Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Luminary 99 revision 1 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes described in original Luminary memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. Note that page numbers in the reconstructed code match those on the Luminary 099 revision 001 printout, although the added code would likely have changed page numbers for a real Luminary 98 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

054909,000002:                                                                                                  ## Copyright:   Public domain.
054910,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
054911,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
054912,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
054913,000006:                                                                                                  ##              development version of the flight software for the Lunar 
054914,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
054915,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
054916,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
054917,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
054918,000011:                                                                                                  ##              Luminary 98 and 99.
054919,000012:                                                                                                  ## Reference:   pp. 1309-1337
054920,000013:                                                                                                  ## Assembler:   yaYUL
054921,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
054922,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
054923,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
054924,000017: 

Page 1309

054926,000019:    5457                                           BLOCK    02                                    
054927,000020:    4000                                           SETLOC   FFTAG3                                
054928,000021:    4000                                           BANK                                           
054929,000022: 
054930,000023:    5457  E3,1471                                  EBANK=   COMMAND                               
054931,000024: 
054932,000025:                                                                                                  #  FIXED-FIXED ROUTINES.
054933,000026: 
054934,000027:    5457                                           COUNT*   $$/IMODE                              
054935,000028:    5457           34755        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
054936,000029:    5460           54032                           TS       CDUX                                  
054937,000030:    5461           54033                           TS       CDUY                                  
054938,000031:    5462           54034                           TS       CDUZ                                  
054939,000032:    5463           00002                           TC       Q                                     
054940,000033: 
054941,000034:    5464     4743               SPSCODE            =        BIT9                                  
054942,000035: 

Page 1310

054944,000037:                                                                                                  #  IMU ZEROING ROUTINE.
054945,000038: 
054946,000039: 11,3776                                           BANK     11                                    
054947,000040: 07,2000                                           SETLOC   MODESW                                
054948,000041: 07,2000                                           BANK                                           
054949,000042: 
054950,000043: 07,2714                                           COUNT*   $$/IMODE                              
054951,000044: 07,2714           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
054952,000045: 07,2715           41036                           CS       DSPTAB     +11D                       #  DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
054953,000046: 07,2716           74771                           MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
054954,000047: 07,2717           10000                           CCS      A                                     
054955,000048: 07,2720           12724                           TCF      IMUZEROA                              
054956,000049: 
054957,000050: 07,2721           05567                           TC       ALARM                                 #  IF SO.
054958,000051: 07,2722           00206                           OCT      00206                                 
054959,000052: 
054960,000053: 07,2723           13657                           TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
054961,000054: 
054962,000055: 07,2724           03653        IMUZEROA           TC       CAGETSTJ                              
054963,000056:                                                                                                  #  DELETE
054964,000057: 07,2725           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
054965,000058: 07,2726           74773                           MASK     SUPER011                              #        BIT5 FOR GROUND
054966,000059: 07,2727           27303                           ADS      IMODES33                              
054967,000060: 
054968,000061: 07,2730           41302                           CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
054969,000062: 07,2731           75751                           MASK     BITS3&4                               #  JUST CAME OUT OF COARSE ALIGN).
054970,000063: 07,2732           27302                           ADS      IMODES30                              
054971,000064: 
054972,000065: 07,2733           44771                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
054973,000066: 07,2734           00006                           EXTEND                                         #  COUNTER DISABLED.
054974,000067: 07,2735           03012                           WAND     CHAN12                                
054975,000068: 
054976,000069: 07,2736           03266                           TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
054977,000070: 
054978,000071: 07,2737           34747                           CAF      BIT5                                  
054979,000072: 07,2740           00006                           EXTEND                                         
054980,000073: 07,2741           05012                           WOR      CHAN12                                
054981,000074: 
054982,000075: 07,2742           05457                           TC       ZEROICDU                              
054983,000076: 07,2743           34746                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
054984,000077: 07,2744           05203                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
054985,000078: 07,2745  E3,1474                                  EBANK=   CDUIND                                
054986,000079: 07,2745           02757 16103                     2CADR    IMUZERO2                              
054987,000080: 
054988,000081: 07,2747           41302                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
054989,000082: 07,2750           74743                           MASK     BIT9                                  
054990,000083: 07,2751           10000                           CCS      A                                     
054991,000084: 07,2752           12755                           TCF      MODEEXIT                              

Page 1311

054993,000086: 07,2753           05567                           TC       ALARM                                 
054994,000087: 07,2754           00210                           OCT      210                                   
054995,000088: 
054996,000089: 07,2755           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
054997,000090: 07,2756           14631                           TCF      SWRETURN                              
054998,000091: 
054999,000092: 07,2757           03641        IMUZERO2           TC       CAGETEST                              
055000,000093: 07,2760           05457                           TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
055001,000094: 
055002,000095: 07,2761           44747                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
055003,000096: 07,2762           00006                           EXTEND                                         
055004,000097: 07,2763           03012                           WAND     CHAN12                                
055005,000098: 
055006,000099: 07,2764           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055007,000100: 07,2765           05224                           TC       VARDELAY                              
055008,000101: 
055009,000102: 07,2766           03641        IMUZERO3           TC       CAGETEST                              
055010,000103: 07,2767           45751                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055011,000104: 07,2770           71302                           MASK     IMODES30                              
055012,000105: 07,2771           55302                           TS       IMODES30                              
055013,000106: 
055014,000107: 07,2772           44773                           CS       SUPER011                              #  ENABLE DAP AUTO AND HOLD MODES
055015,000108: 07,2773           71303                           MASK     IMODES33                              #        BIT5 FOR GROUND
055016,000109: 07,2774           55303                           TS       IMODES33                              
055017,000110: 
055018,000111: 07,2775           04674                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
055019,000112: 07,2776           14703                           CADR     SETISSW                               #  PRESENT.
055020,000113: 
055021,000114: 07,2777           13631                           TCF      ENDIMU                                
055022,000115: 

Page 1312

055024,000117:                                                                                                  #  IMU COARSE ALIGN MODE.
055025,000118: 
055026,000119: 07,3000           00004        IMUCOARS           INHINT                                         
055027,000120: 07,3001           03653                           TC       CAGETSTJ                              
055028,000121: 07,3002           03144                           TC       SETCOARS                              
055029,000122: 
055030,000123: 07,3003           36242                           CAF      SIX                                   
055031,000124: 07,3004           05203                           TC       WAITLIST                              
055032,000125: 07,3005  E3,1474                                  EBANK=   CDUIND                                
055033,000126: 07,3005           03010 16103                     2CADR    COARS                                 
055034,000127: 
055035,000128: 07,3007           12755                           TCF      MODEEXIT                              
055036,000129: 
055037,000130: 07,3010           03641        COARS              TC       CAGETEST                              
055038,000131: 07,3011           34746                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
055039,000132: 07,3012           00006                           EXTEND                                         
055040,000133: 07,3013           05012                           WOR      CHAN12                                
055041,000134: 
055042,000135: 07,3014           34752                           CAF      TWO                                   #  SET CDU INDICATOR
055043,000136: 07,3015           55474        COARS1             TS       CDUIND                                
055044,000137: 
055045,000138: 07,3016           51474                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
055046,000139: 07,3017           30321                           CA       THETAD                                #        COMPLEMENT FORM
055047,000140: 07,3020           00006                           EXTEND                                         
055048,000141: 07,3021           51474                           INDEX    CDUIND                                
055049,000142: 07,3022           20032                           MSU      CDUX                                  
055050,000143: 07,3023           00006                           EXTEND                                         
055051,000144: 07,3024           74737                           MP       BIT13                                 #  SHIFT RIGHT 2
055052,000145: 07,3025           56001                           XCH      L                                     #  ROUND
055053,000146: 07,3026           60000                           DOUBLE                                         
055054,000147: 07,3027           54061                           TS       ITEMP1                                
055055,000148: 07,3030           13032                           TCF      +2                                    
055056,000149: 07,3031           26001                           ADS      L                                     
055057,000150: 
055058,000151: 07,3032           51474                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
055059,000152: 07,3033           23471                           LXCH     COMMAND                               
055060,000153: 07,3034           11474                           CCS      CDUIND                                
055061,000154: 07,3035           03015                           TC       COARS1                                
055062,000155: 
055063,000156: 07,3036           34752                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
055064,000157: 07,3037           05224                           TC       VARDELAY                              
055065,000158: 

Page 1313

055067,000160: 07,3040           03641        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
055068,000161: 07,3041           54061                           TS       ITEMP1                                #  SETS TO +0.
055069,000162: 07,3042           34752                           CAF      TWO                                   #  SET CDU INDICATOR
055070,000163: 07,3043           55474                 +3        TS       CDUIND                                
055071,000164: 
055072,000165: 07,3044           51474                           INDEX    CDUIND                                
055073,000166: 07,3045           11471                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
055074,000167: 07,3046           03052                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
055075,000168: 07,3047           03061                           TC       NEXTCDU    +1                         
055076,000169: 07,3050           03117                           TC       COMNEG                                
055077,000170: 07,3051           03061                           TC       NEXTCDU    +1                         
055078,000171: 
055079,000172: 07,3052           63745        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
055080,000173: 07,3053           00006                           EXTEND                                         #        MINUS ONE
055081,000174: 07,3054           63127                           BZMF     COMZERO                               
055082,000175: 07,3055           51474                           INDEX    CDUIND                                
055083,000176: 07,3056           55471                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
055084,000177: 07,3057           43746                           CS       -COMMAX-                              #        ALLOWED
055085,000178: 
055086,000179: 07,3060           24061        NEXTCDU            INCR     ITEMP1                                
055087,000180: 07,3061           64754                           AD       NEG0                                  
055088,000181: 07,3062           51474                           INDEX    CDUIND                                
055089,000182: 07,3063           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
055090,000183: 
055091,000184: 07,3064           11474                           CCS      CDUIND                                
055092,000185: 07,3065           03043                           TC       COARS2     +3                         
055093,000186: 
055094,000187: 07,3066           10061                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
055095,000188: 07,3067           13133                           TCF      SENDPULS                              
055096,000189: 
055097,000190: 07,3070           05221                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
055098,000191: 07,3071           00226                           DEC      150        B-14                       
055099,000192: 
055100,000193: 07,3072           34752                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
055101,000194: 07,3073           54061        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055102,000195: 07,3074           50000                           INDEX    A                                     
055103,000196: 07,3075           30032                           CA       CDUX                                  
055104,000197: 07,3076           00006                           EXTEND                                         
055105,000198: 07,3077           50061                           INDEX    ITEMP1                                
055106,000199: 07,3100           20321                           MSU      THETAD                                
055107,000200: 07,3101           10000                           CCS      A                                     
055108,000201: 07,3102           13110                           TCF      COARSERR                              
055109,000202: 07,3103           13105                           TCF      CORSCHK2                              
055110,000203: 07,3104           13110                           TCF      COARSERR                              
055111,000204: 

Page 1314

055113,000206: 07,3105           10061        CORSCHK2           CCS      ITEMP1                                
055114,000207: 07,3106           13073                           TCF      CHKCORS                               
055115,000208: 07,3107           13631                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
055116,000209: 
055117,000210: 07,3110           63116        COARSERR           AD       COARSTOL                              #  2 DEGREES.
055118,000211: 07,3111           00006                           EXTEND                                         
055119,000212: 07,3112           63105                           BZMF     CORSCHK2                              
055120,000213: 
055121,000214: 07,3113           05567                           TC       ALARM                                 #  COARSE ALIGN ERROR.
055122,000215: 07,3114           00211                           OCT      211                                   
055123,000216: 
055124,000217: 07,3115           13637                           TCF      IMUBAD                                
055125,000218: 
055126,000219: 07,3116           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
055127,000220: 
055128,000221: 07,3117           63745        COMNEG             AD       -COMMAX                               
055129,000222: 07,3120           00006                           EXTEND                                         
055130,000223: 07,3121           63127                           BZMF     COMZERO                               
055131,000224: 07,3122           40000                           COM                                            
055132,000225: 07,3123           51474                           INDEX    CDUIND                                
055133,000226: 07,3124           55471                           TS       COMMAND                               
055134,000227: 07,3125           33746                           CA       -COMMAX-                              
055135,000228: 07,3126           03060                           TC       NEXTCDU                               
055136,000229: 
055137,000230: 07,3127           34755        COMZERO            CAF      ZERO                                  
055138,000231: 07,3130           51474                           INDEX    CDUIND                                
055139,000232: 07,3131           57471                           XCH      COMMAND                               
055140,000233: 07,3132           03060                           TC       NEXTCDU                               
055141,000234: 
055142,000235: 07,3133           37740        SENDPULS           CAF      13,14,15                              
055143,000236: 07,3134           00006                           EXTEND                                         
055144,000237: 07,3135           05014                           WOR      CHAN14                                
055145,000238: 07,3136           33747                           CAF      600MS                                 
055146,000239: 07,3137           13037                           TCF      COARS2     -1                         #  THEN TO VARDELAY
055147,000240: 
055148,000241: 07,3140           34746        CA+ECE             CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
055149,000242: 07,3141           00006                           EXTEND                                         
055150,000243: 07,3142           05012                           WOR      CHAN12                                
055151,000244: 07,3143           05261                           TC       TASKOVER                              
055152,000245: 

Page 1315

055154,000247: 07,3144           34750        SETCOARS           CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
055155,000248: 07,3145           00006                           EXTEND                                         
055156,000249: 07,3146           02012                           RAND     CHAN12                                
055157,000250: 07,3147           10000                           CCS      A                                     
055158,000251: 07,3150           00002                           TC       Q                                     
055159,000252: 
055160,000253: 07,3151           44746                           CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
055161,000254: 07,3152           00006                           EXTEND                                         
055162,000255: 07,3153           03012                           WAND     CHAN12                                
055163,000256: 
055164,000257: 07,3154           44742                           CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
055165,000258: 07,3155           00006                           EXTEND                                         
055166,000259: 07,3156           03014                           WAND     CHAN14                                
055167,000260: 07,3157           44755                           CS       ZERO                                  
055168,000261: 07,3160           54047                           TS       GYROCMD                               
055169,000262: 
055170,000263: 07,3161           34750                           CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
055171,000264: 07,3162           00006                           EXTEND                                         
055172,000265: 07,3163           05012                           WOR      CHAN12                                
055173,000266: 
055174,000267: 07,3164           41036                           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
055175,000268: 07,3165           73207                           MASK     OCT40010                              
055176,000269: 07,3166           27036                           ADS      DSPTAB     +11D                       
055177,000270: 
055178,000271: 07,3167           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
055179,000272: 07,3170           74746                           MASK     BIT6                                  
055180,000273: 07,3171           27303                           ADS      IMODES33                              
055181,000274: 
055182,000275: 07,3172           41302                           CS       IMODES30                              #  DISABLE IMUFAIL
055183,000276: 07,3173           74750                           MASK     BIT4                                  
055184,000277: 07,3174           27302                           ADS      IMODES30                              
055185,000278: 
055186,000279: 07,3175           44747        RNDREFDR           CS       TRACKBIT                              #  CLEAR TRACK FLAG
055187,000280: 07,3176           70075                           MASK     FLAGWRD1                              
055188,000281: 07,3177           54075                           TS       FLAGWRD1                              
055189,000282: 
055190,000283: 07,3200           44735                           CS       DRFTBIT                               #  CLEAR DRIFT FLAG
055191,000284: 07,3201           70076                           MASK     FLAGWRD2                              
055192,000285: 07,3202           54076                           TS       FLAGWRD2                              
055193,000286: 
055194,000287: 07,3203           44737                           CS       REFSMBIT                              #  CLEAR REFSMMAT FLAG
055195,000288: 07,3204           70077                           MASK     FLAGWRD3                              
055196,000289: 07,3205           54077                           TS       FLAGWRD3                              
055197,000290: 
055198,000291: 07,3206           00002                           TC       Q                                     
055199,000292: 
055200,000293: 07,3207           40010        OCT40010           OCT      40010                                 
055201,000294: 

Page 1316

055203,000296:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
055204,000297: 
055205,000298: 07,3210           00004        IMUFINE            INHINT                                         
055206,000299: 07,3211           03653                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
055207,000300: 
055208,000301: 07,3212           43744                           CS       BITS4-5                               #  RESET ZERO AND COARSE
055209,000302: 07,3213           00006                           EXTEND                                         
055210,000303: 07,3214           03012                           WAND     CHAN12                                
055211,000304: 
055212,000305: 07,3215           44746                           CS       BIT6                                  #  INSURE DAP AUTO AND HOLD MODES ENABLED
055213,000306: 07,3216           71303                           MASK     IMODES33                              
055214,000307: 07,3217           55303                           TS       IMODES33                              
055215,000308: 
055216,000309: 07,3220           03266                           TC       NOATTOFF                              
055217,000310: 
055218,000311: 07,3221           34742                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
055219,000312: 07,3222           05203                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN.  LEAVE
055220,000313: 07,3223  E3,1474                                  EBANK=   CDUIND                                
055221,000314: 07,3223           03234 16103                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055222,000315: 
055223,000316: 07,3225           35000                           CAF      2SECS                                 
055224,000317: 07,3226           05203                           TC       WAITLIST                              
055225,000318: 07,3227  E3,1474                                  EBANK=   CDUIND                                
055226,000319: 07,3227           03232 16103                     2CADR    IMUFINED                              
055227,000320: 
055228,000321: 07,3231           12755                           TCF      MODEEXIT                              
055229,000322: 
055230,000323: 07,3232           03641        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
055231,000324: 07,3233           13631                           TCF      ENDIMU                                
055232,000325: 

Page 1317

055234,000327: 07,3234           03646        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055235,000328: 07,3235           15261                           TCF      TASKOVER                              #  IT IS.
055236,000329: 
055237,000330: 07,3236           34750                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
055238,000331: 07,3237           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
055239,000332: 07,3240           02012                           RAND     CHAN12                                
055240,000333: 07,3241           10000                           CCS      A                                     
055241,000334: 07,3242           15261                           TCF      TASKOVER                              
055242,000335: 
055243,000336: 07,3243           41302                           CS       IMODES30                              #  RESET IMUFAIL.
055244,000337: 07,3244           74737                           MASK     BIT13                                 
055245,000338: 07,3245           27302                           ADS      IMODES30                              
055246,000339: 07,3246           44750                           CS       BIT4                                  
055247,000340: 07,3247           71302        PFAILOK2           MASK     IMODES30                              
055248,000341: 07,3250           55302                           TS       IMODES30                              
055249,000342: 07,3251           04674                           TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
055250,000343: 07,3252           14703                           CADR     SETISSW                               #  THAT THE INHIBIT HAS BEEN REMOVED.
055251,000344: 07,3253           15261                           TCF      TASKOVER                              
055252,000345: 
055253,000346: 07,3254           03646        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
055254,000347: 07,3255           15261                           TCF      TASKOVER                              
055255,000348: 
055256,000349: 07,3256           41302                           CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
055257,000350: 07,3257           74742                           MASK     BIT10                                 
055258,000351: 07,3260           27302                           ADS      IMODES30                              
055259,000352: 
055260,000353: 07,3261           41303                           CS       IMODES33                              
055261,000354: 07,3262           74737                           MASK     BIT13                                 
055262,000355: 07,3263           27303                           ADS      IMODES33                              
055263,000356: 
055264,000357: 07,3264           44747                           CS       BIT5                                  
055265,000358: 07,3265           13247                           TCF      PFAILOK2                              
055266,000359: 
055267,000360: 07,3266           43207        NOATTOFF           CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
055268,000361: 07,3267           71036                           MASK     DSPTAB     +11D                       
055269,000362: 07,3270           64735                           AD       BIT15                                 
055270,000363: 07,3271           55036                           TS       DSPTAB     +11D                       
055271,000364: 07,3272           00002                           TC       Q                                     
055272,000365: 

Page 1318

055274,000367:                                                                                                  #  ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS.  NO IMUSTALL REQUIRED IN EITHER CASE.
055275,000368: 
055276,000369: 07,3273           44755        PIPUSE             CS       ZERO                                  
055277,000370: 07,3274           54037                           TS       PIPAX                                 
055278,000371: 07,3275           54040                           TS       PIPAY                                 
055279,000372: 07,3276           54041                           TS       PIPAZ                                 
055280,000373: 
055281,000374: 07,3277           03646        PIPUSE1            TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055282,000375: 07,3300           14631                           TCF      SWRETURN                              
055283,000376: 
055284,000377: 07,3301           00004                           INHINT                                         
055285,000378: 07,3302           44753                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
055286,000379: 07,3303           71302                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
055287,000380: 07,3304           55302                           TS       IMODES30                              
055288,000381: 
055289,000382: 07,3305           04674        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
055290,000383: 07,3306           14703                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
055291,000384: 
055292,000385: 07,3307           12755                           TCF      MODEEXIT                              
055293,000386: 
055294,000387: 07,3310           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS.  DONT LIGHT
055295,000388: 07,3311           41302                           CS       IMODES30                              #  ISS WARNING.
055296,000389: 07,3312           74753                           MASK     BIT1                                  
055297,000390: 07,3313           27302                           ADS      IMODES30                              
055298,000391: 
055299,000392: 07,3314           74742                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
055300,000393: 07,3315           10000                           CCS      A                                     #  ISS WARNING.
055301,000394: 07,3316           12755                           TCF      MODEEXIT                              
055302,000395: 
055303,000396: 07,3317           05567                           TC       ALARM                                 
055304,000397: 07,3320           00212                           OCT      212                                   
055305,000398: 
055306,000399: 07,3321           00004                           INHINT                                         
055307,000400: 
055308,000401: 07,3322           13305                           TCF      PIPFREE2                              
055309,000402: 

Page 1319

055311,000404:                                                                                                  #  THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055312,000405:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A.  THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS).  THE
055313,000406:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055314,000407: 
055315,000408: 07,3323  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
055316,000409: 
055317,000410: 07,3323           54161        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
055318,000411: 07,3324           03653                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
055319,000412: 
055320,000413: 07,3325           11314                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
055321,000414: 07,3326           03367                           TC       GYROBUSY                              #  SLEEP.
055322,000415: 
055323,000416: 07,3327           54156                           TS       MPAC       +2                         
055324,000417: 07,3330           34746                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
055325,000418: 07,3331           00006                           EXTEND                                         
055326,000419: 07,3332           05014                           WOR      CHAN14                                
055327,000420: 
055328,000421: 07,3333           34751                           CAF      FOUR                                  
055329,000422: 07,3334           05203        GWAKE2             TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
055330,000423: 07,3335  E3,1474                                  EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
055331,000424: 07,3335           03405 16103                     2CADR    STRTGYRO                              
055332,000425: 
055333,000426: 07,3337           30161                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
055334,000427: 07,3340           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
055335,000428: 07,3341           56161                           XCH      MPAC       +5                         
055336,000429: 07,3342           55314                           TS       LGYRO                                 #  RESERVES GYROS.
055337,000430: 07,3343           74357                           MASK     LOW8                                  
055338,000431: 07,3344           54061                           TS       ITEMP1                                
055339,000432: 
055340,000433: 07,3345           34752                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
055341,000434: 07,3346           54157        GYROAGRE           TS       MPAC       +3                         
055342,000435: 07,3347           60000                           DOUBLE                                         
055343,000436: 07,3350           60061                           AD       ITEMP1                                
055344,000437: 07,3351           54160                           TS       MPAC       +4                         
055345,000438: 07,3352           00006                           EXTEND                                         
055346,000439: 07,3353           50000                           INDEX    A                                     
055347,000440: 07,3354           31401                           DCA      1400                                  
055348,000441: 07,3355           52155                           DXCH     MPAC                                  
055349,000442: 07,3356           07257                           TC       TPAGREE                               
055350,000443: 07,3357           52155                           DXCH     MPAC                                  
055351,000444: 07,3360           50160                           INDEX    MPAC       +4                         
055352,000445: 07,3361           53401                           DXCH     1400                                  
055353,000446: 
055354,000447: 07,3362           10157                           CCS      MPAC       +3                         
055355,000448: 07,3363           13346                           TCF      GYROAGRE                              
055356,000449: 
055357,000450: 07,3364           30161                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
055358,000451: 07,3365           54003                           TS       EBANK                                 
055359,000452: 07,3366           12755                           TCF      MODEEXIT                              
055360,000453: 

Page 1320

055362,000455:                                                                                                  #  ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055363,000456: 
055364,000457: 07,3367           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
055365,000458: 07,3370           30134                           DCA      BUF2                                  
055366,000459: 07,3371           52155                           DXCH     MPAC                                  
055367,000460: 07,3372           33404        REGSLEEP           CAF      LGWAKE                                
055368,000461: 07,3373           15133                           TCF      JOBSLEEP                              
055369,000462: 
055370,000463: 07,3374           11314        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055371,000464: 07,3375           13372                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
055372,000465: 
055373,000466: 07,3376           54156                           TS       MPAC       +2                         
055374,000467: 07,3377           00006                           EXTEND                                         
055375,000468: 07,3400           30155                           DCA      MPAC                                  
055376,000469: 07,3401           52134                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
055377,000470: 07,3402           34753                           CAF      ONE                                   
055378,000471: 07,3403           13334                           TCF      GWAKE2                                
055379,000472: 
055380,000473: 07,3404           17374        LGWAKE             CADR     GWAKE                                 
055381,000474: 

Page 1321

055383,000476:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
055384,000477: 
055385,000478: 07,3405           43626        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
055386,000479: 07,3406           00006                           EXTEND                                         
055387,000480: 07,3407           03014                           WAND     CHAN14                                
055388,000481: 
055389,000482: 07,3410           03641                           TC       CAGETEST                              
055390,000483: 
055391,000484: 07,3411           31314        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
055392,000485: 07,3412           00006                           EXTEND                                         
055393,000486: 07,3413           74750                           MP       BIT4                                  
055394,000487: 07,3414           50000                           INDEX    A                                     
055395,000488: 07,3415           13416                           TCF      +1                                    
055396,000489: 07,3416           03433                           TC       GSELECT                               #  =0.  DO Y GYRO.
055397,000490: 07,3417           00202                           OCT      00202                                 
055398,000491: 
055399,000492: 07,3420           03433                           TC       GSELECT                               #  =1.  DO Z GYRO.
055400,000493: 07,3421           00302                           OCT      00302                                 
055401,000494: 
055402,000495: 07,3422           03431                           TC       GSELECT    -2                         #  =2.  DO X GYRO.
055403,000496: 07,3423           00100                           OCT      00100                                 
055404,000497: 
055405,000498: 07,3424           34755                           CAF      ZERO                                  #  =3.  DONE
055406,000499: 07,3425           55314                           TS       LGYRO                                 
055407,000500: 07,3426           33404                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
055408,000501: 07,3427           05137                           TC       JOBWAKE                               
055409,000502: 
055410,000503: 07,3430           13232        NORESET            TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY

Page 1322

055412,000505: 07,3431           44751                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055413,000506: 07,3432           27314                           ADS      LGYRO                                 
055414,000507: 
055415,000508: 07,3433           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
055416,000509: 07,3434           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
055417,000510: 07,3435           54064                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
055418,000511: 07,3436           74757                           MASK     SEVEN                                 
055419,000512: 07,3437           64737                           AD       BIT13                                 
055420,000513: 07,3440           27314                           ADS      LGYRO                                 
055421,000514: 07,3441           54003                           TS       EBANK                                 
055422,000515: 07,3442           74357                           MASK     LOW8                                  
055423,000516: 07,3443           54061                           TS       ITEMP1                                
055424,000517: 
055425,000518: 07,3444           44757                           CS       SEVEN                                 
055426,000519: 07,3445           70064                           MASK     ITEMP4                                
055427,000520: 07,3446           54064                           TS       ITEMP4                                
055428,000521: 
055429,000522: 07,3447           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055430,000523: 07,3450           50061                           INDEX    ITEMP1                                
055431,000524: 07,3451           31401                           DCA      1400                                  
055432,000525: 07,3452           52071                           DXCH     RUPTREG1                              
055433,000526: 
055434,000527: 07,3453           10070                           CCS      RUPTREG1                              
055435,000528: 07,3454           13467                           TCF      MAJ+                                  
055436,000529: 07,3455           13457                           TCF      +2                                    
055437,000530: 07,3456           13607                           TCF      MAJ-                                  
055438,000531: 
055439,000532: 07,3457           10071                           CCS      RUPTREG2                              
055440,000533: 07,3460           13464                           TCF      MIN+                                  
055441,000534: 07,3461           13411                           TCF      STRTGYR2                              
055442,000535: 07,3462           13604                           TCF      MIN-                                  
055443,000536: 07,3463           13411                           TCF      STRTGYR2                              
055444,000537: 

Page 1323

055446,000539: 07,3464           63520        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND.  SEE IF AT LEAST
055447,000540: 07,3465           00006                           EXTEND                                         #  16 GYRO PULSES.
055448,000541: 07,3466           63411                           BZMF     STRTGYR2                              
055449,000542: 
055450,000543: 07,3467           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
055451,000544: 07,3470           33630                           DCA      GYROFRAC                              
055452,000545: 07,3471           20071                           DAS      RUPTREG1                              
055453,000546: 
055454,000547: 07,3472           30064                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
055455,000548: 07,3473           00006                           EXTEND                                         
055456,000549: 07,3474           05014                           WOR      CHAN14                                
055457,000550: 
055458,000551: 07,3475           36074                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055459,000552: 07,3476           70071                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
055460,000553: 07,3477           56071                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
055461,000554: 07,3500           00006        GMERGE             EXTEND                                         #  IN MINOR PART.  THE MAJOR PART WILL BE
055462,000555: 07,3501           74744                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
055463,000556: 07,3502           54062                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
055464,000557: 07,3503           30070                           CA       RUPTREG1                              
055465,000558: 07,3504           00006                           EXTEND                                         
055466,000559: 07,3505           74743                           MP       BIT9                                  
055467,000560: 07,3506           54070                           TS       RUPTREG1                              
055468,000561: 07,3507           30001                           CA       L                                     
055469,000562: 07,3510           00006                           EXTEND                                         
055470,000563: 07,3511           74736                           MP       BIT14                                 
055471,000564: 07,3512           26062                           ADS      ITEMP2                                #  INITIAL COMMAND.
055472,000565: 
055473,000566: 07,3513           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055474,000567: 07,3514           30071                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
055475,000568: 07,3515           67747                           AD       MINUS1                                
055476,000569: 07,3516           10000                           CCS      A                                     
055477,000570: 07,3517           13543                           TCF      LONGGYRO                              
055478,000571: 07,3520           77601        -GYROMIN           OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055479,000572: 07,3521           13525                           TCF      +4                                    
055480,000573: 
055481,000574: 07,3522           34736                           CAF      BIT14                                 
055482,000575: 07,3523           26062                           ADS      ITEMP2                                
055483,000576: 07,3524           34755                           CAF      ZERO                                  
055484,000577: 
055485,000578: 07,3525           50061                 +4        INDEX    ITEMP1                                
055486,000579: 07,3526           53401                           DXCH     1400                                  

Page 1324

055488,000581: 07,3527           30062                           CA       ITEMP2                                #  ENTIRE COMMAND.
055489,000582: 07,3530           54047        LASTSEG            TS       GYROCMD                               
055490,000583: 07,3531           00006                           EXTEND                                         
055491,000584: 07,3532           74742                           MP       BIT10                                 #  WAITLIST DT
055492,000585: 07,3533           66245                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
055493,000586: 07,3534           05203                           TC       WAITLIST                              
055494,000587: 07,3535  E3,1474                                  EBANK=   CDUIND                                
055495,000588: 07,3535           03405 16103                     2CADR    STRTGYRO                              
055496,000589: 
055497,000590: 07,3537           34742        GYROEXIT           CAF      BIT10                                 
055498,000591: 07,3540           00006                           EXTEND                                         
055499,000592: 07,3541           05014                           WOR      CHAN14                                
055500,000593: 07,3542           15261                           TCF      TASKOVER                              
055501,000594: 
055502,000595: 07,3543           50061        LONGGYRO           INDEX    ITEMP1                                
055503,000596: 07,3544           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
055504,000597: 07,3545           34736                           CAF      BIT14                                 #  8192.  INITIAL COMMAND IS AT LEAST 8192.
055505,000598: 07,3546           60062                           AD       ITEMP2                                
055506,000599: 07,3547           54047                           TS       GYROCMD                               
055507,000600: 
055508,000601: 07,3550           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
055509,000602: 07,3551           74742                           MP       BIT10                                 #  ALMOST OUT.
055510,000603: 07,3552           67745                           AD       NEG3                                  
055511,000604: 07,3553           05203                           TC       WAITLIST                              
055512,000605: 07,3554  E3,1474                                  EBANK=   CDUIND                                
055513,000606: 07,3554           03557 16103                     2CADR    8192AUG                               
055514,000607: 
055515,000608: 07,3556           13537                           TCF      GYROEXIT                              
055516,000609: 
055517,000610: 07,3557           03641        8192AUG            TC       CAGETEST                              
055518,000611: 
055519,000612: 07,3560           34750                           CAF      BIT4                                  
055520,000613: 07,3561           00006                           EXTEND                                         
055521,000614: 07,3562           02012                           RAND     CHAN12                                
055522,000615: 07,3563           10000                           CCS      A                                     
055523,000616: 07,3564           13637                           TCF      IMUBAD                                
055524,000617: 07,3565           31314                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
055525,000618: 07,3566           54003                           TS       EBANK                                 
055526,000619: 07,3567           74357                           MASK     LOW8                                  
055527,000620: 07,3570           54061                           TS       ITEMP1                                
055528,000621: 
055529,000622: 07,3571           50061                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
055530,000623: 07,3572           11400                           CCS      1400                                  
055531,000624: 07,3573           13577                           TCF      AUG2                                  #  MORE TO COME.
055532,000625: 
055533,000626: 07,3574           34736                           CAF      BIT14                                 
055534,000627: 07,3575           26047                           ADS      GYROCMD                               
055535,000628: 07,3576           13531                           TCF      LASTSEG    +1                         
055536,000629: 

Page 1325

055538,000631: 07,3577           50061        AUG2               INDEX    ITEMP1                                
055539,000632: 07,3600           55400                           TS       1400                                  
055540,000633: 07,3601           34736                           CAF      BIT14                                 
055541,000634: 07,3602           26047                           ADS      GYROCMD                               
055542,000635: 07,3603           13550                           TCF      AUG3                                  #  COMPUTE DT.
055543,000636: 

Page 1326

055545,000638: 07,3604           63520        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
055546,000639: 07,3605           00006                           EXTEND                                         
055547,000640: 07,3606           63411                           BZMF     STRTGYR2                              
055548,000641: 
055549,000642: 07,3607           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
055550,000643: 07,3610           43630                           DCS      GYROFRAC                              
055551,000644: 07,3611           20071                           DAS      RUPTREG1                              
055552,000645: 
055553,000646: 07,3612           30064                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
055554,000647: 07,3613           64743                           AD       BIT9                                  
055555,000648: 07,3614           00006                           EXTEND                                         
055556,000649: 07,3615           05014                           WOR      CHAN14                                
055557,000650: 
055558,000651: 07,3616           40070                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
055559,000652: 07,3617           54070                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
055560,000653: 07,3620           40071                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
055561,000654: 07,3621           76074                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
055562,000655: 07,3622           40000                           COM                                            
055563,000656: 07,3623           56071                           XCH      RUPTREG2                              
055564,000657: 07,3624           40000                           COM                                            
055565,000658: 07,3625           13500                           TCF      GMERGE                                
055566,000659: 
055567,000660: 07,3626           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
055568,000661: 
055569,000662: 07,3627           00000 00034  GYROFRAC           2DEC     .215       B-21                       
055570,000663: 

Page 1327

055572,000665:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055573,000666: 
055574,000667: 07,3631           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
055575,000668: 07,3632           00011                           READ     DSALMOUT                              #  ISS WARNING IS ON.
055576,000669: 07,3633           74753                           MASK     BIT1                                  
055577,000670: 07,3634           10000                           CCS      A                                     
055578,000671: 07,3635           13637                           TCF      IMUBAD                                
055579,000672: 
055580,000673: 07,3636           13665        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
055581,000674: 
055582,000675: 07,3637           34755        IMUBAD             CAF      ZERO                                  
055583,000676: 07,3640           13662                           TCF      BADEND                                
055584,000677: 
055585,000678: 07,3641           34746        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
055586,000679: 07,3642           71302                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
055587,000680: 07,3643           10000                           CCS      A                                     
055588,000681: 07,3644           13637                           TCF      IMUBAD                                #  DIRECTLY.
055589,000682: 07,3645           00002                           TC       Q                                     #  WITH C(A) = +0.
055590,000683: 
055591,000684: 07,3646           41302        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
055592,000685: 07,3647           74746                           MASK     BIT6                                  
055593,000686: 07,3650           10000                           CCS      A                                     
055594,000687: 07,3651           24002                           INCR     Q                                     
055595,000688: 07,3652           00002                           TC       Q                                     
055596,000689: 
055597,000690: 07,3653           41302        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION
055598,000691: 07,3654           74746                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
055599,000692: 07,3655           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
055600,000693: 07,3656           00002                           TC       Q                                     #  COMPLETE BUT FAILED.  RETURN IMMEDIATELY
055601,000694: 
055602,000695: 07,3657           44755                           CS       ZERO                                  #  TO SWRETURN.
055603,000696: 07,3660           55304                           TS       IMUCADR                               
055604,000697: 07,3661           12755                           TCF      MODEEXIT                              
055605,000698: 

Page 1328

055607,000700:                                                                                                  #  GENERALIZED MODE SWITCHING TERMINATION.  ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
055608,000701:                                                                                                  #  OR AT BADEND FOR AN UNSUCCESSFUL ONE.  C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
055609,000702: 
055610,000703: 07,3662           54071        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
055611,000704: 07,3663           44755                           CS       ZERO                                  #  FOR FAILURE.
055612,000705: 07,3664           13667                           TCF      GOODEND    +2                         
055613,000706: 
055614,000707: 07,3665           54071        GOODEND            TS       RUPTREG2                              
055615,000708: 07,3666           44753                           CS       ONE                                   #  FOR SUCCESS.
055616,000709: 
055617,000710: 07,3667           54072                           TS       RUPTREG3                              
055618,000711: 07,3670           50071                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
055619,000712: 07,3671           11304                           CCS      MODECADR                              
055620,000713: 07,3672           13676                           TCF      +4                                    #  YES - WAKE IT UP.
055621,000714: 07,3673           13706                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
055622,000715: 
055623,000716: 07,3674           00006                           EXTEND                                         
055624,000717: 07,3675           13707                           BZF      ENDMODE    +1                         #  BZF = TCF IF MODECADR = -0.
055625,000718: 
055626,000719: 07,3676           34755                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
055627,000720: 07,3677           50071                           INDEX    RUPTREG2                              
055628,000721: 07,3700           57304                           XCH      MODECADR                              
055629,000722: 07,3701           05137                           TC       JOBWAKE                               
055630,000723: 
055631,000724: 07,3702           40072                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
055632,000725: 07,3703           50064                           INDEX    LOCCTR                                
055633,000726: 07,3704           26164                           ADS      LOC                                   
055634,000727: 
055635,000728: 07,3705           15261                           TCF      TASKOVER                              
055636,000729: 
055637,000730: 07,3706           30072        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
055638,000731: 07,3707           50071                 +1        INDEX    RUPTREG2                              #  UNSUCCESSFUL:  -1 INDICATES COMPLETE AND
055639,000732: 07,3710           55304                           TS       MODECADR                              #  SUCCESSFUL.
055640,000733: 07,3711           15261                           TCF      TASKOVER                              
055641,000734: 

Page 1329

055643,000736:                                                                                                  #  GENERAL STALLING ROUTINE.  USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
055644,000737: 
055645,000738:                                                                                                  #  PROGRAM DESCRIPTION                           DATE - 21 FEB 1967
055646,000739:                                                                                                  #                                                LOG SECTION IMU MODE SWITCHING
055647,000740:                                                                                                  #  MOD BY - R. MELANSON TO ADD DOCUMENTATION     ASSEMBLY SUNDISK REV. 82
055648,000741: 
055649,000742:                                                                                                  #  FUNCTIONAL DESCRIPTION -
055650,000743:                                                                                                  #        TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055651,000744:                                                                                                  #        I/O FUNCTION IS COMPLETE.  THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
055652,000745:                                                                                                  #        MODECADR ARE MADE AND ACTED UPON.
055653,000746:                                                                                                  #        1) +0 INDICATES INCOMPLETE I/O OPERATION.  CALLING ROUTINE IS PUT TO
055654,000747:                                                                                                  #           SLEEP.
055655,000748:                                                                                                  #        2) -1 INDICATES COMPLETED I/O OPERATION.  STALL BYPASSES JOBSLEEP
055656,000749:                                                                                                  #           CALL AND RETURNS TO CALLING ROUTINE AT L+3
055657,000750:                                                                                                  #        3) -0 INDICATES COMPLETED I/O WITH FAILURE.  STALL CLEARS MODECADR
055658,000751:                                                                                                  #           AND RETURNS TO CALLING ROUTINE AT L+2.
055659,000752:                                                                                                  #        4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055660,000753:                                                                                                  #           SAME DEVICE.  STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055661,000754:                                                                                                  #           RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055662,000755: 
055663,000756:                                                                                                  #  CALLING SEQUENCE -
055664,000757:                                                                                                  #        L       TC      BANKCALL
055665,000758:                                                                                                  #        L+1     CADR    (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
055666,000759:                                                                                                  #                        AOTSTALL, OR ATTSTALL)
055667,000760: 
055668,000761:                                                                                                  #  NORMAL-EXIT MODE -
055669,000762:                                                                                                  #        TCF JOBSLEEP    OR      TCF MODEXIT
055670,000763: 
055671,000764:                                                                                                  #  ALARM OR ABORT EXIT MODE -
055672,000765:                                                                                                  #        TC      ABORT
055673,000766: 
055674,000767:                                                                                                  #  OUTPUT -
055675,000768:                                                                                                  #        MODECADR=CADR   IF JOBSLEEP
055676,000769:                                                                                                  #        MODECADR=+0     IF I/O COMPLETE
055677,000770:                                                                                                  #        BUF2=L+3        IF I/O COMPLETE AND GOOD.
055678,000771:                                                                                                  #        BUF2=L+2        IF I/O COMPLETE BUT FAILED.
055679,000772: 
055680,000773:                                                                                                  #  ERASABLE INITIALIZATION -
055681,000774:                                                                                                  #        BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055682,000775:                                                                                                  #        BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055683,000776:                                                                                                  #        MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055684,000777: 
055685,000778:                                                                                                  #  DEBRIS -
055686,000779:                                                                                                  #        RUPTREG2 AND CALLING ROUTINE MODECADR.
055687,000780: 
055688,000781: 07,3712           34753        AOTSTALL           CAF      ONE                                   #  AOT.
055689,000782: 07,3713           03717                           TC       STALL                                 
055690,000783: 
055691,000784: 07,3714           34752        RADSTALL           CAF      TWO                                   
055692,000785: 07,3715           13717                           TCF      STALL                                 
055693,000786: 

Page 1330

055695,000788: 07,3716  07,3712               OPTSTALL           EQUALS   AOTSTALL                              
055696,000789: 
055697,000790: 07,3716           34755        IMUSTALL           CAF      ZERO                                  #  IMU.
055698,000791: 
055699,000792: 07,3717           00004        STALL              INHINT                                         
055700,000793: 07,3720           54071                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
055701,000794: 07,3721           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
055702,000795: 07,3722           11304                           CCS      MODECADR                              
055703,000796: 07,3723           13741                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
055704,000797: 07,3724           13735                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
055705,000798: 07,3725           13731                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
055706,000799: 
055707,000800: 07,3726           50071        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0.  RESET TO +0.
055708,000801: 07,3727           55304                           TS       MODECADR                              #  RETURN TO CALLER.
055709,000802: 07,3730           12755                           TCF      MODEEXIT                              
055710,000803: 
055711,000804: 07,3731           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
055712,000805: 07,3732           13741                           TCF      MODABORT                              
055713,000806: 
055714,000807: 07,3733           24133                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
055715,000808: 07,3734           13726                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
055716,000809: 
055717,000810: 07,3735           04645        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
055718,000811: 07,3736           50071                           INDEX    RUPTREG2                              
055719,000812: 07,3737           55304                           TS       MODECADR                              
055720,000813: 07,3740           15133                           TCF      JOBSLEEP                              
055721,000814: 
055722,000815: 07,3741           52134        MODABORT           DXCH     BUF2                                  
055723,000816: 07,3742           05716                           TC       BAILOUT1                              #  TWO PROGRAMS USING THE SAME DEVICE.
055724,000817: 07,3743           01210                           OCT      1210                                  
055725,000818: 

Page 1331

055727,000820:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
055728,000821: 
055729,000822: 07,3744     5751               BITS3&4            =        OCT14                                 
055730,000823: 07,3744     4771               BITS4&6            =        OCT50                                 
055731,000824: 07,3744           00030        BITS4-5            OCT      00030                                 
055732,000825: 07,3745     4744               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
055733,000826: 07,3745           77500        -COMMAX            DEC      -191       B-14                       
055734,000827: 07,3746           77477        -COMMAX-           DEC      -192       B-14                       
055735,000828: 07,3747           00074        600MS              DEC      60         B-14                       
055736,000829: 07,3750  07,3210               IMUFIN20           =        IMUFINE                               
055737,000830: 07,3750           31307        GOMANUR            CA       ATTCADR                               #  IS KALCMANU FREE
055738,000831: 07,3751           00006                           EXTEND                                         
055739,000832: 07,3752           13755                           BZF      +3                                    
055740,000833: 
055741,000834: 07,3753           05652                           TC       POODOO                                #  NO
055742,000835: 07,3754           01210                           OCT      1210                                  #  2 TRYING TO USE SAME DEVICE
055743,000836: 
055744,000837: 07,3755           00006                 +3        EXTEND                                         
055745,000838: 07,3756           30134                           DCA      BUF2                                  
055746,000839: 07,3757           53310                           DXCH     ATTCADR                               #  SAVE FINAL RETURN FOR KALCMAN3
055747,000840: 
055748,000841: 07,3760           30006                           CA       BBANK                                 
055749,000842: 07,3761           74757                           MASK     SEVEN                                 
055750,000843: 07,3762           27310                           ADS      ATTCADR    +1                         
055751,000844: 
055752,000845: 07,3763           30167                           CA       PRIORITY                              
055753,000846: 07,3764           77725                           MASK     PRIO37                                
055754,000847: 07,3765           55311                           TS       ATTPRIO                               #  SAVE USERS PRIO
055755,000848: 
055756,000849: 07,3766           33772                           CAF      KALEBCON                              #  SET EBANK FOR KALCMAN3
055757,000850: 07,3767           54003                           TS       EBANK                                 
055758,000851: 07,3770           04635                           TC       POSTJUMP                              
055759,000852: 07,3771           44004                           CADR     KALCMAN3                              
055760,000853: 07,3772           03276        KALEBCON           ECADR    BCDU                                  
055761,000854: 

Page 1332

055763,000856:                                                                                                  #  PROGRAM DESCRIPTION
055764,000857:                                                                                                  #  IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
055765,000858:                                                                                                  #  MOD NO - 1
055766,000859:                                                                                                  #  MOD BY - N.BRODEUR
055767,000860: 
055768,000861:                                                                                                  #  FUNCTIONAL DESCRIPTION
055769,000862:                                                                                                  #        TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
055770,000863:                                                                                                  #        ORIENTATION KNOWN BY THE CMC.  TO REQUEST SELECTION OF THE APPROPRIATE
055771,000864:                                                                                                  #        PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
055772,000865:                                                                                                  #        CMC.  CALLED THROUGH BANKCALL
055773,000866: 
055774,000867:                                                                                                  #  CALLING SEQUENCE -
055775,000868:                                                                                                  #        L       TC      BANKCALL
055776,000869:                                                                                                  #        L+1     CADR    R02BOTH
055777,000870: 
055778,000871:                                                                                                  #  SUBROUTINES CALLED
055779,000872:                                                                                                  #        VARALARM
055780,000873:                                                                                                  #        FLAGUP
055781,000874: 
055782,000875:                                                                                                  #  NORMAL EXIT MODES
055783,000876:                                                                                                  #        AT L+2 OF CALLING SEQUENCE
055784,000877: 
055785,000878:                                                                                                  #  ALARM OR ABORT EXIT MODES
055786,000879:                                                                                                  #        GOTOPOOH, WITH ALARM
055787,000880: 
055788,000881:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
055789,000882:                                                                                                  #        NONE
055790,000883: 
055791,000884:                                                                                                  #  DEBRIS
055792,000885:                                                                                                  #        CENTRALS - A,Q,L
055793,000886: 
055794,000887: 34,3775                                           BANK     34                                    
055795,000888: 04,2000                                           SETLOC   R02                                   
055796,000889: 04,2000                                           BANK                                           
055797,000890: 04,3253                                           COUNT*   $$/R02                                
055798,000891: 04,3253           00063        DEC51              DEC      51         B-14                       
055799,000892: 04,3254           34737        R02BOTH            CAF      REFSMBIT                              
055800,000893: 04,3255           70077                           MASK     FLAGWRD3                              
055801,000894: 04,3256           10000                           CCS      A                                     
055802,000895: 04,3257           03270                           TC       R02ZERO                               #  ZERO IMUS
055803,000896: 
055804,000897: 04,3260           31302                           CA       IMODES30                              
055805,000898: 04,3261           74743                           MASK     BIT9                                  #  IS ISS INITIALIZED
055806,000899: 04,3262           00006                           EXTEND                                         
055807,000900: 04,3263           13265                           BZF      +2                                    
055808,000901: 04,3264           44750                           CS       BIT4                                  #  SEND IMU ALARM CODE 210
055809,000902: 04,3265           63273                           AD       OCT220                                #  SEND REFSMM ALARM
055810,000903: 04,3266           05744                           TC       VARALARM                              
055811,000904: 
055812,000905: 04,3267           06001                           TC       GOTOPOOH                              
055813,000906: 
055814,000907: 04,3270           05504        R02ZERO            TC       UPFLAG                                

Page 1333

055816,000909: 04,3271           00007                           ADRES    IMUSE                                 
055817,000910: 04,3272           14631                           TCF      SWRETURN                              
055818,000911: 04,3273           00220        OCT220             OCT      220                                   
055819,000912: 

Page 1334

055821,000914:                                                                                                  #  PROGRAM DESCRIPTION           P06             10 FEB 67
055822,000915: 
055823,000916:                                                                                                  #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
055824,000917: 
055825,000918:                                                                                                  #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY.  IN THIS CONDITION THE IMU
055826,000919:                                                                                                  #  HEATER POWER IS ON.  THE IMU OPERATE POWER IS OFF.  THE COMPUTER POWER IS ON.  THE OPTICS POWER IS OFF.  THE
055827,000920:                                                                                                  #  CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
055828,000921: 
055829,000922:                                                                                                  #  CALLING SEQUENCE:
055830,000923:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY  V37E 06E.
055831,000924: 
055832,000925:                                                                                                  #  SUBROUTINES CALLED:
055833,000926:                                                                                                  #        GOPERF1
055834,000927:                                                                                                  #        BANKCALL
055835,000928:                                                                                                  #        FLAGDOWN
055836,000929: 

Page 1335

055838,000931:                                                                                                  #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
055839,000932:                                                                                                  #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
055840,000933:                                                                                                  #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
055841,000934: 
055842,000935: 37,2000                                           SETLOC   P05P06                                
055843,000936: 37,2000                                           BANK                                           
055844,000937: 
055845,000938: 37,3655     0314                                  EBANK=   TIME2SAV                              
055846,000939: 37,3655                                           COUNT*   $$/P06                                
055847,000940: 
055848,000941: 37,3655           05504        P06                TC       UPFLAG                                #  SET NODOV37 BIT
055849,000942: 37,3656           00054                           ADRES    NODOFLAG                              
055850,000943: 
055851,000944: 37,3657           00004        PRESTAND           INHINT                                         
055852,000945: 37,3660           00006                           EXTEND                                         
055853,000946: 37,3661           30025                           DCA      TIME2                                 #  SNAPSHOT TIME1 TIME2
055854,000947: 37,3662           52315                           DXCH     TIME2SAV                              
055855,000948: 37,3663           03714                           TC       SCALPREP                              
055856,000949: 37,3664           03657                           TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
055857,000950: 37,3665           52155                           DXCH     MPAC                                  #  T1,T2 AND SCALER OK
055858,000951: 37,3666           52317                           DXCH     SCALSAVE                              #  STORE SCALER
055859,000952: 37,3667           00004                           INHINT                                         
055860,000953: 37,3670           04616                           TC       BANKCALL                              
055861,000954: 37,3671           17175                           CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
055862,000955: 
055863,000956: 37,3672           05516                           TC       DOWNFLAG                              
055864,000957: 37,3673           00007                           ADRES    IMUSE                                 #  IMUSE DOWN
055865,000958: 37,3674           05516                           TC       DOWNFLAG                              
055866,000959: 37,3675           00010                           ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
055867,000960: 
055868,000961: 37,3676           34741                           CAF      BIT11                                 
055869,000962: 37,3677           00006                           EXTEND                                         
055870,000963: 37,3700           05013                           WOR      CHAN13                                #  SET STANDBY ENABLE BIT
055871,000964: 
055872,000965: 37,3701           05353                           TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
055873,000966: 37,3702           07024                           OCT      07024                                 #        RECOVERS
055874,000967: 37,3703           20000                           OCT      20000                                 
055875,000968: 37,3704     0316                                  EBANK=   SCALSAVE                              
055876,000969: 37,3704           03734 76060                     2CADR    POSTAND                               
055877,000970: 
055878,000971: 37,3706           34774                           CAF      OCT62                                 
055879,000972: 37,3707           04616                           TC       BANKCALL                              
055880,000973: 37,3710           20623                           CADR     GOPERF1                               
055881,000974: 37,3711           13706                           TCF      -3                                    
055882,000975: 37,3712           13706                           TCF      -4                                    
055883,000976: 37,3713           13706                           TCF      -5                                    
055884,000977: 
055885,000978: 37,3714     4774               OCT62              EQUALS   .5SEC                                 #  DEC 50 = OCT 62
055886,000979: 
055887,000980:                                                                                                  #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A

Page 1336

055889,000982:                                                                                                  #  T1 INCREMENT.  IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
055890,000983:                                                                                                  #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
055891,000984:                                                                                                  #  DATA.  OTHERWISE, THE RETURN IS TO L+2 TO PROCEED.  ROUTINE ALSO PREPARES
055892,000985:                                                                                                  #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2.  (THE
055893,000986:                                                                                                  #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
055894,000987:                                                                                                  #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
055895,000988:                                                                                                  #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1.  THE LOW 5
055896,000989:                                                                                                  #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
055897,000990:                                                                                                  #  DATA TO 10 MS.  RESULTS ARE STORED IN MPAC, +1.
055898,000991: 
055899,000992: 37,3714           00006        SCALPREP           EXTEND                                         
055900,000993: 37,3715           22156                           QXCH     MPAC       +2                         
055901,000994: 37,3716           04103                           TC       FINETIME   +1                         
055902,000995: 37,3717           00003                           RELINT                                         
055903,000996: 37,3720           52155                           DXCH     MPAC                                  
055904,000997: 37,3721           34747                           CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
055905,000998: 37,3722           54001                           TS       L                                     
055906,000999: 37,3723           34755                           CA       ZERO                                  
055907,001000: 37,3724           20155                           DAS      MPAC                                  
055908,001001: 37,3725           44346                           CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
055909,001002: 37,3726           70155                           MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
055910,001003: 37,3727           56155                           XCH      MPAC       +1                         
055911,001004: 37,3730           74346                           MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
055912,001005:                                                                                                  #  INTERVAL AFTER THE T1 INCREMENT
055913,001006:                                                                                                  #  (NOW = 00000, SINCE BIT 5 ADDED).
055914,001007: 37,3731           10000                           CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
055915,001008: 37,3732           24156                           INCR     MPAC       +2                         #  NO
055916,001009: 37,3733           00156                           TC       MPAC       +2                         #  YES
055917,001010: 
055918,001011:                                                                                                  #  POSTAND RECOVERS TIME AFTER STANDBY.  THE SCALER IS SNAPSHOTTED AND THE
055919,001012:                                                                                                  #  TIME1 TIME2 COUNTER IS SET TO ZERO.  THE LOW 5 BITS OF THE SCALER ARE
055920,001013:                                                                                                  #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
055921,001014:                                                                                                  #  CLEARING OF THE TIME COUNTER.  IT THEN COMPUTES THE DIFFERENCE IN SCALER
055922,001015:                                                                                                  #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
055923,001016:                                                                                                  #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
055924,001017: 
055925,001018: 37,3734                                           COUNT*   $$/P05                                
055926,001019: 
055927,001020: 37,3734           44741        POSTAND            CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
055928,001021: 37,3735           00006                           EXTEND                                         
055929,001022: 37,3736           03013                           WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
055930,001023: 37,3737           00004                           INHINT                                         
055931,001024: 37,3740           34755                           CA       ZERO                                  
055932,001025: 37,3741           54001                           TS       L                                     
055933,001026: 37,3742           52025                           DXCH     TIME2                                 #  CLEAR TIME1TIME2
055934,001027: 37,3743           03714                           TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
055935,001028: 37,3744           03737                           TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
055936,001029: 37,3745           00006                           EXTEND                                         #  T1,T2 AND SCALER OK
055937,001030: 37,3746           40317                           DCS      SCALSAVE                              
055938,001031: 37,3747           20155                           DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER

Page 1337

055940,001033: 37,3750           34742                           CAF      BIT10                                 #  MINUS PRESTANDBY SCALER AND SHIFT RIGHT
055941,001034: 37,3751           07307                           TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1 TIME2.
055942,001035: 37,3752           34755                           CAF      ZERO                                  
055943,001036: 37,3753           54156                           TS       MPAC       +2                         #  NEEDED FOR TP AGREE
055944,001037: 37,3754           07257                           TC       TPAGREE                               #  MAKE DP DIFF AGREE
055945,001038: 37,3755           10154                           CCS      MPAC                                  
055946,001039: 37,3756           03763                           TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
055947,001040: 37,3757           03763                           TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
055948,001041: 37,3760           03761                           TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED.  ADD
055949,001042: 37,3761           34742                           CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
055950,001043: 37,3762           26154                           ADS      MPAC                                  
055951,001044: 37,3763           00006        POSTCOM            EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
055952,001045: 37,3764           30315                           DCA      TIME2SAV                              #  PRESTANDBY TIME1TIME2
055953,001046: 37,3765           20155                           DAS      MPAC                                  
055954,001047: 37,3766           07257                           TC       TPAGREE                               #  FORCE SIGN AGREEMENT
055955,001048: 37,3767           52155                           DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
055956,001049: 37,3770           20025                           DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
055957,001050: 37,3771           05516                           TC       DOWNFLAG                              #  CLEAR NODOFLAG
055958,001051: 37,3772           00054                           ADRES    NODOFLAG                              
055959,001052: 
055960,001053: 37,3773           06001                           TC       GOTOPOOH                              
055961,001054: 

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