Source Code

These source code files have been transcribed or otherwise adapted from digitized images of a hardcopy from the private collection of Don Eyles. The digitization was performed by archive.org, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that the original high-quality images are available at archive.org. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

    473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP   NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.

007248,000002:                                                                                                  ## Copyright:   Public domain.
007249,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
007250,000004:                                                                                                  ## Purpose:     Part of the source code for Aurora (revision 12).
007251,000005:                                                                                                  ## Assembler:   yaYUL
007252,000006:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
007253,000007:                                                                                                  ## Website:     https://www.ibiblio.org/apollo.
007254,000008:                                                                                                  ## Pages:       189-208
007255,000009:                                                                                                  ## Mod history: 2016-09-20 JL   Created.
007256,000010:                                                                                                  ##              2016-09-28 MAS  Began.
007257,000011:                                                                                                  ##              2016-09-30 MAS  Finished transcription.
007258,000012:                                                                                                  ##              2016-12-08 RSB  Proofed comments with octopus/ProoferComments
007259,000013:                                                                                                  ##                              and fixed the errors found.
007260,000014:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
007261,000015: 
007262,000016:                                                                                                  ## This source code has been transcribed or otherwise adapted from
007263,000017:                                                                                                  ## digitized images of a hardcopy from the private collection of 
007264,000018:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
007265,000019: 
007266,000020:                                                                                                  ## Notations on the hardcopy document read, in part:
007267,000021: 
007268,000022:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
007269,000023:                                                                                                  ##       NOV 10, 1966
007270,000024: 
007271,000025:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
007272,000026:                                                                                                  ##       date of the program revision or the assembly.]
007273,000027: 
007274,000028:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent 
007275,000029:                                                                                                  ## reduction in image quality) are available online at 
007276,000030:                                                                                                  ##       https://www.ibiblio.org/apollo.  
007277,000031:                                                                                                  ## The original high-quality digital images are available at archive.org:
007278,000032:                                                                                                  ##       https://archive.org/details/aurora00dapg
007279,000033: 

Page 189

007281,000035:    4755                                           SETLOC   ENDT4FF                               
007282,000036:    4755  E3,1451                                  EBANK=   COMMAND                               
007283,000037: 
007284,000038:                                                                                                  #  FIXED-FIXED ROUTINES.
007285,000039:    4755           37665        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
007286,000040:    4756           54032                           TS       CDUX                                  
007287,000041:    4757           54033                           TS       CDUY                                  
007288,000042:    4760           54034                           TS       CDUZ                                  
007289,000043:    4761           00002                           TC       Q                                     
007290,000044: 
007291,000045:    4762           00454        3SECS              DEC      300        B-14                       
007292,000046: 
007293,000047:    4763                        ENDIMODF           EQUALS                                         
007294,000048: 

Page 190

007296,000050:                                                                                                  #  IMU ZEROING ROUTINE.
007297,000051: 
007298,000052: 13,2000                                           BANK     13                                    
007299,000053: 
007300,000054: 13,2000           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
007301,000055: 13,2001           47650                           CS       IMUSEFLG                              #  SET INDICATION THAT A MISSION OR TEST
007302,000056: 13,2002           70061                           MASK     STATE                                 #  PROGRAM IS USING THE IMU.
007303,000057: 13,2003           67650                           AD       IMUSEFLG                              
007304,000058: 13,2004           54061                           TS       STATE                                 
007305,000059: 
007306,000060: 13,2005           02650                           TC       CAGETSTQ                              #  IF IMU COMING UP, TURN-ON PROGRAM WILL
007307,000061: 13,2006           12033                           TCF      MODEEXIT                              #  DO ALL THE WORK.
007308,000062: 
007309,000063: 13,2007           42743                           CS       BITS3&4                               #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
007310,000064: 13,2010           70367                           MASK     IMODES30                              #  JUST CAME OUT OF COARSE ALIGN).
007311,000065: 13,2011           62743                           AD       BITS3&4                               
007312,000066: 13,2012           54367                           TS       IMODES30                              
007313,000067: 
007314,000068: 13,2013           42744                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
007315,000069: 13,2014           00006                           EXTEND                                         #  COUNTER DISABLED.
007316,000070: 13,2015           03012                           WAND     12                                    
007317,000071: 
007318,000072: 13,2016           37653                           CAF      BIT5                                  
007319,000073: 13,2017           00006                           EXTEND                                         
007320,000074: 13,2020           05012                           WOR      12                                    
007321,000075: 
007322,000076: 13,2021           37652                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
007323,000077: 13,2022           04536                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
007324,000078: 13,2023           02035 26003                     2CADR    IMUZERO2                              
007325,000079: 
007326,000080: 13,2025           40367                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
007327,000081: 13,2026           77647                           MASK     BIT9                                  
007328,000082: 13,2027           10000                           CCS      A                                     
007329,000083: 13,2030           12033                           TCF      MODEEXIT                              
007330,000084: 
007331,000085: 13,2031           05413                           TC       ALARM                                 
007332,000086: 13,2032           00210                           OCT      210                                   
007333,000087: 
007334,000088: 13,2033           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
007335,000089: 13,2034           14076                           TCF      SWRETURN                              
007336,000090: 

Page 191

007338,000092: 13,2035           02650        IMUZERO2           TC       CAGETSTQ                              #  POSSIBLY SWITCH TO TURN-ON PROGRAM.
007339,000093: 13,2036           14602                           TCF      TASKOVER                              
007340,000094: 
007341,000095: 13,2037           04755                           TC       ZEROICDU                              #  ZERO COUNTERS.
007342,000096: 13,2040           47653                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
007343,000097: 13,2041           00006                           EXTEND                                         
007344,000098: 13,2042           03012                           WAND     12                                    
007345,000099: 
007346,000100: 13,2043           34762                           CAF      3SECSM                                #  WAIT FOR COUNTERS TO SYNCRONIZE.
007347,000101: 13,2044           04557                           TC       VARDELAY                              
007348,000102: 
007349,000103: 13,2045           02650        IMUZERO3           TC       CAGETSTQ                              
007350,000104: 13,2046           14602                           TCF      TASKOVER                              
007351,000105: 
007352,000106: 13,2047           42743                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
007353,000107: 13,2050           70367                           MASK     IMODES30                              
007354,000108: 13,2051           54367                           TS       IMODES30                              
007355,000109: 
007356,000110: 13,2052           04156                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
007357,000111: 13,2053           25344                           CADR     SETISSW                               #  PRESENT.
007358,000112: 
007359,000113: 13,2054           12633                           TCF      ENDIMU                                
007360,000114: 

Page 192

007362,000116:                                                                                                  #  IMU COARSE ALIGN MODE.
007363,000117: 
007364,000118: 13,2055           37654        IMUCOARS           CAF      BIT4                                  #  SEND COARSE ALIGN ENABLE DISCRETE
007365,000119: 13,2056           00004                           INHINT                                         
007366,000120: 13,2057           00006                           EXTEND                                         
007367,000121: 13,2060           05012                           WOR      CHAN12                                
007368,000122: 
007369,000123: 13,2061           47654                           CS       BIT4                                  #  INHIBIT IMU FAIL.
007370,000124: 13,2062           70367                           MASK     IMODES30                              
007371,000125: 13,2063           67654                           AD       BIT4                                  
007372,000126: 13,2064           54367                           TS       IMODES30                              
007373,000127: 
007374,000128: 13,2065           36162                           CAF      SIX                                   
007375,000129: 13,2066           04536                           TC       WAITLIST                              
007376,000130: 13,2067           02072 26003                     2CADR    COARS                                 
007377,000131: 
007378,000132: 13,2071           12033                           TCF      MODEEXIT                              
007379,000133: 
007380,000134: 13,2072           02643        COARS              TC       CAGETEST                              
007381,000135: 13,2073           37652                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
007382,000136: 13,2074           00006                           EXTEND                                         
007383,000137: 13,2075           05012                           WOR      CHAN12                                
007384,000138: 
007385,000139: 13,2076           37656                           CAF      TWO                                   #  SET CDU INDICATOR
007386,000140: 13,2077           55454        COARS1             TS       CDUIND                                
007387,000141: 
007388,000142: 13,2100           51454                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
007389,000143: 13,2101           30400                           CA       THETAD                                #    COMPLEMENT FORM
007390,000144: 13,2102           00006                           EXTEND                                         
007391,000145: 13,2103           51454                           INDEX    CDUIND                                
007392,000146: 13,2104           20032                           MSU      CDUX                                  
007393,000147: 13,2105           00006                           EXTEND                                         
007394,000148: 13,2106           77643                           MP       BIT13                                 #  SHIFT RIGHT 2
007395,000149: 13,2107           56001                           XCH      L                                     #  ROUND
007396,000150: 13,2110           60000                           DOUBLE                                         
007397,000151: 13,2111           54065                           TS       ITEMP1                                
007398,000152: 13,2112           12114                           TCF      +2                                    
007399,000153: 13,2113           26001                           ADS      L                                     
007400,000154: 
007401,000155: 13,2114           51454                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
007402,000156: 13,2115           23451                           LXCH     COMMAND                               
007403,000157: 13,2116           11454                           CCS      CDUIND                                
007404,000158: 13,2117           02077                           TC       COARS1                                
007405,000159: 
007406,000160: 13,2120           37656                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
007407,000161: 13,2121           04557                           TC       VARDELAY                              
007408,000162: 

Page 193

007410,000164: 13,2122           02643        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
007411,000165: 13,2123           54065                           TS       ITEMP1                                #  SETS TO +0.
007412,000166: 13,2124           37656                           CAF      TWO                                   #  SET CDU INDICATOR
007413,000167: 13,2125           55454                 +3        TS       CDUIND                                
007414,000168: 
007415,000169: 13,2126           51454                           INDEX    CDUIND                                
007416,000170: 13,2127           11451                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
007417,000171: 13,2130           02134                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
007418,000172: 13,2131           02143                           TC       NEXTCDU    +1                         
007419,000173: 13,2132           02206                           TC       COMNEG                                
007420,000174: 13,2133           02143                           TC       NEXTCDU    +1                         
007421,000175: 
007422,000176: 13,2134           62747        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
007423,000177: 13,2135           00006                           EXTEND                                         #    MINUS ONE
007424,000178: 13,2136           62216                           BZMF     COMZERO                               
007425,000179: 13,2137           51454                           INDEX    CDUIND                                
007426,000180: 13,2140           55451                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
007427,000181: 13,2141           42750                           CS       -COMMAX-                              #    ALLOWED
007428,000182: 
007429,000183: 13,2142           24065        NEXTCDU            INCR     ITEMP1                                
007430,000184: 13,2143           51454                           INDEX    CDUIND                                
007431,000185: 13,2144           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
007432,000186: 
007433,000187: 13,2145           11454                           CCS      CDUIND                                
007434,000188: 13,2146           02125                           TC       COARS2     +3                         
007435,000189: 
007436,000190: 13,2147           10065                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
007437,000191: 13,2150           12222                           TCF      SENDPULS                              
007438,000192: 
007439,000193: 13,2151           04554                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
007440,000194: 13,2152           00226                           DEC      150        B-14                       
007441,000195: 

Page 194

007443,000197: 13,2153           37656                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
007444,000198: 13,2154           54065        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
007445,000199: 13,2155           50000                           INDEX    A                                     
007446,000200: 13,2156           30032                           CA       CDUX                                  
007447,000201: 13,2157           00006                           EXTEND                                         
007448,000202: 13,2160           50065                           INDEX    ITEMP1                                
007449,000203: 13,2161           20400                           MSU      THETAD                                
007450,000204: 13,2162           10000                           CCS      A                                     
007451,000205: 13,2163           12177                           TCF      COARSERR                              
007452,000206: 13,2164           12166                           TCF      CORSCHK2                              
007453,000207: 13,2165           12177                           TCF      COARSERR                              
007454,000208: 
007455,000209: 13,2166           10065        CORSCHK2           CCS      ITEMP1                                
007456,000210: 13,2167           12154                           TCF      CHKCORS                               
007457,000211: 13,2170           55451                           TS       GCOMP                                 #  ZERO GYRO COMPENSATION REGISTERS IN
007458,000212: 13,2171           55452                           TS       GCOMP      +1                         #  PREPARATION FOR COMPENSATION.
007459,000213: 13,2172           55453                           TS       GCOMP      +2                         
007460,000214: 13,2173           55454                           TS       GCOMP      +3                         
007461,000215: 13,2174           55455                           TS       GCOMP      +4                         
007462,000216: 13,2175           55456                           TS       GCOMP      +5                         
007463,000217: 
007464,000218: 13,2176           12633                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
007465,000219: 
007466,000220: 13,2177           62205        COARSERR           AD       COARSTOL                              #  2 DEGREES.
007467,000221: 13,2200           00006                           EXTEND                                         
007468,000222: 13,2201           62166                           BZMF     CORSCHK2                              
007469,000223: 
007470,000224: 13,2202           05413                           TC       ALARM                                 #  COARSE ALIGN ERROR.
007471,000225: 13,2203           00211                           OCT      211                                   
007472,000226: 
007473,000227: 13,2204           12641                           TCF      IMUBAD                                
007474,000228: 
007475,000229: 13,2205           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS.
007476,000230: 

Page 195

007478,000232: 13,2206           62747        COMNEG             AD       -COMMAX                               
007479,000233: 13,2207           00006                           EXTEND                                         
007480,000234: 13,2210           62216                           BZMF     COMZERO                               
007481,000235: 13,2211           40000                           COM                                            
007482,000236: 13,2212           51454                           INDEX    CDUIND                                
007483,000237: 13,2213           55451                           TS       COMMAND                               
007484,000238: 13,2214           32750                           CA       -COMMAX-                              
007485,000239: 13,2215           02142                           TC       NEXTCDU                               
007486,000240: 
007487,000241: 13,2216           37665        COMZERO            CAF      ZERO                                  
007488,000242: 13,2217           51454                           INDEX    CDUIND                                
007489,000243: 13,2220           57451                           XCH      COMMAND                               
007490,000244: 13,2221           02142                           TC       NEXTCDU                               
007491,000245: 
007492,000246: 13,2222           32746        SENDPULS           CAF      13,14,15                              
007493,000247: 13,2223           00006                           EXTEND                                         
007494,000248: 13,2224           05014                           WOR      CHAN14                                
007495,000249: 13,2225           32751                           CAF      600MS                                 
007496,000250: 13,2226           12121                           TCF      COARS2     -1                         #  AND THEN TO VARDELAY.
007497,000251: 

Page 196

007499,000253:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
007500,000254: 
007501,000255: 13,2227           00004        IMUFINE            INHINT                                         
007502,000256: 13,2230           02655                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
007503,000257: 
007504,000258: 13,2231           42745                           CS       BITS4-6                               #  RESET ZERO, COARSE, AND ECTR ENABLE.
007505,000259: 13,2232           00006                           EXTEND                                         
007506,000260: 13,2233           03012                           WAND     12                                    
007507,000261: 
007508,000262: 13,2234           37646                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
007509,000263: 13,2235           04536                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN.  LEAVE
007510,000264: 13,2236           02247 26003                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
007511,000265: 
007512,000266: 13,2240           32752                           CAF      90SEC                                 #  GYRO RE-CENTERING TIME.
007513,000267: 13,2241           04536                           TC       WAITLIST                              
007514,000268: 13,2242           02245 26003                     2CADR    IMUFINED                              
007515,000269: 
007516,000270: 13,2244           12033                           TCF      MODEEXIT                              
007517,000271: 
007518,000272: 13,2245           02643        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
007519,000273: 13,2246           12633                           TCF      ENDIMU                                
007520,000274: 
007521,000275: 13,2247           02650        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FAIL UNLESS IMU BEING CAGED.
007522,000276: 13,2250           14602                           TCF      TASKOVER                              #  IT IS.
007523,000277: 
007524,000278: 13,2251           37654                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
007525,000279: 13,2252           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
007526,000280: 13,2253           02012                           RAND     12                                    
007527,000281: 13,2254           10000                           CCS      A                                     
007528,000282: 13,2255           14602                           TCF      TASKOVER                              
007529,000283: 
007530,000284: 13,2256           47654                           CS       BIT4                                  
007531,000285: 13,2257           70367        PFAILOK2           MASK     IMODES30                              
007532,000286: 13,2260           54367                           TS       IMODES30                              
007533,000287: 13,2261           14602                           TCF      TASKOVER                              
007534,000288: 
007535,000289: 13,2262           02650        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
007536,000290: 13,2263           14602                           TCF      TASKOVER                              
007537,000291: 
007538,000292: 13,2264           47653                           CS       BIT5                                  
007539,000293: 13,2265           12257                           TCF      PFAILOK2                              
007540,000294: 

Page 197

007542,000296:                                                                                                  #  ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
007543,000297: 
007544,000298: 13,2266           02650        PIPUSE             TC       CAGETSTQ                              #  DONT ENABLE PIPA FAIL IF IMU BEING CAGED
007545,000299: 13,2267           14076                           TCF      SWRETURN                              
007546,000300: 
007547,000301: 13,2270           00004                           INHINT                                         
007548,000302: 13,2271           37665                           CAF      ZERO                                  #  ZERO COUNTERS.
007549,000303: 13,2272           54037                           TS       PIPAX                                 
007550,000304: 13,2273           54040                           TS       PIPAY                                 
007551,000305: 13,2274           54041                           TS       PIPAZ                                 
007552,000306: 
007553,000307: 13,2275           47657                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
007554,000308: 13,2276           70367                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
007555,000309: 13,2277           54367                           TS       IMODES30                              
007556,000310: 
007557,000311: 13,2300           04156        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
007558,000312: 13,2301           25344                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
007559,000313: 
007560,000314: 13,2302           12033                           TCF      MODEEXIT                              
007561,000315: 
007562,000316: 13,2303           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
007563,000317: 13,2304           47657                           CS       BIT1                                  #  ISS WARNING.
007564,000318: 13,2305           70367                           MASK     IMODES30                              
007565,000319: 13,2306           67657                           AD       BIT1                                  
007566,000320: 13,2307           54367                           TS       IMODES30                              
007567,000321: 
007568,000322: 13,2310           77646                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
007569,000323: 13,2311           10000                           CCS      A                                     #  ISS WARNING.
007570,000324: 13,2312           12033                           TCF      MODEEXIT                              
007571,000325: 
007572,000326: 13,2313           05413                           TC       ALARM                                 
007573,000327: 13,2314           00212                           OCT      212                                   
007574,000328: 
007575,000329: 13,2315           00004                           INHINT                                         
007576,000330: 
007577,000331: 13,2316           12300                           TCF      PIPFREE2                              
007578,000332: 

Page 198

007580,000334:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
007581,000335:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
007582,000336:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
007583,000337: 
007584,000338: 13,2317  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
007585,000339: 
007586,000340: 13,2317           54145        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
007587,000341: 13,2320           02655                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
007588,000342: 
007589,000343: 13,2321           10357                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
007590,000344: 13,2322           02364                           TC       GYROBUSY                              #  SLEEP.
007591,000345: 
007592,000346: 13,2323           54142                           TS       MPAC       +2                         
007593,000347: 13,2324           37652                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
007594,000348: 13,2325           00006                           EXTEND                                         
007595,000349: 13,2326           05014                           WOR      14                                    
007596,000350: 
007597,000351: 13,2327           37655                           CAF      FOUR                                  
007598,000352: 13,2330           00004        GWAKE2             INHINT                                         #  (IF A JOB WAS PUT TO SLEEP, THE POWER
007599,000353: 13,2331           04536                           TC       WAITLIST                              #  SUPPLY IS LEFT ON BY THE WAKING JOB).
007600,000354: 13,2332           02402 26003                     2CADR    STRTGYRO                              
007601,000355: 
007602,000356: 13,2334           30145                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
007603,000357: 13,2335           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
007604,000358: 13,2336           56145                           XCH      MPAC       +5                         
007605,000359: 13,2337           54357                           TS       LGYRO                                 #  RESERVES GYROS.
007606,000360: 13,2340           75235                           MASK     LOW8                                  
007607,000361: 13,2341           54065                           TS       ITEMP1                                
007608,000362: 
007609,000363: 13,2342           37656                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
007610,000364: 13,2343           54143        GYROAGRE           TS       MPAC       +3                         
007611,000365: 13,2344           60000                           DOUBLE                                         
007612,000366: 13,2345           60065                           AD       ITEMP1                                
007613,000367: 13,2346           54144                           TS       MPAC       +4                         
007614,000368: 13,2347           00006                           EXTEND                                         
007615,000369: 13,2350           50000                           INDEX    A                                     
007616,000370: 13,2351           31401                           DCA      1400                                  
007617,000371: 13,2352           52141                           DXCH     MPAC                                  
007618,000372: 13,2353           07235                           TC       TPAGREE                               
007619,000373: 13,2354           52141                           DXCH     MPAC                                  
007620,000374: 13,2355           50144                           INDEX    MPAC       +4                         
007621,000375: 13,2356           53401                           DXCH     1400                                  
007622,000376: 
007623,000377: 13,2357           10143                           CCS      MPAC       +3                         
007624,000378: 13,2360           12343                           TCF      GYROAGRE                              
007625,000379: 
007626,000380: 13,2361           30145                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
007627,000381: 13,2362           54003                           TS       EBANK                                 
007628,000382: 13,2363           12033                           TCF      MODEEXIT                              
007629,000383: 

Page 199

007631,000385:                                                                                                  #  ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
007632,000386: 
007633,000387: 13,2364           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
007634,000388: 13,2365           30120                           DCA      BUF2                                  
007635,000389: 13,2366           52141                           DXCH     MPAC                                  
007636,000390: 13,2367           32401        REGSLEEP           CAF      LGWAKE                                
007637,000391: 13,2370           14416                           TCF      JOBSLEEP                              
007638,000392: 
007639,000393: 13,2371           10357        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
007640,000394: 13,2372           12367                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
007641,000395: 
007642,000396: 13,2373           54142                           TS       MPAC       +2                         
007643,000397: 13,2374           00006                           EXTEND                                         
007644,000398: 13,2375           30141                           DCA      MPAC                                  
007645,000399: 13,2376           52120                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
007646,000400: 13,2377           37657                           CAF      ONE                                   
007647,000401: 13,2400           12330                           TCF      GWAKE2                                
007648,000402: 
007649,000403: 13,2401           26371        LGWAKE             CADR     GWAKE                                 
007650,000404: 

Page 200

007652,000406:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
007653,000407: 
007654,000408: 13,2402           42630        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
007655,000409: 13,2403           00006                           EXTEND                                         
007656,000410: 13,2404           03014                           WAND     14                                    
007657,000411: 
007658,000412: 13,2405           02643                           TC       CAGETEST                              
007659,000413: 
007660,000414: 13,2406           30357        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
007661,000415: 13,2407           00006                           EXTEND                                         
007662,000416: 13,2410           77654                           MP       BIT4                                  
007663,000417: 13,2411           50000                           INDEX    A                                     
007664,000418: 13,2412           12413                           TCF      +1                                    
007665,000419: 13,2413           02442                           TC       GSELECT                               #  =0. DO Y GYRO.
007666,000420: 13,2414           00202                           OCT      00202                                 
007667,000421: 
007668,000422: 13,2415           02442                           TC       GSELECT                               #  =1. DO Z GYRO.
007669,000423: 13,2416           00302                           OCT      00302                                 
007670,000424: 
007671,000425: 13,2417           02440                           TC       GSELECT    -2                         #  =2. DO X GYRO.
007672,000426: 13,2420           00100                           OCT      00100                                 
007673,000427: 
007674,000428: 13,2421           37665                           CAF      ZERO                                  #  =3. DONE
007675,000429: 13,2422           54357                           TS       LGYRO                                 
007676,000430: 13,2423           32401                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
007677,000431: 13,2424           04422                           TC       JOBWAKE                               
007678,000432: 
007679,000433: 13,2425           37656                           CAF      BIT2                                  #  DONT RESET POWER SUPPLY IF BIT SET
007680,000434: 13,2426           70370                           MASK     IMODES33                              #  (ONLY DURING GYRO TORQUE SCALE FACTOR
007681,000435: 13,2427           10000                           CCS      A                                     #  TEST).
007682,000436: 13,2430           12437                           TCF      NORESET                               
007683,000437: 
007684,000438: 13,2431           10071                           CCS      LOCCTR                                #  IF A JOB WAS AWAKENED, DONT RESET GYRO
007685,000439: 13,2432           12437                           TCF      NORESET                               #  ENABLE.
007686,000440: 
007687,000441: 13,2433           12437                           TCF      NORESET                               
007688,000442: 
007689,000443: 13,2434           47652                           CS       BIT6                                  #  IF NO JOB AWAKENED, RESET GYRO ENABLE.
007690,000444: 13,2435           00006                           EXTEND                                         
007691,000445: 13,2436           03014                           WAND     14                                    
007692,000446: 
007693,000447: 13,2437           12245        NORESET            TCF      IMUFINED                              
007694,000448: 

Page 201

007696,000450: 13,2440           47655                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
007697,000451: 13,2441           26357                           ADS      LGYRO                                 
007698,000452: 
007699,000453: 13,2442           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
007700,000454: 13,2443           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
007701,000455: 13,2444           54071                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
007702,000456: 13,2445           77663                           MASK     SEVEN                                 
007703,000457: 13,2446           67643                           AD       BIT13                                 
007704,000458: 13,2447           26357                           ADS      LGYRO                                 
007705,000459: 13,2450           54003                           TS       EBANK                                 
007706,000460: 13,2451           75235                           MASK     LOW8                                  
007707,000461: 13,2452           54065                           TS       ITEMP1                                
007708,000462: 
007709,000463: 13,2453           47663                           CS       SEVEN                                 
007710,000464: 13,2454           70071                           MASK     ITEMP4                                
007711,000465: 13,2455           54071                           TS       ITEMP4                                
007712,000466: 
007713,000467: 13,2456           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
007714,000468: 13,2457           50065                           INDEX    ITEMP1                                
007715,000469: 13,2460           31401                           DCA      1400                                  
007716,000470: 13,2461           52075                           DXCH     RUPTREG1                              
007717,000471: 
007718,000472: 13,2462           10074                           CCS      RUPTREG1                              
007719,000473: 13,2463           12476                           TCF      MAJ+                                  
007720,000474: 13,2464           12466                           TCF      +2                                    
007721,000475: 13,2465           12611                           TCF      MAJ-                                  
007722,000476: 
007723,000477: 13,2466           10075                           CCS      RUPTREG2                              
007724,000478: 13,2467           12473                           TCF      MIN+                                  
007725,000479: 13,2470           12406                           TCF      STRTGYR2                              
007726,000480: 13,2471           12606                           TCF      MIN-                                  
007727,000481: 13,2472           12406                           TCF      STRTGYR2                              
007728,000482: 

Page 202

007730,000484: 13,2473           62527        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
007731,000485: 13,2474           00006                           EXTEND                                         #  16 GYRO PULSES.
007732,000486: 13,2475           62406                           BZMF     STRTGYR2                              
007733,000487: 
007734,000488: 13,2476           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
007735,000489: 13,2477           32632                           DCA      GYROFRAC                              
007736,000490: 13,2500           20075                           DAS      RUPTREG1                              
007737,000491: 
007738,000492: 13,2501           30071                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
007739,000493: 13,2502           00006                           EXTEND                                         
007740,000494: 13,2503           05014                           WOR      14                                    
007741,000495: 
007742,000496: 13,2504           36027                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
007743,000497: 13,2505           70075                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
007744,000498: 13,2506           56075                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
007745,000499: 13,2507           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
007746,000500: 13,2510           77650                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
007747,000501: 13,2511           54066                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
007748,000502: 13,2512           30074                           CA       RUPTREG1                              
007749,000503: 13,2513           00006                           EXTEND                                         
007750,000504: 13,2514           77647                           MP       BIT9                                  
007751,000505: 13,2515           54074                           TS       RUPTREG1                              
007752,000506: 13,2516           30001                           CA       L                                     
007753,000507: 13,2517           00006                           EXTEND                                         
007754,000508: 13,2520           77642                           MP       BIT14                                 
007755,000509: 13,2521           26066                           ADS      ITEMP2                                #  INITIAL COMMAND.
007756,000510: 
007757,000511: 13,2522           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
007758,000512: 13,2523           30075                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
007759,000513: 13,2524           67667                           AD       MINUS1                                
007760,000514: 13,2525           10000                           CCS      A                                     
007761,000515: 13,2526           12552                           TCF      LONGGYRO                              
007762,000516: 13,2527           77600        -GYROMIN           OCT      -177                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD.
007763,000517: 
007764,000518: 13,2530           12534                           TCF      +4                                    
007765,000519: 
007766,000520: 13,2531           37642                           CAF      BIT14                                 
007767,000521: 13,2532           26066                           ADS      ITEMP2                                
007768,000522: 13,2533           37665                           CAF      ZERO                                  
007769,000523: 
007770,000524: 13,2534           50065                 +4        INDEX    ITEMP1                                
007771,000525: 13,2535           53401                           DXCH     1400                                  

Page 203

007773,000527: 13,2536           30066                           CA       ITEMP2                                #  ENTIRE COMMAND.
007774,000528: 13,2537           54047        LASTSEG            TS       GYROCMD                               
007775,000529: 13,2540           00006                           EXTEND                                         
007776,000530: 13,2541           77646                           MP       BIT10                                 #  WAITLIST DT
007777,000531: 13,2542           66165                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
007778,000532: 13,2543           04536                           TC       WAITLIST                              
007779,000533: 13,2544           02402 26003                     2CADR    STRTGYRO                              
007780,000534: 
007781,000535: 13,2546           37646        GYROEXIT           CAF      BIT10                                 #  TURN ON GYRO ACTIVITY TO START TRAIN.
007782,000536: 13,2547           00006                           EXTEND                                         
007783,000537: 13,2550           05014                           WOR      14                                    
007784,000538: 13,2551           14602                           TCF      TASKOVER                              
007785,000539: 
007786,000540: 13,2552           50065        LONGGYRO           INDEX    ITEMP1                                
007787,000541: 13,2553           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
007788,000542: 13,2554           37642                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
007789,000543: 13,2555           60066                           AD       ITEMP2                                
007790,000544: 13,2556           54047                           TS       GYROCMD                               
007791,000545: 
007792,000546: 13,2557           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
007793,000547: 13,2560           77646                           MP       BIT10                                 #  ALMOST OUT.
007794,000548: 13,2561           67671                           AD       NEG3                                  
007795,000549: 13,2562           04536                           TC       WAITLIST                              
007796,000550: 13,2563           02566 26003                     2CADR    8192AUG                               
007797,000551: 
007798,000552: 13,2565           12546                           TCF      GYROEXIT                              
007799,000553: 
007800,000554: 13,2566           02643        8192AUG            TC       CAGETEST                              
007801,000555: 
007802,000556: 13,2567           30357                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
007803,000557: 13,2570           54003                           TS       EBANK                                 
007804,000558: 13,2571           75235                           MASK     LOW8                                  
007805,000559: 13,2572           54065                           TS       ITEMP1                                
007806,000560: 
007807,000561: 13,2573           50065                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
007808,000562: 13,2574           11400                           CCS      1400                                  
007809,000563: 13,2575           12601                           TCF      AUG2                                  #  MORE TO COME.
007810,000564: 
007811,000565: 13,2576           37642                           CAF      BIT14                                 
007812,000566: 13,2577           26047                           ADS      GYROCMD                               
007813,000567: 13,2600           12540                           TCF      LASTSEG    +1                         
007814,000568: 
007815,000569: 13,2601           50065        AUG2               INDEX    ITEMP1                                
007816,000570: 13,2602           55400                           TS       1400                                  
007817,000571: 13,2603           37642                           CAF      BIT14                                 
007818,000572: 13,2604           26047                           ADS      GYROCMD                               
007819,000573: 13,2605           12557                           TCF      AUG3                                  #  COMPUTE DT.
007820,000574: 

Page 204

007822,000576: 13,2606           62527        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
007823,000577: 13,2607           00006                           EXTEND                                         
007824,000578: 13,2610           62406                           BZMF     STRTGYR2                              
007825,000579: 
007826,000580: 13,2611           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
007827,000581: 13,2612           42632                           DCS      GYROFRAC                              
007828,000582: 13,2613           20075                           DAS      RUPTREG1                              
007829,000583: 
007830,000584: 13,2614           30071                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
007831,000585: 13,2615           67647                           AD       BIT9                                  
007832,000586: 13,2616           00006                           EXTEND                                         
007833,000587: 13,2617           05014                           WOR      14                                    
007834,000588: 
007835,000589: 13,2620           40074                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
007836,000590: 13,2621           54074                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
007837,000591: 13,2622           40075                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
007838,000592: 13,2623           76027                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
007839,000593: 13,2624           40000                           COM                                            
007840,000594: 13,2625           56075                           XCH      RUPTREG2                              
007841,000595: 13,2626           40000                           COM                                            
007842,000596: 13,2627           12507                           TCF      GMERGE                                
007843,000597: 
007844,000598: 13,2630           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
007845,000599: 
007846,000600: 13,2631           00000 00034  GYROFRAC           2DEC     .215       B-21                       
007847,000601: 

Page 205

007849,000603:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
007850,000604: 
007851,000605: 13,2633           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
007852,000606: 13,2634           00011                           READ     11                                    #  ISS WARNING IS ON.
007853,000607: 13,2635           77657                           MASK     BIT1                                  
007854,000608: 13,2636           10000                           CCS      A                                     
007855,000609: 13,2637           12641                           TCF      IMUBAD                                
007856,000610: 
007857,000611: 13,2640           12667        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
007858,000612: 
007859,000613: 13,2641           37665        IMUBAD             CAF      ZERO                                  
007860,000614: 13,2642           12664                           TCF      BADEND                                
007861,000615: 
007862,000616: 13,2643           37652        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
007863,000617: 13,2644           70367                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
007864,000618: 13,2645           10000                           CCS      A                                     
007865,000619: 13,2646           12641                           TCF      IMUBAD                                #  DIRECTLY.
007866,000620: 13,2647           00002                           TC       Q                                     #  WITH C(A) = +0.
007867,000621: 
007868,000622: 13,2650           40367        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
007869,000623: 13,2651           77652                           MASK     BIT6                                  
007870,000624: 13,2652           10000                           CCS      A                                     
007871,000625: 13,2653           24002                           INCR     Q                                     
007872,000626: 13,2654           00002                           TC       Q                                     
007873,000627: 
007874,000628: 13,2655           40367        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION 
007875,000629: 13,2656           77652                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
007876,000630: 13,2657           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
007877,000631: 13,2660           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
007878,000632: 
007879,000633: 13,2661           47665                           CS       ZERO                                  #  TO SWRETURN.
007880,000634: 13,2662           54371                           TS       IMUCADR                               
007881,000635: 13,2663           12033                           TCF      MODEEXIT                              
007882,000636: 

Page 206

007884,000638:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
007885,000639:                                                                                                  #  OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR AOT, AND 2 FOR RADARS.
007886,000640: 
007887,000641: 13,2664           54075        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
007888,000642: 13,2665           47665                           CS       ZERO                                  #  FOR FAILURE.
007889,000643: 13,2666           12671                           TCF      GOODEND    +2                         
007890,000644: 
007891,000645: 13,2667           54075        GOODEND            TS       RUPTREG2                              
007892,000646: 13,2670           47657                           CS       ONE                                   #  FOR SUCCESS.
007893,000647: 
007894,000648: 13,2671           54076                           TS       RUPTREG3                              
007895,000649: 13,2672           50075                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
007896,000650: 13,2673           10371                           CCS      MODECADR                              
007897,000651: 13,2674           12676                           TCF      +2                                    #  YES - WAKE IT UP.
007898,000652: 13,2675           12706                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
007899,000653: 
007900,000654: 13,2676           37665                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
007901,000655: 13,2677           50075                           INDEX    RUPTREG2                              
007902,000656: 13,2700           56371                           XCH      MODECADR                              
007903,000657: 13,2701           04422                           TC       JOBWAKE                               
007904,000658: 
007905,000659: 13,2702           40076                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
007906,000660: 13,2703           50071                           INDEX    LOCCTR                                
007907,000661: 13,2704           26150                           ADS      LOC                                   
007908,000662: 
007909,000663: 13,2705           14602                           TCF      TASKOVER                              
007910,000664: 
007911,000665: 13,2706           30076        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
007912,000666: 13,2707           50075                           INDEX    RUPTREG2                              #  UNSUCCESSFUL - -1 INDICATES COMPLETE AND
007913,000667: 13,2710           54371                           TS       MODECADR                              #  SUCCESSFUL.
007914,000668: 13,2711           14602                           TCF      TASKOVER                              
007915,000669: 

Page 207

007917,000671:                                                                                                  #  GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
007918,000672: 
007919,000673: 13,2712           37656        RADSTALL           CAF      TWO                                   #  RR AND LR STALL.
007920,000674: 13,2713           12717                           TCF      STALL                                 
007921,000675: 
007922,000676: 13,2714           37657        AOTSTALL           CAF      ONE                                   #  AOT.
007923,000677: 13,2715           02717                           TC       STALL                                 
007924,000678: 
007925,000679: 13,2716  13,2714               OPTSTALL           EQUALS   AOTSTALL                              
007926,000680: 
007927,000681: 13,2716  13,2712               LOTSTALL           EQUALS   RADSTALL                              
007928,000682: 13,2716           37665        IMUSTALL           CAF      ZERO                                  #  IMU.
007929,000683: 
007930,000684: 13,2717           00004        STALL              INHINT                                         
007931,000685: 13,2720           54075                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
007932,000686: 13,2721           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
007933,000687: 13,2722           10371                           CCS      MODECADR                              
007934,000688: 13,2723           12741                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
007935,000689: 13,2724           12735                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
007936,000690: 13,2725           12731                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
007937,000691: 
007938,000692: 13,2726           50075        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
007939,000693: 13,2727           54371                           TS       MODECADR                              #  RETURN TO CALLER.
007940,000694: 13,2730           12033                           TCF      MODEEXIT                              
007941,000695: 
007942,000696: 13,2731           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
007943,000697: 13,2732           12741                           TCF      MODABORT                              
007944,000698: 
007945,000699: 13,2733           24117                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
007946,000700: 13,2734           12726                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
007947,000701: 
007948,000702: 13,2735           04112        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
007949,000703: 13,2736           50075                           INDEX    RUPTREG2                              
007950,000704: 13,2737           54371                           TS       MODECADR                              
007951,000705: 13,2740           14416                           TCF      JOBSLEEP                              
007952,000706: 
007953,000707: 13,2741           05446        MODABORT           TC       ABORT                                 #  TWO PROGRAMS USING SAME DEVICE.
007954,000708: 13,2742           01210                           OCT      1210                                  
007955,000709: 

Page 208

007957,000711:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
007958,000712: 
007959,000713: 13,2743           00014        BITS3&4            OCT      14                                    
007960,000714: 13,2744           00050        BITS4&6            OCT      00050                                 
007961,000715: 13,2745           00070        BITS4-6            OCT      00070                                 
007962,000716: 13,2746     7650               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
007963,000717: 13,2746           70000        13,14,15           OCT      70000                                 
007964,000718: 
007965,000719: 13,2747           77500        -COMMAX            DEC      -191       B-14                       
007966,000720: 13,2750           77477        -COMMAX-           DEC      -192       B-14                       
007967,000721: 13,2751           00074        600MS              DEC      60         B-14                       
007968,000722: 13,2752     4762               3SECSM             EQUALS   3SECS                                 
007969,000723: 13,2752           21450        90SEC              DEC      9000       B-14                       
007970,000724: 
007971,000725: 13,2753                        ENDIMODS           EQUALS                                         

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