GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
007523,000002: ## Copyright: Public domain.
007524,000003: ## Filename: T4RUPT_PROGRAM.agc
007525,000004: ## Purpose: The main source file for Luminary revision 069.
007526,000005: ## It is part of the source code for the original release
007527,000006: ## of the flight software for the Lunar Module's (LM) Apollo
007528,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
007529,000008: ## version was Luminary 69 revision 2, which included a
007530,000009: ## newer lunar gravity model and only affected module 2.
007531,000010: ## This file is intended to be a faithful transcription, except
007532,000011: ## that the code format has been changed to conform to the
007533,000012: ## requirements of the yaYUL assembler rather than the
007534,000013: ## original YUL assembler.
007535,000014: ## Reference: pp. 170-204
007536,000015: ## Assembler: yaYUL
007537,000016: ## Contact: Ron Burkey <info@sandroid.org>.
007538,000017: ## Website: www.ibiblio.org/apollo/index.html
007539,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
007540,000019: ## 2017-01-05 HG Transcribed
007541,000020: ## 2017-01-22 HG Fix operand BIT1 -> BIT11
007542,000021: ## 2017-01-25 RSB Proofed comment text using octopus/prooferComments
007543,000022: ## and fixed errors found.
007544,000023: ## 2017-01-28 RSB WTIH -> WITH.
007545,000024: ## 2017-03-03 RSB Fixed comment-text errors identified while proofing
007546,000025: ## Luminary 116.
007547,000026:
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Page 170 |
007549,000028: 12,2000 BANK 12
007550,000029: 06,2000 SETLOC T4RUP
007551,000030: 06,2000 BANK
007552,000031:
007553,000032: 06,2000 E6,1412 EBANK= M11
007554,000033: 06,2000 COUNT* $$/T4RPT
007555,000034: 06,2000 54016 T4RUPT TS BANKRUPT
007556,000035:
007557,000036: 06,2001 00006 EXTEND
007558,000037: 06,2002 22012 QXCH QRUPT
007559,000038:
007560,000039: 06,2003 11313 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
007561,000040: 06,2004 12010 TCF NORMT4 +1
007562,000041: 06,2005 12007 TCF NORMT4
007563,000042:
007564,000043: 06,2006 12134 TCF QUIKDSP
007565,000044:
007566,000045: 06,2007 34757 NORMT4 CAF SEVEN
007567,000046: 06,2010 54070 TS RUPTREG1
007568,000047: 06,2011 55313 TS DSRUPTSW
007569,000048:
007570,000049: 4066 BLOCK 02
007571,000050: 4000 SETLOC FFTAG10
007572,000051: 4000 BANK
007573,000052:
007574,000053: 4066 COUNT* $$/T4RPT
007575,000054: 4066 7726 100MRUPT = OCT37766 # (DEC 16374)
007576,000055: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007577,000056: # IN LOWER 5 BITS.
007578,000057:
007579,000058: 4066 04025 RELTAB OCT 04025
007580,000059: 4067 10003 OCT 10003
007581,000060: 4070 14031 OCT 14031
007582,000061: 4071 20033 OCT 20033
007583,000062: 4072 24017 OCT 24017
007584,000063: 4073 30036 OCT 30036
007585,000064: 4074 34034 OCT 34034
007586,000065: 4075 40023 OCT 40023
007587,000066: 4076 44035 OCT 44035
007588,000067: 4077 50037 OCT 50037
007589,000068: 4100 54000 OCT 54000
007590,000069: 4101 60000 RELTAB11 OCT 60000
007591,000070:
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007593,000072: # SWITCHED-BANK PORTION.
007594,000073:
007595,000074: 12,2000 BANK 12
007596,000075: 06,2000 SETLOC T4RUP
007597,000076: 06,2000 BANK
007598,000077:
007599,000078: 06,2012 COUNT* $$/T4RPT
007600,000079: 06,2012 11036 CDRVE CCS DSPTAB +11D
007601,000080: 06,2013 02063 TC DSPOUT
007602,000081: 06,2014 02063 TC DSPOUT
007603,000082:
007604,000083: 06,2015 57036 XCH DSPTAB +11D
007605,000084: 06,2016 74356 MASK LOW11
007606,000085: 06,2017 55036 TS DSPTAB +11D
007607,000086: 06,2020 64101 AD RELTAB11
007608,000087: 06,2021 00006 EXTEND
007609,000088: 06,2022 01010 WRITE OUT0
007610,000089: 06,2023 02071 TC HANG20
007611,000090:
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007613,000092: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007614,000093:
007615,000094: 06,2024 55016 DSPOUTSB TS NOUT
007616,000095: 06,2025 44755 CS ZERO
007617,000096: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
007618,000097: 06,2027 56776 XCH DSPCNT
007619,000098: 06,2030 64754 AD NEG0 # TO PREVENT +0
007620,000099: 06,2031 54776 TS DSPCNT
007621,000100: 06,2032 50776 DSPSCAN INDEX DSPCNT
007622,000101: 06,2033 11023 CCS DSPTAB
007623,000102: 06,2034 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
007624,000103: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
007625,000104: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
007626,000105: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
007627,000106: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007628,000107: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
007629,000108: 06,2042 55016 TS NOUT
007630,000109: 06,2043 00002 TC Q
007631,000110: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007632,000111: 06,2045 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007633,000112: 06,2046 12031 TCF DSPSCAN -1
007634,000113:
007635,000114: 06,2047 64753 DSPLAY AD ONE
007636,000115: 06,2050 50776 INDEX DSPCNT
007637,000116: 06,2051 55023 TS DSPTAB # REPLACE POSITIVELY
007638,000117: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
007639,000118: 06,2053 54073 TS DSRUPTEM
007640,000119: 06,2054 34350 CAF HI5
007641,000120: 06,2055 50776 INDEX DSPCNT
007642,000121: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007643,000122: 06,2057 60073 AD DSRUPTEM
007644,000123: 06,2060 00006 EXTEND
007645,000124: 06,2061 01010 WRITE OUT0
007646,000125:
007647,000126: 06,2062 16736 TCF Q+1
007648,000127:
007649,000128:
007650,000129: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
007651,000130: 06,2064 34755 CAF ZERO # NO
007652,000131: 06,2065 12130 TCF NODSPOUT # NO
007653,000132: 06,2066 11016 CCS NOUT # YES
007654,000133: 06,2067 02024 TC DSPOUTSB
007655,000134: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
007656,000135:
007657,000136: 06,2071 42171 HANG20 CS 14,11,9
007658,000137: 06,2072 27313 ADS DSRUPTSW
007659,000138:
007660,000139: 06,2073 37730 CAF 20MRUPT
007661,000140:
007662,000141: 06,2074 54027 SETTIME4 TS TIME4
007663,000142:
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007665,000144: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007666,000145: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007667,000146:
007668,000147: # IF PREV ON AND NOW ON - BYPASS
007669,000148: # IF PREV ON AND NOW OFF - UPDATE IMODES33
007670,000149: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
007671,000150: # IF PREV OFF AND NOW OFF - BYPASS
007672,000151:
007673,000152: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007674,000153:
007675,000154:
007676,000155: 06,2075 31303 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
007677,000156: 06,2076 00006 EXTEND
007678,000157: 06,2077 06032 RXOR CHAN32
007679,000158: 06,2100 74736 MASK BIT14
007680,000159: 06,2101 00006 EXTEND
007681,000160: 06,2102 12116 BZF T4JUMP # NO CHANGE
007682,000161:
007683,000162: 06,2103 23303 LXCH IMODES33
007684,000163: 06,2104 00006 EXTEND
007685,000164: 06,2105 06001 RXOR LCHAN
007686,000165: 06,2106 55303 TS IMODES33 # UPDATE IMODES33
007687,000166: 06,2107 74736 MASK BIT14
007688,000167: 06,2110 10000 CCS A
007689,000168: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
007690,000169:
007691,000170: 06,2112 34355 CAF CHRPRIO # WAS OFF - NOW ON
007692,000171: 06,2113 05072 TC NOVAC
007693,000172: 06,2114 0777 EBANK= DSPCOUNT
007694,000173: 06,2114 03450 60101 2CADR PROCKEY
007695,000174:
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007697,000176: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007698,000177:
007699,000178: 06,2116 50070 T4JUMP INDEX RUPTREG1
007700,000179: 06,2117 12120 TCF +1
007701,000180:
007702,000181: 06,2120 03156 TC RCSMONIT
007703,000182: 06,2121 13006 TCF RRAUTCHK
007704,000183: 06,2122 12172 TCF IMUMON
007705,000184: 06,2123 13132 TCF DAPT4S
007706,000185: 06,2124 03156 TC RCSMONIT
007707,000186: 06,2125 13006 TCF RRAUTCHK
007708,000187: 06,2126 12172 TCF IMUMON
007709,000188: 06,2127 13132 TCF DAPT4S
007710,000189:
007711,000190: 06,2130 7730 20MRUPT = OCT37776 # (DEC 16382)
007712,000191:
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007714,000193: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007715,000194:
007716,000195: 06,2130 00006 NODSPOUT EXTEND
007717,000196: 06,2131 01010 WRITE OUT0
007718,000197:
007719,000198: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
007720,000199: 06,2133 12074 TCF SETTIME4
007721,000200:
007722,000201: 06,2134 34736 QUIKDSP CAF BIT14
007723,000202: 06,2135 71313 MASK DSRUPTSW
007724,000203: 06,2136 00006 EXTEND
007725,000204: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
007726,000205:
007727,000206: 06,2140 11016 CCS NOUT
007728,000207: 06,2141 02024 TC DSPOUTSB
007729,000208: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
007730,000209: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
007731,000210: 06,2144 27313 QUIKRUPT ADS DSRUPTSW
007732,000211:
007733,000212: 06,2145 37730 CAF 20MRUPT
007734,000213: 06,2146 54027 TS TIME4
007735,000214:
007736,000215: 06,2147 34743 CAF BIT9
007737,000216: 06,2150 27313 ADS DSRUPTSW
007738,000217:
007739,000218: 06,2151 05270 TC RESUME
007740,000219:
007741,000220: 06,2152 00006 NODSPY EXTEND
007742,000221: 06,2153 01010 WRITE OUT0
007743,000222:
007744,000223: 06,2154 37730 SYNCT4 CAF 20MRUPT
007745,000224: 06,2155 26027 ADS TIME4
007746,000225:
007747,000226: 06,2156 34743 CAF BIT9
007748,000227: 06,2157 27313 ADS DSRUPTSW
007749,000228:
007750,000229: 06,2160 11313 CCS DSRUPTSW
007751,000230: 06,2161 05270 TC RESUME
007752,000231: 06,2162 37737 OCT37737 OCT 37737
007753,000232: 06,2163 02154 TC SYNCT4
007754,000233: 06,2164 05270 TC RESUME
007755,000234:
007756,000235: 06,2165 00006 QUIKOFF EXTEND
007757,000236: 06,2166 01010 WRITE OUT0
007758,000237: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007759,000238: 06,2170 12144 TCF QUIKRUPT
007760,000239:
007761,000240: 06,2171 22400 14,11,9 OCT 22400
007762,000241:
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007764,000243: # PROGRAM NAME: IMUMON
007765,000244:
007766,000245: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007767,000246: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007768,000247:
007769,000248: # FUNCTION BIT SUBROUTINE CALLED
007770,000249: # -------- --- -----------------
007771,000250: # TEMP IN LIMITS 15 TLIM
007772,000251: # ISS TURN-ON REQUEST 14 ITURNON
007773,000252: # IMU FAIL 13 IMUFAIL (SETISSW)
007774,000253: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
007775,000254: # IMU CAGE 11 IMUCAGE
007776,000255: # IMU OPERATE 9 IMUOP
007777,000256:
007778,000257: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007779,000258: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007780,000259:
007781,000260: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
007782,000261:
007783,000262: # JOBS OR TASKS INITIATED: NONE.
007784,000263:
007785,000264: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007786,000265:
007787,000266: # ERASABLE INITIALIZATION:
007788,000267: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007789,000268: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007790,000269: # THIS LEAVES IMU FAIL BITS INTACT.
007791,000270:
007792,000271: # ALARMS: NONE.
007793,000272:
007794,000273: # EXIT: TNONTEST.
007795,000274:
007796,000275: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007797,000276:
007798,000277: 06,2172 31302 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
007799,000278: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
007800,000279: 06,2174 06030 RXOR CHAN30
007801,000280: 06,2175 72761 MASK 30RDMSK
007802,000281: 06,2176 00006 EXTEND
007803,000282: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
007804,000283:
007805,000284: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007806,000285: 06,2201 23302 LXCH IMODES30 # UPDATE IMODES30.
007807,000286: 06,2202 00006 EXTEND
007808,000287: 06,2203 06001 RXOR LCHAN
007809,000288: 06,2204 55302 TS IMODES30
007810,000289:
007811,000290: 06,2205 44753 CS ONE
007812,000291: 06,2206 56070 XCH RUPTREG1
007813,000292: 06,2207 00006 EXTEND
007814,000293:
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007816,000295: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
007817,000296: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
007818,000297:
007819,000298: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
007820,000299: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
007821,000300: 06,2214 60000 +1 DOUBLE
007822,000301: 06,2215 54000 TS A # SKIP IF OVERFLOW.
007823,000302: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
007824,000303:
007825,000304: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
007826,000305: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
007827,000306: 06,2221 34736 CAF BIT14
007828,000307: 06,2222 71302 MASK IMODES30
007829,000308: 06,2223 50070 INDEX RUPTREG1
007830,000309: 06,2224 02755 TC IFAILJMP
007831,000310:
007832,000311: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
007833,000312: 06,2226 12212 TCF NXTIFBIT -1
007834,000313:
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007836,000315: # PROGRAM NAME: TNONTEST.
007837,000316:
007838,000317: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
007839,000318: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007840,000319: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007841,000320:
007842,000321: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
007843,000322: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007844,000323: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007845,000324:
007846,000325: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007847,000326: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
007848,000327: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007849,000328: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007850,000329:
007851,000330: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007852,000331: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007853,000332:
007854,000333: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
007855,000334: # 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
007856,000335: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007857,000336: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
007858,000337: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
007859,000338: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007860,000339: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
007861,000340: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007862,000341: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007863,000342:
007864,000343: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007865,000344: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007866,000345:
007867,000346: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007868,000347:
007869,000348: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007870,000349: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007871,000350: # STARTED.
007872,000351:
007873,000352: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007874,000353:
007875,000354: # ERASABLE INITIALIZATION: SEE IMUMON.
007876,000355:
007877,000356: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007878,000357:
007879,000358: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
007880,000359: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007881,000360: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007882,000361:
007883,000362: # OUTPUT: ISS INITIALIZED.
007884,000363:
007885,000364: 06,2227 41302 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
007886,000365:
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007888,000367: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
007889,000368: 06,2231 10000 CCS A
007890,000369: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
007891,000370:
007892,000371: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
007893,000372: 06,2234 71302 MASK IMODES30
007894,000373: 06,2235 10000 CCS A
007895,000374: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
007896,000375:
007897,000376: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
007898,000377: 06,2240 27302 ADS IMODES30 # TIME.
007899,000378: 06,2241 12374 TCF C33TEST
007900,000379:
007901,000380: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007902,000381:
007903,000382: 06,2242 42777 PROCTNON CS BITS7&8
007904,000383: 06,2243 71302 MASK IMODES30
007905,000384: 06,2244 55302 TS IMODES30
007906,000385: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
007907,000386: 06,2246 10000 CCS A
007908,000387: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
007909,000388:
007910,000389: 06,2250 41302 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007911,000390: 06,2251 74743 MASK BIT9 # OPERATE.
007912,000391: 06,2252 10000 CCS A
007913,000392: 06,2253 12256 TCF +3
007914,000393:
007915,000394: 06,2254 05567 TC ALARM # ALARM IF NOT.
007916,000395: 06,2255 00213 OCT 213
007917,000396:
007918,000397: 06,2256 02735 +3 TC CAGESUB
007919,000398: 06,2257 33005 CAF 90SECS
007920,000399: 06,2260 05203 TC WAITLIST
007921,000400: 06,2261 E6,1412 EBANK= M11
007922,000401: 06,2261 02266 14106 2CADR ENDTNON
007923,000402:
007924,000403: 06,2263 12374 TCF C33TEST
007925,000404:
007926,000405: 06,2264 33005 RETNON CAF 90SECS
007927,000406: 06,2265 05224 TC VARDELAY
007928,000407:
007929,000408: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
007930,000409: 06,2267 71302 MASK IMODES30
007931,000410: 06,2270 57302 XCH IMODES30
007932,000411: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007933,000412: 06,2272 00006 EXTEND
007934,000413: 06,2273 12306 BZF ENDTNON2
007935,000414:
007936,000415: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
007937,000416:
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007939,000418: 06,2275 71302 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007940,000419: 06,2276 00006 EXTEND
007941,000420: 06,2277 12264 BZF RETNON
007942,000421:
007943,000422: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
007944,000423: 06,2301 74744 MASK IMUSEBIT # WAITING.
007945,000424: 06,2302 10000 CCS A
007946,000425: 06,2303 15261 TCF TASKOVER
007947,000426: 06,2304 04635 TC POSTJUMP
007948,000427: 06,2305 17612 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
007949,000428:
007950,000429: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
007951,000430: 06,2307 00006 EXTEND
007952,000431: 06,2310 05012 WOR CHAN12
007953,000432:
007954,000433: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
007955,000434: 06,2312 17241 CADR NOATTOFF
007956,000435:
007957,000436: 06,2313 05457 UNZ2 TC ZEROICDU
007958,000437:
007959,000438: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
007960,000439: 06,2315 00006 EXTEND
007961,000440: 06,2316 03012 WAND CHAN12
007962,000441:
007963,000442: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007964,000443: 06,2320 05224 TC VARDELAY
007965,000444:
007966,000445: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
007967,000446: 06,2322 71302 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
007968,000447: 06,2323 55302 TS IMODES30
007969,000448:
007970,000449: 06,2324 44746 CS BIT6 # ENABLE DAP
007971,000450: 06,2325 71303 MASK IMODES33
007972,000451: 06,2326 55303 TS IMODES33
007973,000452:
007974,000453: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007975,000454: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART
007976,000455: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
007977,000456: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
007978,000457: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
007979,000458: 06,2334 30025 CA TIME1
007980,000459: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
007981,000460:
007982,000461: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
007983,000462:
007984,000463: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
007985,000464: 06,2340 00006 EXTEND
007986,000465: 06,2341 03012 WAND CHAN12
007987,000466:
007988,000467: 06,2342 35003 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
007989,000468:
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007991,000470: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS.
007992,000471: 06,2344 E3,1474 EBANK= CDUIND
007993,000472: 06,2344 03227 16103 2CADR PFAILOK
007994,000473:
007995,000474: 06,2346 15261 TCF TASKOVER
007996,000475:
007997,000476: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
007998,000477: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
007999,000478: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
008000,000479: 06,2352 10000 CCS A
008001,000480: 06,2353 12374 TCF C33TEST
008002,000481:
008003,000482: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
008004,000483: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
008005,000484: 06,2356 10000 CCS A
008006,000485: 06,2357 12374 TCF C33TEST
008007,000486:
008008,000487: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
008009,000488:
008010,000489: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
008011,000490: 06,2362 17241 CADR NOATTOFF # IMU CAGE OFF ENTRY
008012,000491:
008013,000492: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
008014,000493: 06,2364 00006 EXTEND
008015,000494: 06,2365 05012 WOR CHAN12
008016,000495:
008017,000496: 06,2366 05457 TC ZEROICDU
008018,000497: 06,2367 34746 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
008019,000498: 06,2370 05203 TC WAITLIST
008020,000499: 06,2371 E6,1412 EBANK= M11
008021,000500: 06,2371 02313 14106 2CADR UNZ2
008022,000501:
008023,000502: 06,2373 12374 TCF C33TEST
008024,000503:
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008026,000505: # PROGRAM NAME: C33TEST
008027,000506:
008028,000507: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
008029,000508: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
008030,000509: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
008031,000510: # PROCESSED AND THE SUBROUTINES CALLED ARE:
008032,000511:
008033,000512: # BIT FUNCTION SUBROUTINE
008034,000513: # --- -------- ----------
008035,000514: # 13 PIPA FAIL PIPFAIL
008036,000515: # 12 DOWNLINK TOO FAST DNTMFAST
008037,000516: # 11 UPLINK TOO FAST UPTMFAST
008038,000517:
008039,000518: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
008040,000519:
008041,000520: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
008042,000521:
008043,000522: # JOBS OR TASKS INITIATED: NONE.
008044,000523:
008045,000524: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
008046,000525:
008047,000526: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
008048,000527: # REAPPEAR IF THE CONDITIONS PERSIST.
008049,000528:
008050,000529: # ALARMS: NONE.
008051,000530:
008052,000531: # EXIT: GLOCKMON.
008053,000532:
008054,000533: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
008055,000534:
008056,000535: 06,2374 31303 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
008057,000536: 06,2375 75026 MASK 33RDMSK
008058,000537: 06,2376 54001 TS L # CHANGED.
008059,000538: 06,2377 35026 CAF 33RDMSK
008060,000539: 06,2400 00006 EXTEND
008061,000540: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
008062,000541: 06,2402 00006 EXTEND
008063,000542: 06,2403 06001 RXOR LCHAN
008064,000543: 06,2404 00006 EXTEND
008065,000544: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
008066,000545:
008067,000546: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
008068,000547: 06,2407 23303 LXCH IMODES33
008069,000548: 06,2410 00006 EXTEND
008070,000549: 06,2411 06001 RXOR LCHAN
008071,000550: 06,2412 55303 TS IMODES33 # UPDATED IMODES33.
008072,000551:
008073,000552: 06,2413 34755 CAF ZERO
008074,000553: 06,2414 56070 XCH RUPTREG1
008075,000554: 06,2415 60000 DOUBLE
008076,000555:
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008078,000557: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
008079,000558:
008080,000559: 06,2417 64753 -1 AD ONE
008081,000560: 06,2420 24070 NXTIBT INCR RUPTREG1
008082,000561: 06,2421 60000 +1 DOUBLE
008083,000562: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
008084,000563: 06,2423 12420 TCF NXTIBT
008085,000564:
008086,000565: 06,2424 56071 XCH RUPTREG2
008087,000566: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
008088,000567: 06,2426 34737 CAF BIT13
008089,000568: 06,2427 71303 MASK IMODES33
008090,000569: 06,2430 50070 INDEX RUPTREG1
008091,000570: 06,2431 02763 TC C33JMP
008092,000571:
008093,000572: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
008094,000573: 06,2433 12417 TCF NXTIBT -1
008095,000574:
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008097,000576: # PROGRAM NAME: GLOCKMON
008098,000577:
008099,000578: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
008100,000579: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
008101,000580:
008102,000581: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
008103,000582: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
008104,000583: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
008105,000584:
008106,000585: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
008107,000586:
008108,000587: # JOBS OR TASKS INITIATED: NONE.
008109,000588:
008110,000589: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
008111,000590: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
008112,000591:
008113,000592: # ERASABLE INITIALIZATION:
008114,000593: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
008115,000594: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
008116,000595: # PROCEEDS AS BEFORE.
008117,000596:
008118,000597: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
008119,000598: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
008120,000599: # SO ALREADY.
008121,000600:
008122,000601: 06,2434 10034 GLOCKMON CCS CDUZ
008123,000602: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
008124,000603: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
008125,000604: 06,2437 12441 TCF GLOCKCHK
008126,000605: 06,2440 12465 TCF SETGLOCK
008127,000606:
008128,000607: 06,2441 62512 GLOCKCHK AD -70DEGS
008129,000608: 06,2442 00006 EXTEND
008130,000609: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
008131,000610:
008132,000611: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
008133,000612: 06,2445 00006 EXTEND
008134,000613: 06,2446 62462 BZMF NOGIMRUN
008135,000614:
008136,000615: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
008137,000616: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
008138,000617: 06,2451 02012 RAND CHAN12
008139,000618: 06,2452 10000 CCS A
008140,000619: 06,2453 12462 TCF NOGIMRUN
008141,000620:
008142,000621: 06,2454 04674 TC IBNKCALL
008143,000622: 06,2455 17117 CADR SETCOARS
008144,000623:
008145,000624: 06,2456 36241 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
008146,000625: 06,2457 05203 TC WAITLIST
008147,000626:
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008149,000628: 06,2460 E3,1474 EBANK= CDUIND
008150,000629: 06,2460 03113 16103 2CADR CA+ECE
008151,000630:
008152,000631: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
008153,000632: 06,2463 12465 TCF SETGLOCK
008154,000633:
008155,000634: 06,2464 34755 -1 CAF ZERO
008156,000635: 06,2465 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
008157,000636: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
008158,000637: 06,2467 00006 EXTEND # THE TWO.
008159,000638: 06,2470 15270 BZF GLOCKOK # OK AS IS.
008160,000639:
008161,000640: 06,2471 71036 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
008162,000641: 06,2472 10000 CCS A
008163,000642: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
008164,000643:
008165,000644: 06,2474 34746 CAF BIT6
008166,000645: 06,2475 71302 MASK IMODES30
008167,000646: 06,2476 10000 CCS A
008168,000647: 06,2477 15270 TCF GLOCKOK
008169,000648:
008170,000649: 06,2500 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
008171,000650: 06,2501 74746 MASK BIT6
008172,000651: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
008173,000652: 06,2503 57036 XCH DSPTAB +11D
008174,000653: 06,2504 72162 MASK OCT37737
008175,000654: 06,2505 27036 ADS DSPTAB +11D
008176,000655: 06,2506 15270 TCF GLOCKOK
008177,000656:
008178,000657: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
008179,000658: 06,2510 15270 TCF GLOCKOK
008180,000659: 06,2511 12500 TCF GLINVERT
008181,000660:
008182,000661: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
008183,000662: 06,2513 75252 -15DEGS DEC -.08333
008184,000663:
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Page 186 |
008186,000665: # PROGRAM NAME: TLIM.
008187,000666:
008188,000667: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
008189,000668: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
008190,000669: # IS IN PROGRESS.
008191,000670:
008192,000671: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
008193,000672:
008194,000673: # JOBS OR TASKS INITIATED: NONE.
008195,000674:
008196,000675: # SUBROUTINES CALLED: LAMPTEST.
008197,000676:
008198,000677: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
008199,000678:
008200,000679: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
008201,000680:
008202,000681: # EXIT: NXTIFAIL.
008203,000682:
008204,000683: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
008205,000684:
008206,000685: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
008207,000686: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
008208,000687:
008209,000688: 06,2516 11302 CCS IMODES30
008210,000689: 06,2517 12525 TCF TEMPOK
008211,000690: 06,2520 12525 TCF TEMPOK
008212,000691:
008213,000692: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
008214,000693: 06,2522 00006 EXTEND
008215,000694: 06,2523 05011 WOR DSALMOUT
008216,000695: 06,2524 12225 TCF NXTIFAIL
008217,000696:
008218,000697: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
008219,000698: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
008220,000699:
008221,000700: 06,2527 44750 CS BIT4
008222,000701: 06,2530 00006 EXTEND
008223,000702: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
008224,000703: 06,2532 12225 TCF NXTIFAIL
008225,000704:
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008227,000706: # PROGRAM NAME: ITURNON.
008228,000707:
008229,000708: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
008230,000709: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
008231,000710: # 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
008232,000711: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
008233,000712: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
008234,000713: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
008235,000714: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
008236,000715: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
008237,000716: # ENDS.
008238,000717:
008239,000718: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
008240,000719:
008241,000720: # JOBS OR TASKS INITIATED: NONE.
008242,000721:
008243,000722: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
008244,000723:
008245,000724: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
008246,000725: # AND BIT 14 OF IMODES30 TO 1.
008247,000726:
008248,000727: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
008249,000728:
008250,000729: # EXIT: NXTIFAIL.
008251,000730:
008252,000731: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
008253,000732: # A FAILED TURN-ON SEQUENCE.
008254,000733:
008255,000734: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
008256,000735: 06,2534 71302 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
008257,000736: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
008258,000737: 06,2536 12225 TCF NXTIFAIL
008259,000738:
008260,000739: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
008261,000740: 06,2540 71302 MASK IMODES30
008262,000741: 06,2541 00006 EXTEND
008263,000742: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
008264,000743:
008265,000744: 06,2543 34735 CAF BIT15
008266,000745: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
008267,000746: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
008268,000747: 06,2546 00006 EXTEND
008269,000748: 06,2547 12551 BZF +2
008270,000749: 06,2550 12225 TCF NXTIFAIL
008271,000750:
008272,000751: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
008273,000752: 06,2552 27302 ADS IMODES30 # PRESENT FOR FULL DURATION.
008274,000753: 06,2553 05567 TC ALARM
008275,000754: 06,2554 00207 OCT 207
008276,000755: 06,2555 12225 TCF NXTIFAIL
008277,000756:
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008279,000758: 06,2556 41302 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
008280,000759: 06,2557 74745 MASK BIT7
008281,000760: 06,2560 27302 ADS IMODES30
008282,000761: 06,2561 32564 CAF RRINIT
008283,000762: 06,2562 54110 TS RADMODES
008284,000763: 06,2563 12225 TCF NXTIFAIL
008285,000764:
008286,000765: 06,2564 00102 RRINIT OCT 00102
008287,000766:
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008289,000768: # PROGRAM NAME: IMUCAGE.
008290,000769:
008291,000770: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
008292,000771: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
008293,000772: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
008294,000773: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
008295,000774: # RELEASED (INBIT CHANGES TO 1).
008296,000775:
008297,000776: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
008298,000777:
008299,000778: # JOBS OR TASKS INITIATED: NONE.
008300,000779:
008301,000780: # SUBROUTINES CALLED: CAGESUB.
008302,000781:
008303,000782: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
008304,000783:
008305,000784: # ALARMS: NONE.
008306,000785:
008307,000786: # EXIT: NXTIFAIL.
008308,000787:
008309,000788: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
008310,000789:
008311,000790: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
008312,000791: 06,2566 12361 TCF ISSZERO
008313,000792: 06,2567 43002 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
008314,000793: 06,2570 00006 EXTEND
008315,000794: 06,2571 03014 WAND CHAN14
008316,000795:
008317,000796: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
008318,000797: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
008319,000798: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
008320,000799:
008321,000800: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
008322,000801: 06,2576 70101 MASK FLAGWRD5
008323,000802: 06,2577 54101 TS FLAGWRD5
008324,000803: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
008325,000804: 06,2601 00006 EXTEND
008326,000805: 06,2602 02011 RAND DSALMOUT
008327,000806: 06,2603 64736 AD BIT14
008328,000807: 06,2604 00006 EXTEND
008329,000808: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
008330,000809:
008331,000810: 06,2606 02743 TC CAGESUB1
008332,000811:
008333,000812: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008334,000813: 06,2610 17150 CADR RNDREFDR
008335,000814:
008336,000815: 06,2611 44755 CS ZERO
008337,000816: 06,2612 54050 TS CDUXCMD
008338,000817: 06,2613 54051 TS CDUYCMD
008339,000818:
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008341,000820: 06,2614 54052 TS CDUZCMD
008342,000821: 06,2615 54047 TS GYROCMD
008343,000822:
008344,000823: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
008345,000824: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
008346,000825: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
008347,000826: 06,2621 12225 TCF NXTIFAIL
008348,000827:
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008350,000829: # PROGRAM NAME: IMUOP.
008351,000830:
008352,000831: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
008353,000832: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
008354,000833: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
008355,000834: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
008356,000835: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
008357,000836:
008358,000837: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
008359,000838:
008360,000839: # JOBS OR TASKS INITIATED: NONE.
008361,000840:
008362,000841: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
008363,000842:
008364,000843: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
008365,000844: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
008366,000845:
008367,000846: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
008368,000847:
008369,000848: # EXIT: NXTIFAIL.
008370,000849:
008371,000850: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
008372,000851:
008373,000852: 06,2622 00006 IMUOP EXTEND
008374,000853: 06,2623 12643 BZF IMUOP2
008375,000854:
008376,000855: 06,2624 41303 CS IMODES33 # DISABLE DAP
008377,000856: 06,2625 74746 MASK BIT6
008378,000857: 06,2626 27303 ADS IMODES33
008379,000858:
008380,000859: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008381,000860: 06,2630 17150 CADR RNDREFDR
008382,000861:
008383,000862: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
008384,000863: 06,2632 70074 MASK FLAGWRD0
008385,000864: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
008386,000865: 06,2634 40000 COM
008387,000866: 06,2635 74744 MASK IMUSEFLG
008388,000867: 06,2636 10000 CCS A
008389,000868: 06,2637 12225 TCF NXTIFAIL
008390,000869:
008391,000870: 06,2640 05567 TC ALARM
008392,000871: 06,2641 00214 OCT 214
008393,000872: 06,2642 12225 TCF NXTIFAIL
008394,000873:
008395,000874: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008396,000875: 06,2644 71302 MASK IMODES30
008397,000876: 06,2645 10000 CCS A
008398,000877: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
008399,000878: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
008400,000879:
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008402,000881: # PROGRAM NAME: PIPFAIL
008403,000882:
008404,000883: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
008405,000884: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
008406,000885: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008407,000886:
008408,000887: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008409,000888:
008410,000889: # JOBS OR TASKS INITIATED: NONE.
008411,000890:
008412,000891: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008413,000892:
008414,000893: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008415,000894:
008416,000895: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008417,000896: # BEING INITIALIZED.
008418,000897:
008419,000898: # EXIT: NXTFL33.
008420,000899:
008421,000900: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008422,000901:
008423,000902: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
008424,000903: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
008425,000904: 06,2652 57302 XCH IMODES30
008426,000905: 06,2653 73004 MASK -BIT10
008427,000906: 06,2654 27302 ADS IMODES30
008428,000907:
008429,000908: 06,2655 02703 TC SETISSW
008430,000909:
008431,000910: 06,2656 41302 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008432,000911: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
008433,000912: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
008434,000913: 06,2661 12432 TCF NXTFL33
008435,000914:
008436,000915: 06,2662 31302 CA IMODES30
008437,000916: 06,2663 73000 MASK OCT1720
008438,000917: 06,2664 10000 CCS A
008439,000918: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
008440,000919:
008441,000920: 06,2666 05567 TC ALARM
008442,000921: 06,2667 00212 OCT 212
008443,000922: 06,2670 12432 TCF NXTFL33
008444,000923:
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008446,000925: # PROGRAM NAMES: DNTMFAST, UPTMFAST
008447,000926:
008448,000927: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
008449,000928: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
008450,000929:
008451,000930: # BIT ALARM CAUSE
008452,000931: # --- ----- -----
008453,000932: # 12 01105 DOWNLINK TOO FAST
008454,000933: # 11 01106 UPLINK TOO FAST
008455,000934:
008456,000935: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
008457,000936:
008458,000937: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
008459,000938:
008460,000939: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008461,000940:
008462,000941: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
008463,000942:
008464,000943: # EXIT: NXTFL33.
008465,000944:
008466,000945: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
008467,000946:
008468,000947: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
008469,000948: 06,2672 12432 TCF NXTFL33
008470,000949:
008471,000950: 06,2673 05567 TC ALARM
008472,000951: 06,2674 01105 OCT 1105
008473,000952: 06,2675 12432 TCF NXTFL33
008474,000953:
008475,000954: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
008476,000955: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
008477,000956:
008478,000957: 06,2700 05567 TC ALARM
008479,000958: 06,2701 01106 OCT 1106
008480,000959: 06,2702 12432 TCF NXTFL33
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008482,000961: # PROGRAM NAME: SETISSW
008483,000962:
008484,000963: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008485,000964: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008486,000965: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008487,000966: # PROGRESS.
008488,000967:
008489,000968: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
008490,000969: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
008491,000970: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008492,000971: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008493,000972:
008494,000973: # JOBS OR TASKS INITIATED: NONE.
008495,000974:
008496,000975: # SUBROUTINES CALLED: NONE.
008497,000976:
008498,000977: # ERASABLE INITIALIZATION:
008499,000978:
008500,000979: # 1) IMODES30 - SEE IMUMON.
008501,000980: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008502,000981:
008503,000982: # ALARMS: ISS WARNING.
008504,000983:
008505,000984: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008506,000985: # PROGRAM ALARM 00777 PIPA FAIL
008507,000986: # PROGRAM ALARM 03777 ICDU FAIL
008508,000987: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
008509,000988: # PROGRAM ALARM 07777 IMU FAIL
008510,000989: # PROGRAM ALARM 10777 IMU , PIPA FAILS
008511,000990: # PROGRAM ALARM 13777 IMU , ICDU FAILS
008512,000991: # PROGRAM ALARM 14777 IMU , ICDU , PIPA FAILS
008513,000992:
008514,000993: # EXIT: VIA Q.
008515,000994:
008516,000995: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
008517,000996:
008518,000997: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
008519,000998: 06,2704 71302 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
008520,000999: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
008521,001000: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
008522,001001: 06,2707 31302 CA IMODES30
008523,001002: 06,2710 00006 EXTEND
008524,001003: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
008525,001004: 06,2712 40000 COM
008526,001005: 06,2713 75025 MASK OCT15000
008527,001006: 06,2714 10000 CCS A
008528,001007: 06,2715 12726 TCF ISSWON # FAILURE.
008529,001008:
008530,001009: 06,2716 34753 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
008531,001010: 06,2717 71303 MASK IMODES33 # IN PROGRESS.
008532,001011:
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008534,001013: 06,2720 10000 CCS A
008535,001014: 06,2721 00002 TC Q
008536,001015:
008537,001016: 06,2722 44753 CS BIT1
008538,001017: 06,2723 00006 EXTEND
008539,001018: 06,2724 03011 WAND DSALMOUT
008540,001019: 06,2725 00002 TC Q
008541,001020:
008542,001021: 06,2726 00006 ISSWON EXTEND
008543,001022: 06,2727 22066 QXCH ITEMP6
008544,001023: 06,2730 05735 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING
008545,001024: 06,2731 34753 CAF BIT1
008546,001025: 06,2732 00006 EXTEND
008547,001026: 06,2733 05011 WOR DSALMOUT
008548,001027: 06,2734 00066 TC ITEMP6
008549,001028:
008550,001029: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
008551,001030: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
008552,001031: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
008553,001032: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
008554,001033: 06,2741 00006 EXTEND
008555,001034: 06,2742 05012 WOR CHAN12
008556,001035:
008557,001036: 06,2743 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
008558,001037: 06,2744 72773 MASK OC40010
008559,001038: 06,2745 27036 ADS DSPTAB +11D
008560,001039:
008561,001040: 06,2746 41302 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
008562,001041: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
008563,001042: 06,2750 27302 ADS IMODES30
008564,001043:
008565,001044: 06,2751 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
008566,001045: 06,2752 74746 MASK BIT6
008567,001046: 06,2753 27303 ADS IMODES33
008568,001047:
008569,001048: 06,2754 00002 TC Q
008570,001049:
008571,001050: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
008572,001051: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
008573,001052:
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008575,001054: # JUMP TABLES AND CONSTANTS.
008576,001055:
008577,001056: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
008578,001057: 06,2756 12703 TCF IMUFAIL
008579,001058: 06,2757 12703 TCF ICDUFAIL
008580,001059: 06,2760 12565 TCF IMUCAGE
008581,001060: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
008582,001061: 06,2762 12622 TCF IMUOP
008583,001062:
008584,001063: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
008585,001064: 06,2764 12671 TCF DNTMFAST
008586,001065: 06,2765 12676 TCF UPTMFAST
008587,001066:
008588,001067: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008589,001068: 06,2766 41303 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008590,001069: 06,2767 74753 MASK BIT1 # PROGRESS.
008591,001070: 06,2770 10000 CCS A
008592,001071: 06,2771 24002 INCR Q
008593,001072: 06,2772 00002 TC Q
008594,001073:
008595,001074: 06,2773 5026 33RDMSK EQUALS PRIO16
008596,001075: 06,2773 40010 OC40010 OCT 40010
008597,001076: 06,2774 00054 OCT54 OCT 54
008598,001077: 06,2775 00075 OCT75 OCT 75
008599,001078: 06,2776 00272 OCT272 OCT 00272
008600,001079: 06,2777 00300 BITS7&8 OCT 300
008601,001080: 06,3000 01720 OCT1720 OCT 1720
008602,001081: 06,3001 00740 OCT740 OCT 00740
008603,001082: 06,3002 5025 OCT15000 EQUALS PRIO15
008604,001083: 06,3002 77000 OCT77000 OCT 77000
008605,001084: 06,3003 40040 BITS6&15 OCT 40040
008606,001085: 06,3004 76777 -BIT10 OCT -1000
008607,001086:
008608,001087: 06,3005 21450 90SECS DEC 9000 B-14
008609,001088: 06,3006 5742 120MS = OCT14 # (DEC12)
008610,001089: 06,3006 5270 GLOCKOK EQUALS RESUME
008611,001090:
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008613,001092: # PROGRAM NAME_ RRAUTCHK
008614,001093:
008615,001094: # FUNCTIONAL DESCRIPTION_
008616,001095: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008617,001096: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008618,001097: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008619,001098: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008620,001099: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008621,001100: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008622,001101: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008623,001102: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008624,001103: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008625,001104: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008626,001105: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008627,001106: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008628,001107:
008629,001108: # CALLING SEQUENCE_
008630,001109: # T4RUPT EVERY 480 MILLISECONDS
008631,001110:
008632,001111: # ERASABLE INITIALIZATION REQUIRED_
008633,001112: # RADMODES, STATE
008634,001113:
008635,001114: # SUBROUTINES CALLED_
008636,001115: # WAITLIST
008637,001116:
008638,001117: # JOBS OR TASKS INITIATED_
008639,001118: # RRTURNON
008640,001119:
008641,001120: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008642,001121: # USED
008643,001122:
008644,001123: # EXIT_ RRCDUCHK, NORRGMON
008645,001124:
008646,001125: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
008647,001126: 06,3007 00006 EXTEND
008648,001127: 06,3010 06033 RXOR CHAN33
008649,001128: 06,3011 74752 MASK BIT2
008650,001129: 06,3012 00006 EXTEND
008651,001130: 06,3013 13037 BZF RRCDUCHK
008652,001131:
008653,001132: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
008654,001133: 06,3015 00006 EXTEND
008655,001134: 06,3016 06001 RXOR LCHAN
008656,001135: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
008657,001136: 06,3020 54110 TS RADMODES # AND TURNON BITS.
008658,001137: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
008659,001138: 06,3022 10000 CCS A
008660,001139: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
008661,001140: 06,3024 37662 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
008662,001141: 06,3025 26110 ADS RADMODES
008663,001142:
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008665,001144: 06,3026 34753 CAF ONE
008666,001145: 06,3027 05203 TC WAITLIST
008667,001146: 06,3030 E7,1454 EBANK= LOSCOUNT
008668,001147: 06,3030 02062 52107 2CADR RRTURNON
008669,001148:
008670,001149: 06,3032 13132 TCF NORRGMON
008671,001150:
008672,001151: 06,3033 05776 OCT05776 OCT 5776
008673,001152:
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008675,001154: # PROGRAM NAME_ RRCDUCHK
008676,001155:
008677,001156: # FUNCTIONAL DESCRIPTION_
008678,001157: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008679,001158: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008680,001159: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008681,001160: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008682,001161: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008683,001162: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008684,001163: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008685,001164: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008686,001165: # RRGIMON.
008687,001166:
008688,001167: # CALLING SEQUENCE_
008689,001168: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008690,001169: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008691,001170:
008692,001171: # ERASABLE INITIALIZATION REQUIRED_
008693,001172: # RADMODES
008694,001173:
008695,001174: # SUBROUTINES CALLED_
008696,001175: # SETTRKF
008697,001176:
008698,001177: # JOBS OR TASKS INITIATED_
008699,001178: # NONE
008700,001179:
008701,001180: # ALARMS_
008702,001181: # TRACKER FAIL
008703,001182: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008704,001183:
008705,001184: # EXIT_
008706,001185: # RRGIMON, NORRGMON
008707,001186:
008708,001187: 06,3034 44752 -3 CS BIT2
008709,001188: 06,3035 00006 EXTEND
008710,001189: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
008711,001190:
008712,001191: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
008713,001192: 06,3040 00006 EXTEND
008714,001193: 06,3041 06030 RXOR CHAN30
008715,001194: 06,3042 74745 MASK BIT7
008716,001195: 06,3043 00006 EXTEND
008717,001196: 06,3044 13071 BZF RRGIMON
008718,001197:
008719,001198: 06,3045 34752 CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT
008720,001199: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
008721,001200: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
008722,001201: 06,3050 13132 TCF NORRGMON # JUST READING LR DATA.
008723,001202:
008724,001203: 06,3051 34745 CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF.
008725,001204:
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008727,001206: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
008728,001207: 06,3053 00006 EXTEND
008729,001208: 06,3054 06001 RXOR L
008730,001209: 06,3055 54110 TS RADMODES
008731,001210:
008732,001211: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
008733,001212: 06,3057 74745 MASK BIT7
008734,001213: 06,3060 10000 CCS A
008735,001214: 06,3061 13070 TCF TRKFLCDU # NO
008736,001215: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
008737,001216: 06,3063 74745 MASK RNDVZBIT
008738,001217: 06,3064 10000 CCS A
008739,001218: 06,3065 13070 TCF TRKFLCDU # NO
008740,001219: 06,3066 05567 TC ALARM # YES
008741,001220: 06,3067 00515 OCT 00515
008742,001221: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
008743,001222:
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008745,001224: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008746,001225:
008747,001226: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
008748,001227: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
008749,001228: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008750,001229: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008751,001230: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008752,001231: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008753,001232: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008754,001233: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008755,001234: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008756,001235: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008757,001236: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008758,001237:
008759,001238: # CALLING SEQUENCE_
008760,001239: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008761,001240: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008762,001241: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008763,001242: # (RADMODES BIT 2).
008764,001243:
008765,001244: # ERASABLE INITIALIZATION_ RADMODES
008766,001245:
008767,001246: # SUBROUTINES CALLED_
008768,001247: # RRLIMCHK, WAITLIST
008769,001248:
008770,001249: # JOBS OR TASKS INITIATED_
008771,001250: # DORREPOS
008772,001251:
008773,001252: # ALARMS_
008774,001253: # NONE
008775,001254:
008776,001255: # EXIT_
008777,001256: # NORRGMON
008778,001257:
008779,001258: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
008780,001259: 06,3072 74750 MASK NORRMBIT
008781,001260: 06,3073 10000 CCS A
008782,001261: 06,3074 13132 TCF NORRGMON # YES - SKIP LIMIT CHECK
008783,001262: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
008784,001263: 06,3076 74747 MASK AVEGFBIT
008785,001264: 06,3077 10000 CCS A
008786,001265: 06,3100 13105 TCF +5 # NO. DO R25
008787,001266: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
008788,001267: 06,3102 74744 MASK MUNFLBIT
008789,001268: 06,3103 10000 CCS A
008790,001269: 06,3104 13132 TCF NORRGMON # YES. DON'T DO R25
008791,001270: 06,3105 33127 +5 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR.
008792,001271: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
008793,001272: 06,3107 10000 CCS A
008794,001273: 06,3110 13132 TCF NORRGMON
008795,001274:
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008797,001276: 06,3111 04523 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
008798,001277: 06,3112 00035 ADRES CDUT
008799,001278:
008800,001279: 06,3113 13115 TCF MONREPOS
008801,001280:
008802,001281: 06,3114 13132 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
008803,001282:
008804,001283: 06,3115 34741 MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS.
008805,001284: 06,3116 26110 ADS RADMODES
008806,001285:
008807,001286: 06,3117 43130 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
008808,001287: 06,3120 00006 EXTEND
008809,001288: 06,3121 03012 WAND CHAN12
008810,001289:
008811,001290: 06,3122 34752 CAF TWO
008812,001291: 06,3123 05203 TC WAITLIST
008813,001292: 06,3124 E7,1454 EBANK= LOSCOUNT
008814,001293: 06,3124 02127 52107 2CADR DORREPOS
008815,001294:
008816,001295: 06,3126 13132 TCF NORRGMON
008817,001296:
008818,001297: 06,3127 32002 OCT32002 OCT 32002
008819,001298: 06,3130 20002 OCT20002 OCT 20002
008820,001299: 06,3131 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS
008821,001300:
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008823,001302: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008824,001303:
008825,001304: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008826,001305:
008827,001306: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008828,001307:
008829,001308: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008830,001309: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008831,001310: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008832,001311:
008833,001312: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008834,001313: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008835,001314:
008836,001315: # SUBROUTINES CALLED: SPSIN, SPCOS.
008837,001316:
008838,001317: # NORMAL EXIT MODE: TCF RESUME
008839,001318:
008840,001319: # ALARM AND ABORT MODES: NONE.
008841,001320:
008842,001321: # INPUT: CDUX, CDUY, CDUZ.
008843,001322:
008844,001323: # OUTPUT: M11, M21, M31, M22, M32.
008845,001324:
008846,001325: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
008847,001326:
008848,001327: # * * SIN(MG) 0 1 *
008849,001328: # M = * COS(MG)COS(OG) SIN(OG) 0 *
008850,001329: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
008851,001330:
008852,001331: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
008853,001332: # M = * 0 SIN(OG) COS(OG) *
008854,001333: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
008855,001334:
008856,001335: 06,3132 E6,1412 EBANK= M11
008857,001336: 06,3132 06,3132 DAPT4S EQUALS GPMATRIX
008858,001337:
008859,001338: # T4RUPT DAP LOGIC:
008860,001339:
008861,001340: 06,3132 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
008862,001341: 06,3133 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
008863,001342: 06,3134 55412 TS M11 # SCALED AT 1
008864,001343:
008865,001344: 06,3135 30034 CAE CDUZ
008866,001345: 06,3136 05032 TC SPCOS # COS(CDUZ) = COS(MG)
008867,001346: 06,3137 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
008868,001347:
008869,001348: 06,3140 30032 CAE CDUX
008870,001349: 06,3141 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
008871,001350: 06,3142 55415 TS M22 # SCALED AT 1 (ALSO IS MR22)
008872,001351:
008873,001352: 06,3143 41415 CS M22
008874,001353:
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008876,001355: 06,3144 00006 EXTEND
008877,001356: 06,3145 70061 MP COSMG # -SIN(OG)COS(MG)
008878,001357: 06,3146 55414 TS M31 # SCALED AT 1
008879,001358:
008880,001359: 06,3147 30032 CAE CDUX
008881,001360: 06,3150 05032 TC SPCOS # COS(CDUX) = COS(OG)
008882,001361: 06,3151 55416 TS M32 # SCALED AT 1 (ALSO IS MR23)
008883,001362:
008884,001363: 06,3152 00006 EXTEND
008885,001364: 06,3153 70061 MP COSMG # COS(OG)COS(MG)
008886,001365: 06,3154 55413 TS M21 # SCALED AT 1
008887,001366:
008888,001367: 06,3155 05270 TC RESUME
008889,001368:
008890,001369: 06,3156 06,3132 NORRGMON EQUALS DAPT4S
008891,001370: 06,3156 5270 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc