Source Code

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. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

007520,000002:                                                                                                  ## Copyright:   Public domain.
007521,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
007522,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
007523,000005:                                                                                                  ##              It is part of the source code for the original release
007524,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
007525,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
007526,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
007527,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
007528,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
007529,000011:                                                                                                  ##              that the code format has been changed to conform to the
007530,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
007531,000013:                                                                                                  ##              original YUL assembler.
007532,000014:                                                                                                  ## Reference:   pp. 170-204
007533,000015:                                                                                                  ## Assembler:   yaYUL
007534,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
007535,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
007536,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
007537,000019:                                                                                                  ##              2017-01-05 HG   Transcribed
007538,000020:                                                                                                  ##              2017-01-22 HG   Fix operand BIT1 -> BIT11
007539,000021:                                                                                                  ##              2017-01-25 RSB  Proofed comment text using octopus/prooferComments
007540,000022:                                                                                                  ##                              and fixed errors found.
007541,000023:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
007542,000024:                                                                                                  ##              2017-03-03 RSB  Fixed comment-text errors identified while proofing
007543,000025:                                                                                                  ##                              Luminary 116.
007544,000026: 

Page 170

007546,000028: 12,2000                                           BANK     12                                    
007547,000029: 06,2000                                           SETLOC   T4RUP                                 
007548,000030: 06,2000                                           BANK                                           
007549,000031: 
007550,000032: 06,2000  E6,1412                                  EBANK=   M11                                   
007551,000033: 06,2000                                           COUNT*   $$/T4RPT                              
007552,000034: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
007553,000035: 
007554,000036: 06,2001           00006                           EXTEND                                         
007555,000037: 06,2002           22012                           QXCH     QRUPT                                 
007556,000038: 
007557,000039: 06,2003           11313                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
007558,000040: 06,2004           12010                           TCF      NORMT4     +1                         
007559,000041: 06,2005           12007                           TCF      NORMT4                                
007560,000042: 
007561,000043: 06,2006           12134                           TCF      QUIKDSP                               
007562,000044: 
007563,000045: 06,2007           34757        NORMT4             CAF      SEVEN                                 
007564,000046: 06,2010           54070                           TS       RUPTREG1                              
007565,000047: 06,2011           55313                           TS       DSRUPTSW                              
007566,000048: 
007567,000049:    4066                                           BLOCK    02                                    
007568,000050:    4000                                           SETLOC   FFTAG10                               
007569,000051:    4000                                           BANK                                           
007570,000052: 
007571,000053:    4066                                           COUNT*   $$/T4RPT                              
007572,000054:    4066     7726               100MRUPT           =        OCT37766                              #  (DEC 16374)
007573,000055:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007574,000056:                                                                                                  #  IN LOWER 5 BITS.
007575,000057: 
007576,000058:    4066           04025        RELTAB             OCT      04025                                 
007577,000059:    4067           10003                           OCT      10003                                 
007578,000060:    4070           14031                           OCT      14031                                 
007579,000061:    4071           20033                           OCT      20033                                 
007580,000062:    4072           24017                           OCT      24017                                 
007581,000063:    4073           30036                           OCT      30036                                 
007582,000064:    4074           34034                           OCT      34034                                 
007583,000065:    4075           40023                           OCT      40023                                 
007584,000066:    4076           44035                           OCT      44035                                 
007585,000067:    4077           50037                           OCT      50037                                 
007586,000068:    4100           54000                           OCT      54000                                 
007587,000069:    4101           60000        RELTAB11           OCT      60000                                 
007588,000070: 

Page 171

007590,000072:                                                                                                  #           SWITCHED-BANK PORTION.
007591,000073: 
007592,000074: 12,2000                                           BANK     12                                    
007593,000075: 06,2000                                           SETLOC   T4RUP                                 
007594,000076: 06,2000                                           BANK                                           
007595,000077: 
007596,000078: 06,2012                                           COUNT*   $$/T4RPT                              
007597,000079: 06,2012           11036        CDRVE              CCS      DSPTAB     +11D                       
007598,000080: 06,2013           02063                           TC       DSPOUT                                
007599,000081: 06,2014           02063                           TC       DSPOUT                                
007600,000082: 
007601,000083: 06,2015           57036                           XCH      DSPTAB     +11D                       
007602,000084: 06,2016           74356                           MASK     LOW11                                 
007603,000085: 06,2017           55036                           TS       DSPTAB     +11D                       
007604,000086: 06,2020           64101                           AD       RELTAB11                              
007605,000087: 06,2021           00006                           EXTEND                                         
007606,000088: 06,2022           01010                           WRITE    OUT0                                  
007607,000089: 06,2023           02071                           TC       HANG20                                
007608,000090: 

Page 172

007610,000092:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007611,000093: 
007612,000094: 06,2024           55016        DSPOUTSB           TS       NOUT                                  
007613,000095: 06,2025           44755                           CS       ZERO                                  
007614,000096: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
007615,000097: 06,2027           56776                           XCH      DSPCNT                                
007616,000098: 06,2030           64754                           AD       NEG0                                  #  TO PREVENT +0
007617,000099: 06,2031           54776                           TS       DSPCNT                                
007618,000100: 06,2032           50776        DSPSCAN            INDEX    DSPCNT                                
007619,000101: 06,2033           11023                           CCS      DSPTAB                                
007620,000102: 06,2034           10776                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
007621,000103: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
007622,000104: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
007623,000105: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
007624,000106: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007625,000107: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0). +0 INTO NOUT.
007626,000108: 06,2042           55016                           TS       NOUT                                  
007627,000109: 06,2043           00002                           TC       Q                                     
007628,000110: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007629,000111: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007630,000112: 06,2046           12031                           TCF      DSPSCAN    -1                         
007631,000113: 
007632,000114: 06,2047           64753        DSPLAY             AD       ONE                                   
007633,000115: 06,2050           50776                           INDEX    DSPCNT                                
007634,000116: 06,2051           55023                           TS       DSPTAB                                #  REPLACE POSITIVELY
007635,000117: 06,2052           74356                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
007636,000118: 06,2053           54073                           TS       DSRUPTEM                              
007637,000119: 06,2054           34350                           CAF      HI5                                   
007638,000120: 06,2055           50776                           INDEX    DSPCNT                                
007639,000121: 06,2056           74066                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007640,000122: 06,2057           60073                           AD       DSRUPTEM                              
007641,000123: 06,2060           00006                           EXTEND                                         
007642,000124: 06,2061           01010                           WRITE    OUT0                                  
007643,000125: 
007644,000126: 06,2062           16736                           TCF      Q+1                                   
007645,000127: 
007646,000128: 
007647,000129: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
007648,000130: 06,2064           34755                           CAF      ZERO                                  #  NO
007649,000131: 06,2065           12130                           TCF      NODSPOUT                              #  NO
007650,000132: 06,2066           11016                           CCS      NOUT                                  #  YES
007651,000133: 06,2067           02024                           TC       DSPOUTSB                              
007652,000134: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
007653,000135: 
007654,000136: 06,2071           42171        HANG20             CS       14,11,9                               
007655,000137: 06,2072           27313                           ADS      DSRUPTSW                              
007656,000138: 
007657,000139: 06,2073           37730                           CAF      20MRUPT                               
007658,000140: 
007659,000141: 06,2074           54027        SETTIME4           TS       TIME4                                 
007660,000142: 

Page 173

007662,000144:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007663,000145:                                                                                                  #  THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007664,000146: 
007665,000147:                                                                                                  #     IF PREV ON AND NOW ON    -   BYPASS
007666,000148:                                                                                                  #     IF PREV ON AND NOW OFF   -   UPDATE IMODES33
007667,000149:                                                                                                  #     IF PREV OFF AND NOW ON   -   UPDATE IMODES33 AND PROCESS VIA PINBALL
007668,000150:                                                                                                  #     IF PREV OFF AND NOW OFF  -   BYPASS
007669,000151: 
007670,000152:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007671,000153: 
007672,000154: 
007673,000155: 06,2075           31303        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
007674,000156: 06,2076           00006                           EXTEND                                         
007675,000157: 06,2077           06032                           RXOR     CHAN32                                
007676,000158: 06,2100           74736                           MASK     BIT14                                 
007677,000159: 06,2101           00006                           EXTEND                                         
007678,000160: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
007679,000161: 
007680,000162: 06,2103           23303                           LXCH     IMODES33                              
007681,000163: 06,2104           00006                           EXTEND                                         
007682,000164: 06,2105           06001                           RXOR     LCHAN                                 
007683,000165: 06,2106           55303                           TS       IMODES33                              #  UPDATE IMODES33
007684,000166: 06,2107           74736                           MASK     BIT14                                 
007685,000167: 06,2110           10000                           CCS      A                                     
007686,000168: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
007687,000169: 
007688,000170: 06,2112           34355                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
007689,000171: 06,2113           05072                           TC       NOVAC                                 
007690,000172: 06,2114     0777                                  EBANK=   DSPCOUNT                              
007691,000173: 06,2114           03450 60101                     2CADR    PROCKEY                               
007692,000174: 

Page 174

007694,000176:                                                                                                  #           JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007695,000177: 
007696,000178: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
007697,000179: 06,2117           12120                           TCF      +1                                    
007698,000180: 
007699,000181: 06,2120           03156                           TC       RCSMONIT                              
007700,000182: 06,2121           13006                           TCF      RRAUTCHK                              
007701,000183: 06,2122           12172                           TCF      IMUMON                                
007702,000184: 06,2123           13132                           TCF      DAPT4S                                
007703,000185: 06,2124           03156                           TC       RCSMONIT                              
007704,000186: 06,2125           13006                           TCF      RRAUTCHK                              
007705,000187: 06,2126           12172                           TCF      IMUMON                                
007706,000188: 06,2127           13132                           TCF      DAPT4S                                
007707,000189: 
007708,000190: 06,2130     7730               20MRUPT            =        OCT37776                              #  (DEC 16382)
007709,000191: 

Page 175

007711,000193:                                                                                                  #           ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007712,000194: 
007713,000195: 06,2130           00006        NODSPOUT           EXTEND                                         
007714,000196: 06,2131           01010                           WRITE    OUT0                                  
007715,000197: 
007716,000198: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
007717,000199: 06,2133           12074                           TCF      SETTIME4                              
007718,000200: 
007719,000201: 06,2134           34736        QUIKDSP            CAF      BIT14                                 
007720,000202: 06,2135           71313                           MASK     DSRUPTSW                              
007721,000203: 06,2136           00006                           EXTEND                                         
007722,000204: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
007723,000205: 
007724,000206: 06,2140           11016                           CCS      NOUT                                  
007725,000207: 06,2141           02024                           TC       DSPOUTSB                              
007726,000208: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
007727,000209: 06,2143           44736                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
007728,000210: 06,2144           27313        QUIKRUPT           ADS      DSRUPTSW                              
007729,000211: 
007730,000212: 06,2145           37730                           CAF      20MRUPT                               
007731,000213: 06,2146           54027                           TS       TIME4                                 
007732,000214: 
007733,000215: 06,2147           34743                           CAF      BIT9                                  
007734,000216: 06,2150           27313                           ADS      DSRUPTSW                              
007735,000217: 
007736,000218: 06,2151           05270                           TC       RESUME                                
007737,000219: 
007738,000220: 06,2152           00006        NODSPY             EXTEND                                         
007739,000221: 06,2153           01010                           WRITE    OUT0                                  
007740,000222: 
007741,000223: 06,2154           37730        SYNCT4             CAF      20MRUPT                               
007742,000224: 06,2155           26027                           ADS      TIME4                                 
007743,000225: 
007744,000226: 06,2156           34743                           CAF      BIT9                                  
007745,000227: 06,2157           27313                           ADS      DSRUPTSW                              
007746,000228: 
007747,000229: 06,2160           11313                           CCS      DSRUPTSW                              
007748,000230: 06,2161           05270                           TC       RESUME                                
007749,000231: 06,2162           37737        OCT37737           OCT      37737                                 
007750,000232: 06,2163           02154                           TC       SYNCT4                                
007751,000233: 06,2164           05270                           TC       RESUME                                
007752,000234: 
007753,000235: 06,2165           00006        QUIKOFF            EXTEND                                         
007754,000236: 06,2166           01010                           WRITE    OUT0                                  
007755,000237: 06,2167           34736                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007756,000238: 06,2170           12144                           TCF      QUIKRUPT                              
007757,000239: 
007758,000240: 06,2171           22400        14,11,9            OCT      22400                                 
007759,000241: 

Page 176

007761,000243:                                                                                                  #  PROGRAM NAME:  IMUMON
007762,000244: 
007763,000245:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007764,000246:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007765,000247: 
007766,000248:                                                                                                  #           FUNCTION               BIT    SUBROUTINE CALLED
007767,000249:                                                                                                  #           --------               ---    -----------------
007768,000250:                                                                                                  #           TEMP IN LIMITS          15    TLIM
007769,000251:                                                                                                  #           ISS TURN-ON REQUEST     14    ITURNON
007770,000252:                                                                                                  #           IMU FAIL                13    IMUFAIL (SETISSW)
007771,000253:                                                                                                  #           IMU CDU FAIL            12    ICDUFAIL (SETISSW)
007772,000254:                                                                                                  #           IMU CAGE                11    IMUCAGE
007773,000255:                                                                                                  #           IMU OPERATE              9    IMUOP
007774,000256: 
007775,000257:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007776,000258:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007777,000259: 
007778,000260:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
007779,000261: 
007780,000262:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007781,000263: 
007782,000264:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007783,000265: 
007784,000266:                                                                                                  #  ERASABLE INITIALIZATION:
007785,000267:                                                                                                  #           FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007786,000268:                                                                                                  #           RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007787,000269:                                                                                                  #                                       THIS LEAVES IMU FAIL BITS INTACT.
007788,000270: 
007789,000271:                                                                                                  #  ALARMS:  NONE.
007790,000272: 
007791,000273:                                                                                                  #  EXIT:  TNONTEST.
007792,000274: 
007793,000275:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007794,000276: 
007795,000277: 06,2172           31302        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
007796,000278: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
007797,000279: 06,2174           06030                           RXOR     CHAN30                                
007798,000280: 06,2175           72761                           MASK     30RDMSK                               
007799,000281: 06,2176           00006                           EXTEND                                         
007800,000282: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
007801,000283: 
007802,000284: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
007803,000285: 06,2201           23302                           LXCH     IMODES30                              #  UPDATE IMODES30.
007804,000286: 06,2202           00006                           EXTEND                                         
007805,000287: 06,2203           06001                           RXOR     LCHAN                                 
007806,000288: 06,2204           55302                           TS       IMODES30                              
007807,000289: 
007808,000290: 06,2205           44753                           CS       ONE                                   
007809,000291: 06,2206           56070                           XCH      RUPTREG1                              
007810,000292: 06,2207           00006                           EXTEND                                         
007811,000293: 

Page 177

007813,000295: 06,2210           62514                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
007814,000296: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
007815,000297: 
007816,000298: 06,2212           64753                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
007817,000299: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
007818,000300: 06,2214           60000                 +1        DOUBLE                                         
007819,000301: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
007820,000302: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
007821,000303: 
007822,000304: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
007823,000305: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
007824,000306: 06,2221           34736                           CAF      BIT14                                 
007825,000307: 06,2222           71302                           MASK     IMODES30                              
007826,000308: 06,2223           50070                           INDEX    RUPTREG1                              
007827,000309: 06,2224           02755                           TC       IFAILJMP                              
007828,000310: 
007829,000311: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
007830,000312: 06,2226           12212                           TCF      NXTIFBIT   -1                         
007831,000313: 

Page 178

007833,000315:                                                                                                  #  PROGRAM NAME:  TNONTEST.
007834,000316: 
007835,000317:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
007836,000318:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007837,000319:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007838,000320: 
007839,000321:                                                                                                  #           1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
007840,000322:                                                                                                  #           BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007841,000323:                                                                                                  #           SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007842,000324: 
007843,000325:                                                                                                  #           2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007844,000326:                                                                                                  #           A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
007845,000327:                                                                                                  #           ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007846,000328:                                                                                                  #           A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007847,000329: 
007848,000330:                                                                                                  #           3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007849,000331:                                                                                                  #           IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007850,000332: 
007851,000333:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
007852,000334:                                                                                                  #  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
007853,000335:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007854,000336:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
007855,000337:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
007856,000338:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007857,000339:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
007858,000340:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007859,000341:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007860,000342: 
007861,000343:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007862,000344:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007863,000345: 
007864,000346:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007865,000347: 
007866,000348:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007867,000349:                                                                                                  #           3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007868,000350:                                                                                                  #           STARTED.
007869,000351: 
007870,000352:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007871,000353: 
007872,000354:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
007873,000355: 
007874,000356:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007875,000357: 
007876,000358:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
007877,000359:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007878,000360:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007879,000361: 
007880,000362:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
007881,000363: 
007882,000364: 06,2227           41302        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT
007883,000365: 

Page 179

007885,000367: 06,2230           74745                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
007886,000368: 06,2231           10000                           CCS      A                                     
007887,000369: 06,2232           12374                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
007888,000370: 
007889,000371: 06,2233           34744                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
007890,000372: 06,2234           71302                           MASK     IMODES30                              
007891,000373: 06,2235           10000                           CCS      A                                     
007892,000374: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
007893,000375: 
007894,000376: 06,2237           34744                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
007895,000377: 06,2240           27302                           ADS      IMODES30                              #  TIME.
007896,000378: 06,2241           12374                           TCF      C33TEST                               
007897,000379: 
007898,000380:                                                                                                  #           PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007899,000381: 
007900,000382: 06,2242           42777        PROCTNON           CS       BITS7&8                               
007901,000383: 06,2243           71302                           MASK     IMODES30                              
007902,000384: 06,2244           55302                           TS       IMODES30                              
007903,000385: 06,2245           74736                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
007904,000386: 06,2246           10000                           CCS      A                                     
007905,000387: 06,2247           12347                           TCF      OPONLY                                #  OPERATE ON ONLY.
007906,000388: 
007907,000389: 06,2250           41302                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007908,000390: 06,2251           74743                           MASK     BIT9                                  #  OPERATE.
007909,000391: 06,2252           10000                           CCS      A                                     
007910,000392: 06,2253           12256                           TCF      +3                                    
007911,000393: 
007912,000394: 06,2254           05567                           TC       ALARM                                 #  ALARM IF NOT.
007913,000395: 06,2255           00213                           OCT      213                                   
007914,000396: 
007915,000397: 06,2256           02735                 +3        TC       CAGESUB                               
007916,000398: 06,2257           33005                           CAF      90SECS                                
007917,000399: 06,2260           05203                           TC       WAITLIST                              
007918,000400: 06,2261  E6,1412                                  EBANK=   M11                                   
007919,000401: 06,2261           02266 14106                     2CADR    ENDTNON                               
007920,000402: 
007921,000403: 06,2263           12374                           TCF      C33TEST                               
007922,000404: 
007923,000405: 06,2264           33005        RETNON             CAF      90SECS                                
007924,000406: 06,2265           05224                           TC       VARDELAY                              
007925,000407: 
007926,000408: 06,2266           44752        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
007927,000409: 06,2267           71302                           MASK     IMODES30                              
007928,000410: 06,2270           57302                           XCH      IMODES30                              
007929,000411: 06,2271           74752                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007930,000412: 06,2272           00006                           EXTEND                                         
007931,000413: 06,2273           12306                           BZF      ENDTNON2                              
007932,000414: 
007933,000415: 06,2274           34736                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
007934,000416: 

Page 180

007936,000418: 06,2275           71302                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007937,000419: 06,2276           00006                           EXTEND                                         
007938,000420: 06,2277           12264                           BZF      RETNON                                
007939,000421: 
007940,000422: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
007941,000423: 06,2301           74744                           MASK     IMUSEBIT                              #  WAITING.
007942,000424: 06,2302           10000                           CCS      A                                     
007943,000425: 06,2303           15261                           TCF      TASKOVER                              
007944,000426: 06,2304           04635                           TC       POSTJUMP                              
007945,000427: 06,2305           17612                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
007946,000428: 
007947,000429: 06,2306           34735        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
007948,000430: 06,2307           00006                           EXTEND                                         
007949,000431: 06,2310           05012                           WOR      CHAN12                                
007950,000432: 
007951,000433: 06,2311           04674                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
007952,000434: 06,2312           17241                           CADR     NOATTOFF                              
007953,000435: 
007954,000436: 06,2313           05457        UNZ2               TC       ZEROICDU                              
007955,000437: 
007956,000438: 06,2314           44763                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
007957,000439: 06,2315           00006                           EXTEND                                         
007958,000440: 06,2316           03012                           WAND     CHAN12                                
007959,000441: 
007960,000442: 06,2317           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007961,000443: 06,2320           05224                           TC       VARDELAY                              
007962,000444: 
007963,000445: 06,2321           42774        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
007964,000446: 06,2322           71302                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
007965,000447: 06,2323           55302                           TS       IMODES30                              
007966,000448: 
007967,000449: 06,2324           44746                           CS       BIT6                                  #  ENABLE DAP
007968,000450: 06,2325           71303                           MASK     IMODES33                              
007969,000451: 06,2326           55303                           TS       IMODES33                              
007970,000452: 
007971,000453: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007972,000454: 06,2330           74735                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP(RESTART
007973,000455: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
007974,000456: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
007975,000457: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
007976,000458: 06,2334           30025                           CA       TIME1                                 
007977,000459: 06,2335           57075                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
007978,000460: 
007979,000461: 06,2336           02703                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
007980,000462: 
007981,000463: 06,2337           44735                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
007982,000464: 06,2340           00006                           EXTEND                                         
007983,000465: 06,2341           03012                           WAND     CHAN12                                
007984,000466: 
007985,000467: 06,2342           35003                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR
007986,000468: 

Page 181

007988,000470: 06,2343           05203                           TC       WAITLIST                              #  ANOTHER 4 SECS.
007989,000471: 06,2344  E3,1474                                  EBANK=   CDUIND                                
007990,000472: 06,2344           03227 16103                     2CADR    PFAILOK                               
007991,000473: 
007992,000474: 06,2346           15261                           TCF      TASKOVER                              
007993,000475: 
007994,000476: 06,2347           34750        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
007995,000477: 06,2350           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
007996,000478: 06,2351           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
007997,000479: 06,2352           10000                           CCS      A                                     
007998,000480: 06,2353           12374                           TCF      C33TEST                               
007999,000481: 
008000,000482: 06,2354           34744                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
008001,000483: 06,2355           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
008002,000484: 06,2356           10000                           CCS      A                                     
008003,000485: 06,2357           12374                           TCF      C33TEST                               
008004,000486: 
008005,000487: 06,2360           02746                           TC       CAGESUB2                              #  SET TURNON FLAGS.
008006,000488: 
008007,000489: 06,2361           04674        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
008008,000490: 06,2362           17241                           CADR     NOATTOFF                              #      IMU CAGE OFF ENTRY
008009,000491: 
008010,000492: 06,2363           34747                           CAF      BIT5                                  #  ISS CDU ZERO
008011,000493: 06,2364           00006                           EXTEND                                         
008012,000494: 06,2365           05012                           WOR      CHAN12                                
008013,000495: 
008014,000496: 06,2366           05457                           TC       ZEROICDU                              
008015,000497: 06,2367           34746                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
008016,000498: 06,2370           05203                           TC       WAITLIST                              
008017,000499: 06,2371  E6,1412                                  EBANK=   M11                                   
008018,000500: 06,2371           02313 14106                     2CADR    UNZ2                                  
008019,000501: 
008020,000502: 06,2373           12374                           TCF      C33TEST                               
008021,000503: 

Page 182

008023,000505:                                                                                                  #  PROGRAM NAME:  C33TEST
008024,000506: 
008025,000507:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
008026,000508:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
008027,000509:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
008028,000510:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
008029,000511: 
008030,000512:                                                                                                  #           BIT    FUNCTION                SUBROUTINE
008031,000513:                                                                                                  #           ---    --------                ----------
008032,000514:                                                                                                  #            13    PIPA FAIL               PIPFAIL
008033,000515:                                                                                                  #            12    DOWNLINK TOO FAST       DNTMFAST
008034,000516:                                                                                                  #            11    UPLINK TOO FAST         UPTMFAST
008035,000517: 
008036,000518:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
008037,000519: 
008038,000520:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
008039,000521: 
008040,000522:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008041,000523: 
008042,000524:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
008043,000525: 
008044,000526:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
008045,000527:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
008046,000528: 
008047,000529:                                                                                                  #  ALARMS:  NONE.
008048,000530: 
008049,000531:                                                                                                  #  EXIT:  GLOCKMON.
008050,000532: 
008051,000533:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
008052,000534: 
008053,000535: 06,2374           31303        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
008054,000536: 06,2375           75026                           MASK     33RDMSK                               
008055,000537: 06,2376           54001                           TS       L                                     #  CHANGED.
008056,000538: 06,2377           35026                           CAF      33RDMSK                               
008057,000539: 06,2400           00006                           EXTEND                                         
008058,000540: 06,2401           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
008059,000541: 06,2402           00006                           EXTEND                                         
008060,000542: 06,2403           06001                           RXOR     LCHAN                                 
008061,000543: 06,2404           00006                           EXTEND                                         
008062,000544: 06,2405           12434                           BZF      GLOCKMON                              #  ON NO CHANGE.
008063,000545: 
008064,000546: 06,2406           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
008065,000547: 06,2407           23303                           LXCH     IMODES33                              
008066,000548: 06,2410           00006                           EXTEND                                         
008067,000549: 06,2411           06001                           RXOR     LCHAN                                 
008068,000550: 06,2412           55303                           TS       IMODES33                              #  UPDATED IMODES33.
008069,000551: 
008070,000552: 06,2413           34755                           CAF      ZERO                                  
008071,000553: 06,2414           56070                           XCH      RUPTREG1                              
008072,000554: 06,2415           60000                           DOUBLE                                         
008073,000555: 

Page 183

008075,000557: 06,2416           12421                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
008076,000558: 
008077,000559: 06,2417           64753                 -1        AD       ONE                                   
008078,000560: 06,2420           24070        NXTIBT             INCR     RUPTREG1                              
008079,000561: 06,2421           60000                 +1        DOUBLE                                         
008080,000562: 06,2422           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
008081,000563: 06,2423           12420                           TCF      NXTIBT                                
008082,000564: 
008083,000565: 06,2424           56071                           XCH      RUPTREG2                              
008084,000566: 06,2425           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
008085,000567: 06,2426           34737                           CAF      BIT13                                 
008086,000568: 06,2427           71303                           MASK     IMODES33                              
008087,000569: 06,2430           50070                           INDEX    RUPTREG1                              
008088,000570: 06,2431           02763                           TC       C33JMP                                
008089,000571: 
008090,000572: 06,2432           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
008091,000573: 06,2433           12417                           TCF      NXTIBT     -1                         
008092,000574: 

Page 184

008094,000576:                                                                                                  #  PROGRAM NAME:  GLOCKMON
008095,000577: 
008096,000578:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
008097,000579:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
008098,000580: 
008099,000581:                                                                                                  #           1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
008100,000582:                                                                                                  #           2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
008101,000583:                                                                                                  #           3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
008102,000584: 
008103,000585:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
008104,000586: 
008105,000587:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008106,000588: 
008107,000589:                                                                                                  #  SUBROUTINES CALLED:  1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
008108,000590:                                                                                                  #                       2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
008109,000591: 
008110,000592:                                                                                                  #  ERASABLE INITIALIZATION:
008111,000593:                                                                                                  #           1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 =  0.
008112,000594:                                                                                                  #           2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
008113,000595:                                                                                                  #                                           PROCEEDS AS BEFORE.
008114,000596: 
008115,000597:                                                                                                  #  ALARMS:  1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
008116,000598:                                                                                                  #           2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
008117,000599:                                                                                                  #              SO ALREADY.
008118,000600: 
008119,000601: 06,2434           10034        GLOCKMON           CCS      CDUZ                                  
008120,000602: 06,2435           12441                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
008121,000603: 06,2436           12465                           TCF      SETGLOCK                              #  70 DEGREES.
008122,000604: 06,2437           12441                           TCF      GLOCKCHK                              
008123,000605: 06,2440           12465                           TCF      SETGLOCK                              
008124,000606: 
008125,000607: 06,2441           62512        GLOCKCHK           AD       -70DEGS                               
008126,000608: 06,2442           00006                           EXTEND                                         
008127,000609: 06,2443           62464                           BZMF     SETGLOCK   -1                         #  NO LOCK.
008128,000610: 
008129,000611: 06,2444           62513                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
008130,000612: 06,2445           00006                           EXTEND                                         
008131,000613: 06,2446           62462                           BZMF     NOGIMRUN                              
008132,000614: 
008133,000615: 06,2447           34750                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
008134,000616: 06,2450           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
008135,000617: 06,2451           02012                           RAND     CHAN12                                
008136,000618: 06,2452           10000                           CCS      A                                     
008137,000619: 06,2453           12462                           TCF      NOGIMRUN                              
008138,000620: 
008139,000621: 06,2454           04674                           TC       IBNKCALL                              
008140,000622: 06,2455           17117                           CADR     SETCOARS                              
008141,000623: 
008142,000624: 06,2456           36241                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
008143,000625: 06,2457           05203                           TC       WAITLIST                              
008144,000626: 

Page 185

008146,000628: 06,2460  E3,1474                                  EBANK=   CDUIND                                
008147,000629: 06,2460           03113 16103                     2CADR    CA+ECE                                
008148,000630: 
008149,000631: 06,2462           34746        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
008150,000632: 06,2463           12465                           TCF      SETGLOCK                              
008151,000633: 
008152,000634: 06,2464           34755                 -1        CAF      ZERO                                  
008153,000635: 06,2465           61036        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
008154,000636: 06,2466           74746                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
008155,000637: 06,2467           00006                           EXTEND                                         #  THE TWO.
008156,000638: 06,2470           15270                           BZF      GLOCKOK                               #  OK AS IS.
008157,000639: 
008158,000640: 06,2471           71036                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
008159,000641: 06,2472           10000                           CCS      A                                     
008160,000642: 06,2473           12507                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
008161,000643: 
008162,000644: 06,2474           34746                           CAF      BIT6                                  
008163,000645: 06,2475           71302                           MASK     IMODES30                              
008164,000646: 06,2476           10000                           CCS      A                                     
008165,000647: 06,2477           15270                           TCF      GLOCKOK                               
008166,000648: 
008167,000649: 06,2500           41036        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
008168,000650: 06,2501           74746                           MASK     BIT6                                  
008169,000651: 06,2502           64735                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
008170,000652: 06,2503           57036                           XCH      DSPTAB     +11D                       
008171,000653: 06,2504           72162                           MASK     OCT37737                              
008172,000654: 06,2505           27036                           ADS      DSPTAB     +11D                       
008173,000655: 06,2506           15270                           TCF      GLOCKOK                               
008174,000656: 
008175,000657: 06,2507           02766        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
008176,000658: 06,2510           15270                           TCF      GLOCKOK                               
008177,000659: 06,2511           12500                           TCF      GLINVERT                              
008178,000660: 
008179,000661: 06,2512           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
008180,000662: 06,2513           75252        -15DEGS            DEC      -.08333                               
008181,000663: 

Page 186

008183,000665:                                                                                                  #  PROGRAM NAME:  TLIM.
008184,000666: 
008185,000667:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
008186,000668:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
008187,000669:                                                                                                  #  IS IN PROGRESS.
008188,000670: 
008189,000671:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
008190,000672: 
008191,000673:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008192,000674: 
008193,000675:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
008194,000676: 
008195,000677:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
008196,000678: 
008197,000679:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
008198,000680: 
008199,000681:                                                                                                  #  EXIT:  NXTIFAIL.
008200,000682: 
008201,000683:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                        IN A, EXCEPT FOR TLIM.
008202,000684: 
008203,000685: 06,2514           74733        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
008204,000686: 06,2515           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
008205,000687: 
008206,000688: 06,2516           11302                           CCS      IMODES30                              
008207,000689: 06,2517           12525                           TCF      TEMPOK                                
008208,000690: 06,2520           12525                           TCF      TEMPOK                                
008209,000691: 
008210,000692: 06,2521           34750                           CAF      BIT4                                  #  TURN ON LAMP.
008211,000693: 06,2522           00006                           EXTEND                                         
008212,000694: 06,2523           05011                           WOR      DSALMOUT                              
008213,000695: 06,2524           12225                           TCF      NXTIFAIL                              
008214,000696: 
008215,000697: 06,2525           02766        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
008216,000698: 06,2526           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
008217,000699: 
008218,000700: 06,2527           44750                           CS       BIT4                                  
008219,000701: 06,2530           00006                           EXTEND                                         
008220,000702: 06,2531           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
008221,000703: 06,2532           12225                           TCF      NXTIFAIL                              
008222,000704: 

Page 187

008224,000706:                                                                                                  #  PROGRAM NAME:  ITURNON.
008225,000707: 
008226,000708:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
008227,000709:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
008228,000710:                                                                                                  #  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
008229,000711:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
008230,000712:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
008231,000713:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
008232,000714:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
008233,000715:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
008234,000716:                                                                                                  #  ENDS.
008235,000717: 
008236,000718:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
008237,000719: 
008238,000720:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008239,000721: 
008240,000722:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
008241,000723: 
008242,000724:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
008243,000725:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
008244,000726: 
008245,000727:                                                                                                  #  ALARMS:  PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
008246,000728: 
008247,000729:                                                                                                  #  EXIT:  NXTIFAIL.
008248,000730: 
008249,000731:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
008250,000732:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
008251,000733: 
008252,000734: 06,2533           34752        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
008253,000735: 06,2534           71302                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
008254,000736: 06,2535           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
008255,000737: 06,2536           12225                           TCF      NXTIFAIL                              
008256,000738: 
008257,000739: 06,2537           34736                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
008258,000740: 06,2540           71302                           MASK     IMODES30                              
008259,000741: 06,2541           00006                           EXTEND                                         
008260,000742: 06,2542           12556                           BZF      ITURNON2                              #  IF JUST ON.
008261,000743: 
008262,000744: 06,2543           34735                           CAF      BIT15                                 
008263,000745: 06,2544           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
008264,000746: 06,2545           02012                           RAND     CHAN12                                #  SENT. IF SO, ACTION COMPLETE
008265,000747: 06,2546           00006                           EXTEND                                         
008266,000748: 06,2547           12551                           BZF      +2                                    
008267,000749: 06,2550           12225                           TCF      NXTIFAIL                              
008268,000750: 
008269,000751: 06,2551           34752                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
008270,000752: 06,2552           27302                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
008271,000753: 06,2553           05567                           TC       ALARM                                 
008272,000754: 06,2554           00207                           OCT      207                                   
008273,000755: 06,2555           12225                           TCF      NXTIFAIL                              
008274,000756: 

Page 188

008276,000758: 06,2556           41302        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
008277,000759: 06,2557           74745                           MASK     BIT7                                  
008278,000760: 06,2560           27302                           ADS      IMODES30                              
008279,000761: 06,2561           32564                           CAF      RRINIT                                
008280,000762: 06,2562           54110                           TS       RADMODES                              
008281,000763: 06,2563           12225                           TCF      NXTIFAIL                              
008282,000764: 
008283,000765: 06,2564           00102        RRINIT             OCT      00102                                 
008284,000766: 

Page 189

008286,000768:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
008287,000769: 
008288,000770:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
008289,000771:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
008290,000772:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
008291,000773:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
008292,000774:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
008293,000775: 
008294,000776:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
008295,000777: 
008296,000778:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008297,000779: 
008298,000780:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
008299,000781: 
008300,000782:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
008301,000783: 
008302,000784:                                                                                                  #  ALARMS:  NONE.
008303,000785: 
008304,000786:                                                                                                  #  EXIT:  NXTIFAIL.
008305,000787: 
008306,000788:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
008307,000789: 
008308,000790: 06,2565           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
008309,000791: 06,2566           12361                           TCF      ISSZERO                               
008310,000792: 06,2567           43002                           CS       OCT77000                              #  TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
008311,000793: 06,2570           00006                           EXTEND                                         
008312,000794: 06,2571           03014                           WAND     CHAN14                                
008313,000795: 
008314,000796: 06,2572           42776                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
008315,000797: 06,2573           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
008316,000798: 06,2574           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
008317,000799: 
008318,000800: 06,2575           44745                           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
008319,000801: 06,2576           70101                           MASK     FLAGWRD5                              
008320,000802: 06,2577           54101                           TS       FLAGWRD5                              
008321,000803: 06,2600           44355                           CS       PRIO30                                #  TURN ENGINE OFF.
008322,000804: 06,2601           00006                           EXTEND                                         
008323,000805: 06,2602           02011                           RAND     DSALMOUT                              
008324,000806: 06,2603           64736                           AD       BIT14                                 
008325,000807: 06,2604           00006                           EXTEND                                         
008326,000808: 06,2605           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
008327,000809: 
008328,000810: 06,2606           02743                           TC       CAGESUB1                              
008329,000811: 
008330,000812: 06,2607           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008331,000813: 06,2610           17150                           CADR     RNDREFDR                              
008332,000814: 
008333,000815: 06,2611           44755                           CS       ZERO                                  
008334,000816: 06,2612           54050                           TS       CDUXCMD                               
008335,000817: 06,2613           54051                           TS       CDUYCMD                               
008336,000818: 

Page 190

008338,000820: 06,2614           54052                           TS       CDUZCMD                               
008339,000821: 06,2615           54047                           TS       GYROCMD                               
008340,000822: 
008341,000823: 06,2616           43001                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
008342,000824: 06,2617           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
008343,000825: 06,2620           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
008344,000826: 06,2621           12225                           TCF      NXTIFAIL                              
008345,000827: 

Page 191

008347,000829:                                                                                                  #  PROGRAM NAME:  IMUOP.
008348,000830: 
008349,000831:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
008350,000832:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
008351,000833:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
008352,000834:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
008353,000835:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
008354,000836: 
008355,000837:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
008356,000838: 
008357,000839:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008358,000840: 
008359,000841:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
008360,000842: 
008361,000843:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
008362,000844:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
008363,000845: 
008364,000846:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
008365,000847: 
008366,000848:                                                                                                  #  EXIT:  NXTIFAIL.
008367,000849: 
008368,000850:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
008369,000851: 
008370,000852: 06,2622           00006        IMUOP              EXTEND                                         
008371,000853: 06,2623           12643                           BZF      IMUOP2                                
008372,000854: 
008373,000855: 06,2624           41303                           CS       IMODES33                              #  DISABLE DAP
008374,000856: 06,2625           74746                           MASK     BIT6                                  
008375,000857: 06,2626           27303                           ADS      IMODES33                              
008376,000858: 
008377,000859: 06,2627           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008378,000860: 06,2630           17150                           CADR     RNDREFDR                              
008379,000861: 
008380,000862: 06,2631           42777                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
008381,000863: 06,2632           70074                           MASK     FLAGWRD0                              
008382,000864: 06,2633           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
008383,000865: 06,2634           40000                           COM                                            
008384,000866: 06,2635           74744                           MASK     IMUSEFLG                              
008385,000867: 06,2636           10000                           CCS      A                                     
008386,000868: 06,2637           12225                           TCF      NXTIFAIL                              
008387,000869: 
008388,000870: 06,2640           05567                           TC       ALARM                                 
008389,000871: 06,2641           00214                           OCT      214                                   
008390,000872: 06,2642           12225                           TCF      NXTIFAIL                              
008391,000873: 
008392,000874: 06,2643           34752        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008393,000875: 06,2644           71302                           MASK     IMODES30                              
008394,000876: 06,2645           10000                           CCS      A                                     
008395,000877: 06,2646           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
008396,000878: 06,2647           12556                           TCF      ITURNON2                              #  SECONDS EXPIRES.
008397,000879: 

Page 192

008399,000881:                                                                                                  #  PROGRAM NAME:  PIPFAIL
008400,000882: 
008401,000883:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
008402,000884:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT, I.E., IMODES30
008403,000885:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008404,000886: 
008405,000887:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008406,000888: 
008407,000889:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008408,000890: 
008409,000891:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008410,000892: 
008411,000893:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008412,000894: 
008413,000895:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008414,000896:                                                                                                  #  BEING INITIALIZED.
008415,000897: 
008416,000898:                                                                                                  #  EXIT:  NXTFL33.
008417,000899: 
008418,000900:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008419,000901: 
008420,000902: 06,2650           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
008421,000903: 06,2651           34742                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
008422,000904: 06,2652           57302                           XCH      IMODES30                              
008423,000905: 06,2653           73004                           MASK     -BIT10                                
008424,000906: 06,2654           27302                           ADS      IMODES30                              
008425,000907: 
008426,000908: 06,2655           02703                           TC       SETISSW                               
008427,000909: 
008428,000910: 06,2656           41302                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008429,000911: 06,2657           74753                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
008430,000912: 06,2660           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
008431,000913: 06,2661           12432                           TCF      NXTFL33                               
008432,000914: 
008433,000915: 06,2662           31302                           CA       IMODES30                              
008434,000916: 06,2663           73000                           MASK     OCT1720                               
008435,000917: 06,2664           10000                           CCS      A                                     
008436,000918: 06,2665           12432                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
008437,000919: 
008438,000920: 06,2666           05567                           TC       ALARM                                 
008439,000921: 06,2667           00212                           OCT      212                                   
008440,000922: 06,2670           12432                           TCF      NXTFL33                               
008441,000923: 

Page 193

008443,000925:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
008444,000926: 
008445,000927:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
008446,000928:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
008447,000929: 
008448,000930:                                                                                                  #           BIT    ALARM           CAUSE
008449,000931:                                                                                                  #           ---    -----           -----
008450,000932:                                                                                                  #            12    01105           DOWNLINK TOO FAST
008451,000933:                                                                                                  #            11    01106           UPLINK TOO FAST
008452,000934: 
008453,000935:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
008454,000936: 
008455,000937:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
008456,000938: 
008457,000939:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008458,000940: 
008459,000941:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
008460,000942: 
008461,000943:                                                                                                  #  EXIT:  NXTFL33.
008462,000944: 
008463,000945:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
008464,000946: 
008465,000947: 06,2671           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
008466,000948: 06,2672           12432                           TCF      NXTFL33                               
008467,000949: 
008468,000950: 06,2673           05567                           TC       ALARM                                 
008469,000951: 06,2674           01105                           OCT      1105                                  
008470,000952: 06,2675           12432                           TCF      NXTFL33                               
008471,000953: 
008472,000954: 06,2676           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
008473,000955: 06,2677           12432                           TCF      NXTFL33                               #  ALARM CODE.
008474,000956: 
008475,000957: 06,2700           05567                           TC       ALARM                                 
008476,000958: 06,2701           01106                           OCT      1106                                  
008477,000959: 06,2702           12432                           TCF      NXTFL33                               

Page 194

008479,000961:                                                                                                  #  PROGRAM NAME:  SETISSW
008480,000962: 
008481,000963:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008482,000964:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008483,000965:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008484,000966:                                                                                                  #  PROGRESS.
008485,000967: 
008486,000968:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
008487,000969:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
008488,000970:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008489,000971:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008490,000972: 
008491,000973:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008492,000974: 
008493,000975:                                                                                                  #  SUBROUTINES CALLED:  NONE.
008494,000976: 
008495,000977:                                                                                                  #  ERASABLE INITIALIZATION:
008496,000978: 
008497,000979:                                                                                                  #           1) IMODES30 - SEE IMUMON.
008498,000980:                                                                                                  #           2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008499,000981: 
008500,000982:                                                                                                  #  ALARMS:  ISS WARNING.
008501,000983: 
008502,000984:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008503,000985:                                                                                                  #  PROGRAM ALARM 00777  PIPA FAIL
008504,000986:                                                                                                  #  PROGRAM ALARM 03777  ICDU FAIL
008505,000987:                                                                                                  #  PROGRAM ALARM 04777  ICDU , PIPA FAILS
008506,000988:                                                                                                  #  PROGRAM ALARM 07777  IMU FAIL
008507,000989:                                                                                                  #  PROGRAM ALARM 10777  IMU , PIPA FAILS
008508,000990:                                                                                                  #  PROGRAM ALARM 13777  IMU , ICDU FAILS
008509,000991:                                                                                                  #  PROGRAM ALARM 14777  IMU , ICDU , PIPA FAILS
008510,000992: 
008511,000993:                                                                                                  #  EXIT:  VIA Q.
008512,000994: 
008513,000995:                                                                                                  #  OUTPUT:  ISS WARNING LAMP SET PROPERLY.
008514,000996: 
008515,000997: 06,2703           34761        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
008516,000998: 06,2704           71302                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
008517,000999: 06,2705           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
008518,001000: 06,2706           74742                           MP       BIT10                                 #  4, 3, AND 1.
008519,001001: 06,2707           31302                           CA       IMODES30                              
008520,001002: 06,2710           00006                           EXTEND                                         
008521,001003: 06,2711           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
008522,001004: 06,2712           40000                           COM                                            
008523,001005: 06,2713           75025                           MASK     OCT15000                              
008524,001006: 06,2714           10000                           CCS      A                                     
008525,001007: 06,2715           12726                           TCF      ISSWON                                #  FAILURE.
008526,001008: 
008527,001009: 06,2716           34753        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
008528,001010: 06,2717           71303                           MASK     IMODES33                              #  IN PROGRESS.
008529,001011: 

Page 195

008531,001013: 06,2720           10000                           CCS      A                                     
008532,001014: 06,2721           00002                           TC       Q                                     
008533,001015: 
008534,001016: 06,2722           44753                           CS       BIT1                                  
008535,001017: 06,2723           00006                           EXTEND                                         
008536,001018: 06,2724           03011                           WAND     DSALMOUT                              
008537,001019: 06,2725           00002                           TC       Q                                     
008538,001020: 
008539,001021: 06,2726           00006        ISSWON             EXTEND                                         
008540,001022: 06,2727           22066                           QXCH     ITEMP6                                
008541,001023: 06,2730           05735                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISSWARNING
008542,001024: 06,2731           34753                           CAF      BIT1                                  
008543,001025: 06,2732           00006                           EXTEND                                         
008544,001026: 06,2733           05011                           WOR      DSALMOUT                              
008545,001027: 06,2734           00066                           TC       ITEMP6                                
008546,001028: 
008547,001029: 06,2735           43003        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
008548,001030: 06,2736           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE. DISABLE THE
008549,001031: 06,2737           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
008550,001032: 06,2740           34763                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
008551,001033: 06,2741           00006                           EXTEND                                         
008552,001034: 06,2742           05012                           WOR      CHAN12                                
008553,001035: 
008554,001036: 06,2743           41036        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
008555,001037: 06,2744           72773                           MASK     OC40010                               
008556,001038: 06,2745           27036                           ADS      DSPTAB     +11D                       
008557,001039: 
008558,001040: 06,2746           41302        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
008559,001041: 06,2747           72775                           MASK     OCT75                                 #      AND INHIBIT ALL ISS WARNING INFO
008560,001042: 06,2750           27302                           ADS      IMODES30                              
008561,001043: 
008562,001044: 06,2751           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
008563,001045: 06,2752           74746                           MASK     BIT6                                  
008564,001046: 06,2753           27303                           ADS      IMODES33                              
008565,001047: 
008566,001048: 06,2754           00002                           TC       Q                                     
008567,001049: 
008568,001050: 06,2755  06,2703               IMUFAIL            EQUALS   SETISSW                               
008569,001051: 06,2755  06,2703               ICDUFAIL           EQUALS   SETISSW                               
008570,001052: 

Page 196

008572,001054:                                                                                                  #           JUMP TABLES AND CONSTANTS.
008573,001055: 
008574,001056: 06,2755           12533        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
008575,001057: 06,2756           12703                           TCF      IMUFAIL                               
008576,001058: 06,2757           12703                           TCF      ICDUFAIL                              
008577,001059: 06,2760           12565                           TCF      IMUCAGE                               
008578,001060: 06,2761           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
008579,001061: 06,2762           12622                           TCF      IMUOP                                 
008580,001062: 
008581,001063: 06,2763           12650        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
008582,001064: 06,2764           12671                           TCF      DNTMFAST                              
008583,001065: 06,2765           12676                           TCF      UPTMFAST                              
008584,001066: 
008585,001067:                                                                                                  #           SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008586,001068: 06,2766           41303        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008587,001069: 06,2767           74753                           MASK     BIT1                                  #  PROGRESS.
008588,001070: 06,2770           10000                           CCS      A                                     
008589,001071: 06,2771           24002                           INCR     Q                                     
008590,001072: 06,2772           00002                           TC       Q                                     
008591,001073: 
008592,001074: 06,2773     5026               33RDMSK            EQUALS   PRIO16                                
008593,001075: 06,2773           40010        OC40010            OCT      40010                                 
008594,001076: 06,2774           00054        OCT54              OCT      54                                    
008595,001077: 06,2775           00075        OCT75              OCT      75                                    
008596,001078: 06,2776           00272        OCT272             OCT      00272                                 
008597,001079: 06,2777           00300        BITS7&8            OCT      300                                   
008598,001080: 06,3000           01720        OCT1720            OCT      1720                                  
008599,001081: 06,3001           00740        OCT740             OCT      00740                                 
008600,001082: 06,3002     5025               OCT15000           EQUALS   PRIO15                                
008601,001083: 06,3002           77000        OCT77000           OCT      77000                                 
008602,001084: 06,3003           40040        BITS6&15           OCT      40040                                 
008603,001085: 06,3004           76777        -BIT10             OCT      -1000                                 
008604,001086: 
008605,001087: 06,3005           21450        90SECS             DEC      9000       B-14                       
008606,001088: 06,3006     5742               120MS              =        OCT14                                 #  (DEC12)
008607,001089: 06,3006     5270               GLOCKOK            EQUALS   RESUME                                
008608,001090: 

Page 197

008610,001092:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
008611,001093: 
008612,001094:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008613,001095:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008614,001096:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008615,001097:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008616,001098:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008617,001099:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008618,001100:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008619,001101:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008620,001102:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008621,001103:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008622,001104:                                                                                                  #  SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008623,001105:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008624,001106:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008625,001107: 
008626,001108:                                                                                                  #  CALLING SEQUENCE_
008627,001109:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
008628,001110: 
008629,001111:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008630,001112:                                                                                                  #  RADMODES, STATE
008631,001113: 
008632,001114:                                                                                                  #  SUBROUTINES CALLED_
008633,001115:                                                                                                  #  WAITLIST
008634,001116: 
008635,001117:                                                                                                  #  JOBS OR TASKS INITIATED_
008636,001118:                                                                                                  #  RRTURNON
008637,001119: 
008638,001120:                                                                                                  #  ALARMS_   PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008639,001121:                                                                                                  #  USED
008640,001122: 
008641,001123:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
008642,001124: 
008643,001125: 06,3006           30110        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
008644,001126: 06,3007           00006                           EXTEND                                         
008645,001127: 06,3010           06033                           RXOR     CHAN33                                
008646,001128: 06,3011           74752                           MASK     BIT2                                  
008647,001129: 06,3012           00006                           EXTEND                                         
008648,001130: 06,3013           13037                           BZF      RRCDUCHK                              
008649,001131: 
008650,001132: 06,3014           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008651,001133: 06,3015           00006                           EXTEND                                         
008652,001134: 06,3016           06001                           RXOR     LCHAN                                 
008653,001135: 06,3017           73033                           MASK     OCT05776                              #  CLR CONT. DES., REMODE, REPOS, CDUZERO,
008654,001136: 06,3020           54110                           TS       RADMODES                              #    AND TURNON BITS.
008655,001137: 06,3021           74752                           MASK     BIT2                                  #  SEE IF JUST ON.
008656,001138: 06,3022           10000                           CCS      A                                     
008657,001139: 06,3023           13034                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
008658,001140: 06,3024           37662                           CA       OCT10001                              #  SET RRCDUZRO AND TURNON BITS.
008659,001141: 06,3025           26110                           ADS      RADMODES                              
008660,001142: 

Page 198

008662,001144: 06,3026           34753                           CAF      ONE                                   
008663,001145: 06,3027           05203                           TC       WAITLIST                              
008664,001146: 06,3030  E7,1454                                  EBANK=   LOSCOUNT                              
008665,001147: 06,3030           02062 52107                     2CADR    RRTURNON                              
008666,001148: 
008667,001149: 06,3032           13132                           TCF      NORRGMON                              
008668,001150: 
008669,001151: 06,3033           05776        OCT05776           OCT      5776                                  
008670,001152: 

Page 199

008672,001154:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
008673,001155: 
008674,001156:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008675,001157:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008676,001158:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008677,001159:                                                                                                  #  PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008678,001160:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008679,001161:                                                                                                  #  PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008680,001162:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008681,001163:                                                                                                  #  REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008682,001164:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008683,001165:                                                                                                  #  RRGIMON.
008684,001166: 
008685,001167:                                                                                                  #  CALLING SEQUENCE_
008686,001168:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008687,001169:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008688,001170: 
008689,001171:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008690,001172:                                                                                                  #  RADMODES
008691,001173: 
008692,001174:                                                                                                  #  SUBROUTINES CALLED_
008693,001175:                                                                                                  #  SETTRKF
008694,001176: 
008695,001177:                                                                                                  #  JOBS OR TASKS INITIATED_
008696,001178:                                                                                                  #  NONE
008697,001179: 
008698,001180:                                                                                                  #  ALARMS_
008699,001181:                                                                                                  #  TRACKER FAIL
008700,001182:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008701,001183: 
008702,001184:                                                                                                  #  EXIT_
008703,001185:                                                                                                  #  RRGIMON, NORRGMON
008704,001186: 
008705,001187: 06,3034           44752                 -3        CS       BIT2                                  
008706,001188: 06,3035           00006                           EXTEND                                         
008707,001189: 06,3036           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
008708,001190: 
008709,001191: 06,3037           30110        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
008710,001192: 06,3040           00006                           EXTEND                                         
008711,001193: 06,3041           06030                           RXOR     CHAN30                                
008712,001194: 06,3042           74745                           MASK     BIT7                                  
008713,001195: 06,3043           00006                           EXTEND                                         
008714,001196: 06,3044           13071                           BZF      RRGIMON                               
008715,001197: 
008716,001198: 06,3045           34752                           CAF      BIT2                                  #  IF RR NOT IN AUTO MODE, DONT CHANGE BIT
008717,001199: 06,3046           70110                           MASK     RADMODES                              #  7 OF RADMODES. IF THIS WERE NOT DONE,
008718,001200: 06,3047           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
008719,001201: 06,3050           13132                           TCF      NORRGMON                              #  JUST READING LR DATA.
008720,001202: 
008721,001203: 06,3051           34745                           CAF      BIT7                                  #  SET BIT 7 OF RADMODES FOR SETTRKF.
008722,001204: 

Page 200

008724,001206: 06,3052           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008725,001207: 06,3053           00006                           EXTEND                                         
008726,001208: 06,3054           06001                           RXOR     L                                     
008727,001209: 06,3055           54110                           TS       RADMODES                              
008728,001210: 
008729,001211: 06,3056           30110                           CA       RADMODES                              #  DID RR CDU FAIL
008730,001212: 06,3057           74745                           MASK     BIT7                                  
008731,001213: 06,3060           10000                           CCS      A                                     
008732,001214: 06,3061           13070                           TCF      TRKFLCDU                              #  NO
008733,001215: 06,3062           40074                           CS       FLAGWRD0                              #  RNDVFLG  P20 OR P22 OPERATING
008734,001216: 06,3063           74745                           MASK     RNDVZBIT                              
008735,001217: 06,3064           10000                           CCS      A                                     
008736,001218: 06,3065           13070                           TCF      TRKFLCDU                              #  NO
008737,001219: 06,3066           05567                           TC       ALARM                                 #  YES
008738,001220: 06,3067           00515                           OCT      00515                                 
008739,001221: 06,3070           04564        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
008740,001222: 

Page 201

008742,001224:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                   E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008743,001225: 
008744,001226:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                  TTER IS INITIATED BY THIS MONITOR WHEN
008745,001227:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR.  INITIALLY THE FOLLOWING IS      ED TO DRIVE THE GIMBALS TO T = 0 AND
008746,001228:                                                                                                  #  CHECKED_  REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008747,001229:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008748,001230:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008749,001231:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008750,001232:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008751,001233:                                                                                                  #  TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008752,001234:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008753,001235:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008754,001236:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008755,001237: 
008756,001238:                                                                                                  #  CALLING SEQUENCE_
008757,001239:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008758,001240:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008759,001241:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008760,001242:                                                                                                  #  (RADMODES BIT 2).
008761,001243: 
008762,001244:                                                                                                  #  ERASABLE INITIALIZATION_   RADMODES
008763,001245: 
008764,001246:                                                                                                  #  SUBROUTINES CALLED_
008765,001247:                                                                                                  #  RRLIMCHK, WAITLIST
008766,001248: 
008767,001249:                                                                                                  #  JOBS OR TASKS INITIATED_
008768,001250:                                                                                                  #  DORREPOS
008769,001251: 
008770,001252:                                                                                                  #  ALARMS_
008771,001253:                                                                                                  #  NONE
008772,001254: 
008773,001255:                                                                                                  #  EXIT_
008774,001256:                                                                                                  #  NORRGMON
008775,001257: 
008776,001258: 06,3071           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
008777,001259: 06,3072           74750                           MASK     NORRMBIT                              
008778,001260: 06,3073           10000                           CCS      A                                     
008779,001261: 06,3074           13132                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
008780,001262: 06,3075           40103                           CS       FLAGWRD7                              #  IS SERVICER RUNNING?
008781,001263: 06,3076           74747                           MASK     AVEGFBIT                              
008782,001264: 06,3077           10000                           CCS      A                                     
008783,001265: 06,3100           13105                           TCF      +5                                    #  NO.  DO R25
008784,001266: 06,3101           30102                           CA       FLAGWRD6                              #  YES.  IS MUNFLAG SET?
008785,001267: 06,3102           74744                           MASK     MUNFLBIT                              
008786,001268: 06,3103           10000                           CCS      A                                     
008787,001269: 06,3104           13132                           TCF      NORRGMON                              #  YES.  DON'T DO R25
008788,001270: 06,3105           33127                 +5        CAF      OCT32002                              #  INHIBIT BY REMODE,ZEROING,MONITOR.
008789,001271: 06,3106           70110                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
008790,001272: 06,3107           10000                           CCS      A                                     
008791,001273: 06,3110           13132                           TCF      NORRGMON                              
008792,001274: 

Page 202

008794,001276: 06,3111           04523                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
008795,001277: 06,3112           00035                           ADRES    CDUT                                  
008796,001278: 
008797,001279: 06,3113           13115                           TCF      MONREPOS                              
008798,001280: 
008799,001281: 06,3114           13132                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
008800,001282: 
008801,001283: 06,3115           34741        MONREPOS           CAF      BIT11                                 #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
008802,001284: 06,3116           26110                           ADS      RADMODES                              
008803,001285: 
008804,001286: 06,3117           43130                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
008805,001287: 06,3120           00006                           EXTEND                                         
008806,001288: 06,3121           03012                           WAND     CHAN12                                
008807,001289: 
008808,001290: 06,3122           34752                           CAF      TWO                                   
008809,001291: 06,3123           05203                           TC       WAITLIST                              
008810,001292: 06,3124  E7,1454                                  EBANK=   LOSCOUNT                              
008811,001293: 06,3124           02127 52107                     2CADR    DORREPOS                              
008812,001294: 
008813,001295: 06,3126           13132                           TCF      NORRGMON                              
008814,001296: 
008815,001297: 06,3127           32002        OCT32002           OCT      32002                                 
008816,001298: 06,3130           20002        OCT20002           OCT      20002                                 
008817,001299: 06,3131           02100        OCT02100           OCT      02100                                 #  P20,P22 MASK BITS
008818,001300: 

Page 203

008820,001302:                                                                                                  #  PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2  DATE: OCTOBER 27, 1966
008821,001303: 
008822,001304:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008823,001305: 
008824,001306:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008825,001307: 
008826,001308:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008827,001309:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008828,001310:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008829,001311: 
008830,001312:                                                                                                  #  CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008831,001313:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008832,001314: 
008833,001315:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
008834,001316: 
008835,001317:                                                                                                  #  NORMAL EXIT MODE:  TCF   RESUME
008836,001318: 
008837,001319:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
008838,001320: 
008839,001321:                                                                                                  #  INPUT:  CDUX, CDUY, CDUZ.
008840,001322: 
008841,001323:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
008842,001324: 
008843,001325:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
008844,001326: 
008845,001327:                                                                                                  #     *       *    SIN(MG)        0         1       *
008846,001328:                                                                                                  #     M   =   *    COS(MG)COS(OG) SIN(OG)   0       *
008847,001329:                                                                                                  #      GP     *   -COS(MG)SIN(OG) COS(OG)   0       *
008848,001330: 
008849,001331:                                                                                                  #     *       *  0    COS(OG)/COS(MG)         -SIN(OG)/COS(MG)         *
008850,001332:                                                                                                  #     M   =   *  0    SIN(OG)                  COS(OG)                 *
008851,001333:                                                                                                  #      PG     *  1   -SIN(MG)COS(OG)/COS(MG)   SIN(MG)SIN(OG)/COS(MG)  *
008852,001334: 
008853,001335: 06,3132  E6,1412                                  EBANK=   M11                                   
008854,001336: 06,3132  06,3132               DAPT4S             EQUALS   GPMATRIX                              
008855,001337: 
008856,001338:                                                                                                  #  T4RUPT DAP LOGIC:
008857,001339: 
008858,001340: 06,3132           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
008859,001341: 06,3133           05033                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
008860,001342: 06,3134           55412                           TS       M11                                   #  SCALED AT 1
008861,001343: 
008862,001344: 06,3135           30034                           CAE      CDUZ                                  
008863,001345: 06,3136           05032                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
008864,001346: 06,3137           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
008865,001347: 
008866,001348: 06,3140           30032                           CAE      CDUX                                  
008867,001349: 06,3141           05033                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
008868,001350: 06,3142           55415                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
008869,001351: 
008870,001352: 06,3143           41415                           CS       M22                                   
008871,001353: 

Page 204

008873,001355: 06,3144           00006                           EXTEND                                         
008874,001356: 06,3145           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
008875,001357: 06,3146           55414                           TS       M31                                   #  SCALED AT 1
008876,001358: 
008877,001359: 06,3147           30032                           CAE      CDUX                                  
008878,001360: 06,3150           05032                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
008879,001361: 06,3151           55416                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
008880,001362: 
008881,001363: 06,3152           00006                           EXTEND                                         
008882,001364: 06,3153           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
008883,001365: 06,3154           55413                           TS       M21                                   #  SCALED AT 1
008884,001366: 
008885,001367: 06,3155           05270                           TC       RESUME                                
008886,001368: 
008887,001369: 06,3156  06,3132               NORRGMON           EQUALS   DAPT4S                                
008888,001370: 06,3156     5270               ENDDAPT4           EQUALS   RESUME                                

End of include-file T4RUPT_PROGRAM.agc.  Parent file is MAIN.agc