Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

057328,000002:                                                                                                  ## Copyright:   Public domain.
057329,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
057330,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
057331,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
057332,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
057333,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
057334,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
057335,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
057336,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
057337,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
057338,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
057339,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
057340,000014:                                                                                                  ##              the original YUL assembler.
057341,000015:                                                                                                  ##
057342,000016:                                                                                                  ## Assembler:   yaYUL
057343,000017:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>.
057344,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
057345,000019:                                                                                                  ## Pages:       1309-1337
057346,000020:                                                                                                  ## Mod history: 2009-05-28 OH   Transcribed from page images.
057347,000021:                                                                                                  ##              2009-06-05 RSB  Fixed a typo.
057348,000022:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
057349,000023:                                                                                                  ##              2011-05-08 JL   Removed workaround. Flagged SBANK= 
057350,000024:                                                                                                  ##                              workaround for future removal.
057351,000025:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
057352,000026:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
057353,000027:                                                                                                  ##                              and corrected the errors found.
057354,000028:                                                                                                  ##              2017-01-18 RRB  Found typo while updating for Luminary 69.
057355,000029:                                                                                                  ##              2017-01-28 RSB  Comment-text fixes identified for Luminary 69.
057356,000030:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
057357,000031:                                                                                                  ##              2017-03-15 RSB  Comment-text fixes identified in 6-way
057358,000032:                                                                                                  ##                              side-by-side diff of Sunburst 120 and Luminary 
057359,000033:                                                                                                  ##                              69/99/116/131/210.
057360,000034:                                                                                                  ##              2017-06-17 MAS  Globally removed all SBANK= workarounds.
057361,000035:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
057362,000036: 
057363,000037:                                                                                                  ## This source code has been transcribed or otherwise adapted from
057364,000038:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
057365,000039:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
057366,000040:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
057367,000041:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
057368,000042:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
057369,000043:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
057370,000044:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
057371,000045:                                                                                                  ## actually created.
057372,000046:                                                                                                  ##
057373,000047:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
057374,000048:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
057375,000049:                                                                                                  ## the listing from which it was transcribed. It has been verified to
057376,000050:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
057377,000051:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
057378,000052:                                                                                                  ##
057379,000053:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
057380,000054:                                                                                                  ##
057381,000055:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
057382,000056: 

Page 1309

057384,000058:    5457                                           BLOCK    02                                    
057385,000059:    4000                                           SETLOC   FFTAG3                                
057386,000060:    4000                                           BANK                                           
057387,000061: 
057388,000062:    5457  E3,1471                                  EBANK=   COMMAND                               
057389,000063: 
057390,000064:                                                                                                  #  FIXED-FIXED ROUTINES.
057391,000065: 
057392,000066:    5457                                           COUNT*   $$/IMODE                              
057393,000067:    5457           34755        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
057394,000068:    5460           54032                           TS       CDUX                                  
057395,000069:    5461           54033                           TS       CDUY                                  
057396,000070:    5462           54034                           TS       CDUZ                                  
057397,000071:    5463           00002                           TC       Q                                     
057398,000072: 
057399,000073:    5464     4743               SPSCODE            =        BIT9                                  
057400,000074: 

Page 1310

057402,000076:                                                                                                  #  IMU ZEROING ROUTINE.
057403,000077: 
057404,000078: 11,3776                                           BANK     11                                    
057405,000079: 07,2000                                           SETLOC   MODESW                                
057406,000080: 07,2000                                           BANK                                           
057407,000081: 
057408,000082: 07,2714                                           COUNT*   $$/IMODE                              
057409,000083: 07,2714           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
057410,000084: 07,2715           41036                           CS       DSPTAB     +11D                       #  DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
057411,000085: 07,2716           74771                           MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
057412,000086: 07,2717           10000                           CCS      A                                     
057413,000087: 07,2720           12724                           TCF      IMUZEROA                              
057414,000088: 
057415,000089: 07,2721           05567                           TC       ALARM                                 #  IF SO.
057416,000090: 07,2722           00206                           OCT      00206                                 
057417,000091: 
057418,000092: 07,2723           13657                           TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
057419,000093: 
057420,000094: 07,2724           03653        IMUZEROA           TC       CAGETSTJ                              
057421,000095:                                                                                                  #  DELETE
057422,000096: 07,2725           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
057423,000097: 07,2726           74773                           MASK     SUPER011                              #        BIT5 FOR GROUND
057424,000098: 07,2727           27303                           ADS      IMODES33                              
057425,000099: 
057426,000100: 07,2730           41302                           CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
057427,000101: 07,2731           75751                           MASK     BITS3&4                               #  JUST CAME OUT OF COARSE ALIGN).
057428,000102: 07,2732           27302                           ADS      IMODES30                              
057429,000103: 
057430,000104: 07,2733           44771                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
057431,000105: 07,2734           00006                           EXTEND                                         #  COUNTER DISABLED.
057432,000106: 07,2735           03012                           WAND     CHAN12                                
057433,000107: 
057434,000108: 07,2736           03266                           TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
057435,000109: 
057436,000110: 07,2737           34747                           CAF      BIT5                                  
057437,000111: 07,2740           00006                           EXTEND                                         
057438,000112: 07,2741           05012                           WOR      CHAN12                                
057439,000113: 
057440,000114: 07,2742           05457                           TC       ZEROICDU                              
057441,000115: 07,2743           34746                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
057442,000116: 07,2744           05203                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
057443,000117: 07,2745  E3,1474                                  EBANK=   CDUIND                                
057444,000118: 07,2745           02757 16103                     2CADR    IMUZERO2                              
057445,000119: 
057446,000120: 07,2747           41302                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
057447,000121: 07,2750           74743                           MASK     BIT9                                  
057448,000122: 07,2751           10000                           CCS      A                                     
057449,000123: 07,2752           12755                           TCF      MODEEXIT                              

Page 1311

057451,000125: 07,2753           05567                           TC       ALARM                                 
057452,000126: 07,2754           00210                           OCT      210                                   
057453,000127: 
057454,000128: 07,2755           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
057455,000129: 07,2756           14631                           TCF      SWRETURN                              
057456,000130: 
057457,000131: 07,2757           03641        IMUZERO2           TC       CAGETEST                              
057458,000132: 07,2760           05457                           TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
057459,000133: 
057460,000134: 07,2761           44747                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
057461,000135: 07,2762           00006                           EXTEND                                         
057462,000136: 07,2763           03012                           WAND     CHAN12                                
057463,000137: 
057464,000138: 07,2764           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
057465,000139: 07,2765           05224                           TC       VARDELAY                              
057466,000140: 
057467,000141: 07,2766           03641        IMUZERO3           TC       CAGETEST                              
057468,000142: 07,2767           45751                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
057469,000143: 07,2770           71302                           MASK     IMODES30                              
057470,000144: 07,2771           55302                           TS       IMODES30                              
057471,000145: 
057472,000146: 07,2772           44773                           CS       SUPER011                              #  ENABLE DAP AUTO AND HOLD MODES
057473,000147: 07,2773           71303                           MASK     IMODES33                              #        BIT5 FOR GROUND
057474,000148: 07,2774           55303                           TS       IMODES33                              
057475,000149: 
057476,000150: 07,2775           04674                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
057477,000151: 07,2776           14703                           CADR     SETISSW                               #  PRESENT.
057478,000152: 
057479,000153: 07,2777           13631                           TCF      ENDIMU                                
057480,000154: 

Page 1312

057482,000156:                                                                                                  #  IMU COARSE ALIGN MODE.
057483,000157: 
057484,000158: 07,3000           00004        IMUCOARS           INHINT                                         
057485,000159: 07,3001           03653                           TC       CAGETSTJ                              
057486,000160: 07,3002           03144                           TC       SETCOARS                              
057487,000161: 
057488,000162: 07,3003           36242                           CAF      SIX                                   
057489,000163: 07,3004           05203                           TC       WAITLIST                              
057490,000164: 07,3005  E3,1474                                  EBANK=   CDUIND                                
057491,000165: 07,3005           03010 16103                     2CADR    COARS                                 
057492,000166: 
057493,000167: 07,3007           12755                           TCF      MODEEXIT                              
057494,000168: 
057495,000169: 07,3010           03641        COARS              TC       CAGETEST                              
057496,000170: 07,3011           34746                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
057497,000171: 07,3012           00006                           EXTEND                                         
057498,000172: 07,3013           05012                           WOR      CHAN12                                
057499,000173: 
057500,000174: 07,3014           34752                           CAF      TWO                                   #  SET CDU INDICATOR
057501,000175: 07,3015           55474        COARS1             TS       CDUIND                                
057502,000176: 
057503,000177: 07,3016           51474                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
057504,000178: 07,3017           30321                           CA       THETAD                                #        COMPLEMENT FORM
057505,000179: 07,3020           00006                           EXTEND                                         
057506,000180: 07,3021           51474                           INDEX    CDUIND                                
057507,000181: 07,3022           20032                           MSU      CDUX                                  
057508,000182: 07,3023           00006                           EXTEND                                         
057509,000183: 07,3024           74737                           MP       BIT13                                 #  SHIFT RIGHT 2
057510,000184: 07,3025           56001                           XCH      L                                     #  ROUND
057511,000185: 07,3026           60000                           DOUBLE                                         
057512,000186: 07,3027           54061                           TS       ITEMP1                                
057513,000187: 07,3030           13032                           TCF      +2                                    
057514,000188: 07,3031           26001                           ADS      L                                     
057515,000189: 
057516,000190: 07,3032           51474                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
057517,000191: 07,3033           23471                           LXCH     COMMAND                               
057518,000192: 07,3034           11474                           CCS      CDUIND                                
057519,000193: 07,3035           03015                           TC       COARS1                                
057520,000194: 
057521,000195: 07,3036           34752                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
057522,000196: 07,3037           05224                           TC       VARDELAY                              
057523,000197: 

Page 1313

057525,000199: 07,3040           03641        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
057526,000200: 07,3041           54061                           TS       ITEMP1                                #  SETS TO +0.
057527,000201: 07,3042           34752                           CAF      TWO                                   #  SET CDU INDICATOR
057528,000202: 07,3043           55474                 +3        TS       CDUIND                                
057529,000203: 
057530,000204: 07,3044           51474                           INDEX    CDUIND                                
057531,000205: 07,3045           11471                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
057532,000206: 07,3046           03052                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
057533,000207: 07,3047           03061                           TC       NEXTCDU    +1                         
057534,000208: 07,3050           03117                           TC       COMNEG                                
057535,000209: 07,3051           03061                           TC       NEXTCDU    +1                         
057536,000210: 
057537,000211: 07,3052           63745        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
057538,000212: 07,3053           00006                           EXTEND                                         #        MINUS ONE
057539,000213: 07,3054           63127                           BZMF     COMZERO                               
057540,000214: 07,3055           51474                           INDEX    CDUIND                                
057541,000215: 07,3056           55471                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
057542,000216: 07,3057           43746                           CS       -COMMAX-                              #        ALLOWED
057543,000217: 
057544,000218: 07,3060           24061        NEXTCDU            INCR     ITEMP1                                
057545,000219: 07,3061           64754                           AD       NEG0                                  
057546,000220: 07,3062           51474                           INDEX    CDUIND                                
057547,000221: 07,3063           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
057548,000222: 
057549,000223: 07,3064           11474                           CCS      CDUIND                                
057550,000224: 07,3065           03043                           TC       COARS2     +3                         
057551,000225: 
057552,000226: 07,3066           10061                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
057553,000227: 07,3067           13133                           TCF      SENDPULS                              
057554,000228: 
057555,000229: 07,3070           05221                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
057556,000230: 07,3071           00226                           DEC      150        B-14                       
057557,000231: 
057558,000232: 07,3072           34752                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
057559,000233: 07,3073           54061        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
057560,000234: 07,3074           50000                           INDEX    A                                     
057561,000235: 07,3075           30032                           CA       CDUX                                  
057562,000236: 07,3076           00006                           EXTEND                                         
057563,000237: 07,3077           50061                           INDEX    ITEMP1                                
057564,000238: 07,3100           20321                           MSU      THETAD                                
057565,000239: 07,3101           10000                           CCS      A                                     
057566,000240: 07,3102           13110                           TCF      COARSERR                              
057567,000241: 07,3103           13105                           TCF      CORSCHK2                              
057568,000242: 07,3104           13110                           TCF      COARSERR                              
057569,000243: 

Page 1314

057571,000245: 07,3105           10061        CORSCHK2           CCS      ITEMP1                                
057572,000246: 07,3106           13073                           TCF      CHKCORS                               
057573,000247: 07,3107           13631                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
057574,000248: 
057575,000249: 07,3110           63116        COARSERR           AD       COARSTOL                              #  2 DEGREES.
057576,000250: 07,3111           00006                           EXTEND                                         
057577,000251: 07,3112           63105                           BZMF     CORSCHK2                              
057578,000252: 
057579,000253: 07,3113           05567                           TC       ALARM                                 #  COARSE ALIGN ERROR.
057580,000254: 07,3114           00211                           OCT      211                                   
057581,000255: 
057582,000256: 07,3115           13637                           TCF      IMUBAD                                
057583,000257: 
057584,000258: 07,3116           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
057585,000259: 
057586,000260: 07,3117           63745        COMNEG             AD       -COMMAX                               
057587,000261: 07,3120           00006                           EXTEND                                         
057588,000262: 07,3121           63127                           BZMF     COMZERO                               
057589,000263: 07,3122           40000                           COM                                            
057590,000264: 07,3123           51474                           INDEX    CDUIND                                
057591,000265: 07,3124           55471                           TS       COMMAND                               
057592,000266: 07,3125           33746                           CA       -COMMAX-                              
057593,000267: 07,3126           03060                           TC       NEXTCDU                               
057594,000268: 
057595,000269: 07,3127           34755        COMZERO            CAF      ZERO                                  
057596,000270: 07,3130           51474                           INDEX    CDUIND                                
057597,000271: 07,3131           57471                           XCH      COMMAND                               
057598,000272: 07,3132           03060                           TC       NEXTCDU                               
057599,000273: 
057600,000274: 07,3133           37740        SENDPULS           CAF      13,14,15                              
057601,000275: 07,3134           00006                           EXTEND                                         
057602,000276: 07,3135           05014                           WOR      CHAN14                                
057603,000277: 07,3136           33747                           CAF      600MS                                 
057604,000278: 07,3137           13037                           TCF      COARS2     -1                         #  THEN TO VARDELAY
057605,000279: 
057606,000280: 07,3140           34746        CA+ECE             CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
057607,000281: 07,3141           00006                           EXTEND                                         
057608,000282: 07,3142           05012                           WOR      CHAN12                                
057609,000283: 07,3143           05261                           TC       TASKOVER                              
057610,000284: 

Page 1315

057612,000286: 07,3144           34750        SETCOARS           CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
057613,000287: 07,3145           00006                           EXTEND                                         
057614,000288: 07,3146           02012                           RAND     CHAN12                                
057615,000289: 07,3147           10000                           CCS      A                                     
057616,000290: 07,3150           00002                           TC       Q                                     
057617,000291: 
057618,000292: 07,3151           44746                           CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
057619,000293: 07,3152           00006                           EXTEND                                         
057620,000294: 07,3153           03012                           WAND     CHAN12                                
057621,000295: 
057622,000296: 07,3154           44742                           CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
057623,000297: 07,3155           00006                           EXTEND                                         
057624,000298: 07,3156           03014                           WAND     CHAN14                                
057625,000299: 07,3157           44755                           CS       ZERO                                  
057626,000300: 07,3160           54047                           TS       GYROCMD                               
057627,000301: 
057628,000302: 07,3161           34750                           CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
057629,000303: 07,3162           00006                           EXTEND                                         
057630,000304: 07,3163           05012                           WOR      CHAN12                                
057631,000305: 
057632,000306: 07,3164           41036                           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
057633,000307: 07,3165           73207                           MASK     OCT40010                              
057634,000308: 07,3166           27036                           ADS      DSPTAB     +11D                       
057635,000309: 
057636,000310: 07,3167           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
057637,000311: 07,3170           74746                           MASK     BIT6                                  
057638,000312: 07,3171           27303                           ADS      IMODES33                              
057639,000313: 
057640,000314: 07,3172           41302                           CS       IMODES30                              #  DISABLE IMUFAIL
057641,000315: 07,3173           74750                           MASK     BIT4                                  
057642,000316: 07,3174           27302                           ADS      IMODES30                              
057643,000317: 
057644,000318: 07,3175           44747        RNDREFDR           CS       TRACKBIT                              #  CLEAR TRACK FLAG
057645,000319: 07,3176           70075                           MASK     FLAGWRD1                              
057646,000320: 07,3177           54075                           TS       FLAGWRD1                              
057647,000321: 
057648,000322: 07,3200           44735                           CS       DRFTBIT                               #  CLEAR DRIFT FLAG
057649,000323: 07,3201           70076                           MASK     FLAGWRD2                              
057650,000324: 07,3202           54076                           TS       FLAGWRD2                              
057651,000325: 
057652,000326: 07,3203           44737                           CS       REFSMBIT                              #  CLEAR REFSMMAT FLAG
057653,000327: 07,3204           70077                           MASK     FLAGWRD3                              
057654,000328: 07,3205           54077                           TS       FLAGWRD3                              
057655,000329: 
057656,000330: 07,3206           00002                           TC       Q                                     
057657,000331: 
057658,000332: 07,3207           40010        OCT40010           OCT      40010                                 
057659,000333: 

Page 1316

057661,000335:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
057662,000336: 
057663,000337: 07,3210           00004        IMUFINE            INHINT                                         
057664,000338: 07,3211           03653                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
057665,000339: 
057666,000340: 07,3212           43744                           CS       BITS4-5                               #  RESET ZERO AND COARSE
057667,000341: 07,3213           00006                           EXTEND                                         
057668,000342: 07,3214           03012                           WAND     CHAN12                                
057669,000343: 
057670,000344: 07,3215           44746                           CS       BIT6                                  #  INSURE DAP AUTO AND HOLD MODES ENABLED
057671,000345: 07,3216           71303                           MASK     IMODES33                              
057672,000346: 07,3217           55303                           TS       IMODES33                              
057673,000347: 
057674,000348: 07,3220           03266                           TC       NOATTOFF                              
057675,000349: 
057676,000350: 07,3221           34742                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
057677,000351: 07,3222           05203                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN.  LEAVE
057678,000352: 07,3223  E3,1474                                  EBANK=   CDUIND                                
057679,000353: 07,3223           03234 16103                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
057680,000354: 
057681,000355: 07,3225           35000                           CAF      2SECS                                 
057682,000356: 07,3226           05203                           TC       WAITLIST                              
057683,000357: 07,3227  E3,1474                                  EBANK=   CDUIND                                
057684,000358: 07,3227           03232 16103                     2CADR    IMUFINED                              
057685,000359: 
057686,000360: 07,3231           12755                           TCF      MODEEXIT                              
057687,000361: 
057688,000362: 07,3232           03641        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
057689,000363: 07,3233           13631                           TCF      ENDIMU                                
057690,000364: 

Page 1317

057692,000366: 07,3234           03646        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FIAL UNLESS IMU BEING CAGED.
057693,000367: 07,3235           15261                           TCF      TASKOVER                              #  IT IS.
057694,000368: 
057695,000369: 07,3236           34750                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
057696,000370: 07,3237           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
057697,000371: 07,3240           02012                           RAND     CHAN12                                
057698,000372: 07,3241           10000                           CCS      A                                     
057699,000373: 07,3242           15261                           TCF      TASKOVER                              
057700,000374: 
057701,000375: 07,3243           41302                           CS       IMODES30                              #  RESET IMUFAIL.
057702,000376: 07,3244           74737                           MASK     BIT13                                 
057703,000377: 07,3245           27302                           ADS      IMODES30                              
057704,000378: 07,3246           44750                           CS       BIT4                                  
057705,000379: 07,3247           71302        PFAILOK2           MASK     IMODES30                              
057706,000380: 07,3250           55302                           TS       IMODES30                              
057707,000381: 07,3251           04674                           TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
057708,000382: 07,3252           14703                           CADR     SETISSW                               #  THAT THE INHIBIT HAS BEEN REMOVED.
057709,000383: 07,3253           15261                           TCF      TASKOVER                              
057710,000384: 
057711,000385: 07,3254           03646        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
057712,000386: 07,3255           15261                           TCF      TASKOVER                              
057713,000387: 
057714,000388: 07,3256           41302                           CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
057715,000389: 07,3257           74742                           MASK     BIT10                                 
057716,000390: 07,3260           27302                           ADS      IMODES30                              
057717,000391: 
057718,000392: 07,3261           41303                           CS       IMODES33                              
057719,000393: 07,3262           74737                           MASK     BIT13                                 
057720,000394: 07,3263           27303                           ADS      IMODES33                              
057721,000395: 
057722,000396: 07,3264           44747                           CS       BIT5                                  
057723,000397: 07,3265           13247                           TCF      PFAILOK2                              
057724,000398: 
057725,000399: 07,3266           43207        NOATTOFF           CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
057726,000400: 07,3267           71036                           MASK     DSPTAB     +11D                       
057727,000401: 07,3270           64735                           AD       BIT15                                 
057728,000402: 07,3271           55036                           TS       DSPTAB     +11D                       
057729,000403: 07,3272           00002                           TC       Q                                     
057730,000404: 

Page 1318

057732,000406:                                                                                                  #  ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS.  NO IMUSTALL REQUIRED IN EITHER CASE.
057733,000407: 
057734,000408: 07,3273           44755        PIPUSE             CS       ZERO                                  
057735,000409: 07,3274           54037                           TS       PIPAX                                 
057736,000410: 07,3275           54040                           TS       PIPAY                                 
057737,000411: 07,3276           54041                           TS       PIPAZ                                 
057738,000412: 
057739,000413: 07,3277           03646        PIPUSE1            TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
057740,000414: 07,3300           14631                           TCF      SWRETURN                              
057741,000415: 
057742,000416: 07,3301           00004                           INHINT                                         
057743,000417: 07,3302           44753                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
057744,000418: 07,3303           71302                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
057745,000419: 07,3304           55302                           TS       IMODES30                              
057746,000420: 
057747,000421: 07,3305           04674        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
057748,000422: 07,3306           14703                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
057749,000423: 
057750,000424: 07,3307           12755                           TCF      MODEEXIT                              
057751,000425: 
057752,000426: 07,3310           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS.  DONT LIGHT
057753,000427: 07,3311           41302                           CS       IMODES30                              #  ISS WARNING.
057754,000428: 07,3312           74753                           MASK     BIT1                                  
057755,000429: 07,3313           27302                           ADS      IMODES30                              
057756,000430: 
057757,000431: 07,3314           74742                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
057758,000432: 07,3315           10000                           CCS      A                                     #  ISS WARNING.
057759,000433: 07,3316           12755                           TCF      MODEEXIT                              
057760,000434: 
057761,000435: 07,3317           05567                           TC       ALARM                                 
057762,000436: 07,3320           00212                           OCT      212                                   
057763,000437: 
057764,000438: 07,3321           00004                           INHINT                                         
057765,000439: 
057766,000440: 07,3322           13305                           TCF      PIPFREE2                              
057767,000441: 

Page 1319

057769,000443:                                                                                                  #  THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
057770,000444:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A.  THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS).  THE
057771,000445:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
057772,000446: 
057773,000447: 07,3323  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
057774,000448: 
057775,000449: 07,3323           54161        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
057776,000450: 07,3324           03653                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
057777,000451: 
057778,000452: 07,3325           11314                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
057779,000453: 07,3326           03367                           TC       GYROBUSY                              #  SLEEP.
057780,000454: 
057781,000455: 07,3327           54156                           TS       MPAC       +2                         
057782,000456: 07,3330           34746                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
057783,000457: 07,3331           00006                           EXTEND                                         
057784,000458: 07,3332           05014                           WOR      CHAN14                                
057785,000459: 
057786,000460: 07,3333           34751                           CAF      FOUR                                  
057787,000461: 07,3334           05203        GWAKE2             TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
057788,000462: 07,3335  E3,1474                                  EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
057789,000463: 07,3335           03405 16103                     2CADR    STRTGYRO                              
057790,000464: 
057791,000465: 07,3337           30161                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
057792,000466: 07,3340           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
057793,000467: 07,3341           56161                           XCH      MPAC       +5                         
057794,000468: 07,3342           55314                           TS       LGYRO                                 #  RESERVES GYROS.
057795,000469: 07,3343           74357                           MASK     LOW8                                  
057796,000470: 07,3344           54061                           TS       ITEMP1                                
057797,000471: 
057798,000472: 07,3345           34752                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
057799,000473: 07,3346           54157        GYROAGRE           TS       MPAC       +3                         
057800,000474: 07,3347           60000                           DOUBLE                                         
057801,000475: 07,3350           60061                           AD       ITEMP1                                
057802,000476: 07,3351           54160                           TS       MPAC       +4                         
057803,000477: 07,3352           00006                           EXTEND                                         
057804,000478: 07,3353           50000                           INDEX    A                                     
057805,000479: 07,3354           31401                           DCA      1400                                  
057806,000480: 07,3355           52155                           DXCH     MPAC                                  
057807,000481: 07,3356           07257                           TC       TPAGREE                               
057808,000482: 07,3357           52155                           DXCH     MPAC                                  
057809,000483: 07,3360           50160                           INDEX    MPAC       +4                         
057810,000484: 07,3361           53401                           DXCH     1400                                  
057811,000485: 
057812,000486: 07,3362           10157                           CCS      MPAC       +3                         
057813,000487: 07,3363           13346                           TCF      GYROAGRE                              
057814,000488: 
057815,000489: 07,3364           30161                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
057816,000490: 07,3365           54003                           TS       EBANK                                 
057817,000491: 07,3366           12755                           TCF      MODEEXIT                              
057818,000492: 

Page 1320

057820,000494:                                                                                                  #  ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
057821,000495: 
057822,000496: 07,3367           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
057823,000497: 07,3370           30134                           DCA      BUF2                                  
057824,000498: 07,3371           52155                           DXCH     MPAC                                  
057825,000499: 07,3372           33404        REGSLEEP           CAF      LGWAKE                                
057826,000500: 07,3373           15133                           TCF      JOBSLEEP                              
057827,000501: 
057828,000502: 07,3374           11314        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
057829,000503: 07,3375           13372                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
057830,000504: 
057831,000505: 07,3376           54156                           TS       MPAC       +2                         
057832,000506: 07,3377           00006                           EXTEND                                         
057833,000507: 07,3400           30155                           DCA      MPAC                                  
057834,000508: 07,3401           52134                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
057835,000509: 07,3402           34753                           CAF      ONE                                   
057836,000510: 07,3403           13334                           TCF      GWAKE2                                
057837,000511: 
057838,000512: 07,3404           17374        LGWAKE             CADR     GWAKE                                 
057839,000513: 

Page 1321

057841,000515:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
057842,000516: 
057843,000517: 07,3405           43626        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
057844,000518: 07,3406           00006                           EXTEND                                         
057845,000519: 07,3407           03014                           WAND     CHAN14                                
057846,000520: 
057847,000521: 07,3410           03641                           TC       CAGETEST                              
057848,000522: 
057849,000523: 07,3411           31314        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
057850,000524: 07,3412           00006                           EXTEND                                         
057851,000525: 07,3413           74750                           MP       BIT4                                  
057852,000526: 07,3414           50000                           INDEX    A                                     
057853,000527: 07,3415           13416                           TCF      +1                                    
057854,000528: 07,3416           03433                           TC       GSELECT                               #  =0.  DO Y GYRO.
057855,000529: 07,3417           00202                           OCT      00202                                 
057856,000530: 
057857,000531: 07,3420           03433                           TC       GSELECT                               #  =1.  DO Z GYRO.
057858,000532: 07,3421           00302                           OCT      00302                                 
057859,000533: 
057860,000534: 07,3422           03431                           TC       GSELECT    -2                         #  =2.  DO X GYRO.
057861,000535: 07,3423           00100                           OCT      00100                                 
057862,000536: 
057863,000537: 07,3424           34755                           CAF      ZERO                                  #  =3.  DONE
057864,000538: 07,3425           55314                           TS       LGYRO                                 
057865,000539: 07,3426           33404                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
057866,000540: 07,3427           05137                           TC       JOBWAKE                               
057867,000541: 
057868,000542: 07,3430           13232        NORESET            TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY

Page 1322

057870,000544: 07,3431           44751                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
057871,000545: 07,3432           27314                           ADS      LGYRO                                 
057872,000546: 
057873,000547: 07,3433           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
057874,000548: 07,3434           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
057875,000549: 07,3435           54064                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
057876,000550: 07,3436           74757                           MASK     SEVEN                                 
057877,000551: 07,3437           64737                           AD       BIT13                                 
057878,000552: 07,3440           27314                           ADS      LGYRO                                 
057879,000553: 07,3441           54003                           TS       EBANK                                 
057880,000554: 07,3442           74357                           MASK     LOW8                                  
057881,000555: 07,3443           54061                           TS       ITEMP1                                
057882,000556: 
057883,000557: 07,3444           44757                           CS       SEVEN                                 
057884,000558: 07,3445           70064                           MASK     ITEMP4                                
057885,000559: 07,3446           54064                           TS       ITEMP4                                
057886,000560: 
057887,000561: 07,3447           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
057888,000562: 07,3450           50061                           INDEX    ITEMP1                                
057889,000563: 07,3451           31401                           DCA      1400                                  
057890,000564: 07,3452           52071                           DXCH     RUPTREG1                              
057891,000565: 
057892,000566: 07,3453           10070                           CCS      RUPTREG1                              
057893,000567: 07,3454           13467                           TCF      MAJ+                                  
057894,000568: 07,3455           13457                           TCF      +2                                    
057895,000569: 07,3456           13607                           TCF      MAJ-                                  
057896,000570: 
057897,000571: 07,3457           10071                           CCS      RUPTREG2                              
057898,000572: 07,3460           13464                           TCF      MIN+                                  
057899,000573: 07,3461           13411                           TCF      STRTGYR2                              
057900,000574: 07,3462           13604                           TCF      MIN-                                  
057901,000575: 07,3463           13411                           TCF      STRTGYR2                              
057902,000576: 

Page 1323

057904,000578: 07,3464           63520        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND.  SEE IF AT LEAST
057905,000579: 07,3465           00006                           EXTEND                                         #  16 GYRO PULSES.
057906,000580: 07,3466           63411                           BZMF     STRTGYR2                              
057907,000581: 
057908,000582: 07,3467           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
057909,000583: 07,3470           33630                           DCA      GYROFRAC                              
057910,000584: 07,3471           20071                           DAS      RUPTREG1                              
057911,000585: 
057912,000586: 07,3472           30064                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
057913,000587: 07,3473           00006                           EXTEND                                         
057914,000588: 07,3474           05014                           WOR      CHAN14                                
057915,000589: 
057916,000590: 07,3475           36074                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
057917,000591: 07,3476           70071                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
057918,000592: 07,3477           56071                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
057919,000593: 07,3500           00006        GMERGE             EXTEND                                         #  IN MINOR PART.  THE MAJOR PART WILL BE
057920,000594: 07,3501           74744                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
057921,000595: 07,3502           54062                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
057922,000596: 07,3503           30070                           CA       RUPTREG1                              
057923,000597: 07,3504           00006                           EXTEND                                         
057924,000598: 07,3505           74743                           MP       BIT9                                  
057925,000599: 07,3506           54070                           TS       RUPTREG1                              
057926,000600: 07,3507           30001                           CA       L                                     
057927,000601: 07,3510           00006                           EXTEND                                         
057928,000602: 07,3511           74736                           MP       BIT14                                 
057929,000603: 07,3512           26062                           ADS      ITEMP2                                #  INITIAL COMMAND.
057930,000604: 
057931,000605: 07,3513           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
057932,000606: 07,3514           30071                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
057933,000607: 07,3515           67747                           AD       MINUS1                                
057934,000608: 07,3516           10000                           CCS      A                                     
057935,000609: 07,3517           13543                           TCF      LONGGYRO                              
057936,000610: 07,3520           77601        -GYROMIN           OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
057937,000611: 07,3521           13525                           TCF      +4                                    
057938,000612: 
057939,000613: 07,3522           34736                           CAF      BIT14                                 
057940,000614: 07,3523           26062                           ADS      ITEMP2                                
057941,000615: 07,3524           34755                           CAF      ZERO                                  
057942,000616: 
057943,000617: 07,3525           50061                 +4        INDEX    ITEMP1                                
057944,000618: 07,3526           53401                           DXCH     1400                                  

Page 1324

057946,000620: 07,3527           30062                           CA       ITEMP2                                #  ENTIRE COMMAND.
057947,000621: 07,3530           54047        LASTSEG            TS       GYROCMD                               
057948,000622: 07,3531           00006                           EXTEND                                         
057949,000623: 07,3532           74742                           MP       BIT10                                 #  WAITLIST DT
057950,000624: 07,3533           66245                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
057951,000625: 07,3534           05203                           TC       WAITLIST                              
057952,000626: 07,3535  E3,1474                                  EBANK=   CDUIND                                
057953,000627: 07,3535           03405 16103                     2CADR    STRTGYRO                              
057954,000628: 
057955,000629: 07,3537           34742        GYROEXIT           CAF      BIT10                                 
057956,000630: 07,3540           00006                           EXTEND                                         
057957,000631: 07,3541           05014                           WOR      CHAN14                                
057958,000632: 07,3542           15261                           TCF      TASKOVER                              
057959,000633: 
057960,000634: 07,3543           50061        LONGGYRO           INDEX    ITEMP1                                
057961,000635: 07,3544           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
057962,000636: 07,3545           34736                           CAF      BIT14                                 #  8192.  INITIAL COMMAND IS AT LEAST 8192.
057963,000637: 07,3546           60062                           AD       ITEMP2                                
057964,000638: 07,3547           54047                           TS       GYROCMD                               
057965,000639: 
057966,000640: 07,3550           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
057967,000641: 07,3551           74742                           MP       BIT10                                 #  ALMOST OUT.
057968,000642: 07,3552           67745                           AD       NEG3                                  
057969,000643: 07,3553           05203                           TC       WAITLIST                              
057970,000644: 07,3554  E3,1474                                  EBANK=   CDUIND                                
057971,000645: 07,3554           03557 16103                     2CADR    8192AUG                               
057972,000646: 
057973,000647: 07,3556           13537                           TCF      GYROEXIT                              
057974,000648: 
057975,000649: 07,3557           03641        8192AUG            TC       CAGETEST                              
057976,000650: 
057977,000651: 07,3560           34750                           CAF      BIT4                                  
057978,000652: 07,3561           00006                           EXTEND                                         
057979,000653: 07,3562           02012                           RAND     CHAN12                                
057980,000654: 07,3563           10000                           CCS      A                                     
057981,000655: 07,3564           13637                           TCF      IMUBAD                                
057982,000656: 07,3565           31314                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
057983,000657: 07,3566           54003                           TS       EBANK                                 
057984,000658: 07,3567           74357                           MASK     LOW8                                  
057985,000659: 07,3570           54061                           TS       ITEMP1                                
057986,000660: 
057987,000661: 07,3571           50061                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
057988,000662: 07,3572           11400                           CCS      1400                                  
057989,000663: 07,3573           13577                           TCF      AUG2                                  #  MORE TO COME.
057990,000664: 
057991,000665: 07,3574           34736                           CAF      BIT14                                 
057992,000666: 07,3575           26047                           ADS      GYROCMD                               
057993,000667: 07,3576           13531                           TCF      LASTSEG    +1                         
057994,000668: 

Page 1325

057996,000670: 07,3577           50061        AUG2               INDEX    ITEMP1                                
057997,000671: 07,3600           55400                           TS       1400                                  
057998,000672: 07,3601           34736                           CAF      BIT14                                 
057999,000673: 07,3602           26047                           ADS      GYROCMD                               
058000,000674: 07,3603           13550                           TCF      AUG3                                  #  COMPUTE DT.
058001,000675: 

Page 1326

058003,000677: 07,3604           63520        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
058004,000678: 07,3605           00006                           EXTEND                                         
058005,000679: 07,3606           63411                           BZMF     STRTGYR2                              
058006,000680: 
058007,000681: 07,3607           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
058008,000682: 07,3610           43630                           DCS      GYROFRAC                              
058009,000683: 07,3611           20071                           DAS      RUPTREG1                              
058010,000684: 
058011,000685: 07,3612           30064                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
058012,000686: 07,3613           64743                           AD       BIT9                                  
058013,000687: 07,3614           00006                           EXTEND                                         
058014,000688: 07,3615           05014                           WOR      CHAN14                                
058015,000689: 
058016,000690: 07,3616           40070                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
058017,000691: 07,3617           54070                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
058018,000692: 07,3620           40071                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
058019,000693: 07,3621           76074                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
058020,000694: 07,3622           40000                           COM                                            
058021,000695: 07,3623           56071                           XCH      RUPTREG2                              
058022,000696: 07,3624           40000                           COM                                            
058023,000697: 07,3625           13500                           TCF      GMERGE                                
058024,000698: 
058025,000699: 07,3626           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
058026,000700: 
058027,000701: 07,3627           00000 00034  GYROFRAC           2DEC     .215       B-21                       
058028,000702: 

Page 1327

058030,000704:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
058031,000705: 
058032,000706: 07,3631           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
058033,000707: 07,3632           00011                           READ     DSALMOUT                              #  ISS WARNING IS ON.
058034,000708: 07,3633           74753                           MASK     BIT1                                  
058035,000709: 07,3634           10000                           CCS      A                                     
058036,000710: 07,3635           13637                           TCF      IMUBAD                                
058037,000711: 
058038,000712: 07,3636           13665        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
058039,000713: 
058040,000714: 07,3637           34755        IMUBAD             CAF      ZERO                                  
058041,000715: 07,3640           13662                           TCF      BADEND                                
058042,000716: 
058043,000717: 07,3641           34746        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
058044,000718: 07,3642           71302                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
058045,000719: 07,3643           10000                           CCS      A                                     
058046,000720: 07,3644           13637                           TCF      IMUBAD                                #  DIRECTLY.
058047,000721: 07,3645           00002                           TC       Q                                     #  WITH C(A) = +0.
058048,000722: 
058049,000723: 07,3646           41302        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
058050,000724: 07,3647           74746                           MASK     BIT6                                  
058051,000725: 07,3650           10000                           CCS      A                                     
058052,000726: 07,3651           24002                           INCR     Q                                     
058053,000727: 07,3652           00002                           TC       Q                                     
058054,000728: 
058055,000729: 07,3653           41302        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION
058056,000730: 07,3654           74746                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
058057,000731: 07,3655           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
058058,000732: 07,3656           00002                           TC       Q                                     #  COMPLETE BUT FAILED.  RETURN IMMEDIATELY
058059,000733: 
058060,000734: 07,3657           44755                           CS       ZERO                                  #  TO SWRETURN.
058061,000735: 07,3660           55304                           TS       IMUCADR                               
058062,000736: 07,3661           12755                           TCF      MODEEXIT                              
058063,000737: 

Page 1328

058065,000739:                                                                                                  #  GENERALIZED MODE SWITCHING TERMINATION.  ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
058066,000740:                                                                                                  #  OR AT BADEND FOR AN UNSUCCESSFUL ONE.  C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
058067,000741: 
058068,000742: 07,3662           54071        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
058069,000743: 07,3663           44755                           CS       ZERO                                  #  FOR FAILURE.
058070,000744: 07,3664           13667                           TCF      GOODEND    +2                         
058071,000745: 
058072,000746: 07,3665           54071        GOODEND            TS       RUPTREG2                              
058073,000747: 07,3666           44753                           CS       ONE                                   #  FOR SUCCESS.
058074,000748: 
058075,000749: 07,3667           54072                           TS       RUPTREG3                              
058076,000750: 07,3670           50071                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
058077,000751: 07,3671           11304                           CCS      MODECADR                              
058078,000752: 07,3672           13676                           TCF      +4                                    #  YES - WAKE IT UP.
058079,000753: 07,3673           13706                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
058080,000754: 
058081,000755: 07,3674           00006                           EXTEND                                         
058082,000756: 07,3675           13707                           BZF      ENDMODE    +1                         #  BZF = TCF IF MODECADR = -0.
058083,000757: 
058084,000758: 07,3676           34755                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
058085,000759: 07,3677           50071                           INDEX    RUPTREG2                              
058086,000760: 07,3700           57304                           XCH      MODECADR                              
058087,000761: 07,3701           05137                           TC       JOBWAKE                               
058088,000762: 
058089,000763: 07,3702           40072                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
058090,000764: 07,3703           50064                           INDEX    LOCCTR                                
058091,000765: 07,3704           26164                           ADS      LOC                                   
058092,000766: 
058093,000767: 07,3705           15261                           TCF      TASKOVER                              
058094,000768: 
058095,000769: 07,3706           30072        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
058096,000770: 07,3707           50071                 +1        INDEX    RUPTREG2                              #  UNSUCCESSFUL:  -1 INDICATES COMPLETE AND
058097,000771: 07,3710           55304                           TS       MODECADR                              #  SUCCESSFUL.
058098,000772: 07,3711           15261                           TCF      TASKOVER                              
058099,000773: 

Page 1329

058101,000775:                                                                                                  #  GENERAL STALLING ROUTINE.  USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
058102,000776: 
058103,000777:                                                                                                  #  PROGRAM DESCRIPTION                           DATE - 21 FEB 1967
058104,000778:                                                                                                  #                                                LOG SECTION IMU MODE SWITCHING
058105,000779:                                                                                                  #  MOD BY - R. MELANSON TO ADD DOCUMENTATION     ASSEMBLY SUNDISK REV. 82
058106,000780: 
058107,000781:                                                                                                  #  FUNCTIONAL DESCRIPTION -
058108,000782:                                                                                                  #        TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
058109,000783:                                                                                                  #        I/O FUNCTION IS COMPLETE.  THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
058110,000784:                                                                                                  #        MODECADR ARE MADE AND ACTED UPON.
058111,000785:                                                                                                  #        1) +0 INDICATES INCOMPLETE I/O OPERATION.  CALLING ROUTINE IS PUT TO
058112,000786:                                                                                                  #           SLEEP.
058113,000787:                                                                                                  #        2) -1 INDICATES COMPLETED I/O OPERATION.  STALL BYPASSES JOBSLEEP
058114,000788:                                                                                                  #           CALL AND RETURNS TO CALLING ROUTINE AT L+3
058115,000789:                                                                                                  #        3) -0 INDICATES COMPLETED I/O WITH FAILURE.  STALL CLEARS MODECADR
058116,000790:                                                                                                  #           AND RETURNS TO CALLING ROUTINE AT L+2.
058117,000791:                                                                                                  #        4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
058118,000792:                                                                                                  #           SAME DEVICE.  STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
058119,000793:                                                                                                  #           RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
058120,000794: 
058121,000795:                                                                                                  #  CALLING SEQUENCE -
058122,000796:                                                                                                  #        L       TC      BANKCALL
058123,000797:                                                                                                  #        L+1     CADR    (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
058124,000798:                                                                                                  #                        AOTSTALL, OR ATTSTALL)
058125,000799: 
058126,000800:                                                                                                  #  NORMAL-EXIT MODE -
058127,000801:                                                                                                  #        TCF JOBSLEEP    OR      TCF MODEXIT
058128,000802: 
058129,000803:                                                                                                  #  ALARM OR ABORT EXIT MODE -
058130,000804:                                                                                                  #        TC      ABORT
058131,000805: 
058132,000806:                                                                                                  #  OUTPUT -
058133,000807:                                                                                                  #        MODECADR=CADR   IF JOBSLEEP
058134,000808:                                                                                                  #        MODECADR=+0     IF I/O COMPLETE
058135,000809:                                                                                                  #        BUF2=L+3        IF I/O COMPLETE AND GOOD.
058136,000810:                                                                                                  #        BUF2=L+2        IF I/O COMPLETE BUT FAILED.
058137,000811: 
058138,000812:                                                                                                  #  ERASABLE INITIALIZATION -
058139,000813:                                                                                                  #        BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
058140,000814:                                                                                                  #        BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
058141,000815:                                                                                                  #        MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
058142,000816: 
058143,000817:                                                                                                  #  DEBRIS -
058144,000818:                                                                                                  #        RUPTREG2 AND CALLING ROUTINE MODECADR.
058145,000819: 
058146,000820: 07,3712           34753        AOTSTALL           CAF      ONE                                   #  AOT.
058147,000821: 07,3713           03717                           TC       STALL                                 
058148,000822: 
058149,000823: 07,3714           34752        RADSTALL           CAF      TWO                                   
058150,000824: 07,3715           13717                           TCF      STALL                                 
058151,000825: 

Page 1330

058153,000827: 07,3716  07,3712               OPTSTALL           EQUALS   AOTSTALL                              
058154,000828: 
058155,000829: 07,3716           34755        IMUSTALL           CAF      ZERO                                  #  IMU.
058156,000830: 
058157,000831: 07,3717           00004        STALL              INHINT                                         
058158,000832: 07,3720           54071                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
058159,000833: 07,3721           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
058160,000834: 07,3722           11304                           CCS      MODECADR                              
058161,000835: 07,3723           13741                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
058162,000836: 07,3724           13735                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
058163,000837: 07,3725           13731                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
058164,000838: 
058165,000839: 07,3726           50071        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0.  RESET TO +0.
058166,000840: 07,3727           55304                           TS       MODECADR                              #  RETURN TO CALLER.
058167,000841: 07,3730           12755                           TCF      MODEEXIT                              
058168,000842: 
058169,000843: 07,3731           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
058170,000844: 07,3732           13741                           TCF      MODABORT                              
058171,000845: 
058172,000846: 07,3733           24133                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
058173,000847: 07,3734           13726                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
058174,000848: 
058175,000849: 07,3735           04645        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
058176,000850: 07,3736           50071                           INDEX    RUPTREG2                              
058177,000851: 07,3737           55304                           TS       MODECADR                              
058178,000852: 07,3740           15133                           TCF      JOBSLEEP                              
058179,000853: 
058180,000854: 07,3741           52134        MODABORT           DXCH     BUF2                                  
058181,000855: 07,3742           05716                           TC       BAILOUT1                              #  TWO PROGRAMS USING THE SAME DEVICE.
058182,000856: 07,3743           01210                           OCT      1210                                  
058183,000857: 

Page 1331

058185,000859:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
058186,000860: 
058187,000861: 07,3744     5751               BITS3&4            =        OCT14                                 
058188,000862: 07,3744     4771               BITS4&6            =        OCT50                                 
058189,000863: 07,3744           00030        BITS4-5            OCT      00030                                 
058190,000864: 07,3745     4744               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
058191,000865: 07,3745           77500        -COMMAX            DEC      -191       B-14                       
058192,000866: 07,3746           77477        -COMMAX-           DEC      -192       B-14                       
058193,000867: 07,3747           00074        600MS              DEC      60         B-14                       
058194,000868: 07,3750  07,3210               IMUFIN20           =        IMUFINE                               
058195,000869: 07,3750           31307        GOMANUR            CA       ATTCADR                               #  IS KALCMANU FREE
058196,000870: 07,3751           00006                           EXTEND                                         
058197,000871: 07,3752           13755                           BZF      +3                                    
058198,000872: 
058199,000873: 07,3753           05652                           TC       POODOO                                #  NO
058200,000874: 07,3754           01210                           OCT      1210                                  #  2 TRYING TO USE SAME DEVICE
058201,000875: 
058202,000876: 07,3755           00006                 +3        EXTEND                                         
058203,000877: 07,3756           30134                           DCA      BUF2                                  
058204,000878: 07,3757           53310                           DXCH     ATTCADR                               #  SAVE FINAL RETURN FOR KALCMAN3
058205,000879: 
058206,000880: 07,3760           30006                           CA       BBANK                                 
058207,000881: 07,3761           74757                           MASK     SEVEN                                 
058208,000882: 07,3762           27310                           ADS      ATTCADR    +1                         
058209,000883: 
058210,000884: 07,3763           30167                           CA       PRIORITY                              
058211,000885: 07,3764           77725                           MASK     PRIO37                                
058212,000886: 07,3765           55311                           TS       ATTPRIO                               #  SAVE USERS PRIO
058213,000887: 
058214,000888: 07,3766           33772                           CAF      KALEBCON                              #  SET EBANK FOR KALCMAN3
058215,000889: 07,3767           54003                           TS       EBANK                                 
058216,000890: 07,3770           04635                           TC       POSTJUMP                              
058217,000891: 07,3771           44004                           CADR     KALCMAN3                              
058218,000892: 07,3772           03276        KALEBCON           ECADR    BCDU                                  
058219,000893: 

Page 1332

058221,000895:                                                                                                  #  PROGRAM DESCRIPTION
058222,000896:                                                                                                  #  IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
058223,000897:                                                                                                  #  MOD NO - 1
058224,000898:                                                                                                  #  MOD BY - N.BRODEUR
058225,000899: 
058226,000900:                                                                                                  #  FUNCTIONAL DESCRIPTION
058227,000901:                                                                                                  #        TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
058228,000902:                                                                                                  #        ORIENTATION KNOWN BY THE CMC.  TO REQUEST SELECTION OF THE APPROPRIATE
058229,000903:                                                                                                  #        PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
058230,000904:                                                                                                  #        CMC.  CALLED THROUGH BANKCALL
058231,000905: 
058232,000906:                                                                                                  #  CALLING SEQUENCE -
058233,000907:                                                                                                  #        L       TC      BANKCALL
058234,000908:                                                                                                  #        L+1     CADR    R02BOTH
058235,000909: 
058236,000910:                                                                                                  #  SUBROUTINES CALLED
058237,000911:                                                                                                  #        VARALARM
058238,000912:                                                                                                  #        FLAGUP
058239,000913: 
058240,000914:                                                                                                  #  NORMAL EXIT MODES
058241,000915:                                                                                                  #        AT L+2 OF CALLING SEQUENCE
058242,000916: 
058243,000917:                                                                                                  #  ALARM OR ABORT EXIT MODES
058244,000918:                                                                                                  #        GOTOPOOH, WITH ALARM
058245,000919: 
058246,000920:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
058247,000921:                                                                                                  #        NONE
058248,000922: 
058249,000923:                                                                                                  #  DEBRIS
058250,000924:                                                                                                  #        CENTRALS - A,Q,L
058251,000925: 
058252,000926: 34,3775                                           BANK     34                                    
058253,000927: 04,2000                                           SETLOC   R02                                   
058254,000928: 04,2000                                           BANK                                           
058255,000929: 04,3253                                           COUNT*   $$/R02                                
058256,000930: 04,3253           00063        DEC51              DEC      51         B-14                       
058257,000931: 04,3254           34737        R02BOTH            CAF      REFSMBIT                              
058258,000932: 04,3255           70077                           MASK     FLAGWRD3                              
058259,000933: 04,3256           10000                           CCS      A                                     
058260,000934: 04,3257           03270                           TC       R02ZERO                               #  ZERO IMUS
058261,000935: 
058262,000936: 04,3260           31302                           CA       IMODES30                              
058263,000937: 04,3261           74743                           MASK     BIT9                                  #  IS ISS INITIALIZED
058264,000938: 04,3262           00006                           EXTEND                                         
058265,000939: 04,3263           13265                           BZF      +2                                    
058266,000940: 04,3264           44750                           CS       BIT4                                  #  SEND IMU ALARM CODE 210
058267,000941: 04,3265           63273                           AD       OCT220                                #  SEND REFSMM ALARM
058268,000942: 04,3266           05744                           TC       VARALARM                              
058269,000943: 
058270,000944: 04,3267           06001                           TC       GOTOPOOH                              
058271,000945: 
058272,000946: 04,3270           05504        R02ZERO            TC       UPFLAG                                

Page 1333

058274,000948: 04,3271           00007                           ADRES    IMUSE                                 
058275,000949: 04,3272           14631                           TCF      SWRETURN                              
058276,000950: 04,3273           00220        OCT220             OCT      220                                   
058277,000951: 

Page 1334

058279,000953:                                                                                                  #  PROGRAM DESCRIPTION           P06             10 FEB 67
058280,000954: 
058281,000955:                                                                                                  #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
058282,000956: 
058283,000957:                                                                                                  #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY.  IN THIS CONDITION THE IMU
058284,000958:                                                                                                  #  HEATER POWER IS ON.  THE IMU OPERATE POWER IS OFF.  THE COMPUTER POWER IS ON.  THE OPTICS POWER IS OFF.  THE
058285,000959:                                                                                                  #  CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
058286,000960: 
058287,000961:                                                                                                  #  CALLING SEQUENCE:
058288,000962:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY  V37E 06E.
058289,000963: 
058290,000964:                                                                                                  #  SUBROUTINES CALLED:
058291,000965:                                                                                                  #        GOPERF1
058292,000966:                                                                                                  #        BANKCALL
058293,000967:                                                                                                  #        FLAGDOWN
058294,000968: 

Page 1335

058296,000970:                                                                                                  #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
058297,000971:                                                                                                  #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
058298,000972:                                                                                                  #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
058299,000973: 
058300,000974: 37,2000                                           SETLOC   P05P06                                
058301,000975: 37,2000                                           BANK                                           
058302,000976: 
058303,000977: 37,3655     0314                                  EBANK=   TIME2SAV                              
058304,000978: 37,3655                                           COUNT*   $$/P06                                
058305,000979: 
058306,000980: 37,3655           05504        P06                TC       UPFLAG                                #  SET NODOV37 BIT
058307,000981: 37,3656           00054                           ADRES    NODOFLAG                              
058308,000982: 
058309,000983: 37,3657           00004        PRESTAND           INHINT                                         
058310,000984: 37,3660           00006                           EXTEND                                         
058311,000985: 37,3661           30025                           DCA      TIME2                                 #  SNAPSHOT TIME1 TIME2
058312,000986: 37,3662           52315                           DXCH     TIME2SAV                              
058313,000987: 37,3663           03714                           TC       SCALPREP                              
058314,000988: 37,3664           03657                           TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
058315,000989: 37,3665           52155                           DXCH     MPAC                                  #  T1,T2 AND SCALER OK
058316,000990: 37,3666           52317                           DXCH     SCALSAVE                              #  STORE SCALER
058317,000991: 37,3667           00004                           INHINT                                         
058318,000992: 37,3670           04616                           TC       BANKCALL                              
058319,000993: 37,3671           17175                           CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
058320,000994: 
058321,000995: 37,3672           05516                           TC       DOWNFLAG                              
058322,000996: 37,3673           00007                           ADRES    IMUSE                                 #  IMUSE DOWN
058323,000997: 37,3674           05516                           TC       DOWNFLAG                              
058324,000998: 37,3675           00010                           ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
058325,000999: 
058326,001000: 37,3676           34741                           CAF      BIT11                                 
058327,001001: 37,3677           00006                           EXTEND                                         
058328,001002: 37,3700           05013                           WOR      CHAN13                                #  SET STANDBY ENABLE BIT
058329,001003: 
058330,001004: 37,3701           05353                           TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
058331,001005: 37,3702           07024                           OCT      07024                                 #        RECOVERS
058332,001006: 37,3703           20000                           OCT      20000                                 
058333,001007: 37,3704     0316                                  EBANK=   SCALSAVE                              
058334,001008: 37,3704           03734 76060                     2CADR    POSTAND                               
058335,001009: 
058336,001010: 37,3706           34774                           CAF      OCT62                                 
058337,001011: 37,3707           04616                           TC       BANKCALL                              
058338,001012: 37,3710           20623                           CADR     GOPERF1                               
058339,001013: 37,3711           13706                           TCF      -3                                    
058340,001014: 37,3712           13706                           TCF      -4                                    
058341,001015: 37,3713           13706                           TCF      -5                                    
058342,001016: 
058343,001017: 37,3714     4774               OCT62              EQUALS   .5SEC                                 #  DEC 50 = OCT 62
058344,001018: 
058345,001019:                                                                                                  #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A

Page 1336

058347,001021:                                                                                                  #  T1 INCREMENT.  IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
058348,001022:                                                                                                  #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
058349,001023:                                                                                                  #  DATA.  OTHERWISE, THE RETURN IS TO L+2 TO PROCEED.  ROUTINE ALSO PREPARES
058350,001024:                                                                                                  #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2.  (THE
058351,001025:                                                                                                  #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
058352,001026:                                                                                                  #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
058353,001027:                                                                                                  #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1.  THE LOW 5
058354,001028:                                                                                                  #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
058355,001029:                                                                                                  #  DATA TO 10 MS.  RESULTS ARE STORED IN MPAC, +1.
058356,001030: 
058357,001031: 37,3714           00006        SCALPREP           EXTEND                                         
058358,001032: 37,3715           22156                           QXCH     MPAC       +2                         
058359,001033: 37,3716           04103                           TC       FINETIME   +1                         
058360,001034: 37,3717           00003                           RELINT                                         
058361,001035: 37,3720           52155                           DXCH     MPAC                                  
058362,001036: 37,3721           34747                           CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
058363,001037: 37,3722           54001                           TS       L                                     
058364,001038: 37,3723           34755                           CA       ZERO                                  
058365,001039: 37,3724           20155                           DAS      MPAC                                  
058366,001040: 37,3725           44346                           CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
058367,001041: 37,3726           70155                           MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
058368,001042: 37,3727           56155                           XCH      MPAC       +1                         
058369,001043: 37,3730           74346                           MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
058370,001044:                                                                                                  #  INTERVAL AFTER THE T1 INCREMENT
058371,001045:                                                                                                  #  (NOW = 00000, SINCE BIT 5 ADDED).
058372,001046: 37,3731           10000                           CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
058373,001047: 37,3732           24156                           INCR     MPAC       +2                         #  NO
058374,001048: 37,3733           00156                           TC       MPAC       +2                         #  YES
058375,001049: 
058376,001050:                                                                                                  #  POSTAND RECOVERS TIME AFTER STANDBY.  THE SCALER IS SNAPSHOTTED AND THE
058377,001051:                                                                                                  #  TIME1 TIME2 COUNTER IS SET TO ZERO.  THE LOW 5 BITS OF THE SCALER ARE
058378,001052:                                                                                                  #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
058379,001053:                                                                                                  #  CLEARING OF THE TIME COUNTER.  IT THEN COMPUTES THE DIFFERENCE IN SCALER
058380,001054:                                                                                                  #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
058381,001055:                                                                                                  #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
058382,001056: 
058383,001057: 37,3734                                           COUNT*   $$/P05                                
058384,001058: 
058385,001059: 37,3734           44741        POSTAND            CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
058386,001060: 37,3735           00006                           EXTEND                                         
058387,001061: 37,3736           03013                           WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
058388,001062: 37,3737           00004                           INHINT                                         
058389,001063: 37,3740           34755                           CA       ZERO                                  
058390,001064: 37,3741           54001                           TS       L                                     
058391,001065: 37,3742           52025                           DXCH     TIME2                                 #  CLEAR TIME1TIME2
058392,001066: 37,3743           03714                           TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
058393,001067: 37,3744           03737                           TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
058394,001068: 37,3745           00006                           EXTEND                                         #  T1,T2 AND SCALER OK
058395,001069: 37,3746           40317                           DCS      SCALSAVE                              
058396,001070: 37,3747           20155                           DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER

Page 1337

058398,001072: 37,3750           34742                           CAF      BIT10                                 #  MINUS PRESTANDBY SCALER AND SHIFT RIGHT
058399,001073: 37,3751           07307                           TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1 TIME2.
058400,001074: 37,3752           34755                           CAF      ZERO                                  
058401,001075: 37,3753           54156                           TS       MPAC       +2                         #  NEEDED FOR TP AGREE
058402,001076: 37,3754           07257                           TC       TPAGREE                               #  MAKE DP DIFF AGREE
058403,001077: 37,3755           10154                           CCS      MPAC                                  
058404,001078: 37,3756           03763                           TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
058405,001079: 37,3757           03763                           TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
058406,001080: 37,3760           03761                           TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED.  ADD
058407,001081: 37,3761           34742                           CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
058408,001082: 37,3762           26154                           ADS      MPAC                                  
058409,001083: 37,3763           00006        POSTCOM            EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
058410,001084: 37,3764           30315                           DCA      TIME2SAV                              #  PRESTANDBY TIME1TIME2
058411,001085: 37,3765           20155                           DAS      MPAC                                  
058412,001086: 37,3766           07257                           TC       TPAGREE                               #  FORCE SIGN AGREEMENT
058413,001087: 37,3767           52155                           DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
058414,001088: 37,3770           20025                           DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
058415,001089: 37,3771           05516                           TC       DOWNFLAG                              #  CLEAR NODOFLAG
058416,001090: 37,3772           00054                           ADRES    NODOFLAG                              
058417,001091: 
058418,001092: 37,3773           06001                           TC       GOTOPOOH                              
058419,001093: 

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