 07,3607           71333                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
061643,000745: 07,3610           10000                           CCS      A                                     
061644,000746: 07,3611           13625                           TCF      IMUBAD                                #  DIRECTLY.
061645,000747: 07,3612           00002                           TC       Q                                     #  WITH C(A) = +0.
061646,000748: 
061647,000749: 07,3613           41333        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
061648,000750: 07,3614           74763                           MASK     IMUNITBT                              
061649,000751: 07,3615           15651                           TCF      INCRQCK                               
061650,000752: 07,3616           41333        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION
061651,000753: 07,3617           74763                           MASK     IMUNITBT                              #  IT IS FOUND THAT THE IMU IS BEING CAGED,
061652,000754: 07,3620           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
061653,000755: 07,3621           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
061654,000756: 
061655,000757: 07,3622           44772                 +4        CS       ZERO                                  #  TO SWRETURN
061656,000758: 07,3623           55335                           TS       IMUCADR                               
061657,000759: 07,3624           12675                           TCF      MODEEXIT                              
061658,000760: 
061659,000761: 07,3625  07,3625               IMUBAD             EQUALS   BADEND                                
061660,000762: 

Page 1436

061662,000764: 
061663,000765:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061664,000766:                                                                                                  #  OR AT BADEND FOR AN UNSUCCESSFUL ONE.
061665,000767: 
061666,000768: 07,3625           44772        BADEND             CS       ZERO                                  #  FOR FAILURE.
061667,000769: 07,3626           54072                 +1        TS       RUPTREG3                              #  -0 FAILURE -1 SUCCESS
061668,000770: 07,3627           11335                           CCS      MODECADR                              
061669,000771: 07,3630           13632                           TCF      +2                                    #  YES - WAKE IT UP.
061670,000772: 07,3631           13641                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
061671,000773: 
061672,000774: 07,3632           34772                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
061673,000775: 07,3633           57335                           XCH      MODECADR                              
061674,000776: 07,3634           05167                           TC       JOBWAKE                               
061675,000777: 
061676,000778: 07,3635           40072                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
061677,000779: 07,3636           50064                           INDEX    LOCCTR                                
061678,000780: 07,3637           26164                           ADS      LOC                                   
061679,000781: 
061680,000782: 07,3640           15314                           TCF      TASKOVER                              
061681,000783: 
061682,000784: 07,3641           30072        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
061683,000785: 07,3642           55335                           TS       MODECADR                              #  SUCCESSFUL.
061684,000786: 07,3643           15314                           TCF      TASKOVER                              
061685,000787: 

Page 1437

061687,000789: 
061688,000790:                                                                                                  #  GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061689,000791: 
061690,000792:                                                                                                  #  PROGRAM DESCRIPTION                                           DATE- 21 FEB 1967
061691,000793:                                                                                                  #                                                   LOG SECTION IMU MODE SWITCHING
061692,000794:                                                                                                  #  MOD BY- R.MELANSON TO ADD DOCUMENTATION                ASSEMBLY SUNDISK REV. 82
061693,000795: 
061694,000796:                                                                                                  #  FUNCTIONAL DESCRIPTION-
061695,000797:                                                                                                  #        TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061696,000798:                                                                                                  #        I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061697,000799:                                                                                                  #        MODECADR ARE MADE AND ACTED UPON.
061698,000800:                                                                                                  #        1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061699,000801:                                                                                                  #           SLEEP.
061700,000802:                                                                                                  #        2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061701,000803:                                                                                                  #           CALL AND RETURNS TO CALLING ROUTINE AT L+3
061702,000804:                                                                                                  #        3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061703,000805:                                                                                                  #           AND RETURNS TO CALLING ROUTINE AT L+2.
061704,000806:                                                                                                  #        4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061705,000807:                                                                                                  #           SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061706,000808:                                                                                                  #           RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061707,000809: 
061708,000810:                                                                                                  #  CALLING SEQUENCE-
061709,000811:                                                                                                  #        L       TC      BANKCALL
061710,000812:                                                                                                  #        L+1     CADR    IMUSTALL
061711,000813: 
061712,000814:                                                                                                  #  NORMAL-EXIT MODE-
061713,000815:                                                                                                  #        TCF JOBSLEEP    OR      TCF MODEXIT
061714,000816: 
061715,000817:                                                                                                  #  ALARM OR ABORT EXIT MODE-
061716,000818:                                                                                                  #        POODOO  21210
061717,000819: 
061718,000820:                                                                                                  #  OUTPUT-
061719,000821:                                                                                                  #        MODECADR= CADR  IF JOBSLEEP
061720,000822:                                                                                                  #        MODECADR=+0     IF I/O COMPLETE
061721,000823:                                                                                                  #        BUF2=L+3        IF I/O COMPLETE AND GOOD.
061722,000824:                                                                                                  #        BUF2=L+2        IF I/O COMPLETE BUT FAILED.
061723,000825: 
061724,000826:                                                                                                  #  ERASABLE INITIALIZATION-
061725,000827:                                                                                                  #        BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061726,000828:                                                                                                  #        BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061727,000829:                                                                                                  #        MODECADR CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS.
061728,000830: 
061729,000831: 
061730,000832: 07,3644           11335        IMUSTALL           CCS      MODECADR                              
061731,000833: 07,3645           13661                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
061732,000834: 07,3646           13656                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
061733,000835: 07,3647           13652                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
061734,000836: 
061735,000837: 07,3650           55335        MG2                TS       MODECADR                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
061736,000838: 07,3651           12675                           TCF      MODEEXIT                              #  RETURN TO CALLER.

Page 1438

061738,000840: 07,3652           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
061739,000841: 07,3653           13661                           TCF      MODABORT                              
061740,000842: 
061741,000843: 07,3654           24133                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND

Trailing "0." restored. — RSB 2017.

061743,000845: 07,3655           13650                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
061744,000846: 
061745,000847: 07,3656           04665        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
061746,000848: 07,3657           55335                           TS       MODECADR                              
061747,000849: 07,3660           15163                           TCF      JOBSLEEP                              
061748,000850: 
061749,000851: 07,3661           05726        MODABORT           TC       POODOO                                #  TWO PROGRAMS USING SAME DEVICE.
061750,000852: 07,3662           21210                           OCT      21210                                 
061751,000853: 

Page 1439

061753,000855: 
061754,000856:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
061755,000857: 
061756,000858: 07,3663     5775               BITS3&4            =        OCT14                                 
061757,000859: 07,3663     5004               BITS4&6            =        OCT50                                 
061758,000860: 07,3663     5001               BITS4-5            EQUALS   BITS4&5                               
061759,000861: 07,3663     4761               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
061760,000862: 07,3663           77500        -COMMAX            DEC      -191       B-14                       
061761,000863: 07,3664           77477        -COMMAX-           DEC      -192       B-14                       
061762,000864: 07,3665           00074        600MS              DEC      60         B-14                       
061763,000865: 07,3666  07,3133               IMUFIN20           =        IMUFINE                               
061764,000866: 

Page 1440

061766,000868: 
061767,000869:                                                                                                  #  PROGRAM DESCRIPTION
061768,000870:                                                                                                  #  IMU STATUS CHECK ROUTINE R02  (SUBROUTINE UTILITY)
061769,000871:                                                                                                  #  MOD NO - 1
061770,000872:                                                                                                  #  MOD BY - N.BRODEUR
061771,000873: 
061772,000874:                                                                                                  #  FUNCTIONAL DESCRIPTION
061773,000875:                                                                                                  #  TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061774,000876:                                                                                                  #  ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061775,000877:                                                                                                  #  PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061776,000878:                                                                                                  #  CMC. CALLED THROUGH BANKCALL
061777,000879: 
061778,000880:                                                                                                  #  CALLING SEQUENCE-
061779,000881:                                                                                                  #        L       TC      BANKCALL
061780,000882:                                                                                                  #        L+1     CADR    R02BOTH
061781,000883: 
061782,000884:                                                                                                  #  SUBROUTINES CALLED
061783,000885:                                                                                                  #        VARALARM
061784,000886:                                                                                                  #        FLAGUP
061785,000887: 
061786,000888:                                                                                                  #  NORMAL EXIT MODES
061787,000889:                                                                                                  #        AT L+2 OF CALLING SEQUENCE
061788,000890: 
061789,000891:                                                                                                  #  ALARM OR ABORT EXIT MODES
061790,000892:                                                                                                  #        GOTOPOOH, WITH ALARM
061791,000893: 
061792,000894:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
061793,000895:                                                                                                  #        NONE
061794,000896: 
061795,000897:                                                                                                  #  DEBRIS
061796,000898:                                                                                                  #        CENTRALS - A,Q,L
061797,000899: 
061798,000900: 01,2000                                           SETLOC   R02                                   
061799,000901: 01,2000                                           BANK                                           
061800,000902: 01,3731                                           COUNT*   $$/R02                                
061801,000903: 01,3731           34754        R02BOTH            CAF      REFSMBIT                              
061802,000904: 01,3732           70077                           MASK     FLAGWRD3                              
061803,000905: 01,3733           10000                           CCS      A                                     
061804,000906: 01,3734           03745                           TC       R02ZERO                               #  ZERO IMUS
061805,000907: 
061806,000908: 01,3735           31333                           CA       IMODES30                              
061807,000909: 01,3736           74760                           MASK     IMUOPBIT                              #  IS ISS INITIALIZED
061808,000910: 01,3737           00006                           EXTEND                                         
061809,000911: 01,3740           13742                           BZF      +2                                    
061810,000912: 01,3741           44765                           CS       BIT4                                  #  SEND IMU ALARM CODE 210
061811,000913: 01,3742           63750                           AD       OCT220                                #  SEND REFSMM ALARM
061812,000914: 01,3743           05770                           TC       VARALARM                              
061813,000915: 
061814,000916: 01,3744           04103                           TC       GOTOPOOH                              
061815,000917: 01,3745           05547        R02ZERO            TC       UPFLAG                                
061816,000918: 01,3746           00007                           ADRES    IMUSE                                 
061817,000919: 01,3747           14651                           TCF      SWRETURN                              
061818,000920: 01,3750           00220        OCT220             OCT      220                                   
061819,000921: 

Page 1441

061821,000923: 
061822,000924:                                                                                                  #  PROGRAM DESCRIPTION   P06     10FEB67
061823,000925: 
061824,000926:                                                                                                  #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061825,000927: 
061826,000928:                                                                                                  #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061827,000929:                                                                                                  #  HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061828,000930:                                                                                                  #  CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061829,000931: 
061830,000932:                                                                                                  #  CALLING SEQUENCE:
061831,000933:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY  V37E 06E.
061832,000934: 
061833,000935:                                                                                                  #  SUBROUTINES CALLED:
061834,000936:                                                                                                  #        GOPERF1
061835,000937:                                                                                                  #        BANKCALL
061836,000938:                                                                                                  #        FLAGDOWN
061837,000939: 

Page 1442

061839,000941:                                                                                                  #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061840,000942:                                                                                                  #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061841,000943:                                                                                                  #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061842,000944: 
061843,000945: 26,2000                                           SETLOC   P05P06                                
061844,000946: 26,2000                                           BANK                                           
061845,000947: 
061846,000948: 26,3654     1006                                  EBANK=   TIME2SAV                              
061847,000949: 26,3654                                           COUNT*   $$/P06                                
061848,000950: 
061849,000951: 26,3654           05547        P06                TC       UPFLAG                                #  SET NODOV37 BIT
061850,000952: 26,3655           00054                           ADRES    NODOFLAG                              
061851,000953: 
061852,000954: 26,3656           00004        PRESTAND           INHINT                                         
061853,000955: 26,3657           00006                           EXTEND                                         
061854,000956: 26,3660           30025                           DCA      TIME2                                 #  SNAPSHOT TIME1 TIME2
061855,000957: 26,3661           53007                           DXCH     TIME2SAV                              
061856,000958: 26,3662           03715                           TC       SCALPREP                              
061857,000959: 26,3663           03656                           TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
061858,000960: 26,3664           52155                           DXCH     MPAC                                  #  T1,T2 AND SCALER OK
061859,000961: 26,3665           53011                           DXCH     SCALSAVE                              #  STORE SCALER
061860,000962: 26,3666           00004                           INHINT                                         
061861,000963: 26,3667           04636                           TC       BANKCALL                              
061862,000964: 26,3670           17121                           CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
061863,000965: 
061864,000966: 26,3671           05561                           TC       DOWNFLAG                              
061865,000967: 26,3672           00007                           ADRES    IMUSE                                 #  IMUSE DOWN
061866,000968: 26,3673           05561                           TC       DOWNFLAG                              
061867,000969: 26,3674           00010                           ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
061868,000970: 
061869,000971: 26,3675           05561                           TC       DOWNFLAG                              
061870,000972: 26,3676           00176                           ADRES    UTFLAG                                
061871,000973: 26,3677           34756                           CAF      BIT11                                 
061872,000974: 26,3700           00006                           EXTEND                                         
061873,000975: 26,3701           05013                           WOR      CHAN13                                #  SET STANDBY ENABLE BIT
061874,000976: 
061875,000977: 26,3702           05402                           TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
061876,000978: 26,3703           07024                           OCT      07024                                 #        RECOVERS
061877,000979: 26,3704           20000                           OCT      20000                                 
061878,000980: 26,3705     1010                                  EBANK=   SCALSAVE                              
061879,000981: 26,3705           03735 54062                     2CADR    POSTAND                               
061880,000982: 
061881,000983: 26,3707           35011                           CAF      OCT62                                 
061882,000984: 26,3710           04636                           TC       BANKCALL                              
061883,000985: 26,3711           21067                           CADR     GOPERF1                               
061884,000986: 26,3712           13707                           TCF      -3                                    
061885,000987: 26,3713           13707                           TCF      -4                                    
061886,000988: 26,3714           13707                           TCF      -5                                    
061887,000989: 
061888,000990: 26,3715     5011               OCT62              EQUALS   .5SEC                                 #  DEC 50 = OCT 62
061889,000991: 

Page 1443

061891,000993:                                                                                                  #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
061892,000994:                                                                                                  #  T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061893,000995:                                                                                                  #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061894,000996:                                                                                                  #  DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061895,000997:                                                                                                  #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061896,000998:                                                                                                  #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061897,000999:                                                                                                  #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061898,001000:                                                                                                  #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061899,001001:                                                                                                  #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061900,001002:                                                                                                  #  DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061901,001003: 
061902,001004: 26,3715           00006        SCALPREP           EXTEND                                         
061903,001005: 26,3716           22156                           QXCH     MPAC       +2                         
061904,001006: 26,3717           04511                           TC       FINETIME   +1                         
061905,001007: 26,3720           00003                           RELINT                                         
061906,001008: 26,3721           52155                           DXCH     MPAC                                  

Trailing period restored. — RSB 2017.

061908,001010: 26,3722           34764                           CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
061909,001011: 26,3723           54001                           TS       L                                     
061910,001012: 26,3724           34772                           CA       ZERO                                  
061911,001013: 26,3725           20155                           DAS      MPAC                                  
061912,001014: 26,3726           44342                           CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061913,001015: 26,3727           70155                           MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
061914,001016: 26,3730           56155                           XCH      MPAC       +1                         
061915,001017: 26,3731           74342                           MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
061916,001018:                                                                                                  #  INTERVAL AFTER THE T1 INCREMENT
061917,001019:                                                                                                  #  (NOW = 00000, SINCE BIT 5 ADDED).
061918,001020: 26,3732           10000                           CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
061919,001021: 26,3733           24156                           INCR     MPAC       +2                         #  NO
061920,001022: 26,3734           00156                           TC       MPAC       +2                         #  YES
061921,001023: 
061922,001024:                                                                                                  #  POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061923,001025:                                                                                                  #  TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061924,001026:                                                                                                  #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061925,001027:                                                                                                  #  CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061926,001028:                                                                                                  #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061927,001029:                                                                                                  #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061928,001030: 
061929,001031: 26,3735                                           COUNT*   $$/P05                                
061930,001032: 
061931,001033: 26,3735           44756        POSTAND            CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
061932,001034: 26,3736           00006                           EXTEND                                         
061933,001035: 26,3737           03013                           WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
061934,001036: 26,3740           00004                 +3        INHINT                                         
061935,001037: 26,3741           34772                           CA       ZERO                                  
061936,001038: 26,3742           54001                           TS       L                                     
061937,001039: 26,3743           52025                           DXCH     TIME2                                 #  CLEAR TIME1 TIME2
061938,001040: 26,3744           03715                           TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
061939,001041: 26,3745           03740                           TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
061940,001042: 26,3746           00006                           EXTEND                                         #  T1,T2 AND SCALER OK
061941,001043: 26,3747           41011                           DCS      SCALSAVE                              

Page 1444

061943,001045: 26,3750           20155                           DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER
061944,001046: 26,3751           34757                           CAF      BIT10                                 #  MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061945,001047: 26,3752           07256                           TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1 TIME2.
061946,001048: 26,3753           07224                           TC       DPAGREE                               
061947,001049: 26,3754           10154                           CCS      MPAC                                  
061948,001050: 26,3755           03762                           TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
061949,001051: 26,3756           03762                           TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
061950,001052: 26,3757           03760                           TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061951,001053: 26,3760           34757                           CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
061952,001054: 26,3761           26154                           ADS      MPAC                                  
061953,001055: 26,3762           00006        POSTCOM            EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061954,001056: 26,3763           31007                           DCA      TIME2SAV                              #  PRESTANDBY TIME1 TIME2
061955,001057: 26,3764           20155                           DAS      MPAC                                  
061956,001058: 26,3765           07226                           TC       TPAGREE                               #  FORCE SIGN AGREEMENT
061957,001059: 26,3766           52155                           DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
061958,001060: 26,3767           20025                           DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
061959,001061: 26,3770           05561                           TC       DOWNFLAG                              #  CLEAR NODOFLAG
061960,001062: 26,3771           00054                           ADRES    NODOFLAG                              
061961,001063: 
061962,001064: 26,3772           04103        TCGOPOOH           TC       GOTOPOOH                              

End of include-file IMU_MODE_SWITCHING_ROUTINES.agc.  Parent file is MAIN.agc