Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

006333,000002:                                                                                                  ## Copyright:   Public domain.
006334,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
006335,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
006336,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
006337,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
006338,000007:                                                                                                  ## Assembler:   yaYUL
006339,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
006340,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
006341,000010:                                                                                                  ## Pages:       155-189
006342,000011:                                                                                                  ## Mod history: 2009-05-19 HG   Transcribed from page images.
006343,000012:                                                                                                  ##              2010-12-31 JL   Fixed page number comment.
006344,000013:                                                                                                  ##              2011-01-06 JL   Fixed indentation of TNONTEST. Fixed pseudo-label indentation.
006345,000014:                                                                                                  ##              2016-12-13 RSB  Proofed text comments with octopus/ProoferComments
006346,000015:                                                                                                  ##                              and corrected the errors found.
006347,000016:                                                                                                  ##              2017-01-26 RSB  Back-ported comment-text fixes found while
006348,000017:                                                                                                  ##                              proofing corresponding Luminary 69 file.        
006349,000018:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
006350,000019:                                                                                                  ##              2017-02-08 RSB  Comment-text fixes identified while proofing Artemis 72.
006351,000020:                                                                                                  ##              2017-03-03 RSB  Fixed comment-text errors identified while proofing
006352,000021:                                                                                                  ##                              Luminary 116.
006353,000022:                                                                                                  ##
006354,000023:                                                                                                  ## This source code has been transcribed or otherwise adapted from
006355,000024:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
006356,000025:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
006357,000026:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
006358,000027:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
006359,000028:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
006360,000029:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
006361,000030:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
006362,000031:                                                                                                  ## actually created.
006363,000032:                                                                                                  ##
006364,000033:                                                                                                  ## Notations on the hardcopy document read, in part:
006365,000034:                                                                                                  ##
006366,000035:                                                                                                  ##       Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
006367,000036:                                                                                                  ##       16:27 JULY 14, 1969 

Page 155

006369,000038: 12,2000                                           BANK     12                                    
006370,000039: 06,2000                                           SETLOC   T4RUP                                 
006371,000040: 06,2000                                           BANK                                           
006372,000041: 
006373,000042: 06,2000  E6,1414                                  EBANK=   M11                                   
006374,000043: 06,2000                                           COUNT*   $$/T4RPT                              
006375,000044: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
006376,000045: 
006377,000046: 06,2001           00006                           EXTEND                                         
006378,000047: 06,2002           22012                           QXCH     QRUPT                                 
006379,000048: 
006380,000049: 06,2003           11313                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
006381,000050: 06,2004           12010                           TCF      NORMT4     +1                         
006382,000051: 06,2005           12007                           TCF      NORMT4                                
006383,000052: 
006384,000053: 06,2006           12134                           TCF      QUIKDSP                               
006385,000054: 
006386,000055: 06,2007           34757        NORMT4             CAF      SEVEN                                 
006387,000056: 06,2010           54070                           TS       RUPTREG1                              
006388,000057: 06,2011           55313                           TS       DSRUPTSW                              
006389,000058: 
006390,000059:    4066                                           BLOCK    02                                    
006391,000060:    4000                                           SETLOC   FFTAG10                               
006392,000061:    4000                                           BANK                                           
006393,000062: 
006394,000063:    4066                                           COUNT*   $$/T4RPT                              
006395,000064:    4066     7727               100MRUPT           =        OCT37766                              #  (DEC 16374)
006396,000065:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006397,000066:                                                                                                  #  IN LOWER 5 BITS.
006398,000067: 
006399,000068:    4066           04025        RELTAB             OCT      04025                                 
006400,000069:    4067           10003                           OCT      10003                                 
006401,000070:    4070           14031                           OCT      14031                                 
006402,000071:    4071           20033                           OCT      20033                                 
006403,000072:    4072           24017                           OCT      24017                                 
006404,000073:    4073           30036                           OCT      30036                                 
006405,000074:    4074           34034                           OCT      34034                                 
006406,000075:    4075           40023                           OCT      40023                                 
006407,000076:    4076           44035                           OCT      44035                                 
006408,000077:    4077           50037                           OCT      50037                                 
006409,000078:    4100           54000                           OCT      54000                                 
006410,000079:    4101           60000        RELTAB11           OCT      60000                                 
006411,000080: 

Page 156

006413,000082:                                                                                                  #  SWITCHED-BANK PORTION.
006414,000083: 
006415,000084: 12,2000                                           BANK     12                                    
006416,000085: 06,2000                                           SETLOC   T4RUP                                 
006417,000086: 06,2000                                           BANK                                           
006418,000087: 
006419,000088: 06,2012                                           COUNT*   $$/T4RPT                              
006420,000089: 06,2012           11036        CDRVE              CCS      DSPTAB     +11D                       
006421,000090: 06,2013           02063                           TC       DSPOUT                                
006422,000091: 06,2014           02063                           TC       DSPOUT                                
006423,000092: 
006424,000093: 06,2015           57036                           XCH      DSPTAB     +11D                       
006425,000094: 06,2016           74356                           MASK     LOW11                                 
006426,000095: 06,2017           55036                           TS       DSPTAB     +11D                       
006427,000096: 06,2020           64101                           AD       RELTAB11                              
006428,000097: 06,2021           00006                           EXTEND                                         
006429,000098: 06,2022           01010                           WRITE    OUT0                                  
006430,000099: 06,2023           02071                           TC       HANG20                                
006431,000100: 

Page 157

006433,000102:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006434,000103: 
006435,000104: 06,2024           55016        DSPOUTSB           TS       NOUT                                  
006436,000105: 06,2025           44755                           CS       ZERO                                  
006437,000106: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
006438,000107: 06,2027           56776                           XCH      DSPCNT                                
006439,000108: 06,2030           64754                           AD       NEG0                                  #  TO PREVENT +0
006440,000109: 06,2031           54776                           TS       DSPCNT                                
006441,000110: 06,2032           50776        DSPSCAN            INDEX    DSPCNT                                
006442,000111: 06,2033           11023                           CCS      DSPTAB                                
006443,000112: 06,2034           10776                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
006444,000113: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
006445,000114: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
006446,000115: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10  LENGTH OF DSPTAB
006447,000116: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
006448,000117: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0).  +0 INTO NOUT.
006449,000118: 06,2042           55016                           TS       NOUT                                  
006450,000119: 06,2043           00002                           TC       Q                                     
006451,000120: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
006452,000121: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
006453,000122: 06,2046           12031                           TCF      DSPSCAN    -1                         
006454,000123: 
006455,000124: 06,2047           64753        DSPLAY             AD       ONE                                   
006456,000125: 06,2050           50776                           INDEX    DSPCNT                                
006457,000126: 06,2051           55023                           TS       DSPTAB                                #  REPLACE POSITIVELY
006458,000127: 06,2052           74356                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
006459,000128: 06,2053           54073                           TS       DSRUPTEM                              
006460,000129: 06,2054           34350                           CAF      HI5                                   
006461,000130: 06,2055           50776                           INDEX    DSPCNT                                
006462,000131: 06,2056           74066                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006463,000132: 06,2057           60073                           AD       DSRUPTEM                              
006464,000133: 06,2060           00006                           EXTEND                                         
006465,000134: 06,2061           01010                           WRITE    OUT0                                  
006466,000135: 
006467,000136: 06,2062           16737                           TCF      Q+1                                   
006468,000137: 
006469,000138: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
006470,000139: 06,2064           34755                           CAF      ZERO                                  #  NO
006471,000140: 06,2065           12130                           TCF      NODSPOUT                              #  NO
006472,000141: 06,2066           11016                           CCS      NOUT                                  #  YES
006473,000142: 06,2067           02024                           TC       DSPOUTSB                              
006474,000143: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
006475,000144: 
006476,000145: 06,2071           42171        HANG20             CS       14,11,9                               
006477,000146: 06,2072           27313                           ADS      DSRUPTSW                              
006478,000147: 
006479,000148: 06,2073           37731                           CAF      20MRUPT                               
006480,000149: 
006481,000150: 06,2074           54027        SETTIME4           TS       TIME4                                 
006482,000151: 

Page 158

006484,000153:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
006485,000154:                                                                                                  #   THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
006486,000155:                                                                                                  #        IF PREV ON AND NOW ON   - BYPASS
006487,000156:                                                                                                  #        IF PREV ON AND NOW OFF  - UPDATE IMODES33
006488,000157:                                                                                                  #        IF PREV OFF AND NOW ON  - UPDATE IMODES33 AND PROCESS VIA PINBALL
006489,000158:                                                                                                  #        IF PREV OFF AND NOW OFF - BYPASS
006490,000159:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
006491,000160: 
006492,000161: 06,2075           31303        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
006493,000162: 06,2076           00006                           EXTEND                                         
006494,000163: 06,2077           06032                           RXOR     CHAN32                                
006495,000164: 06,2100           74736                           MASK     BIT14                                 
006496,000165: 06,2101           00006                           EXTEND                                         
006497,000166: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
006498,000167: 
006499,000168: 06,2103           23303                           LXCH     IMODES33                              
006500,000169: 06,2104           00006                           EXTEND                                         
006501,000170: 06,2105           06001                           RXOR     LCHAN                                 
006502,000171: 06,2106           55303                           TS       IMODES33                              #  UPDATE IMODES33
006503,000172: 06,2107           74736                           MASK     BIT14                                 
006504,000173: 06,2110           10000                           CCS      A                                     
006505,000174: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
006506,000175: 
006507,000176: 06,2112           34355                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
006508,000177: 06,2113           05072                           TC       NOVAC                                 
006509,000178: 06,2114     0777                                  EBANK=   DSPCOUNT                              
006510,000179: 06,2114           03452 60101                     2CADR    PROCKEY                               
006511,000180: 

Page 159

006513,000182:                                                                                                  #  JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
006514,000183: 
006515,000184: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
006516,000185: 06,2117           12120                           TCF      +1                                    
006517,000186: 
006518,000187: 06,2120           03156                           TC       RCSMONIT                              
006519,000188: 06,2121           13006                           TCF      RRAUTCHK                              
006520,000189: 06,2122           12172                           TCF      IMUMON                                
006521,000190: 06,2123           13132                           TCF      DAPT4S                                
006522,000191: 06,2124           03156                           TC       RCSMONIT                              
006523,000192: 06,2125           13006                           TCF      RRAUTCHK                              
006524,000193: 06,2126           12172                           TCF      IMUMON                                
006525,000194: 06,2127           13132                           TCF      DAPT4S                                
006526,000195: 
006527,000196: 06,2130     7731               20MRUPT            =        OCT37776                              #  (DEC 16382)
006528,000197: 

Page 160

006530,000199:                                                                                                  #  ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
006531,000200: 
006532,000201: 06,2130           00006        NODSPOUT           EXTEND                                         
006533,000202: 06,2131           01010                           WRITE    OUT0                                  
006534,000203: 
006535,000204: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
006536,000205: 06,2133           12074                           TCF      SETTIME4                              
006537,000206: 
006538,000207: 06,2134           34736        QUIKDSP            CAF      BIT14                                 
006539,000208: 06,2135           71313                           MASK     DSRUPTSW                              
006540,000209: 06,2136           00006                           EXTEND                                         
006541,000210: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
006542,000211: 
006543,000212: 06,2140           11016                           CCS      NOUT                                  
006544,000213: 06,2141           02024                           TC       DSPOUTSB                              
006545,000214: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
006546,000215: 06,2143           44736                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
006547,000216: 06,2144           27313        QUIKRUPT           ADS      DSRUPTSW                              
006548,000217: 
006549,000218: 06,2145           37731                           CAF      20MRUPT                               
006550,000219: 06,2146           54027                           TS       TIME4                                 
006551,000220: 
006552,000221: 06,2147           34743                           CAF      BIT9                                  
006553,000222: 06,2150           27313                           ADS      DSRUPTSW                              
006554,000223: 
006555,000224: 06,2151           05270                           TC       RESUME                                
006556,000225: 
006557,000226: 06,2152           00006        NODSPY             EXTEND                                         
006558,000227: 06,2153           01010                           WRITE    OUT0                                  
006559,000228: 
006560,000229: 06,2154           37731        SYNCT4             CAF      20MRUPT                               
006561,000230: 06,2155           26027                           ADS      TIME4                                 
006562,000231: 
006563,000232: 06,2156           34743                           CAF      BIT9                                  
006564,000233: 06,2157           27313                           ADS      DSRUPTSW                              
006565,000234: 
006566,000235: 06,2160           11313                           CCS      DSRUPTSW                              
006567,000236: 06,2161           05270                           TC       RESUME                                
006568,000237: 06,2162           37737        OCT37737           OCT      37737                                 
006569,000238: 06,2163           02154                           TC       SYNCT4                                
006570,000239: 06,2164           05270                           TC       RESUME                                
006571,000240: 
006572,000241: 06,2165           00006        QUIKOFF            EXTEND                                         
006573,000242: 06,2166           01010                           WRITE    OUT0                                  
006574,000243: 06,2167           34736                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
006575,000244: 06,2170           12144                           TCF      QUIKRUPT                              
006576,000245: 
006577,000246: 06,2171           22400        14,11,9            OCT      22400                                 
006578,000247: 

Page 161

006580,000249:                                                                                                  #  PROGRAM NAME:  IMUMON
006581,000250: 
006582,000251:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
006583,000252:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
006584,000253: 
006585,000254:                                                                                                  #        FUNCTION                BIT     SUBROUTINE CALLED
006586,000255:                                                                                                  #        --------                ---     -----------------
006587,000256:                                                                                                  #        TEMP IN LIMITS           15     TLIM
006588,000257:                                                                                                  #        ISS TURN-ON REQUEST      14     ITURNON
006589,000258:                                                                                                  #        IMU FAIL                 13     IMUFAIL (SETISSW)
006590,000259:                                                                                                  #        IMU CDU FAIL             12     ICDUFAIL (SETISSW)
006591,000260:                                                                                                  #        IMU CAGE                 11     IMUCAGE
006592,000261:                                                                                                  #        IMU OPERATE               9     IMUOP
006593,000262: 
006594,000263:                                                                                                  #  THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
006595,000264:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
006596,000265: 
006597,000266:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
006598,000267: 
006599,000268:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006600,000269: 
006601,000270:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
006602,000271: 
006603,000272:                                                                                                  #  ERASABLE INITIALIZATION:
006604,000273:                                                                                                  #        FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(IMODES30) = OCT 37411.
006605,000274:                                                                                                  #        RESTART WITH ACTIVE GROUPS:     C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
006606,000275:                                                                                                  #                                        THIS LEAVES IMU FAIL BITS INTACT.
006607,000276: 
006608,000277:                                                                                                  #  ALARMS:  NONE.
006609,000278: 
006610,000279:                                                                                                  #  EXIT:  TNONTEST.
006611,000280: 
006612,000281:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
006613,000282: 
006614,000283: 06,2172           31302        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
006615,000284: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
006616,000285: 06,2174           06030                           RXOR     CHAN30                                
006617,000286: 06,2175           72761                           MASK     30RDMSK                               
006618,000287: 06,2176           00006                           EXTEND                                         
006619,000288: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
006620,000289: 
006621,000290: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
006622,000291: 06,2201           23302                           LXCH     IMODES30                              #  UPDATE IMODES30.
006623,000292: 06,2202           00006                           EXTEND                                         
006624,000293: 06,2203           06001                           RXOR     LCHAN                                 
006625,000294: 06,2204           55302                           TS       IMODES30                              
006626,000295: 
006627,000296: 06,2205           44753                           CS       ONE                                   
006628,000297: 06,2206           56070                           XCH      RUPTREG1                              
006629,000298: 06,2207           00006                           EXTEND                                         

Page 162

006631,000300: 06,2210           62514                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
006632,000301: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
006633,000302: 
006634,000303: 06,2212           64753                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
006635,000304: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
006636,000305: 06,2214           60000                 +1        DOUBLE                                         
006637,000306: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
006638,000307: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
006639,000308: 
006640,000309: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
006641,000310: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
006642,000311: 06,2221           34736                           CAF      BIT14                                 
006643,000312: 06,2222           71302                           MASK     IMODES30                              
006644,000313: 06,2223           50070                           INDEX    RUPTREG1                              
006645,000314: 06,2224           02755                           TC       IFAILJMP                              
006646,000315: 
006647,000316: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
006648,000317: 06,2226           12212                           TCF      NXTIFBIT   -1                         
006649,000318: 

Page 163

006651,000320:                                                                                                  #  PROGRAM NAME:  TNONTEST.
006652,000321: 
006653,000322:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
006654,000323:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
006655,000324:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
006656,000325: 
006657,000326:                                                                                                  #        1) ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
006658,000327:                                                                                                  #        BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
006659,000328:                                                                                                  #        SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
006660,000329: 
006661,000330:                                                                                                  #        2) ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
006662,000331:                                                                                                  #        A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
006663,000332:                                                                                                  #        ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
006664,000333:                                                                                                  #        A RESTART, THE ICDU'S WILL NOT BE ZEROED.
006665,000334: 
006666,000335:                                                                                                  #        3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
006667,000336:                                                                                                  #        IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
006668,000337: 
006669,000338:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
006670,000339:                                                                                                  #  ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS.  THE NEXT TIME IT FINDS BIT 8 = 1 AND
006671,000340:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
006672,000341:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
006673,000342:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
006674,000343:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
006675,000344:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
006676,000345:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
006677,000346:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
006678,000347: 
006679,000348:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
006680,000349:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
006681,000350: 
006682,000351:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
006683,000352: 
006684,000353:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
006685,000354:                                                                                                  #        3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
006686,000355:                                                                                                  #        STARTED.
006687,000356: 
006688,000357:                                                                                                  #  SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
006689,000358: 
006690,000359:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
006691,000360: 
006692,000361:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
006693,000362: 
006694,000363:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
006695,000364:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
006696,000365:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
006697,000366: 
006698,000367:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
006699,000368: 
006700,000369: 06,2227           41302        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT

Page 164

006702,000371: 06,2230           74745                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
006703,000372: 06,2231           10000                           CCS      A                                     
006704,000373: 06,2232           12374                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
006705,000374: 
006706,000375: 06,2233           34744                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
006707,000376: 06,2234           71302                           MASK     IMODES30                              
006708,000377: 06,2235           10000                           CCS      A                                     
006709,000378: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
006710,000379: 
006711,000380: 06,2237           34744                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
006712,000381: 06,2240           27302                           ADS      IMODES30                              #  TIME.
006713,000382: 06,2241           12374                           TCF      C33TEST                               
006714,000383: 
006715,000384:                                                                                                  #  PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006716,000385: 
006717,000386: 06,2242           42777        PROCTNON           CS       BITS7&8                               
006718,000387: 06,2243           71302                           MASK     IMODES30                              
006719,000388: 06,2244           55302                           TS       IMODES30                              
006720,000389: 06,2245           74736                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
006721,000390: 06,2246           10000                           CCS      A                                     
006722,000391: 06,2247           12347                           TCF      OPONLY                                #  OPERATE ON ONLY.
006723,000392: 
006724,000393: 06,2250           41302                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
006725,000394: 06,2251           74743                           MASK     BIT9                                  #  OPERATE.
006726,000395: 06,2252           10000                           CCS      A                                     
006727,000396: 06,2253           12256                           TCF      +3                                    
006728,000397: 
006729,000398: 06,2254           05567                           TC       ALARM                                 #  ALARM IF NOT.
006730,000399: 06,2255           00213                           OCT      213                                   
006731,000400: 
006732,000401: 06,2256           02735                 +3        TC       CAGESUB                               
006733,000402: 06,2257           33005                           CAF      90SECS                                
006734,000403: 06,2260           05203                           TC       WAITLIST                              
006735,000404: 06,2261  E6,1414                                  EBANK=   M11                                   
006736,000405: 06,2261           02266 14106                     2CADR    ENDTNON                               
006737,000406: 
006738,000407: 06,2263           12374                           TCF      C33TEST                               
006739,000408: 
006740,000409: 06,2264           33005        RETNON             CAF      90SECS                                
006741,000410: 06,2265           05224                           TC       VARDELAY                              
006742,000411: 
006743,000412: 06,2266           44752        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
006744,000413: 06,2267           71302                           MASK     IMODES30                              
006745,000414: 06,2270           57302                           XCH      IMODES30                              
006746,000415: 06,2271           74752                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006747,000416: 06,2272           00006                           EXTEND                                         
006748,000417: 06,2273           12306                           BZF      ENDTNON2                              
006749,000418: 
006750,000419: 06,2274           34736                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW

Page 165

006752,000421: 06,2275           71302                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006753,000422: 06,2276           00006                           EXTEND                                         
006754,000423: 06,2277           12264                           BZF      RETNON                                
006755,000424: 
006756,000425: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
006757,000426: 06,2301           74744                           MASK     IMUSEBIT                              #  WAITING.
006758,000427: 06,2302           10000                           CCS      A                                     
006759,000428: 06,2303           15261                           TCF      TASKOVER                              
006760,000429: 06,2304           04635                           TC       POSTJUMP                              
006761,000430: 06,2305           17637                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
006762,000431: 
006763,000432: 06,2306           34735        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
006764,000433: 06,2307           00006                           EXTEND                                         
006765,000434: 06,2310           05012                           WOR      CHAN12                                
006766,000435: 
006767,000436: 06,2311           04674                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
006768,000437: 06,2312           17266                           CADR     NOATTOFF                              
006769,000438: 
006770,000439: 06,2313           05457        UNZ2               TC       ZEROICDU                              
006771,000440: 
006772,000441: 06,2314           44763                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
006773,000442: 06,2315           00006                           EXTEND                                         
006774,000443: 06,2316           03012                           WAND     CHAN12                                
006775,000444: 
006776,000445: 06,2317           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
006777,000446: 06,2320           05224                           TC       VARDELAY                              
006778,000447: 
006779,000448: 06,2321           42774        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
006780,000449: 06,2322           71302                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
006781,000450: 06,2323           55302                           TS       IMODES30                              
006782,000451: 
006783,000452: 06,2324           44746                           CS       BIT6                                  #  ENABLE DAP
006784,000453: 06,2325           71303                           MASK     IMODES33                              
006785,000454: 06,2326           55303                           TS       IMODES33                              
006786,000455: 
006787,000456: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
006788,000457: 06,2330           74735                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP (RESTART
006789,000458: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
006790,000459: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
006791,000460: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
006792,000461: 06,2334           30025                           CA       TIME1                                 
006793,000462: 06,2335           57075                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
006794,000463: 
006795,000464: 06,2336           02703                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
006796,000465: 
006797,000466: 06,2337           44735                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
006798,000467: 06,2340           00006                           EXTEND                                         
006799,000468: 06,2341           03012                           WAND     CHAN12                                
006800,000469: 
006801,000470: 06,2342           35003                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR

Page 166

006803,000472: 06,2343           05203                           TC       WAITLIST                              #  ANOTHER 4 SECS.
006804,000473: 06,2344  E3,1474                                  EBANK=   CDUIND                                
006805,000474: 06,2344           03254 16103                     2CADR    PFAILOK                               
006806,000475: 
006807,000476: 06,2346           15261                           TCF      TASKOVER                              
006808,000477: 
006809,000478: 06,2347           34750        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
006810,000479: 06,2350           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
006811,000480: 06,2351           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
006812,000481: 06,2352           10000                           CCS      A                                     
006813,000482: 06,2353           12374                           TCF      C33TEST                               
006814,000483: 
006815,000484: 06,2354           34744                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
006816,000485: 06,2355           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
006817,000486: 06,2356           10000                           CCS      A                                     
006818,000487: 06,2357           12374                           TCF      C33TEST                               
006819,000488: 
006820,000489: 06,2360           02746                           TC       CAGESUB2                              #  SET TURNON FLAGS.
006821,000490: 
006822,000491: 06,2361           04674        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
006823,000492: 06,2362           17266                           CADR     NOATTOFF                              #      IMU CAGE OFF ENTRY
006824,000493: 
006825,000494: 06,2363           34747                           CAF      BIT5                                  #  ISS CDU ZERO
006826,000495: 06,2364           00006                           EXTEND                                         
006827,000496: 06,2365           05012                           WOR      CHAN12                                
006828,000497: 
006829,000498: 06,2366           05457                           TC       ZEROICDU                              
006830,000499: 06,2367           34746                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
006831,000500: 06,2370           05203                           TC       WAITLIST                              
006832,000501: 06,2371  E6,1414                                  EBANK=   M11                                   
006833,000502: 06,2371           02313 14106                     2CADR    UNZ2                                  
006834,000503: 
006835,000504: 06,2373           12374                           TCF      C33TEST                               
006836,000505: 

Page 167

006838,000507:                                                                                                  #  PROGRAM NAME:  C33TEST
006839,000508: 
006840,000509:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
006841,000510:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
006842,000511:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
006843,000512:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
006844,000513:                                                                                                  #        BIT     FUNCTION                SUBROUTINE
006845,000514:                                                                                                  #        ---     --------                ----------
006846,000515:                                                                                                  #         13     PIPA FAIL               PIPFAIL
006847,000516:                                                                                                  #         12     DOWNLINK TOO FAST       DNTMFAST
006848,000517:                                                                                                  #         11     UPLINK TOO FAST         UPTMFAST
006849,000518: 
006850,000519:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
006851,000520: 
006852,000521:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
006853,000522: 
006854,000523:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006855,000524: 
006856,000525:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
006857,000526: 
006858,000527:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
006859,000528:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
006860,000529: 
006861,000530:                                                                                                  #  ALARMS:  NONE.
006862,000531: 
006863,000532:                                                                                                  #  EXIT:  GLOCKMON.
006864,000533: 
006865,000534:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
006866,000535: 
006867,000536: 06,2374           31303        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
006868,000537: 06,2375           75026                           MASK     33RDMSK                               
006869,000538: 06,2376           54001                           TS       L                                     #  CHANGED.
006870,000539: 06,2377           35026                           CAF      33RDMSK                               
006871,000540: 06,2400           00006                           EXTEND                                         
006872,000541: 06,2401           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
006873,000542: 06,2402           00006                           EXTEND                                         
006874,000543: 06,2403           06001                           RXOR     LCHAN                                 
006875,000544: 06,2404           00006                           EXTEND                                         
006876,000545: 06,2405           12434                           BZF      GLOCKMON                              #  ON NO CHANGE.
006877,000546: 
006878,000547: 06,2406           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
006879,000548: 06,2407           23303                           LXCH     IMODES33                              
006880,000549: 06,2410           00006                           EXTEND                                         
006881,000550: 06,2411           06001                           RXOR     LCHAN                                 
006882,000551: 06,2412           55303                           TS       IMODES33                              #  UPDATED IMODES33.
006883,000552: 
006884,000553: 06,2413           34755                           CAF      ZERO                                  
006885,000554: 06,2414           56070                           XCH      RUPTREG1                              
006886,000555: 06,2415           60000                           DOUBLE                                         

Page 168

006888,000557: 06,2416           12421                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
006889,000558: 
006890,000559: 06,2417           64753                 -1        AD       ONE                                   
006891,000560: 06,2420           24070        NXTIBT             INCR     RUPTREG1                              
006892,000561: 06,2421           60000                 +1        DOUBLE                                         
006893,000562: 06,2422           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
006894,000563: 06,2423           12420                           TCF      NXTIBT                                
006895,000564: 
006896,000565: 06,2424           56071                           XCH      RUPTREG2                              
006897,000566: 06,2425           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
006898,000567: 06,2426           34737                           CAF      BIT13                                 
006899,000568: 06,2427           71303                           MASK     IMODES33                              
006900,000569: 06,2430           50070                           INDEX    RUPTREG1                              
006901,000570: 06,2431           02763                           TC       C33JMP                                
006902,000571: 06,2432           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
006903,000572: 06,2433           12417                           TCF      NXTIBT     -1                         
006904,000573: 

Page 169

006906,000575:                                                                                                  #  PROGRAM NAME:  GLOCKMON
006907,000576: 
006908,000577:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006909,000578:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006910,000579: 
006911,000580:                                                                                                  #        1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
006912,000581:                                                                                                  #        2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
006913,000582:                                                                                                  #        3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006914,000583: 
006915,000584:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
006916,000585: 
006917,000586:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006918,000587: 
006919,000588:                                                                                                  #  SUBROUTINES CALLED:   1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006920,000589:                                                                                                  #                        2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006921,000590: 
006922,000591:                                                                                                  #  ERASABLE INITIALIZATION:
006923,000592:                                                                                                  #                1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 =  0.
006924,000593:                                                                                                  #                2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006925,000594:                                                                                                  #                                                PROCEEDS AS BEFORE.
006926,000595: 
006927,000596:                                                                                                  #  ALARMS:       1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006928,000597:                                                                                                  #                2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006929,000598:                                                                                                  #                   SO ALREADY.
006930,000599: 
006931,000600: 06,2434           10034        GLOCKMON           CCS      CDUZ                                  
006932,000601: 06,2435           12441                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
006933,000602: 06,2436           12465                           TCF      SETGLOCK                              #  70 DEGREES.
006934,000603: 06,2437           12441                           TCF      GLOCKCHK                              
006935,000604: 06,2440           12465                           TCF      SETGLOCK                              
006936,000605: 
006937,000606: 06,2441           62512        GLOCKCHK           AD       -70DEGS                               
006938,000607: 06,2442           00006                           EXTEND                                         
006939,000608: 06,2443           62464                           BZMF     SETGLOCK   -1                         #  NO LOCK.
006940,000609: 
006941,000610: 06,2444           62513                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
006942,000611: 06,2445           00006                           EXTEND                                         
006943,000612: 06,2446           62462                           BZMF     NOGIMRUN                              
006944,000613: 
006945,000614: 06,2447           34750                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006946,000615: 06,2450           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
006947,000616: 06,2451           02012                           RAND     CHAN12                                
006948,000617: 06,2452           10000                           CCS      A                                     
006949,000618: 06,2453           12462                           TCF      NOGIMRUN                              
006950,000619: 
006951,000620: 06,2454           04674                           TC       IBNKCALL                              
006952,000621: 06,2455           17144                           CADR     SETCOARS                              
006953,000622: 
006954,000623: 06,2456           36242                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
006955,000624: 06,2457           05203                           TC       WAITLIST                              

Page 170

006957,000626: 06,2460  E3,1474                                  EBANK=   CDUIND                                
006958,000627: 06,2460           03140 16103                     2CADR    CA+ECE                                
006959,000628: 
006960,000629: 06,2462           34746        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
006961,000630: 06,2463           12465                           TCF      SETGLOCK                              
006962,000631: 
006963,000632: 06,2464           34755                 -1        CAF      ZERO                                  
006964,000633: 06,2465           61036        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006965,000634: 06,2466           74746                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
006966,000635: 06,2467           00006                           EXTEND                                         #  THE TWO.
006967,000636: 06,2470           15270                           BZF      GLOCKOK                               #  OK AS IS.
006968,000637: 
006969,000638: 06,2471           71036                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
006970,000639: 06,2472           10000                           CCS      A                                     
006971,000640: 06,2473           12507                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006972,000641: 
006973,000642: 06,2474           34746                           CAF      BIT6                                  
006974,000643: 06,2475           71302                           MASK     IMODES30                              
006975,000644: 06,2476           10000                           CCS      A                                     
006976,000645: 06,2477           15270                           TCF      GLOCKOK                               
006977,000646: 
006978,000647: 06,2500           41036        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
006979,000648: 06,2501           74746                           MASK     BIT6                                  
006980,000649: 06,2502           64735                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
006981,000650: 06,2503           57036                           XCH      DSPTAB     +11D                       
006982,000651: 06,2504           72162                           MASK     OCT37737                              
006983,000652: 06,2505           27036                           ADS      DSPTAB     +11D                       
006984,000653: 06,2506           15270                           TCF      GLOCKOK                               
006985,000654: 
006986,000655: 06,2507           02766        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006987,000656: 06,2510           15270                           TCF      GLOCKOK                               
006988,000657: 06,2511           12500                           TCF      GLINVERT                              
006989,000658: 
006990,000659: 06,2512           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006991,000660: 06,2513           75252        -15DEGS            DEC      -.08333                               
006992,000661: 

Page 171

006994,000663:                                                                                                  #  PROGRAM NAME:  TLIM.
006995,000664: 
006996,000665:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006997,000666:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006998,000667:                                                                                                  #  IS IN PROGRESS.
006999,000668: 
007000,000669:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
007001,000670: 
007002,000671:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007003,000672: 
007004,000673:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
007005,000674: 
007006,000675:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007007,000676: 
007008,000677:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
007009,000678: 
007010,000679:                                                                                                  #  EXIT:  NXTIFAIL.
007011,000680: 
007012,000681:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                  IN A, EXCEPT FOR TLIM.
007013,000682: 
007014,000683: 06,2514           74733        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
007015,000684: 06,2515           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
007016,000685: 
007017,000686: 06,2516           11302                           CCS      IMODES30                              
007018,000687: 06,2517           12525                           TCF      TEMPOK                                
007019,000688: 06,2520           12525                           TCF      TEMPOK                                
007020,000689: 
007021,000690: 06,2521           34750                           CAF      BIT4                                  #  TURN ON LAMP.
007022,000691: 06,2522           00006                           EXTEND                                         
007023,000692: 06,2523           05011                           WOR      DSALMOUT                              
007024,000693: 06,2524           12225                           TCF      NXTIFAIL                              
007025,000694: 
007026,000695: 06,2525           02766        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
007027,000696: 06,2526           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
007028,000697: 
007029,000698: 06,2527           44750                           CS       BIT4                                  
007030,000699: 06,2530           00006                           EXTEND                                         
007031,000700: 06,2531           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
007032,000701: 06,2532           12225                           TCF      NXTIFAIL                              
007033,000702: 

Page 172

007035,000704:                                                                                                  #  PROGRAM NAME:  ITURNON.
007036,000705: 
007037,000706:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007038,000707:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007039,000708:                                                                                                  #  IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF.  IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
007040,000709:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007041,000710:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007042,000711:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007043,000712: 
007044,000713:                                                                                                  #  THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007045,000714:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007046,000715:                                                                                                  #  ENDS.
007047,000716: 
007048,000717:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007049,000718: 
007050,000719:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007051,000720: 
007052,000721:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007053,000722: 
007054,000723:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007055,000724:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
007056,000725: 
007057,000726:                                                                                                  #  ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007058,000727: 
007059,000728:                                                                                                  #  EXIT:  NXTIFAIL.
007060,000729: 
007061,000730:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007062,000731:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
007063,000732: 
007064,000733: 06,2533           34752        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
007065,000734: 06,2534           71302                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
007066,000735: 06,2535           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007067,000736: 06,2536           12225                           TCF      NXTIFAIL                              
007068,000737: 
007069,000738: 06,2537           34736                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
007070,000739: 06,2540           71302                           MASK     IMODES30                              
007071,000740: 06,2541           00006                           EXTEND                                         
007072,000741: 06,2542           12556                           BZF      ITURNON2                              #  IF JUST ON.
007073,000742: 
007074,000743: 06,2543           34735                           CAF      BIT15                                 
007075,000744: 06,2544           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
007076,000745: 06,2545           02012                           RAND     CHAN12                                #  SENT.  IF SO, ACTION COMPLETE
007077,000746: 06,2546           00006                           EXTEND                                         
007078,000747: 06,2547           12551                           BZF      +2                                    
007079,000748: 06,2550           12225                           TCF      NXTIFAIL                              
007080,000749: 
007081,000750: 06,2551           34752                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
007082,000751: 06,2552           27302                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
007083,000752: 06,2553           05567                           TC       ALARM                                 
007084,000753: 06,2554           00207                           OCT      207                                   
007085,000754: 06,2555           12225                           TCF      NXTIFAIL                              
007086,000755: 

Page 173

007088,000757: 06,2556           41302        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007089,000758: 06,2557           74745                           MASK     BIT7                                  
007090,000759: 06,2560           27302                           ADS      IMODES30                              
007091,000760: 06,2561           32564                           CAF      RRINIT                                
007092,000761: 06,2562           54110                           TS       RADMODES                              
007093,000762: 06,2563           12225                           TCF      NXTIFAIL                              
007094,000763: 
007095,000764: 06,2564           00102        RRINIT             OCT      00102                                 
007096,000765: 

Page 174

007098,000767:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
007099,000768: 
007100,000769:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
007101,000770:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007102,000771:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007103,000772:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
007104,000773:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
007105,000774: 
007106,000775:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
007107,000776: 
007108,000777:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007109,000778: 
007110,000779:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
007111,000780: 
007112,000781:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007113,000782: 
007114,000783:                                                                                                  #  ALARMS: NONE.
007115,000784: 
007116,000785:                                                                                                  #  EXIT:  NXTIFAIL.
007117,000786: 
007118,000787:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007119,000788: 
007120,000789: 06,2565           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
007121,000790: 06,2566           12361                           TCF      ISSZERO                               
007122,000791: 06,2567           43002                           CS       OCT77000                              #  TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
007123,000792: 06,2570           00006                           EXTEND                                         
007124,000793: 06,2571           03014                           WAND     CHAN14                                
007125,000794: 
007126,000795: 06,2572           42776                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007127,000796: 06,2573           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007128,000797: 06,2574           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007129,000798: 
007130,000799: 06,2575           44745                           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
007131,000800: 06,2576           70101                           MASK     FLAGWRD5                              
007132,000801: 06,2577           54101                           TS       FLAGWRD5                              
007133,000802: 06,2600           44355                           CS       PRIO30                                #  TURN ENGINE OFF.
007134,000803: 06,2601           00006                           EXTEND                                         
007135,000804: 06,2602           02011                           RAND     DSALMOUT                              
007136,000805: 06,2603           64736                           AD       BIT14                                 
007137,000806: 06,2604           00006                           EXTEND                                         
007138,000807: 06,2605           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
007139,000808: 
007140,000809: 06,2606           02743                           TC       CAGESUB1                              
007141,000810: 
007142,000811: 06,2607           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007143,000812: 06,2610           17175                           CADR     RNDREFDR                              
007144,000813: 
007145,000814: 06,2611           44755                           CS       ZERO                                  
007146,000815: 06,2612           54050                           TS       CDUXCMD                               
007147,000816: 06,2613           54051                           TS       CDUYCMD                               

Page 175

007149,000818: 06,2614           54052                           TS       CDUZCMD                               
007150,000819: 06,2615           54047                           TS       GYROCMD                               
007151,000820: 
007152,000821: 06,2616           43001                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
007153,000822: 06,2617           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
007154,000823: 06,2620           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
007155,000824: 06,2621           12225                           TCF      NXTIFAIL                              
007156,000825: 

Page 176

007158,000827:                                                                                                  #  PROGRAM NAME:  IMUOP.
007159,000828: 
007160,000829:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007161,000830:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007162,000831:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007163,000832:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007164,000833:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
007165,000834: 
007166,000835:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007167,000836: 
007168,000837:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007169,000838:                                                                                                  #  
007170,000839:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007171,000840: 
007172,000841:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007173,000842:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007174,000843: 
007175,000844:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007176,000845: 
007177,000846:                                                                                                  #  EXIT:  NXTIFAIL.
007178,000847: 
007179,000848:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007180,000849: 
007181,000850: 06,2622           00006        IMUOP              EXTEND                                         
007182,000851: 06,2623           12643                           BZF      IMUOP2                                
007183,000852: 
007184,000853: 06,2624           41303                           CS       IMODES33                              #  DISABLE DAP
007185,000854: 06,2625           74746                           MASK     BIT6                                  
007186,000855: 06,2626           27303                           ADS      IMODES33                              
007187,000856: 
007188,000857: 06,2627           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007189,000858: 06,2630           17175                           CADR     RNDREFDR                              
007190,000859: 
007191,000860: 06,2631           42777                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007192,000861: 06,2632           70074                           MASK     FLAGWRD0                              
007193,000862: 06,2633           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
007194,000863: 06,2634           40000                           COM                                            
007195,000864: 06,2635           74744                           MASK     IMUSEFLG                              
007196,000865: 06,2636           10000                           CCS      A                                     
007197,000866: 06,2637           12225                           TCF      NXTIFAIL                              
007198,000867: 
007199,000868: 06,2640           05567                           TC       ALARM                                 
007200,000869: 06,2641           00214                           OCT      214                                   
007201,000870: 06,2642           12225                           TCF      NXTIFAIL                              
007202,000871: 
007203,000872: 06,2643           34752        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007204,000873: 06,2644           71302                           MASK     IMODES30                              
007205,000874: 06,2645           10000                           CCS      A                                     
007206,000875: 06,2646           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
007207,000876: 06,2647           12556                           TCF      ITURNON2                              #  SECONDS EXPIRES.
007208,000877: 

Page 177

007210,000879:                                                                                                  #  PROGRAM NAME:  PIPFAIL
007211,000880: 
007212,000881:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
007213,000882:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT, I.E., IMODES30
007214,000883:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
007215,000884: 
007216,000885:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007217,000886: 
007218,000887:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007219,000888: 
007220,000889:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
007221,000890: 
007222,000891:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
007223,000892: 
007224,000893:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007225,000894:                                                                                                  #  BEING INITIALIZED.
007226,000895: 
007227,000896:                                                                                                  #  EXIT:  NXTFL33.
007228,000897: 
007229,000898:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007230,000899: 
007231,000900: 06,2650           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
007232,000901: 06,2651           34742                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
007233,000902: 06,2652           57302                           XCH      IMODES30                              
007234,000903: 06,2653           73004                           MASK     -BIT10                                
007235,000904: 06,2654           27302                           ADS      IMODES30                              
007236,000905: 
007237,000906: 06,2655           02703                           TC       SETISSW                               
007238,000907: 
007239,000908: 06,2656           41302                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
007240,000909: 06,2657           74753                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
007241,000910: 06,2660           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
007242,000911: 06,2661           12432                           TCF      NXTFL33                               
007243,000912: 
007244,000913: 06,2662           31302                           CA       IMODES30                              
007245,000914: 06,2663           73000                           MASK     OCT1720                               
007246,000915: 06,2664           10000                           CCS      A                                     
007247,000916: 06,2665           12432                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
007248,000917: 
007249,000918: 06,2666           05567                           TC       ALARM                                 
007250,000919: 06,2667           00212                           OCT      212                                   
007251,000920: 06,2670           12432                           TCF      NXTFL33                               
007252,000921: 

Page 178

007254,000923:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
007255,000924: 
007256,000925:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
007257,000926:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
007258,000927: 
007259,000928:                                                                                                  #        BIT     ALARM   CAUSE
007260,000929:                                                                                                  #        ---     -----   -----
007261,000930:                                                                                                  #         12     01105   DOWNLINK TOO FAST
007262,000931:                                                                                                  #         11     01106   UPLINK TOO FAST
007263,000932: 
007264,000933:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
007265,000934: 
007266,000935:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
007267,000936: 
007268,000937:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007269,000938: 
007270,000939:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
007271,000940: 
007272,000941:                                                                                                  #  EXIT:  NXTFL33.
007273,000942: 
007274,000943:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
007275,000944: 
007276,000945: 06,2671           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
007277,000946: 06,2672           12432                           TCF      NXTFL33                               
007278,000947: 
007279,000948: 06,2673           05567                           TC       ALARM                                 
007280,000949: 06,2674           01105                           OCT      1105                                  
007281,000950: 06,2675           12432                           TCF      NXTFL33                               
007282,000951: 
007283,000952: 06,2676           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
007284,000953: 06,2677           12432                           TCF      NXTFL33                               #  ALARM CODE.
007285,000954: 
007286,000955: 06,2700           05567                           TC       ALARM                                 
007287,000956: 06,2701           01106                           OCT      1106                                  
007288,000957: 06,2702           12432                           TCF      NXTFL33                               

Page 179

007290,000959:                                                                                                  #  PROGRAM NAME:  SETISSW
007291,000960: 
007292,000961:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007293,000962:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007294,000963:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007295,000964:                                                                                                  #  PROGRESS.
007296,000965: 
007297,000966:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
007298,000967:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
007299,000968:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007300,000969:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007301,000970: 
007302,000971:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007303,000972: 
007304,000973:                                                                                                  #  SUBROUTINES CALLED:  NONE.
007305,000974: 
007306,000975:                                                                                                  #  ERASABLE INITIALIZATION:
007307,000976: 
007308,000977:                                                                                                  #        1) IMODES30 - SEE IMUMON.
007309,000978:                                                                                                  #        2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007310,000979: 
007311,000980:                                                                                                  #  ALARMS:  ISS WARNING.
007312,000981: 
007313,000982:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007314,000983:                                                                                                  #        PROGRAM ALARM 00777     PIPA FAIL
007315,000984:                                                                                                  #        PROGRAM ALARM 03777     ICDU FAIL
007316,000985:                                                                                                  #        PROGRAM ALARM 04777     ICDU, PIPA FAILS
007317,000986:                                                                                                  #        PROGRAM ALARM 07777     IMU FAIL
007318,000987:                                                                                                  #        PROGRAM ALARM 10777     IMU, PIPA FAILS
007319,000988:                                                                                                  #        PROGRAM ALARM 13777     IMU, ICDU FAILS
007320,000989:                                                                                                  #        PROGRAM ALARM 14777     IMU, ICDU, PIPA FAILS
007321,000990: 
007322,000991:                                                                                                  #  EXIT: VIA Q.
007323,000992: 
007324,000993:                                                                                                  #  OUTPUT: ISS WARNING LAMP SET PROPERLY.
007325,000994: 
007326,000995: 06,2703           34761        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
007327,000996: 06,2704           71302                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
007328,000997: 06,2705           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
007329,000998: 06,2706           74742                           MP       BIT10                                 #  4, 3, AND 1.
007330,000999: 06,2707           31302                           CA       IMODES30                              
007331,001000: 06,2710           00006                           EXTEND                                         
007332,001001: 06,2711           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
007333,001002: 06,2712           40000                           COM                                            
007334,001003: 06,2713           75025                           MASK     OCT15000                              
007335,001004: 06,2714           10000                           CCS      A                                     
007336,001005: 06,2715           12726                           TCF      ISSWON                                #  FAILURE.
007337,001006: 
007338,001007: 06,2716           34753        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
007339,001008: 06,2717           71303                           MASK     IMODES33                              #  IN PROGRESS.

Page 180

007341,001010: 06,2720           10000                           CCS      A                                     
007342,001011: 06,2721           00002                           TC       Q                                     
007343,001012: 
007344,001013: 06,2722           44753                           CS       BIT1                                  
007345,001014: 06,2723           00006                           EXTEND                                         
007346,001015: 06,2724           03011                           WAND     DSALMOUT                              
007347,001016: 06,2725           00002                           TC       Q                                     
007348,001017: 
007349,001018: 06,2726           00006        ISSWON             EXTEND                                         
007350,001019: 06,2727           22066                           QXCH     ITEMP6                                
007351,001020: 06,2730           05744                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISS WARNING
007352,001021: 06,2731           34753                           CAF      BIT1                                  
007353,001022: 06,2732           00006                           EXTEND                                         
007354,001023: 06,2733           05011                           WOR      DSALMOUT                              
007355,001024: 06,2734           00066                           TC       ITEMP6                                
007356,001025: 
007357,001026: 06,2735           43003        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
007358,001027: 06,2736           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE.  DISABLE THE
007359,001028: 06,2737           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
007360,001029: 06,2740           34763                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
007361,001030: 06,2741           00006                           EXTEND                                         
007362,001031: 06,2742           05012                           WOR      CHAN12                                
007363,001032: 
007364,001033: 06,2743           41036        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
007365,001034: 06,2744           72773                           MASK     OC40010                               
007366,001035: 06,2745           27036                           ADS      DSPTAB     +11D                       
007367,001036: 
007368,001037: 06,2746           41302        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
007369,001038: 06,2747           72775                           MASK     OCT75                                 #  AND INHIBIT ALL ISS WARNING INFO
007370,001039: 06,2750           27302                           ADS      IMODES30                              
007371,001040: 
007372,001041: 06,2751           41303                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
007373,001042: 06,2752           74746                           MASK     BIT6                                  
007374,001043: 06,2753           27303                           ADS      IMODES33                              
007375,001044: 
007376,001045: 06,2754           00002                           TC       Q                                     
007377,001046: 
007378,001047: 06,2755  06,2703               IMUFAIL            EQUALS   SETISSW                               
007379,001048: 06,2755  06,2703               ICDUFAIL           EQUALS   SETISSW                               
007380,001049: 

Page 181

007382,001051:                                                                                                  #  JUMP TABLES AND CONSTANTS.
007383,001052: 
007384,001053: 06,2755           12533        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
007385,001054: 06,2756           12703                           TCF      IMUFAIL                               
007386,001055: 06,2757           12703                           TCF      ICDUFAIL                              
007387,001056: 06,2760           12565                           TCF      IMUCAGE                               
007388,001057: 06,2761           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
007389,001058: 06,2762           12622                           TCF      IMUOP                                 
007390,001059: 
007391,001060: 06,2763           12650        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
007392,001061: 06,2764           12671                           TCF      DNTMFAST                              
007393,001062: 06,2765           12676                           TCF      UPTMFAST                              
007394,001063: 
007395,001064:                                                                                                  #  SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007396,001065: 06,2766           41303        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007397,001066: 06,2767           74753                           MASK     BIT1                                  #  PROGRESS.
007398,001067: 06,2770           10000                           CCS      A                                     
007399,001068: 06,2771           24002                           INCR     Q                                     
007400,001069: 06,2772           00002                           TC       Q                                     
007401,001070: 
007402,001071: 06,2773     5026               33RDMSK            EQUALS   PRIO16                                
007403,001072: 06,2773           40010        OC40010            OCT      40010                                 
007404,001073: 06,2774           00054        OCT54              OCT      54                                    
007405,001074: 06,2775           00075        OCT75              OCT      75                                    
007406,001075: 06,2776           00272        OCT272             OCT      00272                                 
007407,001076: 06,2777           00300        BITS7&8            OCT      300                                   
007408,001077: 06,3000           01720        OCT1720            OCT      1720                                  
007409,001078: 06,3001           00740        OCT740             OCT      00740                                 
007410,001079: 06,3002     5025               OCT15000           EQUALS   PRIO15                                
007411,001080: 06,3002           77000        OCT77000           OCT      77000                                 
007412,001081: 06,3003           40040        BITS6&15           OCT      40040                                 
007413,001082: 06,3004           76777        -BIT10             OCT      -1000                                 
007414,001083: 
007415,001084: 06,3005           21450        90SECS             DEC      9000       B-14                       
007416,001085: 06,3006     5751               120MS              =        OCT14                                 #  (DEC12)
007417,001086: 06,3006     5270               GLOCKOK            EQUALS   RESUME                                
007418,001087: 

Page 182

007420,001089:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
007421,001090: 
007422,001091:                                                                                                  #  FUNCTIONAL DESCRIPTION_
007423,001092:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR.  INITIALLY THE RR
007424,001093:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED.  IF NO CHANGE, THE
007425,001094:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK.  IF A CHANGE, RADMODES IS UPDATED
007426,001095:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON.  IF JUST OFF, A CHECK
007427,001096:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).  IF NO,
007428,001097:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK.  IF YES, PROGRAM ALARM 00514
007429,001098:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK.  IF RR POWER HAS JUST COME
007430,001099:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
007431,001100:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
007432,001101:                                                                                                  #  SEQUENCE.  IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007433,001102:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1).  A 10 MILLISECOND WAITLIST CALL
007434,001103:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007435,001104: 
007436,001105:                                                                                                  #  CALLING SEQUENCE_
007437,001106:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
007438,001107: 
007439,001108:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
007440,001109:                                                                                                  #  RADMODES, STATE
007441,001110: 
007442,001111:                                                                                                  #  SUBROUTINES CALLED_
007443,001112:                                                                                                  #  WAITLIST
007444,001113: 
007445,001114:                                                                                                  #  JOBS OR TASKS INITIATED_
007446,001115:                                                                                                  #  RRTURNON
007447,001116: 
007448,001117:                                                                                                  #  ALARMS_  PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
007449,001118:                                                                                                  #  USED
007450,001119: 
007451,001120:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
007452,001121: 
007453,001122: 06,3006           30110        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
007454,001123: 06,3007           00006                           EXTEND                                         
007455,001124: 06,3010           06033                           RXOR     CHAN33                                
007456,001125: 06,3011           74752                           MASK     AUTOMBIT                              
007457,001126: 06,3012           00006                           EXTEND                                         
007458,001127: 06,3013           13037                           BZF      RRCDUCHK                              
007459,001128: 
007460,001129: 06,3014           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
007461,001130: 06,3015           00006                           EXTEND                                         
007462,001131: 06,3016           06001                           RXOR     LCHAN                                 
007463,001132: 06,3017           73033                           MASK     OCT05776                              #  CLR CONT. DES., REMODE, REPOS, CDUZERO,
007464,001133: 06,3020           54110                           TS       RADMODES                              #  AND TURNON BITS.
007465,001134: 06,3021           74752                           MASK     BIT2                                  #  SEE IF JUST ON.
007466,001135: 06,3022           10000                           CCS      A                                     
007467,001136: 06,3023           13034                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
007468,001137: 06,3024           37663                           CA       OCT10001                              #  SET RRCDUZRO AND TURNON BITS.
007469,001138: 06,3025           26110                           ADS      RADMODES                              
007470,001139: 

Page 183

007472,001141: 06,3026           34753                           CAF      ONE                                   
007473,001142: 06,3027           05203                           TC       WAITLIST                              
007474,001143: 06,3030  E7,1456                                  EBANK=   LOSCOUNT                              
007475,001144: 06,3030           02062 52107                     2CADR    RRTURNON                              
007476,001145: 
007477,001146: 06,3032           13132                           TCF      NORRGMON                              
007478,001147: 
007479,001148: 06,3033           05776        OCT05776           OCT      5776                                  
007480,001149: 

Page 184

007482,001151:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
007483,001152: 
007484,001153:                                                                                                  #  FUNCTIONAL DESCRIPTION_
007485,001154:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7).  INITIALLY THE
007486,001155:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7).  IF NO CHANGE, THE
007487,001156:                                                                                                  #  PROGRAM EXITS TO RRGIMON.  IF A CHANGE, THE RR AUTO MODE
007488,001157:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED.  IF NOT IN RR AUTO MODE, THE
007489,001158:                                                                                                  #  PROGRAM EXITS TO NORRGMON.  IF IN AUTO MODE, RADMODES BIT 7
007490,001159:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
007491,001160:                                                                                                  #  REQUESTED.  CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
007492,001161:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8).  CONTROL RETURNS TO
007493,001162:                                                                                                  #  RRGIMON.
007494,001163: 
007495,001164:                                                                                                  #  CALLING SEQUENCE_
007496,001165:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
007497,001166:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
007498,001167: 
007499,001168:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
007500,001169:                                                                                                  #  RADMODES
007501,001170: 
007502,001171:                                                                                                  #  SUBROUTINES CALLED_
007503,001172:                                                                                                  #  SETTRKF
007504,001173: 
007505,001174:                                                                                                  #  JOBS OR TASKS INITIATED_
007506,001175:                                                                                                  #  NONE
007507,001176: 
007508,001177:                                                                                                  #  ALARMS_
007509,001178:                                                                                                  #  TRACKER FAIL
007510,001179:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
007511,001180: 
007512,001181:                                                                                                  #  EXIT_
007513,001182:                                                                                                  #  RRGIMON, NORRGMON
007514,001183: 
007515,001184: 06,3034           44752                 -3        CS       BIT2                                  
007516,001185: 06,3035           00006                           EXTEND                                         
007517,001186: 06,3036           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
007518,001187: 
007519,001188: 06,3037           30110        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
007520,001189: 06,3040           00006                           EXTEND                                         
007521,001190: 06,3041           06030                           RXOR     CHAN30                                
007522,001191: 06,3042           74745                           MASK     RCDUFBIT                              
007523,001192: 06,3043           00006                           EXTEND                                         
007524,001193: 06,3044           13071                           BZF      RRGIMON                               
007525,001194: 
007526,001195: 06,3045           34752                           CAF      AUTOMBIT                              #  IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
007527,001196: 06,3046           70110                           MASK     RADMODES                              #  7 OF RADMODES.  IF THIS WERE NOT DONE,
007528,001197: 06,3047           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
007529,001198: 06,3050           13132                           TCF      NORRGMON                              #  JUST READING LR DATA.
007530,001199: 
007531,001200: 06,3051           34745                           CAF      RCDUFBIT                              #  SET BIT 7 OF RADMODES FOR SETTRKF.

Page 185

007533,001202: 06,3052           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
007534,001203: 06,3053           00006                           EXTEND                                         
007535,001204: 06,3054           06001                           RXOR     L                                     
007536,001205: 06,3055           54110                           TS       RADMODES                              
007537,001206: 
007538,001207: 06,3056           30110                           CA       RADMODES                              #  DID RR CDU FAIL
007539,001208: 06,3057           74745                           MASK     RCDUFBIT                              
007540,001209: 06,3060           10000                           CCS      A                                     
007541,001210: 06,3061           13070                           TCF      TRKFLCDU                              #  NO
007542,001211: 06,3062           40074                           CS       FLAGWRD0                              #  RNDVFLG P20 OR P22 OPERATING
007543,001212: 06,3063           74745                           MASK     RNDVZBIT                              
007544,001213: 06,3064           10000                           CCS      A                                     
007545,001214: 06,3065           13070                           TCF      TRKFLCDU                              #  NO
007546,001215: 06,3066           05567                           TC       ALARM                                 #  YES
007547,001216: 06,3067           00515                           OCT      00515                                 
007548,001217: 06,3070           04564        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
007549,001218: 

Page 186

007551,001220:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
007552,001221: 
007553,001222:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                               TTER IS INITIATED BY THIS MONITOR WHEN
007554,001223:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR.  INITIALLY THE FOLLOWING IS   ED TO DRIVE THE GIMBALS TO T = 0 AND
007555,001224:                                                                                                  #  CHECKED_  REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
007556,001225:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
007557,001226:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX.  IF NONE ARE PRESENT RRLIMCHK
007558,001227:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
007559,001228:                                                                                                  #  THE LIMITS OF THE CURRENT MODE.  IF WITHIN LIMITS, THE PROGRAM EXITS
007560,001229:                                                                                                  #  TO NORRGMON.  IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
007561,001230:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
007562,001231:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
007563,001232:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
007564,001233: 
007565,001234:                                                                                                  #  CALLING SEQUENCE_
007566,001235:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
007567,001236:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
007568,001237:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
007569,001238:                                                                                                  #  (RADMODES BIT 2).
007570,001239: 
007571,001240:                                                                                                  #  ERASABLE INITIALIZATION_  RADMODES
007572,001241: 
007573,001242:                                                                                                  #  SUBROUTINES CALLED_
007574,001243:                                                                                                  #  RRLIMCHK, WAITLIST
007575,001244: 
007576,001245:                                                                                                  #  JOBS OR TASKS INITIATED_
007577,001246:                                                                                                  #  DORREPOS
007578,001247: 
007579,001248:                                                                                                  #  ALARMS_
007580,001249:                                                                                                  #  NONE
007581,001250: 
007582,001251:                                                                                                  #  EXIT_
007583,001252:                                                                                                  #  NORRGMON
007584,001253: 
007585,001254: 06,3071           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
007586,001255: 06,3072           74750                           MASK     NORRMBIT                              
007587,001256: 06,3073           10000                           CCS      A                                     
007588,001257: 06,3074           13132                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
007589,001258: 06,3075           40103                           CS       FLAGWRD7                              #  IS SERVICER RUNNING?
007590,001259: 06,3076           74747                           MASK     AVEGFBIT                              
007591,001260: 06,3077           10000                           CCS      A                                     
007592,001261: 06,3100           13105                           TCF      +5                                    #  NO. DO R25
007593,001262: 06,3101           30102                           CA       FLAGWRD6                              #  YES. IS MUNFLAG SET?
007594,001263: 06,3102           74744                           MASK     MUNFLBIT                              
007595,001264: 06,3103           10000                           CCS      A                                     
007596,001265: 06,3104           13132                           TCF      NORRGMON                              #  YES. DON'T DO R25
007597,001266: 06,3105           33127                 +5        CAF      OCT32002                              #  INHIBIT BY REMODE, ZEROING, MONITOR.
007598,001267: 06,3106           70110                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
007599,001268: 06,3107           10000                           CCS      A                                     
007600,001269: 06,3110           13132                           TCF      NORRGMON                              

Page 187

007602,001271: 06,3111           04523                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
007603,001272: 06,3112           00035                           ADRES    CDUT                                  
007604,001273: 
007605,001274: 06,3113           13115                           TCF      MONREPOS                              
007606,001275: 
007607,001276: 06,3114           13132                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
007608,001277: 
007609,001278: 06,3115           34741        MONREPOS           CAF      REPOSBIT                              #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
007610,001279: 06,3116           26110                           ADS      RADMODES                              
007611,001280: 
007612,001281: 06,3117           43130                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
007613,001282: 06,3120           00006                           EXTEND                                         
007614,001283: 06,3121           03012                           WAND     CHAN12                                
007615,001284: 
007616,001285: 06,3122           34752                           CAF      TWO                                   
007617,001286: 06,3123           05203                           TC       WAITLIST                              
007618,001287: 06,3124  E7,1456                                  EBANK=   LOSCOUNT                              
007619,001288: 06,3124           02127 52107                     2CADR    DORREPOS                              
007620,001289: 
007621,001290: 06,3126           13132                           TCF      NORRGMON                              
007622,001291: 
007623,001292: 06,3127           32002        OCT32002           OCT      32002                                 
007624,001293: 06,3130           20002        OCT20002           OCT      20002                                 
007625,001294: 06,3131           02100        OCT02100           OCT      02100                                 #  P20, P22 MASK BITS
007626,001295: 

Page 188

007628,001297:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
007629,001298: 
007630,001299:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007631,001300: 
007632,001301:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
007633,001302: 
007634,001303:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
007635,001304:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
007636,001305:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
007637,001306: 
007638,001307:                                                                                                  #  CALLING SEQUENCE:  GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
007639,001308:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
007640,001309: 
007641,001310:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
007642,001311: 
007643,001312:                                                                                                  #  NORMAL EXIT MODE:  TCF RESUME
007644,001313: 
007645,001314:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
007646,001315: 
007647,001316:                                                                                                  #  INPUT: CDUX, CDUY, CDUZ.
007648,001317: 
007649,001318:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
007650,001319: 
007651,001320:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
007652,001321: 
007653,001322:                                                                                                  #                *       *       SIN(MG)                 0                       1       *
007654,001323:                                                                                                  #                M   =   *       COS(MG)COS(OG)          SIN(OG)                 0       *
007655,001324:                                                                                                  #                 GP     *       -COS(MG)SIN(OG)         COS(OG)                 0       *
007656,001325: 
007657,001326:                                                                                                  #                *       *       0                       COS(OG)/COS(MG)         -SIN(OG)/COS(MG)        *
007658,001327:                                                                                                  #                M   =   *       0                       SIN(OG)                 COS(OG)                 *
007659,001328:                                                                                                  #                 PG     *       1                       -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG)  *
007660,001329: 
007661,001330: 06,3132  E6,1414                                  EBANK=   M11                                   
007662,001331: 06,3132  06,3132               DAPT4S             EQUALS   GPMATRIX                              
007663,001332: 
007664,001333:                                                                                                  #  T4RUPT DAP LOGIC:
007665,001334: 
007666,001335: 06,3132           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
007667,001336: 06,3133           05033                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
007668,001337: 06,3134           55414                           TS       M11                                   #  SCALED AT 1
007669,001338: 
007670,001339: 06,3135           30034                           CAE      CDUZ                                  
007671,001340: 06,3136           05032                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
007672,001341: 06,3137           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
007673,001342: 
007674,001343: 06,3140           30032                           CAE      CDUX                                  
007675,001344: 06,3141           05033                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
007676,001345: 06,3142           55417                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
007677,001346: 
007678,001347: 06,3143           41417                           CS       M22                                   

Page 189

007680,001349: 06,3144           00006                           EXTEND                                         
007681,001350: 06,3145           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
007682,001351: 06,3146           55416                           TS       M31                                   #  SCALED AT 1
007683,001352: 
007684,001353: 06,3147           30032                           CAE      CDUX                                  
007685,001354: 06,3150           05032                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
007686,001355: 06,3151           55420                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
007687,001356: 
007688,001357: 06,3152           00006                           EXTEND                                         
007689,001358: 06,3153           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
007690,001359: 06,3154           55415                           TS       M21                                   #  SCALED AT 1
007691,001360: 
007692,001361: 06,3155           05270                           TC       RESUME                                
007693,001362: 
007694,001363: 06,3156  06,3132               NORRGMON           EQUALS   DAPT4S                                
007695,001364: 06,3156     5270               ENDDAPT4           EQUALS   RESUME                                

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