Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 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. |
006438,000002: ## Copyright: Public domain.
006439,000003: ## Filename: T4RUPT_PROGRAM.agc
006440,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
006441,000005: ## otherwise known as Luminary Rev 99, the third release
006442,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
006443,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
006444,000008: ## placement of a single label. The corrections shown here have
006445,000009: ## been verified to have the same bank checksums as AGC developer
006446,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
006447,000011: ## to be accurate. This file is intended to be a faithful
006448,000012: ## recreation, except that the code format has been changed to
006449,000013: ## conform to the requirements of the yaYUL assembler rather than
006450,000014: ## the original YUL assembler.
006451,000015: ##
006452,000016: ## Assembler: yaYUL
006453,000017: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
006454,000018: ## Website: www.ibiblio.org/apollo.
006455,000019: ## Pages: 155-189
006456,000020: ## Mod history: 2009-05-19 HG Transcribed from page images.
006457,000021: ## 2010-12-31 JL Fixed page number comment.
006458,000022: ## 2011-01-06 JL Fixed indentation of TNONTEST. Fixed pseudo-label indentation.
006459,000023: ## 2016-12-13 RSB Proofed text comments with octopus/ProoferComments
006460,000024: ## and corrected the errors found.
006461,000025: ## 2017-01-26 RSB Back-ported comment-text fixes found while
006462,000026: ## proofing corresponding Luminary 69 file.
006463,000027: ## 2017-01-28 RSB WTIH -> WITH.
006464,000028: ## 2017-02-08 RSB Comment-text fixes identified while proofing Artemis 72.
006465,000029: ## 2017-03-03 RSB Fixed comment-text errors identified while proofing
006466,000030: ## Luminary 116.
006467,000031: ## 2017-08-01 MAS Created from LMY99 Rev 1.
006468,000032:
006469,000033: ## This source code has been transcribed or otherwise adapted from
006470,000034: ## digitized images of a hardcopy from the MIT Museum. The digitization
006471,000035: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
006472,000036: ## the Museum. Many thanks to both. The images (with suitable reduction
006473,000037: ## in storage size and consequent reduction in image quality as well) are
006474,000038: ## available online at www.ibiblio.org/apollo. If for some reason you
006475,000039: ## find that the images are illegible, contact me at info@sandroid.org
006476,000040: ## about getting access to the (much) higher-quality images which Paul
006477,000041: ## actually created.
006478,000042: ##
006479,000043: ## The code has been modified to match LMY99 Revision 0, otherwise
006480,000044: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
006481,000045: ## the listing from which it was transcribed. It has been verified to
006482,000046: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
006483,000047: ## of Luminary Revision 99 (for which we do not have scans).
006484,000048: ##
006485,000049: ## Notations on Allan Klumpp's listing read, in part:
006486,000050: ##
006487,000051: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
006488,000052:
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Page 155 |
006490,000054: 12,2000 BANK 12
006491,000055: 06,2000 SETLOC T4RUP
006492,000056: 06,2000 BANK
006493,000057:
006494,000058: 06,2000 E6,1414 EBANK= M11
006495,000059: 06,2000 COUNT* $$/T4RPT
006496,000060: 06,2000 54016 T4RUPT TS BANKRUPT
006497,000061:
006498,000062: 06,2001 00006 EXTEND
006499,000063: 06,2002 22012 QXCH QRUPT
006500,000064:
006501,000065: 06,2003 11313 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
006502,000066: 06,2004 12010 TCF NORMT4 +1
006503,000067: 06,2005 12007 TCF NORMT4
006504,000068:
006505,000069: 06,2006 12134 TCF QUIKDSP
006506,000070:
006507,000071: 06,2007 34757 NORMT4 CAF SEVEN
006508,000072: 06,2010 54070 TS RUPTREG1
006509,000073: 06,2011 55313 TS DSRUPTSW
006510,000074:
006511,000075: 4066 BLOCK 02
006512,000076: 4000 SETLOC FFTAG10
006513,000077: 4000 BANK
006514,000078:
006515,000079: 4066 COUNT* $$/T4RPT
006516,000080: 4066 7727 100MRUPT = OCT37766 # (DEC 16374)
006517,000081: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006518,000082: # IN LOWER 5 BITS.
006519,000083:
006520,000084: 4066 04025 RELTAB OCT 04025
006521,000085: 4067 10003 OCT 10003
006522,000086: 4070 14031 OCT 14031
006523,000087: 4071 20033 OCT 20033
006524,000088: 4072 24017 OCT 24017
006525,000089: 4073 30036 OCT 30036
006526,000090: 4074 34034 OCT 34034
006527,000091: 4075 40023 OCT 40023
006528,000092: 4076 44035 OCT 44035
006529,000093: 4077 50037 OCT 50037
006530,000094: 4100 54000 OCT 54000
006531,000095: 4101 60000 RELTAB11 OCT 60000
006532,000096:
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Page 156 |
006534,000098: # SWITCHED-BANK PORTION.
006535,000099:
006536,000100: 12,2000 BANK 12
006537,000101: 06,2000 SETLOC T4RUP
006538,000102: 06,2000 BANK
006539,000103:
006540,000104: 06,2012 COUNT* $$/T4RPT
006541,000105: 06,2012 11036 CDRVE CCS DSPTAB +11D
006542,000106: 06,2013 02063 TC DSPOUT
006543,000107: 06,2014 02063 TC DSPOUT
006544,000108:
006545,000109: 06,2015 57036 XCH DSPTAB +11D
006546,000110: 06,2016 74356 MASK LOW11
006547,000111: 06,2017 55036 TS DSPTAB +11D
006548,000112: 06,2020 64101 AD RELTAB11
006549,000113: 06,2021 00006 EXTEND
006550,000114: 06,2022 01010 WRITE OUT0
006551,000115: 06,2023 02071 TC HANG20
006552,000116:
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Page 157 |
006554,000118: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006555,000119:
006556,000120: 06,2024 55016 DSPOUTSB TS NOUT
006557,000121: 06,2025 44755 CS ZERO
006558,000122: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
006559,000123: 06,2027 56776 XCH DSPCNT
006560,000124: 06,2030 64754 AD NEG0 # TO PREVENT +0
006561,000125: 06,2031 54776 TS DSPCNT
006562,000126: 06,2032 50776 DSPSCAN INDEX DSPCNT
006563,000127: 06,2033 11023 CCS DSPTAB
006564,000128: 06,2034 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
006565,000129: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
006566,000130: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
006567,000131: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
006568,000132: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
006569,000133: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
006570,000134: 06,2042 55016 TS NOUT
006571,000135: 06,2043 00002 TC Q
006572,000136: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
006573,000137: 06,2045 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
006574,000138: 06,2046 12031 TCF DSPSCAN -1
006575,000139:
006576,000140: 06,2047 64753 DSPLAY AD ONE
006577,000141: 06,2050 50776 INDEX DSPCNT
006578,000142: 06,2051 55023 TS DSPTAB # REPLACE POSITIVELY
006579,000143: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
006580,000144: 06,2053 54073 TS DSRUPTEM
006581,000145: 06,2054 34350 CAF HI5
006582,000146: 06,2055 50776 INDEX DSPCNT
006583,000147: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006584,000148: 06,2057 60073 AD DSRUPTEM
006585,000149: 06,2060 00006 EXTEND
006586,000150: 06,2061 01010 WRITE OUT0
006587,000151:
006588,000152: 06,2062 16737 TCF Q+1
006589,000153:
006590,000154: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
006591,000155: 06,2064 34755 CAF ZERO # NO
006592,000156: 06,2065 12130 TCF NODSPOUT # NO
006593,000157: 06,2066 11016 CCS NOUT # YES
006594,000158: 06,2067 02024 TC DSPOUTSB
006595,000159: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
006596,000160:
006597,000161: 06,2071 42171 HANG20 CS 14,11,9
006598,000162: 06,2072 27313 ADS DSRUPTSW
006599,000163:
006600,000164: 06,2073 37731 CAF 20MRUPT
006601,000165:
006602,000166: 06,2074 54027 SETTIME4 TS TIME4
006603,000167:
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Page 158 |
006605,000169: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
006606,000170: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
006607,000171: # IF PREV ON AND NOW ON - BYPASS
006608,000172: # IF PREV ON AND NOW OFF - UPDATE IMODES33
006609,000173: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
006610,000174: # IF PREV OFF AND NOW OFF - BYPASS
006611,000175: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
006612,000176:
006613,000177: 06,2075 31303 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
006614,000178: 06,2076 00006 EXTEND
006615,000179: 06,2077 06032 RXOR CHAN32
006616,000180: 06,2100 74736 MASK BIT14
006617,000181: 06,2101 00006 EXTEND
006618,000182: 06,2102 12116 BZF T4JUMP # NO CHANGE
006619,000183:
006620,000184: 06,2103 23303 LXCH IMODES33
006621,000185: 06,2104 00006 EXTEND
006622,000186: 06,2105 06001 RXOR LCHAN
006623,000187: 06,2106 55303 TS IMODES33 # UPDATE IMODES33
006624,000188: 06,2107 74736 MASK BIT14
006625,000189: 06,2110 10000 CCS A
006626,000190: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
006627,000191:
006628,000192: 06,2112 34355 CAF CHRPRIO # WAS OFF - NOW ON
006629,000193: 06,2113 05072 TC NOVAC
006630,000194: 06,2114 0777 EBANK= DSPCOUNT
006631,000195: 06,2114 03452 60101 2CADR PROCKEY
006632,000196:
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Page 159 |
006634,000198: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
006635,000199:
006636,000200: 06,2116 50070 T4JUMP INDEX RUPTREG1
006637,000201: 06,2117 12120 TCF +1
006638,000202:
006639,000203: 06,2120 03156 TC RCSMONIT
006640,000204: 06,2121 13006 TCF RRAUTCHK
006641,000205: 06,2122 12172 TCF IMUMON
006642,000206: 06,2123 13132 TCF DAPT4S
006643,000207: 06,2124 03156 TC RCSMONIT
006644,000208: 06,2125 13006 TCF RRAUTCHK
006645,000209: 06,2126 12172 TCF IMUMON
006646,000210: 06,2127 13132 TCF DAPT4S
006647,000211:
006648,000212: 06,2130 7731 20MRUPT = OCT37776 # (DEC 16382)
006649,000213:
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Page 160 |
006651,000215: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
006652,000216:
006653,000217: 06,2130 00006 NODSPOUT EXTEND
006654,000218: 06,2131 01010 WRITE OUT0
006655,000219:
006656,000220: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
006657,000221: 06,2133 12074 TCF SETTIME4
006658,000222:
006659,000223: 06,2134 34736 QUIKDSP CAF BIT14
006660,000224: 06,2135 71313 MASK DSRUPTSW
006661,000225: 06,2136 00006 EXTEND
006662,000226: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
006663,000227:
006664,000228: 06,2140 11016 CCS NOUT
006665,000229: 06,2141 02024 TC DSPOUTSB
006666,000230: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
006667,000231: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
006668,000232: 06,2144 27313 QUIKRUPT ADS DSRUPTSW
006669,000233:
006670,000234: 06,2145 37731 CAF 20MRUPT
006671,000235: 06,2146 54027 TS TIME4
006672,000236:
006673,000237: 06,2147 34743 CAF BIT9
006674,000238: 06,2150 27313 ADS DSRUPTSW
006675,000239:
006676,000240: 06,2151 05270 TC RESUME
006677,000241:
006678,000242: 06,2152 00006 NODSPY EXTEND
006679,000243: 06,2153 01010 WRITE OUT0
006680,000244:
006681,000245: 06,2154 37731 SYNCT4 CAF 20MRUPT
006682,000246: 06,2155 26027 ADS TIME4
006683,000247:
006684,000248: 06,2156 34743 CAF BIT9
006685,000249: 06,2157 27313 ADS DSRUPTSW
006686,000250:
006687,000251: 06,2160 11313 CCS DSRUPTSW
006688,000252: 06,2161 05270 TC RESUME
006689,000253: 06,2162 37737 OCT37737 OCT 37737
006690,000254: 06,2163 02154 TC SYNCT4
006691,000255: 06,2164 05270 TC RESUME
006692,000256:
006693,000257: 06,2165 00006 QUIKOFF EXTEND
006694,000258: 06,2166 01010 WRITE OUT0
006695,000259: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
006696,000260: 06,2170 12144 TCF QUIKRUPT
006697,000261:
006698,000262: 06,2171 22400 14,11,9 OCT 22400
006699,000263:
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006701,000265: # PROGRAM NAME: IMUMON
006702,000266:
006703,000267: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
006704,000268: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
006705,000269:
006706,000270: # FUNCTION BIT SUBROUTINE CALLED
006707,000271: # -------- --- -----------------
006708,000272: # TEMP IN LIMITS 15 TLIM
006709,000273: # ISS TURN-ON REQUEST 14 ITURNON
006710,000274: # IMU FAIL 13 IMUFAIL (SETISSW)
006711,000275: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
006712,000276: # IMU CAGE 11 IMUCAGE
006713,000277: # IMU OPERATE 9 IMUOP
006714,000278:
006715,000279: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
006716,000280: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
006717,000281:
006718,000282: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
006719,000283:
006720,000284: # JOBS OR TASKS INITIATED: NONE.
006721,000285:
006722,000286: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
006723,000287:
006724,000288: # ERASABLE INITIALIZATION:
006725,000289: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
006726,000290: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
006727,000291: # THIS LEAVES IMU FAIL BITS INTACT.
006728,000292:
006729,000293: # ALARMS: NONE.
006730,000294:
006731,000295: # EXIT: TNONTEST.
006732,000296:
006733,000297: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
006734,000298:
006735,000299: 06,2172 31302 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
006736,000300: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
006737,000301: 06,2174 06030 RXOR CHAN30
006738,000302: 06,2175 72761 MASK 30RDMSK
006739,000303: 06,2176 00006 EXTEND
006740,000304: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
006741,000305:
006742,000306: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006743,000307: 06,2201 23302 LXCH IMODES30 # UPDATE IMODES30.
006744,000308: 06,2202 00006 EXTEND
006745,000309: 06,2203 06001 RXOR LCHAN
006746,000310: 06,2204 55302 TS IMODES30
006747,000311:
006748,000312: 06,2205 44753 CS ONE
006749,000313: 06,2206 56070 XCH RUPTREG1
006750,000314: 06,2207 00006 EXTEND
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Page 162 |
006752,000316: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
006753,000317: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
006754,000318:
006755,000319: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
006756,000320: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
006757,000321: 06,2214 60000 +1 DOUBLE
006758,000322: 06,2215 54000 TS A # SKIP IF OVERFLOW.
006759,000323: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
006760,000324:
006761,000325: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
006762,000326: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
006763,000327: 06,2221 34736 CAF BIT14
006764,000328: 06,2222 71302 MASK IMODES30
006765,000329: 06,2223 50070 INDEX RUPTREG1
006766,000330: 06,2224 02755 TC IFAILJMP
006767,000331:
006768,000332: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
006769,000333: 06,2226 12212 TCF NXTIFBIT -1
006770,000334:
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Page 163 |
006772,000336: # PROGRAM NAME: TNONTEST.
006773,000337:
006774,000338: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
006775,000339: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
006776,000340: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
006777,000341:
006778,000342: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
006779,000343: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
006780,000344: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
006781,000345:
006782,000346: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
006783,000347: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
006784,000348: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
006785,000349: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
006786,000350:
006787,000351: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
006788,000352: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
006789,000353:
006790,000354: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
006791,000355: # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
006792,000356: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
006793,000357: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
006794,000358: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
006795,000359: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
006796,000360: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
006797,000361: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
006798,000362: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
006799,000363:
006800,000364: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
006801,000365: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
006802,000366:
006803,000367: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
006804,000368:
006805,000369: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
006806,000370: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
006807,000371: # STARTED.
006808,000372:
006809,000373: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
006810,000374:
006811,000375: # ERASABLE INITIALIZATION: SEE IMUMON.
006812,000376:
006813,000377: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
006814,000378:
006815,000379: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
006816,000380: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
006817,000381: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
006818,000382:
006819,000383: # OUTPUT: ISS INITIALIZED.
006820,000384:
006821,000385: 06,2227 41302 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
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006823,000387: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
006824,000388: 06,2231 10000 CCS A
006825,000389: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
006826,000390:
006827,000391: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
006828,000392: 06,2234 71302 MASK IMODES30
006829,000393: 06,2235 10000 CCS A
006830,000394: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
006831,000395:
006832,000396: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
006833,000397: 06,2240 27302 ADS IMODES30 # TIME.
006834,000398: 06,2241 12374 TCF C33TEST
006835,000399:
006836,000400: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006837,000401:
006838,000402: 06,2242 42777 PROCTNON CS BITS7&8
006839,000403: 06,2243 71302 MASK IMODES30
006840,000404: 06,2244 55302 TS IMODES30
006841,000405: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
006842,000406: 06,2246 10000 CCS A
006843,000407: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
006844,000408:
006845,000409: 06,2250 41302 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
006846,000410: 06,2251 74743 MASK BIT9 # OPERATE.
006847,000411: 06,2252 10000 CCS A
006848,000412: 06,2253 12256 TCF +3
006849,000413:
006850,000414: 06,2254 05567 TC ALARM # ALARM IF NOT.
006851,000415: 06,2255 00213 OCT 213
006852,000416:
006853,000417: 06,2256 02735 +3 TC CAGESUB
006854,000418: 06,2257 33005 CAF 90SECS
006855,000419: 06,2260 05203 TC WAITLIST
006856,000420: 06,2261 E6,1414 EBANK= M11
006857,000421: 06,2261 02266 14106 2CADR ENDTNON
006858,000422:
006859,000423: 06,2263 12374 TCF C33TEST
006860,000424:
006861,000425: 06,2264 33005 RETNON CAF 90SECS
006862,000426: 06,2265 05224 TC VARDELAY
006863,000427:
006864,000428: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
006865,000429: 06,2267 71302 MASK IMODES30
006866,000430: 06,2270 57302 XCH IMODES30
006867,000431: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006868,000432: 06,2272 00006 EXTEND
006869,000433: 06,2273 12306 BZF ENDTNON2
006870,000434:
006871,000435: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
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006873,000437: 06,2275 71302 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006874,000438: 06,2276 00006 EXTEND
006875,000439: 06,2277 12264 BZF RETNON
006876,000440:
006877,000441: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
006878,000442: 06,2301 74744 MASK IMUSEBIT # WAITING.
006879,000443: 06,2302 10000 CCS A
006880,000444: 06,2303 15261 TCF TASKOVER
006881,000445: 06,2304 04635 TC POSTJUMP
006882,000446: 06,2305 17637 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
006883,000447:
006884,000448: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
006885,000449: 06,2307 00006 EXTEND
006886,000450: 06,2310 05012 WOR CHAN12
006887,000451:
006888,000452: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
006889,000453: 06,2312 17266 CADR NOATTOFF
006890,000454:
006891,000455: 06,2313 05457 UNZ2 TC ZEROICDU
006892,000456:
006893,000457: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
006894,000458: 06,2315 00006 EXTEND
006895,000459: 06,2316 03012 WAND CHAN12
006896,000460:
006897,000461: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
006898,000462: 06,2320 05224 TC VARDELAY
006899,000463:
006900,000464: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
006901,000465: 06,2322 71302 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
006902,000466: 06,2323 55302 TS IMODES30
006903,000467:
006904,000468: 06,2324 44746 CS BIT6 # ENABLE DAP
006905,000469: 06,2325 71303 MASK IMODES33
006906,000470: 06,2326 55303 TS IMODES33
006907,000471:
006908,000472: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
006909,000473: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP (RESTART
006910,000474: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
006911,000475: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
006912,000476: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
006913,000477: 06,2334 30025 CA TIME1
006914,000478: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
006915,000479:
006916,000480: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
006917,000481:
006918,000482: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
006919,000483: 06,2340 00006 EXTEND
006920,000484: 06,2341 03012 WAND CHAN12
006921,000485:
006922,000486: 06,2342 35003 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
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006924,000488: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS.
006925,000489: 06,2344 E3,1474 EBANK= CDUIND
006926,000490: 06,2344 03254 16103 2CADR PFAILOK
006927,000491:
006928,000492: 06,2346 15261 TCF TASKOVER
006929,000493:
006930,000494: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
006931,000495: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
006932,000496: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
006933,000497: 06,2352 10000 CCS A
006934,000498: 06,2353 12374 TCF C33TEST
006935,000499:
006936,000500: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
006937,000501: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
006938,000502: 06,2356 10000 CCS A
006939,000503: 06,2357 12374 TCF C33TEST
006940,000504:
006941,000505: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
006942,000506:
006943,000507: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
006944,000508: 06,2362 17266 CADR NOATTOFF # IMU CAGE OFF ENTRY
006945,000509:
006946,000510: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
006947,000511: 06,2364 00006 EXTEND
006948,000512: 06,2365 05012 WOR CHAN12
006949,000513:
006950,000514: 06,2366 05457 TC ZEROICDU
006951,000515: 06,2367 34746 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
006952,000516: 06,2370 05203 TC WAITLIST
006953,000517: 06,2371 E6,1414 EBANK= M11
006954,000518: 06,2371 02313 14106 2CADR UNZ2
006955,000519:
006956,000520: 06,2373 12374 TCF C33TEST
006957,000521:
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006959,000523: # PROGRAM NAME: C33TEST
006960,000524:
006961,000525: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
006962,000526: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
006963,000527: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
006964,000528: # PROCESSED AND THE SUBROUTINES CALLED ARE:
006965,000529: # BIT FUNCTION SUBROUTINE
006966,000530: # --- -------- ----------
006967,000531: # 13 PIPA FAIL PIPFAIL
006968,000532: # 12 DOWNLINK TOO FAST DNTMFAST
006969,000533: # 11 UPLINK TOO FAST UPTMFAST
006970,000534:
006971,000535: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
006972,000536:
006973,000537: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
006974,000538:
006975,000539: # JOBS OR TASKS INITIATED: NONE.
006976,000540:
006977,000541: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
006978,000542:
006979,000543: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
006980,000544: # REAPPEAR IF THE CONDITIONS PERSIST.
006981,000545:
006982,000546: # ALARMS: NONE.
006983,000547:
006984,000548: # EXIT: GLOCKMON.
006985,000549:
006986,000550: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
006987,000551:
006988,000552: 06,2374 31303 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
006989,000553: 06,2375 75026 MASK 33RDMSK
006990,000554: 06,2376 54001 TS L # CHANGED.
006991,000555: 06,2377 35026 CAF 33RDMSK
006992,000556: 06,2400 00006 EXTEND
006993,000557: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
006994,000558: 06,2402 00006 EXTEND
006995,000559: 06,2403 06001 RXOR LCHAN
006996,000560: 06,2404 00006 EXTEND
006997,000561: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
006998,000562:
006999,000563: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007000,000564: 06,2407 23303 LXCH IMODES33
007001,000565: 06,2410 00006 EXTEND
007002,000566: 06,2411 06001 RXOR LCHAN
007003,000567: 06,2412 55303 TS IMODES33 # UPDATED IMODES33.
007004,000568:
007005,000569: 06,2413 34755 CAF ZERO
007006,000570: 06,2414 56070 XCH RUPTREG1
007007,000571: 06,2415 60000 DOUBLE
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007009,000573: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
007010,000574:
007011,000575: 06,2417 64753 -1 AD ONE
007012,000576: 06,2420 24070 NXTIBT INCR RUPTREG1
007013,000577: 06,2421 60000 +1 DOUBLE
007014,000578: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
007015,000579: 06,2423 12420 TCF NXTIBT
007016,000580:
007017,000581: 06,2424 56071 XCH RUPTREG2
007018,000582: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
007019,000583: 06,2426 34737 CAF BIT13
007020,000584: 06,2427 71303 MASK IMODES33
007021,000585: 06,2430 50070 INDEX RUPTREG1
007022,000586: 06,2431 02763 TC C33JMP
007023,000587: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
007024,000588: 06,2433 12417 TCF NXTIBT -1
007025,000589:
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007027,000591: # PROGRAM NAME: GLOCKMON
007028,000592:
007029,000593: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
007030,000594: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
007031,000595:
007032,000596: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
007033,000597: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
007034,000598: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
007035,000599:
007036,000600: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
007037,000601:
007038,000602: # JOBS OR TASKS INITIATED: NONE.
007039,000603:
007040,000604: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
007041,000605: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
007042,000606:
007043,000607: # ERASABLE INITIALIZATION:
007044,000608: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
007045,000609: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
007046,000610: # PROCEEDS AS BEFORE.
007047,000611:
007048,000612: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
007049,000613: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
007050,000614: # SO ALREADY.
007051,000615:
007052,000616: 06,2434 10034 GLOCKMON CCS CDUZ
007053,000617: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
007054,000618: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
007055,000619: 06,2437 12441 TCF GLOCKCHK
007056,000620: 06,2440 12465 TCF SETGLOCK
007057,000621:
007058,000622: 06,2441 62512 GLOCKCHK AD -70DEGS
007059,000623: 06,2442 00006 EXTEND
007060,000624: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
007061,000625:
007062,000626: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
007063,000627: 06,2445 00006 EXTEND
007064,000628: 06,2446 62462 BZMF NOGIMRUN
007065,000629:
007066,000630: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
007067,000631: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
007068,000632: 06,2451 02012 RAND CHAN12
007069,000633: 06,2452 10000 CCS A
007070,000634: 06,2453 12462 TCF NOGIMRUN
007071,000635:
007072,000636: 06,2454 04674 TC IBNKCALL
007073,000637: 06,2455 17144 CADR SETCOARS
007074,000638:
007075,000639: 06,2456 36242 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
007076,000640: 06,2457 05203 TC WAITLIST
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007078,000642: 06,2460 E3,1474 EBANK= CDUIND
007079,000643: 06,2460 03140 16103 2CADR CA+ECE
007080,000644:
007081,000645: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
007082,000646: 06,2463 12465 TCF SETGLOCK
007083,000647:
007084,000648: 06,2464 34755 -1 CAF ZERO
007085,000649: 06,2465 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
007086,000650: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
007087,000651: 06,2467 00006 EXTEND # THE TWO.
007088,000652: 06,2470 15270 BZF GLOCKOK # OK AS IS.
007089,000653:
007090,000654: 06,2471 71036 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
007091,000655: 06,2472 10000 CCS A
007092,000656: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007093,000657:
007094,000658: 06,2474 34746 CAF BIT6
007095,000659: 06,2475 71302 MASK IMODES30
007096,000660: 06,2476 10000 CCS A
007097,000661: 06,2477 15270 TCF GLOCKOK
007098,000662:
007099,000663: 06,2500 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
007100,000664: 06,2501 74746 MASK BIT6
007101,000665: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
007102,000666: 06,2503 57036 XCH DSPTAB +11D
007103,000667: 06,2504 72162 MASK OCT37737
007104,000668: 06,2505 27036 ADS DSPTAB +11D
007105,000669: 06,2506 15270 TCF GLOCKOK
007106,000670:
007107,000671: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007108,000672: 06,2510 15270 TCF GLOCKOK
007109,000673: 06,2511 12500 TCF GLINVERT
007110,000674:
007111,000675: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
007112,000676: 06,2513 75252 -15DEGS DEC -.08333
007113,000677:
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007115,000679: # PROGRAM NAME: TLIM.
007116,000680:
007117,000681: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
007118,000682: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
007119,000683: # IS IN PROGRESS.
007120,000684:
007121,000685: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
007122,000686:
007123,000687: # JOBS OR TASKS INITIATED: NONE.
007124,000688:
007125,000689: # SUBROUTINES CALLED: LAMPTEST.
007126,000690:
007127,000691: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007128,000692:
007129,000693: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
007130,000694:
007131,000695: # EXIT: NXTIFAIL.
007132,000696:
007133,000697: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
007134,000698:
007135,000699: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
007136,000700: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
007137,000701:
007138,000702: 06,2516 11302 CCS IMODES30
007139,000703: 06,2517 12525 TCF TEMPOK
007140,000704: 06,2520 12525 TCF TEMPOK
007141,000705:
007142,000706: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
007143,000707: 06,2522 00006 EXTEND
007144,000708: 06,2523 05011 WOR DSALMOUT
007145,000709: 06,2524 12225 TCF NXTIFAIL
007146,000710:
007147,000711: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
007148,000712: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
007149,000713:
007150,000714: 06,2527 44750 CS BIT4
007151,000715: 06,2530 00006 EXTEND
007152,000716: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
007153,000717: 06,2532 12225 TCF NXTIFAIL
007154,000718:
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007156,000720: # PROGRAM NAME: ITURNON.
007157,000721:
007158,000722: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007159,000723: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007160,000724: # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
007161,000725: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007162,000726: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007163,000727: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007164,000728:
007165,000729: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007166,000730: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007167,000731: # ENDS.
007168,000732:
007169,000733: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007170,000734:
007171,000735: # JOBS OR TASKS INITIATED: NONE.
007172,000736:
007173,000737: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007174,000738:
007175,000739: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007176,000740: # AND BIT 14 OF IMODES30 TO 1.
007177,000741:
007178,000742: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007179,000743:
007180,000744: # EXIT: NXTIFAIL.
007181,000745:
007182,000746: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007183,000747: # A FAILED TURN-ON SEQUENCE.
007184,000748:
007185,000749: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
007186,000750: 06,2534 71302 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
007187,000751: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007188,000752: 06,2536 12225 TCF NXTIFAIL
007189,000753:
007190,000754: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
007191,000755: 06,2540 71302 MASK IMODES30
007192,000756: 06,2541 00006 EXTEND
007193,000757: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
007194,000758:
007195,000759: 06,2543 34735 CAF BIT15
007196,000760: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
007197,000761: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
007198,000762: 06,2546 00006 EXTEND
007199,000763: 06,2547 12551 BZF +2
007200,000764: 06,2550 12225 TCF NXTIFAIL
007201,000765:
007202,000766: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
007203,000767: 06,2552 27302 ADS IMODES30 # PRESENT FOR FULL DURATION.
007204,000768: 06,2553 05567 TC ALARM
007205,000769: 06,2554 00207 OCT 207
007206,000770: 06,2555 12225 TCF NXTIFAIL
007207,000771:
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007209,000773: 06,2556 41302 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007210,000774: 06,2557 74745 MASK BIT7
007211,000775: 06,2560 27302 ADS IMODES30
007212,000776: 06,2561 32564 CAF RRINIT
007213,000777: 06,2562 54110 TS RADMODES
007214,000778: 06,2563 12225 TCF NXTIFAIL
007215,000779:
007216,000780: 06,2564 00102 RRINIT OCT 00102
007217,000781:
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007219,000783: # PROGRAM NAME: IMUCAGE.
007220,000784:
007221,000785: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
007222,000786: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007223,000787: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007224,000788: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
007225,000789: # RELEASED (INBIT CHANGES TO 1).
007226,000790:
007227,000791: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
007228,000792:
007229,000793: # JOBS OR TASKS INITIATED: NONE.
007230,000794:
007231,000795: # SUBROUTINES CALLED: CAGESUB.
007232,000796:
007233,000797: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007234,000798:
007235,000799: # ALARMS: NONE.
007236,000800:
007237,000801: # EXIT: NXTIFAIL.
007238,000802:
007239,000803: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007240,000804:
007241,000805: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
007242,000806: 06,2566 12361 TCF ISSZERO
007243,000807: 06,2567 43002 CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
007244,000808: 06,2570 00006 EXTEND
007245,000809: 06,2571 03014 WAND CHAN14
007246,000810:
007247,000811: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007248,000812: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007249,000813: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007250,000814:
007251,000815: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
007252,000816: 06,2576 70101 MASK FLAGWRD5
007253,000817: 06,2577 54101 TS FLAGWRD5
007254,000818: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
007255,000819: 06,2601 00006 EXTEND
007256,000820: 06,2602 02011 RAND DSALMOUT
007257,000821: 06,2603 64736 AD BIT14
007258,000822: 06,2604 00006 EXTEND
007259,000823: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
007260,000824:
007261,000825: 06,2606 02743 TC CAGESUB1
007262,000826:
007263,000827: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007264,000828: 06,2610 17175 CADR RNDREFDR
007265,000829:
007266,000830: 06,2611 44755 CS ZERO
007267,000831: 06,2612 54050 TS CDUXCMD
007268,000832: 06,2613 54051 TS CDUYCMD
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007270,000834: 06,2614 54052 TS CDUZCMD
007271,000835: 06,2615 54047 TS GYROCMD
007272,000836:
007273,000837: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
007274,000838: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
007275,000839: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
007276,000840: 06,2621 12225 TCF NXTIFAIL
007277,000841:
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007279,000843: # PROGRAM NAME: IMUOP.
007280,000844:
007281,000845: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007282,000846: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007283,000847: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007284,000848: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007285,000849: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
007286,000850:
007287,000851: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007288,000852:
007289,000853: # JOBS OR TASKS INITIATED: NONE.
007290,000854: #
007291,000855: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007292,000856:
007293,000857: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007294,000858: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007295,000859:
007296,000860: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007297,000861:
007298,000862: # EXIT: NXTIFAIL.
007299,000863:
007300,000864: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007301,000865:
007302,000866: 06,2622 00006 IMUOP EXTEND
007303,000867: 06,2623 12643 BZF IMUOP2
007304,000868:
007305,000869: 06,2624 41303 CS IMODES33 # DISABLE DAP
007306,000870: 06,2625 74746 MASK BIT6
007307,000871: 06,2626 27303 ADS IMODES33
007308,000872:
007309,000873: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007310,000874: 06,2630 17175 CADR RNDREFDR
007311,000875:
007312,000876: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007313,000877: 06,2632 70074 MASK FLAGWRD0
007314,000878: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
007315,000879: 06,2634 40000 COM
007316,000880: 06,2635 74744 MASK IMUSEFLG
007317,000881: 06,2636 10000 CCS A
007318,000882: 06,2637 12225 TCF NXTIFAIL
007319,000883:
007320,000884: 06,2640 05567 TC ALARM
007321,000885: 06,2641 00214 OCT 214
007322,000886: 06,2642 12225 TCF NXTIFAIL
007323,000887:
007324,000888: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007325,000889: 06,2644 71302 MASK IMODES30
007326,000890: 06,2645 10000 CCS A
007327,000891: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
007328,000892: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
007329,000893:
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007331,000895: # PROGRAM NAME: PIPFAIL
007332,000896:
007333,000897: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
007334,000898: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
007335,000899: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
007336,000900:
007337,000901: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007338,000902:
007339,000903: # JOBS OR TASKS INITIATED: NONE.
007340,000904:
007341,000905: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
007342,000906:
007343,000907: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
007344,000908:
007345,000909: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007346,000910: # BEING INITIALIZED.
007347,000911:
007348,000912: # EXIT: NXTFL33.
007349,000913:
007350,000914: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007351,000915:
007352,000916: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
007353,000917: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
007354,000918: 06,2652 57302 XCH IMODES30
007355,000919: 06,2653 73004 MASK -BIT10
007356,000920: 06,2654 27302 ADS IMODES30
007357,000921:
007358,000922: 06,2655 02703 TC SETISSW
007359,000923:
007360,000924: 06,2656 41302 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
007361,000925: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
007362,000926: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
007363,000927: 06,2661 12432 TCF NXTFL33
007364,000928:
007365,000929: 06,2662 31302 CA IMODES30
007366,000930: 06,2663 73000 MASK OCT1720
007367,000931: 06,2664 10000 CCS A
007368,000932: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
007369,000933:
007370,000934: 06,2666 05567 TC ALARM
007371,000935: 06,2667 00212 OCT 212
007372,000936: 06,2670 12432 TCF NXTFL33
007373,000937:
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007375,000939: # PROGRAM NAMES: DNTMFAST, UPTMFAST
007376,000940:
007377,000941: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
007378,000942: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
007379,000943:
007380,000944: # BIT ALARM CAUSE
007381,000945: # --- ----- -----
007382,000946: # 12 01105 DOWNLINK TOO FAST
007383,000947: # 11 01106 UPLINK TOO FAST
007384,000948:
007385,000949: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
007386,000950:
007387,000951: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
007388,000952:
007389,000953: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007390,000954:
007391,000955: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
007392,000956:
007393,000957: # EXIT: NXTFL33.
007394,000958:
007395,000959: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
007396,000960:
007397,000961: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
007398,000962: 06,2672 12432 TCF NXTFL33
007399,000963:
007400,000964: 06,2673 05567 TC ALARM
007401,000965: 06,2674 01105 OCT 1105
007402,000966: 06,2675 12432 TCF NXTFL33
007403,000967:
007404,000968: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
007405,000969: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
007406,000970:
007407,000971: 06,2700 05567 TC ALARM
007408,000972: 06,2701 01106 OCT 1106
007409,000973: 06,2702 12432 TCF NXTFL33
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007411,000975: # PROGRAM NAME: SETISSW
007412,000976:
007413,000977: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007414,000978: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007415,000979: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007416,000980: # PROGRESS.
007417,000981:
007418,000982: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
007419,000983: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
007420,000984: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007421,000985: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007422,000986:
007423,000987: # JOBS OR TASKS INITIATED: NONE.
007424,000988:
007425,000989: # SUBROUTINES CALLED: NONE.
007426,000990:
007427,000991: # ERASABLE INITIALIZATION:
007428,000992:
007429,000993: # 1) IMODES30 - SEE IMUMON.
007430,000994: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007431,000995:
007432,000996: # ALARMS: ISS WARNING.
007433,000997:
007434,000998: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007435,000999: # PROGRAM ALARM 00777 PIPA FAIL
007436,001000: # PROGRAM ALARM 03777 ICDU FAIL
007437,001001: # PROGRAM ALARM 04777 ICDU, PIPA FAILS
007438,001002: # PROGRAM ALARM 07777 IMU FAIL
007439,001003: # PROGRAM ALARM 10777 IMU, PIPA FAILS
007440,001004: # PROGRAM ALARM 13777 IMU, ICDU FAILS
007441,001005: # PROGRAM ALARM 14777 IMU, ICDU, PIPA FAILS
007442,001006:
007443,001007: # EXIT: VIA Q.
007444,001008:
007445,001009: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
007446,001010:
007447,001011: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
007448,001012: 06,2704 71302 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
007449,001013: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
007450,001014: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
007451,001015: 06,2707 31302 CA IMODES30
007452,001016: 06,2710 00006 EXTEND
007453,001017: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
007454,001018: 06,2712 40000 COM
007455,001019: 06,2713 75025 MASK OCT15000
007456,001020: 06,2714 10000 CCS A
007457,001021: 06,2715 12726 TCF ISSWON # FAILURE.
007458,001022:
007459,001023: 06,2716 34753 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
007460,001024: 06,2717 71303 MASK IMODES33 # IN PROGRESS.
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007462,001026: 06,2720 10000 CCS A
007463,001027: 06,2721 00002 TC Q
007464,001028:
007465,001029: 06,2722 44753 CS BIT1
007466,001030: 06,2723 00006 EXTEND
007467,001031: 06,2724 03011 WAND DSALMOUT
007468,001032: 06,2725 00002 TC Q
007469,001033:
007470,001034: 06,2726 00006 ISSWON EXTEND
007471,001035: 06,2727 22066 QXCH ITEMP6
007472,001036: 06,2730 05744 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
007473,001037: 06,2731 34753 CAF BIT1
007474,001038: 06,2732 00006 EXTEND
007475,001039: 06,2733 05011 WOR DSALMOUT
007476,001040: 06,2734 00066 TC ITEMP6
007477,001041:
007478,001042: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
007479,001043: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
007480,001044: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
007481,001045: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
007482,001046: 06,2741 00006 EXTEND
007483,001047: 06,2742 05012 WOR CHAN12
007484,001048:
007485,001049: 06,2743 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
007486,001050: 06,2744 72773 MASK OC40010
007487,001051: 06,2745 27036 ADS DSPTAB +11D
007488,001052:
007489,001053: 06,2746 41302 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
007490,001054: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
007491,001055: 06,2750 27302 ADS IMODES30
007492,001056:
007493,001057: 06,2751 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
007494,001058: 06,2752 74746 MASK BIT6
007495,001059: 06,2753 27303 ADS IMODES33
007496,001060:
007497,001061: 06,2754 00002 TC Q
007498,001062:
007499,001063: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
007500,001064: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
007501,001065:
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007503,001067: # JUMP TABLES AND CONSTANTS.
007504,001068:
007505,001069: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
007506,001070: 06,2756 12703 TCF IMUFAIL
007507,001071: 06,2757 12703 TCF ICDUFAIL
007508,001072: 06,2760 12565 TCF IMUCAGE
007509,001073: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
007510,001074: 06,2762 12622 TCF IMUOP
007511,001075:
007512,001076: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
007513,001077: 06,2764 12671 TCF DNTMFAST
007514,001078: 06,2765 12676 TCF UPTMFAST
007515,001079:
007516,001080: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007517,001081: 06,2766 41303 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007518,001082: 06,2767 74753 MASK BIT1 # PROGRESS.
007519,001083: 06,2770 10000 CCS A
007520,001084: 06,2771 24002 INCR Q
007521,001085: 06,2772 00002 TC Q
007522,001086:
007523,001087: 06,2773 5026 33RDMSK EQUALS PRIO16
007524,001088: 06,2773 40010 OC40010 OCT 40010
007525,001089: 06,2774 00054 OCT54 OCT 54
007526,001090: 06,2775 00075 OCT75 OCT 75
007527,001091: 06,2776 00272 OCT272 OCT 00272
007528,001092: 06,2777 00300 BITS7&8 OCT 300
007529,001093: 06,3000 01720 OCT1720 OCT 1720
007530,001094: 06,3001 00740 OCT740 OCT 00740
007531,001095: 06,3002 5025 OCT15000 EQUALS PRIO15
007532,001096: 06,3002 77000 OCT77000 OCT 77000
007533,001097: 06,3003 40040 BITS6&15 OCT 40040
007534,001098: 06,3004 76777 -BIT10 OCT -1000
007535,001099:
007536,001100: 06,3005 21450 90SECS DEC 9000 B-14
007537,001101: 06,3006 5751 120MS = OCT14 # (DEC12)
007538,001102: 06,3006 5270 GLOCKOK EQUALS RESUME
007539,001103:
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007541,001105: # PROGRAM NAME_ RRAUTCHK
007542,001106:
007543,001107: # FUNCTIONAL DESCRIPTION_
007544,001108: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
007545,001109: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
007546,001110: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
007547,001111: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
007548,001112: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
007549,001113: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
007550,001114: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
007551,001115: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
007552,001116: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
007553,001117: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007554,001118: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
007555,001119: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007556,001120:
007557,001121: # CALLING SEQUENCE_
007558,001122: # T4RUPT EVERY 480 MILLISECONDS
007559,001123:
007560,001124: # ERASABLE INITIALIZATION REQUIRED_
007561,001125: # RADMODES, STATE
007562,001126:
007563,001127: # SUBROUTINES CALLED_
007564,001128: # WAITLIST
007565,001129:
007566,001130: # JOBS OR TASKS INITIATED_
007567,001131: # RRTURNON
007568,001132:
007569,001133: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
007570,001134: # USED
007571,001135:
007572,001136: # EXIT_ RRCDUCHK, NORRGMON
007573,001137:
007574,001138: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
007575,001139: 06,3007 00006 EXTEND
007576,001140: 06,3010 06033 RXOR CHAN33
007577,001141: 06,3011 74752 MASK AUTOMBIT
007578,001142: 06,3012 00006 EXTEND
007579,001143: 06,3013 13037 BZF RRCDUCHK
007580,001144:
007581,001145: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
007582,001146: 06,3015 00006 EXTEND
007583,001147: 06,3016 06001 RXOR LCHAN
007584,001148: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
007585,001149: 06,3020 54110 TS RADMODES # AND TURNON BITS.
007586,001150: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
007587,001151: 06,3022 10000 CCS A
007588,001152: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
007589,001153: 06,3024 37663 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
007590,001154: 06,3025 26110 ADS RADMODES
007591,001155:
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007593,001157: 06,3026 34753 CAF ONE
007594,001158: 06,3027 05203 TC WAITLIST
007595,001159: 06,3030 E7,1456 EBANK= LOSCOUNT
007596,001160: 06,3030 02062 52107 2CADR RRTURNON
007597,001161:
007598,001162: 06,3032 13132 TCF NORRGMON
007599,001163:
007600,001164: 06,3033 05776 OCT05776 OCT 5776
007601,001165:
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007603,001167: # PROGRAM NAME_ RRCDUCHK
007604,001168:
007605,001169: # FUNCTIONAL DESCRIPTION_
007606,001170: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
007607,001171: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
007608,001172: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
007609,001173: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
007610,001174: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
007611,001175: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
007612,001176: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
007613,001177: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
007614,001178: # RRGIMON.
007615,001179:
007616,001180: # CALLING SEQUENCE_
007617,001181: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
007618,001182: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
007619,001183:
007620,001184: # ERASABLE INITIALIZATION REQUIRED_
007621,001185: # RADMODES
007622,001186:
007623,001187: # SUBROUTINES CALLED_
007624,001188: # SETTRKF
007625,001189:
007626,001190: # JOBS OR TASKS INITIATED_
007627,001191: # NONE
007628,001192:
007629,001193: # ALARMS_
007630,001194: # TRACKER FAIL
007631,001195: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
007632,001196:
007633,001197: # EXIT_
007634,001198: # RRGIMON, NORRGMON
007635,001199:
007636,001200: 06,3034 44752 -3 CS BIT2
007637,001201: 06,3035 00006 EXTEND
007638,001202: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
007639,001203:
007640,001204: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
007641,001205: 06,3040 00006 EXTEND
007642,001206: 06,3041 06030 RXOR CHAN30
007643,001207: 06,3042 74745 MASK RCDUFBIT
007644,001208: 06,3043 00006 EXTEND
007645,001209: 06,3044 13071 BZF RRGIMON
007646,001210:
007647,001211: 06,3045 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
007648,001212: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
007649,001213: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
007650,001214: 06,3050 13132 TCF NORRGMON # JUST READING LR DATA.
007651,001215:
007652,001216: 06,3051 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
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007654,001218: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
007655,001219: 06,3053 00006 EXTEND
007656,001220: 06,3054 06001 RXOR L
007657,001221: 06,3055 54110 TS RADMODES
007658,001222:
007659,001223: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
007660,001224: 06,3057 74745 MASK RCDUFBIT
007661,001225: 06,3060 10000 CCS A
007662,001226: 06,3061 13070 TCF TRKFLCDU # NO
007663,001227: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
007664,001228: 06,3063 74745 MASK RNDVZBIT
007665,001229: 06,3064 10000 CCS A
007666,001230: 06,3065 13070 TCF TRKFLCDU # NO
007667,001231: 06,3066 05567 TC ALARM # YES
007668,001232: 06,3067 00515 OCT 00515
007669,001233: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
007670,001234:
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007672,001236: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
007673,001237:
007674,001238: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
007675,001239: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
007676,001240: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
007677,001241: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
007678,001242: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
007679,001243: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
007680,001244: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
007681,001245: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
007682,001246: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
007683,001247: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
007684,001248: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
007685,001249:
007686,001250: # CALLING SEQUENCE_
007687,001251: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
007688,001252: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
007689,001253: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
007690,001254: # (RADMODES BIT 2).
007691,001255:
007692,001256: # ERASABLE INITIALIZATION_ RADMODES
007693,001257:
007694,001258: # SUBROUTINES CALLED_
007695,001259: # RRLIMCHK, WAITLIST
007696,001260:
007697,001261: # JOBS OR TASKS INITIATED_
007698,001262: # DORREPOS
007699,001263:
007700,001264: # ALARMS_
007701,001265: # NONE
007702,001266:
007703,001267: # EXIT_
007704,001268: # NORRGMON
007705,001269:
007706,001270: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
007707,001271: 06,3072 74750 MASK NORRMBIT
007708,001272: 06,3073 10000 CCS A
007709,001273: 06,3074 13132 TCF NORRGMON # YES - SKIP LIMIT CHECK
007710,001274: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
007711,001275: 06,3076 74747 MASK AVEGFBIT
007712,001276: 06,3077 10000 CCS A
007713,001277: 06,3100 13105 TCF +5 # NO. DO R25
007714,001278: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
007715,001279: 06,3102 74744 MASK MUNFLBIT
007716,001280: 06,3103 10000 CCS A
007717,001281: 06,3104 13132 TCF NORRGMON # YES. DON'T DO R25
007718,001282: 06,3105 33127 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR.
007719,001283: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
007720,001284: 06,3107 10000 CCS A
007721,001285: 06,3110 13132 TCF NORRGMON
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007723,001287: 06,3111 04523 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
007724,001288: 06,3112 00035 ADRES CDUT
007725,001289:
007726,001290: 06,3113 13115 TCF MONREPOS
007727,001291:
007728,001292: 06,3114 13132 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
007729,001293:
007730,001294: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
007731,001295: 06,3116 26110 ADS RADMODES
007732,001296:
007733,001297: 06,3117 43130 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
007734,001298: 06,3120 00006 EXTEND
007735,001299: 06,3121 03012 WAND CHAN12
007736,001300:
007737,001301: 06,3122 34752 CAF TWO
007738,001302: 06,3123 05203 TC WAITLIST
007739,001303: 06,3124 E7,1456 EBANK= LOSCOUNT
007740,001304: 06,3124 02127 52107 2CADR DORREPOS
007741,001305:
007742,001306: 06,3126 13132 TCF NORRGMON
007743,001307:
007744,001308: 06,3127 32002 OCT32002 OCT 32002
007745,001309: 06,3130 20002 OCT20002 OCT 20002
007746,001310: 06,3131 02100 OCT02100 OCT 02100 # P20, P22 MASK BITS
007747,001311:
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007749,001313: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
007750,001314:
007751,001315: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007752,001316:
007753,001317: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
007754,001318:
007755,001319: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
007756,001320: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
007757,001321: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
007758,001322:
007759,001323: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
007760,001324: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
007761,001325:
007762,001326: # SUBROUTINES CALLED: SPSIN, SPCOS.
007763,001327:
007764,001328: # NORMAL EXIT MODE: TCF RESUME
007765,001329:
007766,001330: # ALARM AND ABORT MODES: NONE.
007767,001331:
007768,001332: # INPUT: CDUX, CDUY, CDUZ.
007769,001333:
007770,001334: # OUTPUT: M11, M21, M31, M22, M32.
007771,001335:
007772,001336: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
007773,001337:
007774,001338: # * * SIN(MG) 0 1 *
007775,001339: # M = * COS(MG)COS(OG) SIN(OG) 0 *
007776,001340: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
007777,001341:
007778,001342: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
007779,001343: # M = * 0 SIN(OG) COS(OG) *
007780,001344: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
007781,001345:
007782,001346: 06,3132 E6,1414 EBANK= M11
007783,001347: 06,3132 06,3132 DAPT4S EQUALS GPMATRIX
007784,001348:
007785,001349: # T4RUPT DAP LOGIC:
007786,001350:
007787,001351: 06,3132 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
007788,001352: 06,3133 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
007789,001353: 06,3134 55414 TS M11 # SCALED AT 1
007790,001354:
007791,001355: 06,3135 30034 CAE CDUZ
007792,001356: 06,3136 05032 TC SPCOS # COS(CDUZ) = COS(MG)
007793,001357: 06,3137 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
007794,001358:
007795,001359: 06,3140 30032 CAE CDUX
007796,001360: 06,3141 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
007797,001361: 06,3142 55417 TS M22 # SCALED AT 1 (ALSO IS MR22)
007798,001362:
007799,001363: 06,3143 41417 CS M22
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007801,001365: 06,3144 00006 EXTEND
007802,001366: 06,3145 70061 MP COSMG # -SIN(OG)COS(MG)
007803,001367: 06,3146 55416 TS M31 # SCALED AT 1
007804,001368:
007805,001369: 06,3147 30032 CAE CDUX
007806,001370: 06,3150 05032 TC SPCOS # COS(CDUX) = COS(OG)
007807,001371: 06,3151 55420 TS M32 # SCALED AT 1 (ALSO IS MR23)
007808,001372:
007809,001373: 06,3152 00006 EXTEND
007810,001374: 06,3153 70061 MP COSMG # COS(OG)COS(MG)
007811,001375: 06,3154 55415 TS M21 # SCALED AT 1
007812,001376:
007813,001377: 06,3155 05270 TC RESUME
007814,001378:
007815,001379: 06,3156 06,3132 NORRGMON EQUALS DAPT4S
007816,001380: 06,3156 5270 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc