Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

006323,000002:                                                                                                  ## Copyright:   Public domain.
006324,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
006325,000004:                                                                                                  ## Purpose:     An interrupt service routine for Luminary 1C, revision 131.
006326,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
006327,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
006328,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
006329,000008:                                                                                                  ##              that the code format has been changed to conform to the
006330,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the 
006331,000010:                                                                                                  ##              original YUL assembler.
006332,000011:                                                                                                  ## Reference:   pp. 157-191
006333,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>. 
006334,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
006335,000014:                                                                                                  ## Mod history: 04/11/03 RSB.   Began transcribing.
006336,000015:                                                                                                  ##              05/05/03 RSB.   Draft finished.
006337,000016:                                                                                                  ##              05/14/05 RSB    Corrected website reference above
006338,000017:                                                                                                  ##              2010-10-25 JL   Indentation fixes. Added missing p190 comment.
006339,000018:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
006340,000019:                                                                                                  ##                              original harcopy, as opposed to the PDF page
006341,000020:                                                                                                  ##                              numbers in 1701.pdf.
006342,000021:                                                                                                  ##              2017-01-26 RSB  Back-ported comment-text fixes found while
006343,000022:                                                                                                  ##                              proofing corresponding Luminary 69 file.        
006344,000023:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
006345,000024:                                                                                                  ##              2017-02-08 RSB  Comment-text fixes identified while proofing Artemis 72.
006346,000025:                                                                                                  ##              2017-02-12 RSB  Proofed comment text using octopus/ProoferComments.
006347,000026:                                                                                                  ##              2017-02-28 RSB  Fixed lingering typos.
006348,000027:                                                                                                  ##              2017-03-03 RSB  Fixed comment-text errors identified while proofing
006349,000028:                                                                                                  ##                              Luminary 116.
006350,000029: 

Page 157

006352,000031: 12,2000                                           BANK     12                                    
006353,000032: 06,2000                                           SETLOC   T4RUP                                 
006354,000033: 06,2000                                           BANK                                           
006355,000034: 
006356,000035: 06,2000  E6,1414                                  EBANK=   M11                                   
006357,000036: 06,2000                                           COUNT*   $$/T4RPT                              
006358,000037: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
006359,000038: 
006360,000039: 06,2001           00006                           EXTEND                                         
006361,000040: 06,2002           22012                           QXCH     QRUPT                                 
006362,000041: 
006363,000042: 06,2003           11310                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
006364,000043: 06,2004           12010                           TCF      NORMT4     +1                         
006365,000044: 06,2005           12007                           TCF      NORMT4                                
006366,000045: 
006367,000046: 06,2006           12134                           TCF      QUIKDSP                               
006368,000047: 
006369,000048: 06,2007           34757        NORMT4             CAF      SEVEN                                 
006370,000049: 06,2010           54070                           TS       RUPTREG1                              
006371,000050: 06,2011           55310                           TS       DSRUPTSW                              
006372,000051: 
006373,000052:    4066                                           BLOCK    02                                    
006374,000053:    4000                                           SETLOC   FFTAG10                               
006375,000054:    4000                                           BANK                                           
006376,000055: 
006377,000056:    4066                                           COUNT*   $$/T4RPT                              
006378,000057:    4066     7732               100MRUPT           =        OCT37766                              #  (DEC 16374)
006379,000058: 
006380,000059:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006381,000060:                                                                                                  #  IN LOWER 5 BITS.
006382,000061:    4066           04025        RELTAB             OCT      04025                                 
006383,000062:    4067           10003                           OCT      10003                                 
006384,000063:    4070           14031                           OCT      14031                                 
006385,000064:    4071           20033                           OCT      20033                                 
006386,000065:    4072           24017                           OCT      24017                                 
006387,000066:    4073           30036                           OCT      30036                                 
006388,000067:    4074           34034                           OCT      34034                                 
006389,000068:    4075           40023                           OCT      40023                                 
006390,000069:    4076           44035                           OCT      44035                                 
006391,000070:    4077           50037                           OCT      50037                                 
006392,000071:    4100           54000                           OCT      54000                                 
006393,000072:    4101           60000        RELTAB11           OCT      60000                                 
006394,000073: 

Page 158

006396,000075:                                                                                                  #  SWITCHED-BANK PORTION.
006397,000076: 
006398,000077: 12,2000                                           BANK     12                                    
006399,000078: 06,2000                                           SETLOC   T4RUP                                 
006400,000079: 06,2000                                           BANK                                           
006401,000080: 
006402,000081: 06,2012                                           COUNT*   $$/T4RPT                              
006403,000082: 06,2012           11035        CDRVE              CCS      DSPTAB     +11D                       
006404,000083: 06,2013           02063                           TC       DSPOUT                                
006405,000084: 06,2014           02063                           TC       DSPOUT                                
006406,000085: 
006407,000086: 06,2015           57035                           XCH      DSPTAB     +11D                       
006408,000087: 06,2016           74356                           MASK     LOW11                                 
006409,000088: 06,2017           55035                           TS       DSPTAB     +11D                       
006410,000089: 06,2020           64101                           AD       RELTAB11                              
006411,000090: 06,2021           00006                           EXTEND                                         
006412,000091: 06,2022           01010                           WRITE    OUT0                                  
006413,000092: 06,2023           02071                           TC       HANG20                                
006414,000093: 

Page 159

006416,000095:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006417,000096: 
006418,000097: 06,2024           55015        DSPOUTSB           TS       NOUT                                  
006419,000098: 06,2025           44755                           CS       ZERO                                  
006420,000099: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
006421,000100: 06,2027           56775                           XCH      DSPCNT                                
006422,000101: 06,2030           64754                           AD       NEG0                                  #  TO PREVENT +0
006423,000102: 06,2031           54775                           TS       DSPCNT                                
006424,000103: 06,2032           50775        DSPSCAN            INDEX    DSPCNT                                
006425,000104: 06,2033           11022                           CCS      DSPTAB                                
006426,000105: 06,2034           10775                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
006427,000106: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
006428,000107: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
006429,000108: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
006430,000109: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
006431,000110: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0).  +0 INTO NOUT.
006432,000111: 06,2042           55015                           TS       NOUT                                  
006433,000112: 06,2043           00002                           TC       Q                                     
006434,000113: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
006435,000114: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
006436,000115: 06,2046           12031                           TCF      DSPSCAN    -1                         
006437,000116: 
006438,000117: 06,2047           64753        DSPLAY             AD       ONE                                   
006439,000118: 06,2050           50775                           INDEX    DSPCNT                                
006440,000119: 06,2051           55022                           TS       DSPTAB                                #  REPLACE POSITIVELY
006441,000120: 06,2052           74356                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
006442,000121: 06,2053           54073                           TS       DSRUPTEM                              
006443,000122: 06,2054           34350                           CAF      HI5                                   
006444,000123: 06,2055           50775                           INDEX    DSPCNT                                
006445,000124: 06,2056           74066                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006446,000125: 06,2057           60073                           AD       DSRUPTEM                              
006447,000126: 06,2060           00006                           EXTEND                                         
006448,000127: 06,2061           01010                           WRITE    OUT0                                  
006449,000128: 
006450,000129: 06,2062           16742                           TCF      Q+1                                   
006451,000130: 
006452,000131: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
006453,000132: 06,2064           34755                           CAF      ZERO                                  #  NO
006454,000133: 06,2065           12130                           TCF      NODSPOUT                              #  NO
006455,000134: 06,2066           11015                           CCS      NOUT                                  #  YES
006456,000135: 06,2067           02024                           TC       DSPOUTSB                              
006457,000136: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
006458,000137: 
006459,000138: 06,2071           42171        HANG20             CS       14,11,9                               
006460,000139: 06,2072           27310                           ADS      DSRUPTSW                              
006461,000140: 
006462,000141: 06,2073           37734                           CAF      20MRUPT                               
006463,000142: 
006464,000143: 06,2074           54027        SETTIME4           TS       TIME4                                 
006465,000144: 

Page 160

006467,000146:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
006468,000147:                                                                                                  #  THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
006469,000148:                                                                                                  #        IF PREV ON AND NOW ON   - BYPASS
006470,000149:                                                                                                  #        IF PREV ON AND NOW OFF  - UPDATE IMODES33
006471,000150:                                                                                                  #        IF PREV OFF AND NOW ON  - UPDATE IMODES33 AND PROCESS VIA PINBALL
006472,000151:                                                                                                  #        IF PREV OFF AND NOW OFF - BYPASS
006473,000152:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
006474,000153: 
006475,000154: 06,2075           31300        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
006476,000155: 06,2076           00006                           EXTEND                                         
006477,000156: 06,2077           06032                           RXOR     CHAN32                                
006478,000157: 06,2100           74736                           MASK     BIT14                                 
006479,000158: 06,2101           00006                           EXTEND                                         
006480,000159: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
006481,000160: 
006482,000161: 06,2103           23300                           LXCH     IMODES33                              
006483,000162: 06,2104           00006                           EXTEND                                         
006484,000163: 06,2105           06001                           RXOR     LCHAN                                 
006485,000164: 06,2106           55300                           TS       IMODES33                              #  UPDATE IMODES33
006486,000165: 06,2107           74736                           MASK     BIT14                                 
006487,000166: 06,2110           10000                           CCS      A                                     
006488,000167: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
006489,000168: 
006490,000169: 06,2112           34355                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
006491,000170: 06,2113           05072                           TC       NOVAC                                 
006492,000171: 06,2114     0776                                  EBANK=   DSPCOUNT                              
006493,000172: 06,2114           03506 60101                     2CADR    PROCKEY                               
006494,000173: 

Page 161

006496,000175:                                                                                                  #  JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
006497,000176: 
006498,000177: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
006499,000178: 06,2117           12120                           TCF      +1                                    
006500,000179: 
006501,000180: 06,2120           03164                           TC       RCSMONIT                              
006502,000181: 06,2121           13006                           TCF      RRAUTCHK                              
006503,000182: 06,2122           12172                           TCF      IMUMON                                
006504,000183: 06,2123           13140                           TCF      DAPT4S                                
006505,000184: 06,2124           03164                           TC       RCSMONIT                              
006506,000185: 06,2125           13006                           TCF      RRAUTCHK                              
006507,000186: 06,2126           12172                           TCF      IMUMON                                
006508,000187: 06,2127           13140                           TCF      DAPT4S                                
006509,000188: 
006510,000189: 06,2130     7734               20MRUPT            =        OCT37776                              #  (DEC 16382)
006511,000190: 

Page 162

006513,000192:                                                                                                  #  ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
006514,000193: 
006515,000194: 06,2130           00006        NODSPOUT           EXTEND                                         
006516,000195: 06,2131           01010                           WRITE    OUT0                                  
006517,000196: 
006518,000197: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
006519,000198: 06,2133           12074                           TCF      SETTIME4                              
006520,000199: 
006521,000200: 06,2134           34736        QUIKDSP            CAF      BIT14                                 
006522,000201: 06,2135           71310                           MASK     DSRUPTSW                              
006523,000202: 06,2136           00006                           EXTEND                                         
006524,000203: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
006525,000204: 
006526,000205: 06,2140           11015                           CCS      NOUT                                  
006527,000206: 06,2141           02024                           TC       DSPOUTSB                              
006528,000207: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
006529,000208: 06,2143           44736                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
006530,000209: 06,2144           27310        QUIKRUPT           ADS      DSRUPTSW                              
006531,000210: 
006532,000211: 06,2145           37734                           CAF      20MRUPT                               
006533,000212: 06,2146           54027                           TS       TIME4                                 
006534,000213: 
006535,000214: 06,2147           34743                           CAF      BIT9                                  
006536,000215: 06,2150           27310                           ADS      DSRUPTSW                              
006537,000216: 
006538,000217: 06,2151           05270                           TC       RESUME                                
006539,000218: 
006540,000219: 06,2152           00006        NODSPY             EXTEND                                         
006541,000220: 06,2153           01010                           WRITE    OUT0                                  
006542,000221: 
006543,000222: 06,2154           37734        SYNCT4             CAF      20MRUPT                               
006544,000223: 06,2155           26027                           ADS      TIME4                                 
006545,000224: 
006546,000225: 06,2156           34743                           CAF      BIT9                                  
006547,000226: 06,2157           27310                           ADS      DSRUPTSW                              
006548,000227: 
006549,000228: 06,2160           11310                           CCS      DSRUPTSW                              
006550,000229: 06,2161           05270                           TC       RESUME                                
006551,000230: 06,2162           37737        OCT37737           OCT      37737                                 
006552,000231: 06,2163           02154                           TC       SYNCT4                                
006553,000232: 06,2164           05270                           TC       RESUME                                
006554,000233: 
006555,000234: 06,2165           00006        QUIKOFF            EXTEND                                         
006556,000235: 06,2166           01010                           WRITE    OUT0                                  
006557,000236: 06,2167           34736                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
006558,000237: 06,2170           12144                           TCF      QUIKRUPT                              
006559,000238: 
006560,000239: 06,2171           22400        14,11,9            OCT      22400                                 
006561,000240: 

Page 163

006563,000242:                                                                                                  #  PROGRAM NAME:  IMUMON
006564,000243: 
006565,000244:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
006566,000245:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
006567,000246: 
006568,000247:                                                                                                  #        FUNCTION                BIT     SUBROUTINE CALLED
006569,000248:                                                                                                  #        --------                ---     -----------------
006570,000249:                                                                                                  #        TEMP IN LIMITS           15     TLIM
006571,000250:                                                                                                  #        ISS TURN-ON REQUEST      14     ITURNON
006572,000251:                                                                                                  #        IMU FAIL                 13     IMUFAIL (SETISSW)
006573,000252:                                                                                                  #        IMU CDU FAIL             12     ICDUFAIL (SETISSW)
006574,000253:                                                                                                  #        IMU CAGE                 11     IMUCAGE
006575,000254:                                                                                                  #        IMU OPERATE               9     IMUOP
006576,000255: 
006577,000256:                                                                                                  #  THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
006578,000257:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
006579,000258: 
006580,000259:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
006581,000260: 
006582,000261:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006583,000262: 
006584,000263:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
006585,000264: 
006586,000265:                                                                                                  #  ERASABLE INITIALIZATION:
006587,000266:                                                                                                  #        FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(IMODES30) = OCT 37411.
006588,000267:                                                                                                  #        RESTART WITH ACTIVE GROUPS:     C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
006589,000268:                                                                                                  #                                        THIS LEAVES IMU FAIL BITS INTACT.
006590,000269: 
006591,000270:                                                                                                  #  ALARMS:  NONE.
006592,000271: 
006593,000272:                                                                                                  #  EXIT:  TNONTEST.
006594,000273: 
006595,000274:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
006596,000275: 
006597,000276: 06,2172           31277        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
006598,000277: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
006599,000278: 06,2174           06030                           RXOR     CHAN30                                
006600,000279: 06,2175           72761                           MASK     30RDMSK                               
006601,000280: 06,2176           00006                           EXTEND                                         
006602,000281: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
006603,000282: 
006604,000283: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
006605,000284: 06,2201           23277                           LXCH     IMODES30                              #  UPDATE IMODES30.
006606,000285: 06,2202           00006                           EXTEND                                         
006607,000286: 06,2203           06001                           RXOR     LCHAN                                 
006608,000287: 06,2204           55277                           TS       IMODES30                              
006609,000288: 
006610,000289: 06,2205           44753                           CS       ONE                                   
006611,000290: 06,2206           56070                           XCH      RUPTREG1                              
006612,000291: 06,2207           00006                           EXTEND                                         

Page 164

006614,000293: 06,2210           62514                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
006615,000294: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
006616,000295: 
006617,000296: 06,2212           64753                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
006618,000297: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
006619,000298: 06,2214           60000                 +1        DOUBLE                                         
006620,000299: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
006621,000300: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
006622,000301: 
006623,000302: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
006624,000303: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
006625,000304: 06,2221           34736                           CAF      BIT14                                 
006626,000305: 06,2222           71277                           MASK     IMODES30                              
006627,000306: 06,2223           50070                           INDEX    RUPTREG1                              
006628,000307: 06,2224           02755                           TC       IFAILJMP                              
006629,000308: 
006630,000309: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
006631,000310: 06,2226           12212                           TCF      NXTIFBIT   -1                         
006632,000311: 

Page 165

006634,000313:                                                                                                  #  PROGRAM NAME:  TNONTEST.
006635,000314: 
006636,000315:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
006637,000316:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
006638,000317:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
006639,000318: 
006640,000319:                                                                                                  #        1) ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
006641,000320:                                                                                                  #        BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
006642,000321:                                                                                                  #        SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
006643,000322: 
006644,000323:                                                                                                  #        2) ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
006645,000324:                                                                                                  #        A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
006646,000325:                                                                                                  #        ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
006647,000326:                                                                                                  #        A RESTART, THE ICDU'S WILL NOT BE ZEROED.
006648,000327: 
006649,000328:                                                                                                  #        3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
006650,000329:                                                                                                  #        IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
006651,000330: 
006652,000331:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
006653,000332:                                                                                                  #  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
006654,000333:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
006655,000334:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
006656,000335:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
006657,000336:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
006658,000337:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
006659,000338:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
006660,000339:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
006661,000340: 
006662,000341:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
006663,000342:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
006664,000343: 
006665,000344:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
006666,000345: 
006667,000346:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
006668,000347:                                                                                                  #        3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
006669,000348:                                                                                                  #        STARTED.
006670,000349: 
006671,000350:                                                                                                  #  SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
006672,000351: 
006673,000352:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
006674,000353: 
006675,000354:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
006676,000355: 
006677,000356:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
006678,000357:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
006679,000358:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
006680,000359: 
006681,000360:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
006682,000361: 
006683,000362: 06,2227           41277        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT

Page 166

006685,000364: 06,2230           74745                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
006686,000365: 06,2231           10000                           CCS      A                                     
006687,000366: 06,2232           12374                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
006688,000367: 
006689,000368: 06,2233           34744                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
006690,000369: 06,2234           71277                           MASK     IMODES30                              
006691,000370: 06,2235           10000                           CCS      A                                     
006692,000371: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
006693,000372: 
006694,000373: 06,2237           34744                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
006695,000374: 06,2240           27277                           ADS      IMODES30                              #  TIME.
006696,000375: 06,2241           12374                           TCF      C33TEST                               
006697,000376: 
006698,000377:                                                                                                  #  PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006699,000378: 
006700,000379: 06,2242           42777        PROCTNON           CS       BITS7&8                               
006701,000380: 06,2243           71277                           MASK     IMODES30                              
006702,000381: 06,2244           55277                           TS       IMODES30                              
006703,000382: 06,2245           74736                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
006704,000383: 06,2246           10000                           CCS      A                                     
006705,000384: 06,2247           12347                           TCF      OPONLY                                #  OPERATE ON ONLY.
006706,000385: 
006707,000386: 06,2250           41277                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
006708,000387: 06,2251           74743                           MASK     BIT9                                  #  OPERATE.
006709,000388: 06,2252           10000                           CCS      A                                     
006710,000389: 06,2253           12256                           TCF      +3                                    
006711,000390: 
006712,000391: 06,2254           05567                           TC       ALARM                                 #  ALARM IF NOT.
006713,000392: 06,2255           00213                           OCT      213                                   
006714,000393: 
006715,000394: 06,2256           02735                 +3        TC       CAGESUB                               
006716,000395: 06,2257           33005                           CAF      90SECS                                
006717,000396: 06,2260           05203                           TC       WAITLIST                              
006718,000397: 06,2261  E6,1414                                  EBANK=   M11                                   
006719,000398: 06,2261           02266 14106                     2CADR    ENDTNON                               
006720,000399: 
006721,000400: 06,2263           12374                           TCF      C33TEST                               
006722,000401: 
006723,000402: 06,2264           33005        RETNON             CAF      90SECS                                
006724,000403: 06,2265           05224                           TC       VARDELAY                              
006725,000404: 
006726,000405: 06,2266           44752        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
006727,000406: 06,2267           71277                           MASK     IMODES30                              
006728,000407: 06,2270           57277                           XCH      IMODES30                              
006729,000408: 06,2271           74752                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006730,000409: 06,2272           00006                           EXTEND                                         
006731,000410: 06,2273           12306                           BZF      ENDTNON2                              
006732,000411: 
006733,000412: 06,2274           34736                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW

Page 167

006735,000414: 06,2275           71277                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006736,000415: 06,2276           00006                           EXTEND                                         
006737,000416: 06,2277           12264                           BZF      RETNON                                
006738,000417: 
006739,000418: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
006740,000419: 06,2301           74744                           MASK     IMUSEBIT                              #  WAITING.
006741,000420: 06,2302           10000                           CCS      A                                     
006742,000421: 06,2303           15261                           TCF      TASKOVER                              
006743,000422: 06,2304           04635                           TC       POSTJUMP                              
006744,000423: 06,2305           17630                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
006745,000424: 
006746,000425: 06,2306           34735        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
006747,000426: 06,2307           00006                           EXTEND                                         
006748,000427: 06,2310           05012                           WOR      CHAN12                                
006749,000428: 
006750,000429: 06,2311           04674                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
006751,000430: 06,2312           17257                           CADR     NOATTOFF                              
006752,000431: 
006753,000432: 06,2313           05457        UNZ2               TC       ZEROICDU                              
006754,000433: 
006755,000434: 06,2314           44763                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
006756,000435: 06,2315           00006                           EXTEND                                         
006757,000436: 06,2316           03012                           WAND     CHAN12                                
006758,000437: 
006759,000438: 06,2317           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
006760,000439: 06,2320           05224                           TC       VARDELAY                              
006761,000440: 
006762,000441: 06,2321           42774        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
006763,000442: 06,2322           71277                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
006764,000443: 06,2323           55277                           TS       IMODES30                              
006765,000444: 
006766,000445: 06,2324           44746                           CS       BIT6                                  #  ENABLE DAP
006767,000446: 
006768,000447: 06,2325           71300                           MASK     IMODES33                              
006769,000448: 06,2326           55300                           TS       IMODES33                              
006770,000449: 
006771,000450: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
006772,000451: 06,2330           74735                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP (RESTART
006773,000452: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
006774,000453: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
006775,000454: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
006776,000455: 06,2334           30025                           CA       TIME1                                 
006777,000456: 06,2335           57074                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
006778,000457: 
006779,000458: 06,2336           02703                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
006780,000459: 
006781,000460: 06,2337           44735                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
006782,000461: 06,2340           00006                           EXTEND                                         
006783,000462: 06,2341           03012                           WAND     CHAN12                                
006784,000463: 
006785,000464: 06,2342           35003                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR

Page 168

006787,000466: 06,2343           05203                           TC       WAITLIST                              #  ANOTHER 4 SECS.
006788,000467: 06,2344  E3,1474                                  EBANK=   CDUIND                                
006789,000468: 06,2344           03245 16103                     2CADR    PFAILOK                               
006790,000469: 
006791,000470: 06,2346           15261                           TCF      TASKOVER                              
006792,000471: 
006793,000472: 06,2347           34750        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
006794,000473: 06,2350           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
006795,000474: 06,2351           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
006796,000475: 06,2352           10000                           CCS      A                                     
006797,000476: 06,2353           12374                           TCF      C33TEST                               
006798,000477: 
006799,000478: 06,2354           34744                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
006800,000479: 06,2355           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
006801,000480: 06,2356           10000                           CCS      A                                     
006802,000481: 06,2357           12374                           TCF      C33TEST                               
006803,000482: 
006804,000483: 06,2360           02746                           TC       CAGESUB2                              #  SET TURNON FLAGS.
006805,000484: 
006806,000485: 06,2361           04674        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
006807,000486: 06,2362           17257                           CADR     NOATTOFF                              #  IMU CAGE OFF ENTRY
006808,000487: 
006809,000488: 06,2363           34747                           CAF      BIT5                                  #  ISS CDU ZERO
006810,000489: 06,2364           00006                           EXTEND                                         
006811,000490: 06,2365           05012                           WOR      CHAN12                                
006812,000491: 
006813,000492: 06,2366           05457                           TC       ZEROICDU                              
006814,000493: 06,2367           34746                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
006815,000494: 06,2370           05203                           TC       WAITLIST                              
006816,000495: 06,2371  E6,1414                                  EBANK=   M11                                   
006817,000496: 06,2371           02313 14106                     2CADR    UNZ2                                  
006818,000497: 
006819,000498: 06,2373           12374                           TCF      C33TEST                               
006820,000499: 

Page 169

006822,000501:                                                                                                  #  PROGRAM NAME:  C33TEST
006823,000502: 
006824,000503:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
006825,000504:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
006826,000505:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
006827,000506:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
006828,000507:                                                                                                  #        BIT     FUNCTION                SUBROUTINE
006829,000508:                                                                                                  #        ---     --------                ----------
006830,000509:                                                                                                  #         13     PIPA FAIL               PIPFAIL
006831,000510:                                                                                                  #         12     DOWNLINK TOO FAST       DNTMFAST
006832,000511:                                                                                                  #         11     UPLINK TOO FAST         UPTMFAST
006833,000512: 
006834,000513:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
006835,000514: 
006836,000515:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
006837,000516: 
006838,000517:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006839,000518: 
006840,000519:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
006841,000520: 
006842,000521:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
006843,000522:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
006844,000523: 
006845,000524:                                                                                                  #  ALARMS:  NONE.
006846,000525: 
006847,000526:                                                                                                  #  EXIT:  GLOCKMON.
006848,000527: 
006849,000528:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
006850,000529: 
006851,000530: 06,2374           31300        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
006852,000531: 06,2375           75026                           MASK     33RDMSK                               
006853,000532: 06,2376           54001                           TS       L                                     #  CHANGED.
006854,000533: 06,2377           35026                           CAF      33RDMSK                               
006855,000534: 06,2400           00006                           EXTEND                                         
006856,000535: 06,2401           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
006857,000536: 06,2402           00006                           EXTEND                                         
006858,000537: 06,2403           06001                           RXOR     LCHAN                                 
006859,000538: 06,2404           00006                           EXTEND                                         
006860,000539: 06,2405           12434                           BZF      GLOCKMON                              #  ON NO CHANGE.
006861,000540: 
006862,000541: 06,2406           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
006863,000542: 06,2407           23300                           LXCH     IMODES33                              
006864,000543: 06,2410           00006                           EXTEND                                         
006865,000544: 06,2411           06001                           RXOR     LCHAN                                 
006866,000545: 06,2412           55300                           TS       IMODES33                              #  UPDATED IMODES33.
006867,000546: 
006868,000547: 06,2413           34755                           CAF      ZERO                                  
006869,000548: 06,2414           56070                           XCH      RUPTREG1                              
006870,000549: 06,2415           60000                           DOUBLE                                         

Page 170

006872,000551: 06,2416           12421                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
006873,000552: 
006874,000553: 06,2417           64753                 -1        AD       ONE                                   
006875,000554: 06,2420           24070        NXTIBT             INCR     RUPTREG1                              
006876,000555: 06,2421           60000                 +1        DOUBLE                                         
006877,000556: 06,2422           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
006878,000557: 06,2423           12420                           TCF      NXTIBT                                
006879,000558: 
006880,000559: 06,2424           56071                           XCH      RUPTREG2                              
006881,000560: 06,2425           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
006882,000561: 06,2426           34737                           CAF      BIT13                                 
006883,000562: 06,2427           71300                           MASK     IMODES33                              
006884,000563: 06,2430           50070                           INDEX    RUPTREG1                              
006885,000564: 06,2431           02763                           TC       C33JMP                                
006886,000565: 06,2432           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
006887,000566: 06,2433           12417                           TCF      NXTIBT     -1                         
006888,000567: 

Page 171

006890,000569:                                                                                                  #  PROGRAM NAME:  GLOCKMON
006891,000570: 
006892,000571:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006893,000572:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006894,000573: 
006895,000574:                                                                                                  #        1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
006896,000575:                                                                                                  #        2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
006897,000576:                                                                                                  #        3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006898,000577: 
006899,000578:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
006900,000579: 
006901,000580:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006902,000581: 
006903,000582:                                                                                                  #  SUBROUTINES CALLED:   1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006904,000583:                                                                                                  #                        2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006905,000584: 
006906,000585:                                                                                                  #  ERASABLE INITIALIZATION:
006907,000586:                                                                                                  #                1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
006908,000587:                                                                                                  #                2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006909,000588:                                                                                                  #                                                PROCEEDS AS BEFORE.
006910,000589: 
006911,000590:                                                                                                  #  ALARMS:       1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006912,000591:                                                                                                  #                2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006913,000592:                                                                                                  #                   SO ALREADY.
006914,000593: 
006915,000594: 06,2434           10034        GLOCKMON           CCS      CDUZ                                  
006916,000595: 06,2435           12441                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
006917,000596: 06,2436           12465                           TCF      SETGLOCK                              #  70 DEGREES.
006918,000597: 06,2437           12441                           TCF      GLOCKCHK                              
006919,000598: 06,2440           12465                           TCF      SETGLOCK                              
006920,000599: 
006921,000600: 06,2441           62512        GLOCKCHK           AD       -70DEGS                               
006922,000601: 06,2442           00006                           EXTEND                                         
006923,000602: 06,2443           62464                           BZMF     SETGLOCK   -1                         #  NO LOCK.
006924,000603: 
006925,000604: 06,2444           62513                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
006926,000605: 06,2445           00006                           EXTEND                                         
006927,000606: 06,2446           62462                           BZMF     NOGIMRUN                              
006928,000607: 
006929,000608: 06,2447           34750                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006930,000609: 06,2450           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
006931,000610: 06,2451           02012                           RAND     CHAN12                                
006932,000611: 06,2452           10000                           CCS      A                                     
006933,000612: 06,2453           12462                           TCF      NOGIMRUN                              
006934,000613: 
006935,000614: 06,2454           04674                           TC       IBNKCALL                              
006936,000615: 06,2455           17135                           CADR     SETCOARS                              
006937,000616: 
006938,000617: 06,2456           36245                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
006939,000618: 06,2457           05203                           TC       WAITLIST                              

Page 172

006941,000620: 06,2460  E3,1474                                  EBANK=   CDUIND                                
006942,000621: 06,2460           03131 16103                     2CADR    CA+ECE                                
006943,000622: 
006944,000623: 06,2462           34746        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
006945,000624: 06,2463           12465                           TCF      SETGLOCK                              
006946,000625: 
006947,000626: 06,2464           34755                 -1        CAF      ZERO                                  
006948,000627: 06,2465           61035        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006949,000628: 06,2466           74746                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
006950,000629: 06,2467           00006                           EXTEND                                         #  THE TWO.
006951,000630: 06,2470           15270                           BZF      GLOCKOK                               #  OK AS IS.
006952,000631: 
006953,000632: 06,2471           71035                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
006954,000633: 06,2472           10000                           CCS      A                                     
006955,000634: 06,2473           12507                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006956,000635: 
006957,000636: 06,2474           34746                           CAF      BIT6                                  
006958,000637: 06,2475           71277                           MASK     IMODES30                              
006959,000638: 06,2476           10000                           CCS      A                                     
006960,000639: 06,2477           15270                           TCF      GLOCKOK                               
006961,000640: 
006962,000641: 06,2500           41035        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
006963,000642: 06,2501           74746                           MASK     BIT6                                  
006964,000643: 06,2502           64735                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
006965,000644: 06,2503           57035                           XCH      DSPTAB     +11D                       
006966,000645: 06,2504           72162                           MASK     OCT37737                              
006967,000646: 06,2505           27035                           ADS      DSPTAB     +11D                       
006968,000647: 06,2506           15270                           TCF      GLOCKOK                               
006969,000648: 
006970,000649: 06,2507           02766        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006971,000650: 06,2510           15270                           TCF      GLOCKOK                               
006972,000651: 06,2511           12500                           TCF      GLINVERT                              
006973,000652: 
006974,000653: 06,2512           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006975,000654: 06,2513           75252        -15DEGS            DEC      -.08333                               
006976,000655: 

Page 173

006978,000657:                                                                                                  #  PROGRAM NAME:  TLIM.
006979,000658: 
006980,000659:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006981,000660:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006982,000661:                                                                                                  #  IS IN PROGRESS.
006983,000662: 
006984,000663:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
006985,000664: 
006986,000665:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006987,000666: 
006988,000667:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
006989,000668: 
006990,000669:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
006991,000670: 
006992,000671:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
006993,000672: 
006994,000673:                                                                                                  #  EXIT:  NXTIFAIL.
006995,000674: 
006996,000675:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                  IN A, EXCEPT FOR TLIM.
006997,000676: 
006998,000677: 06,2514           74733        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
006999,000678: 06,2515           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
007000,000679: 
007001,000680: 06,2516           11277                           CCS      IMODES30                              
007002,000681: 06,2517           12525                           TCF      TEMPOK                                
007003,000682: 06,2520           12525                           TCF      TEMPOK                                
007004,000683: 
007005,000684: 06,2521           34750                           CAF      BIT4                                  #  TURN ON LAMP.
007006,000685: 06,2522           00006                           EXTEND                                         
007007,000686: 06,2523           05011                           WOR      DSALMOUT                              
007008,000687: 06,2524           12225                           TCF      NXTIFAIL                              
007009,000688: 
007010,000689: 06,2525           02766        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
007011,000690: 06,2526           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
007012,000691: 
007013,000692: 06,2527           44750                           CS       BIT4                                  
007014,000693: 06,2530           00006                           EXTEND                                         
007015,000694: 06,2531           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
007016,000695: 06,2532           12225                           TCF      NXTIFAIL                              
007017,000696: 

Page 174

007019,000698:                                                                                                  #  PROGRAM NAME:  ITURNON.
007020,000699: 
007021,000700:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007022,000701:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007023,000702:                                                                                                  #  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
007024,000703:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007025,000704:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007026,000705:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007027,000706: 
007028,000707:                                                                                                  #  THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007029,000708:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007030,000709:                                                                                                  #  ENDS.
007031,000710: 
007032,000711:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007033,000712: 
007034,000713:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007035,000714: 
007036,000715:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007037,000716: 
007038,000717:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007039,000718:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
007040,000719: 
007041,000720:                                                                                                  #  ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007042,000721: 
007043,000722:                                                                                                  #  EXIT:  NXTIFAIL.
007044,000723: 
007045,000724:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007046,000725:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
007047,000726: 
007048,000727: 06,2533           34752        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
007049,000728: 06,2534           71277                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
007050,000729: 06,2535           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007051,000730: 06,2536           12225                           TCF      NXTIFAIL                              
007052,000731: 
007053,000732: 06,2537           34736                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
007054,000733: 06,2540           71277                           MASK     IMODES30                              
007055,000734: 06,2541           00006                           EXTEND                                         
007056,000735: 06,2542           12556                           BZF      ITURNON2                              #  IF JUST ON.
007057,000736: 
007058,000737: 06,2543           34735                           CAF      BIT15                                 
007059,000738: 06,2544           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
007060,000739: 06,2545           02012                           RAND     CHAN12                                #  SENT.  IF SO, ACTION COMPLETE
007061,000740: 06,2546           00006                           EXTEND                                         
007062,000741: 06,2547           12551                           BZF      +2                                    
007063,000742: 06,2550           12225                           TCF      NXTIFAIL                              
007064,000743: 
007065,000744: 06,2551           34752                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
007066,000745: 06,2552           27277                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
007067,000746: 06,2553           05567                           TC       ALARM                                 
007068,000747: 06,2554           00207                           OCT      207                                   
007069,000748: 06,2555           12225                           TCF      NXTIFAIL                              
007070,000749: 

Page 175

007072,000751: 06,2556           41277        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007073,000752: 06,2557           74745                           MASK     BIT7                                  
007074,000753: 06,2560           27277                           ADS      IMODES30                              
007075,000754: 06,2561           32564                           CAF      RRINIT                                
007076,000755: 06,2562           54110                           TS       RADMODES                              
007077,000756: 06,2563           12225                           TCF      NXTIFAIL                              
007078,000757: 
007079,000758: 06,2564           00102        RRINIT             OCT      00102                                 
007080,000759: 

Page 176

007082,000761:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
007083,000762: 
007084,000763:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
007085,000764:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007086,000765:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007087,000766:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
007088,000767:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
007089,000768: 
007090,000769:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
007091,000770: 
007092,000771:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007093,000772: 
007094,000773:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
007095,000774: 
007096,000775:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007097,000776: 
007098,000777:                                                                                                  #  ALARMS: NONE.
007099,000778: 
007100,000779:                                                                                                  #  EXIT:  NXTIFAIL.
007101,000780: 
007102,000781:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007103,000782: 
007104,000783: 06,2565           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
007105,000784: 06,2566           12361                           TCF      ISSZERO                               
007106,000785: 06,2567           43002                           CS       OCT77000                              #  TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
007107,000786: 06,2570           00006                           EXTEND                                         
007108,000787: 06,2571           03014                           WAND     CHAN14                                
007109,000788: 
007110,000789: 06,2572           42776                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007111,000790: 06,2573           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007112,000791: 06,2574           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007113,000792: 
007114,000793: 06,2575           44745                           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
007115,000794: 06,2576           70101                           MASK     FLAGWRD5                              
007116,000795: 06,2577           54101                           TS       FLAGWRD5                              
007117,000796: 06,2600           44355                           CS       PRIO30                                #  TURN ENGINE OFF.
007118,000797: 06,2601           00006                           EXTEND                                         
007119,000798: 06,2602           02011                           RAND     DSALMOUT                              
007120,000799: 06,2603           64736                           AD       BIT14                                 
007121,000800: 06,2604           00006                           EXTEND                                         
007122,000801: 06,2605           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
007123,000802: 
007124,000803: 06,2606           02743                           TC       CAGESUB1                              
007125,000804: 
007126,000805: 06,2607           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007127,000806: 06,2610           17166                           CADR     RNDREFDR                              
007128,000807: 
007129,000808: 06,2611           44755                           CS       ZERO                                  
007130,000809: 06,2612           54050                           TS       CDUXCMD                               
007131,000810: 06,2613           54051                           TS       CDUYCMD                               

Page 177

007133,000812: 06,2614           54052                           TS       CDUZCMD                               
007134,000813: 06,2615           54047                           TS       GYROCMD                               
007135,000814: 
007136,000815: 06,2616           43001                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
007137,000816: 06,2617           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
007138,000817: 06,2620           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
007139,000818: 06,2621           12225                           TCF      NXTIFAIL                              
007140,000819: 

Page 178

007142,000821:                                                                                                  #  PROGRAM NAME:  IMUOP.
007143,000822: 
007144,000823:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007145,000824:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007146,000825:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007147,000826:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007148,000827:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
007149,000828: 
007150,000829:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007151,000830: 
007152,000831:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007153,000832:                                                                                                  #  
007154,000833:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007155,000834: 
007156,000835:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007157,000836:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007158,000837: 
007159,000838:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007160,000839: 
007161,000840:                                                                                                  #  EXIT:  NXTIFAIL.
007162,000841: 
007163,000842:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007164,000843: 
007165,000844: 06,2622           00006        IMUOP              EXTEND                                         
007166,000845: 06,2623           12643                           BZF      IMUOP2                                
007167,000846: 
007168,000847: 06,2624           41300                           CS       IMODES33                              #  DISABLE DAP
007169,000848: 06,2625           74746                           MASK     BIT6                                  
007170,000849: 06,2626           27300                           ADS      IMODES33                              
007171,000850: 
007172,000851: 06,2627           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007173,000852: 06,2630           17166                           CADR     RNDREFDR                              
007174,000853: 
007175,000854: 06,2631           42777                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007176,000855: 06,2632           70074                           MASK     FLAGWRD0                              
007177,000856: 06,2633           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
007178,000857: 06,2634           40000                           COM                                            
007179,000858: 06,2635           74744                           MASK     IMUSEFLG                              
007180,000859: 06,2636           10000                           CCS      A                                     
007181,000860: 06,2637           12225                           TCF      NXTIFAIL                              
007182,000861: 
007183,000862: 06,2640           05567                           TC       ALARM                                 
007184,000863: 06,2641           00214                           OCT      214                                   
007185,000864: 06,2642           12225                           TCF      NXTIFAIL                              
007186,000865: 
007187,000866: 06,2643           34752        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007188,000867: 06,2644           71277                           MASK     IMODES30                              
007189,000868: 06,2645           10000                           CCS      A                                     
007190,000869: 06,2646           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
007191,000870: 06,2647           12556                           TCF      ITURNON2                              #  SECONDS EXPIRES.
007192,000871: 

Page 179

007194,000873:                                                                                                  #  PROGRAM NAME:  PIPFAIL
007195,000874: 
007196,000875:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
007197,000876:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT, I.E., IMODES30
007198,000877:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
007199,000878: 
007200,000879:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007201,000880: 
007202,000881:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007203,000882: 
007204,000883:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
007205,000884: 
007206,000885:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
007207,000886: 
007208,000887:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007209,000888:                                                                                                  #  BEING INITIALIZED.
007210,000889: 
007211,000890:                                                                                                  #  EXIT:  NXTFL33.
007212,000891: 
007213,000892:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007214,000893: 
007215,000894: 06,2650           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
007216,000895: 06,2651           34742                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
007217,000896: 06,2652           57277                           XCH      IMODES30                              
007218,000897: 06,2653           73004                           MASK     -BIT10                                
007219,000898: 06,2654           27277                           ADS      IMODES30                              
007220,000899: 
007221,000900: 06,2655           02703                           TC       SETISSW                               
007222,000901: 
007223,000902: 06,2656           41277                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
007224,000903: 06,2657           74753                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
007225,000904: 06,2660           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
007226,000905: 06,2661           12432                           TCF      NXTFL33                               
007227,000906: 
007228,000907: 06,2662           31277                           CA       IMODES30                              
007229,000908: 06,2663           73000                           MASK     OCT1720                               
007230,000909: 06,2664           10000                           CCS      A                                     
007231,000910: 06,2665           12432                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
007232,000911: 
007233,000912: 06,2666           05567                           TC       ALARM                                 
007234,000913: 06,2667           00212                           OCT      212                                   
007235,000914: 06,2670           12432                           TCF      NXTFL33                               
007236,000915: 

Page 180

007238,000917:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
007239,000918: 
007240,000919:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
007241,000920:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
007242,000921: 
007243,000922:                                                                                                  #        BIT     ALARM   CAUSE
007244,000923:                                                                                                  #        ---     -----   -----
007245,000924:                                                                                                  #         12     01105   DOWNLINK TOO FAST
007246,000925:                                                                                                  #         11     01106   UPLINK TOO FAST
007247,000926: 
007248,000927:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
007249,000928: 
007250,000929:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
007251,000930: 
007252,000931:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007253,000932: 
007254,000933:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
007255,000934: 
007256,000935:                                                                                                  #  EXIT:  NXTFL33.
007257,000936: 
007258,000937:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
007259,000938: 
007260,000939: 06,2671           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
007261,000940: 06,2672           12432                           TCF      NXTFL33                               
007262,000941: 
007263,000942: 06,2673           05567                           TC       ALARM                                 
007264,000943: 06,2674           01105                           OCT      1105                                  
007265,000944: 06,2675           12432                           TCF      NXTFL33                               
007266,000945: 
007267,000946: 06,2676           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
007268,000947: 06,2677           12432                           TCF      NXTFL33                               #  ALARM CODE.
007269,000948: 
007270,000949: 06,2700           05567                           TC       ALARM                                 
007271,000950: 06,2701           01106                           OCT      1106                                  
007272,000951: 06,2702           12432                           TCF      NXTFL33                               
007273,000952: 

Page 181

007275,000954:                                                                                                  #  PROGRAM NAME:  SETISSW
007276,000955: 
007277,000956:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007278,000957:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007279,000958:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007280,000959:                                                                                                  #  PROGRESS.
007281,000960: 
007282,000961:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
007283,000962:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
007284,000963:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007285,000964:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007286,000965: 
007287,000966:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007288,000967: 
007289,000968:                                                                                                  #  SUBROUTINES CALLED:  NONE.
007290,000969: 
007291,000970:                                                                                                  #  ERASABLE INITIALIZATION:
007292,000971: 
007293,000972:                                                                                                  #        1) IMODES30 - SEE IMUMON.
007294,000973:                                                                                                  #        2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007295,000974: 
007296,000975:                                                                                                  #  ALARMS:  ISS WARNING.
007297,000976: 
007298,000977:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007299,000978:                                                                                                  #        PROGRAM ALARM 00777     PIPA FAIL
007300,000979:                                                                                                  #        PROGRAM ALARM 03777     ICDU FAIL
007301,000980:                                                                                                  #        PROGRAM ALARM 04777     ICDU , PIPA FAILS
007302,000981:                                                                                                  #        PROGRAM ALARM 07777     IMU FAIL
007303,000982:                                                                                                  #        PROGRAM ALARM 10777     IMU , PIPA FAILS
007304,000983:                                                                                                  #        PROGRAM ALARM 13777     IMU , ICDU FAILS
007305,000984:                                                                                                  #        PROGRAM ALARM 14777     IMU , ICDU, PIPA FAILS
007306,000985: 
007307,000986:                                                                                                  #  EXIT: VIA Q.
007308,000987: 
007309,000988:                                                                                                  #  OUTPUT: ISS WARNING LAMP SET PROPERLY.
007310,000989: 
007311,000990: 06,2703           34761        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
007312,000991: 06,2704           71277                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
007313,000992: 06,2705           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
007314,000993: 06,2706           74742                           MP       BIT10                                 #  4, 3, AND 1.
007315,000994: 06,2707           31277                           CA       IMODES30                              
007316,000995: 06,2710           00006                           EXTEND                                         
007317,000996: 06,2711           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
007318,000997: 06,2712           40000                           COM                                            
007319,000998: 06,2713           75025                           MASK     OCT15000                              
007320,000999: 06,2714           10000                           CCS      A                                     
007321,001000: 06,2715           12726                           TCF      ISSWON                                #  FAILURE.
007322,001001: 
007323,001002: 06,2716           34753        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
007324,001003: 06,2717           71300                           MASK     IMODES33                              #  IN PROGRESS.

Page 182

007326,001005: 06,2720           10000                           CCS      A                                     
007327,001006: 06,2721           00002                           TC       Q                                     
007328,001007: 
007329,001008: 06,2722           44753                           CS       BIT1                                  
007330,001009: 06,2723           00006                           EXTEND                                         
007331,001010: 06,2724           03011                           WAND     DSALMOUT                              
007332,001011: 06,2725           00002                           TC       Q                                     
007333,001012: 
007334,001013: 06,2726           00006        ISSWON             EXTEND                                         
007335,001014: 06,2727           22066                           QXCH     ITEMP6                                
007336,001015: 06,2730           05734                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISS WARNING
007337,001016: 06,2731           34753                           CAF      BIT1                                  
007338,001017: 06,2732           00006                           EXTEND                                         
007339,001018: 06,2733           05011                           WOR      DSALMOUT                              
007340,001019: 06,2734           00066                           TC       ITEMP6                                
007341,001020: 
007342,001021: 06,2735           43003        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
007343,001022: 06,2736           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE.  DISABLE THE
007344,001023: 06,2737           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
007345,001024: 06,2740           34763                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
007346,001025: 06,2741           00006                           EXTEND                                         
007347,001026: 06,2742           05012                           WOR      CHAN12                                
007348,001027: 
007349,001028: 06,2743           41035        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
007350,001029: 06,2744           72773                           MASK     OC40010                               
007351,001030: 06,2745           27035                           ADS      DSPTAB     +11D                       
007352,001031: 
007353,001032: 06,2746           41277        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
007354,001033: 06,2747           72775                           MASK     OCT75                                 #  AND INHIBIT ALL ISS WARNING INFO
007355,001034: 06,2750           27277                           ADS      IMODES30                              
007356,001035: 
007357,001036: 06,2751           41300                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
007358,001037: 06,2752           74746                           MASK     BIT6                                  
007359,001038: 06,2753           27300                           ADS      IMODES33                              
007360,001039: 
007361,001040: 06,2754           00002                           TC       Q                                     
007362,001041: 
007363,001042: 06,2755  06,2703               IMUFAIL            EQUALS   SETISSW                               
007364,001043: 06,2755  06,2703               ICDUFAIL           EQUALS   SETISSW                               
007365,001044: 

Page 183

007367,001046:                                                                                                  #  JUMP TABLES AND CONSTANTS.
007368,001047: 
007369,001048: 06,2755           12533        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
007370,001049: 06,2756           12703                           TCF      IMUFAIL                               
007371,001050: 06,2757           12703                           TCF      ICDUFAIL                              
007372,001051: 06,2760           12565                           TCF      IMUCAGE                               
007373,001052: 06,2761           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
007374,001053: 06,2762           12622                           TCF      IMUOP                                 
007375,001054: 
007376,001055: 06,2763           12650        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
007377,001056: 06,2764           12671                           TCF      DNTMFAST                              
007378,001057: 06,2765           12676                           TCF      UPTMFAST                              
007379,001058: 
007380,001059:                                                                                                  #  SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007381,001060: 
007382,001061: 06,2766           41300        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007383,001062: 06,2767           74753                           MASK     BIT1                                  #  PROGRESS.
007384,001063: 06,2770           10000                           CCS      A                                     
007385,001064: 06,2771           24002                           INCR     Q                                     
007386,001065: 06,2772           00002                           TC       Q                                     
007387,001066: 
007388,001067: 06,2773     5026               33RDMSK            EQUALS   PRIO16                                
007389,001068: 06,2773           40010        OC40010            OCT      40010                                 
007390,001069: 06,2774           00054        OCT54              OCT      54                                    
007391,001070: 06,2775           00075        OCT75              OCT      75                                    
007392,001071: 06,2776           00272        OCT272             OCT      00272                                 
007393,001072: 06,2777           00300        BITS7&8            OCT      300                                   
007394,001073: 06,3000           01720        OCT1720            OCT      1720                                  
007395,001074: 06,3001           00740        OCT740             OCT      00740                                 
007396,001075: 06,3002     5025               OCT15000           EQUALS   PRIO15                                
007397,001076: 06,3002           77000        OCT77000           OCT      77000                                 
007398,001077: 06,3003           40040        BITS6&15           OCT      40040                                 
007399,001078: 06,3004           76777        -BIT10             OCT      -1000                                 
007400,001079: 
007401,001080: 06,3005           21450        90SECS             DEC      9000       B-14                       
007402,001081: 06,3006     5741               120MS              =        OCT14                                 #  (DEC12)
007403,001082: 06,3006     5270               GLOCKOK            EQUALS   RESUME                                
007404,001083: 

Page 184

007406,001085:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
007407,001086: 
007408,001087:                                                                                                  #  FUNCTIONAL DESCRIPTION_
007409,001088:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR.  INITIALLY THE RR
007410,001089:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED.  IF NO CHANGE, THE
007411,001090:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK.  IF A CHANGE, RADMODES IS UPDATED
007412,001091:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON.  IF JUST OFF, A CHECK
007413,001092:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).  IF NO,
007414,001093:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK.  IF YES, PROGRAM ALARM 00514
007415,001094:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK.  IF RR POWER HAS JUST COME
007416,001095:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
007417,001096:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
007418,001097:                                                                                                  #  SEQUENCE.  IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007419,001098:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1).  A 10 MILLISECOND WAITLIST CALL
007420,001099:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007421,001100: 
007422,001101:                                                                                                  #  CALLING SEQUENCE_
007423,001102:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
007424,001103: 
007425,001104:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
007426,001105:                                                                                                  #  RADMODES, STATE
007427,001106: 
007428,001107:                                                                                                  #  SUBROUTINES CALLED_
007429,001108:                                                                                                  #  WAITLIST
007430,001109: 
007431,001110:                                                                                                  #  JOBS OR TASKS INITIATED_
007432,001111:                                                                                                  #  RRTURNON
007433,001112: 
007434,001113:                                                                                                  #  ALARMS_  PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
007435,001114:                                                                                                  #  USED
007436,001115: 
007437,001116:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
007438,001117: 
007439,001118: 06,3006           30110        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
007440,001119: 06,3007           00006                           EXTEND                                         
007441,001120: 06,3010           06033                           RXOR     CHAN33                                
007442,001121: 06,3011           74752                           MASK     AUTOMBIT                              
007443,001122: 06,3012           00006                           EXTEND                                         
007444,001123: 06,3013           13037                           BZF      RRCDUCHK                              
007445,001124: 
007446,001125: 06,3014           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
007447,001126: 06,3015           00006                           EXTEND                                         
007448,001127: 06,3016           06001                           RXOR     LCHAN                                 
007449,001128: 06,3017           73033                           MASK     OCT05776                              #  CLR CONT. DES., REMODE, REPOS, CDUZERO,
007450,001129: 06,3020           54110                           TS       RADMODES                              #  AND TURNON BITS.
007451,001130: 06,3021           74752                           MASK     BIT2                                  #  SEE IF JUST ON.
007452,001131: 06,3022           10000                           CCS      A                                     
007453,001132: 06,3023           13034                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
007454,001133: 06,3024           37666                           CA       OCT10001                              #  SET RRCDUZRO AND TURNON BITS.
007455,001134: 06,3025           26110                           ADS      RADMODES                              
007456,001135: 

Page 185

007458,001137: 06,3026           34753                           CAF      ONE                                   
007459,001138: 06,3027           05203                           TC       WAITLIST                              
007460,001139: 06,3030  E7,1456                                  EBANK=   LOSCOUNT                              
007461,001140: 06,3030           02073 52107                     2CADR    RRTURNON                              
007462,001141: 
007463,001142: 06,3032           13126                           TCF      NORRGMON                              
007464,001143: 
007465,001144: 06,3033           05776        OCT05776           OCT      5776                                  
007466,001145: 

Page 186

007468,001147:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
007469,001148: 
007470,001149:                                                                                                  #  FUNCTIONAL DESCRIPTION_
007471,001150:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7).  INITIALLY THE
007472,001151:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7).  IF NO CHANGE, THE
007473,001152:                                                                                                  #  PROGRAM EXITS TO RRGIMON.  IF A CHANGE, THE RR AUTO MODE
007474,001153:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED.  IF NOT IN RR AUTO MODE, THE
007475,001154:                                                                                                  #  PROGRAM EXITS TO NORRGMON.  IF IN AUTO MODE, RADMODES BIT 7
007476,001155:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
007477,001156:                                                                                                  #  REQUESTED.  CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
007478,001157:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8).  CONTROL RETURNS TO
007479,001158:                                                                                                  #  RRGIMON.
007480,001159: 
007481,001160:                                                                                                  #  CALLING SEQUENCE_
007482,001161:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
007483,001162:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
007484,001163: 
007485,001164:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
007486,001165:                                                                                                  #  RADMODES
007487,001166: 
007488,001167:                                                                                                  #  SUBROUTINES CALLED_
007489,001168:                                                                                                  #  SETTRKF
007490,001169: 
007491,001170:                                                                                                  #  JOBS OR TASKS INITIATED_
007492,001171:                                                                                                  #  NONE
007493,001172: 
007494,001173:                                                                                                  #  ALARMS_
007495,001174:                                                                                                  #  TRACKER FAIL
007496,001175:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
007497,001176: 
007498,001177:                                                                                                  #  EXIT_
007499,001178:                                                                                                  #  RRGIMON, NORRGMON
007500,001179: 
007501,001180: 06,3034           44752                 -3        CS       BIT2                                  
007502,001181: 06,3035           00006                           EXTEND                                         
007503,001182: 06,3036           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
007504,001183: 
007505,001184: 06,3037           30110        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
007506,001185: 06,3040           00006                           EXTEND                                         
007507,001186: 06,3041           06030                           RXOR     CHAN30                                
007508,001187: 06,3042           74745                           MASK     RCDUFBIT                              
007509,001188: 06,3043           00006                           EXTEND                                         
007510,001189: 06,3044           13071                           BZF      RRGIMON                               
007511,001190: 
007512,001191: 06,3045           34752                           CAF      AUTOMBIT                              #  IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
007513,001192: 06,3046           70110                           MASK     RADMODES                              #  7 OF RADMODES.  IF THIS WERE NOT DONE,
007514,001193: 06,3047           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
007515,001194: 06,3050           13126                           TCF      NORRGMON                              #  JUST READING LR DATA.
007516,001195: 
007517,001196: 06,3051           34745                           CAF      RCDUFBIT                              #  SET BIT 7 OF RADMODES FOR SETTRKF.

Page 187

007519,001198: 06,3052           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
007520,001199: 06,3053           00006                           EXTEND                                         
007521,001200: 06,3054           06001                           RXOR     L                                     
007522,001201: 06,3055           54110                           TS       RADMODES                              
007523,001202: 
007524,001203: 06,3056           30110                           CA       RADMODES                              #  DID RR CDU FAIL
007525,001204: 06,3057           74615                           MASK     13,7,2                                #  CDU ZERO+ CDUFAIL+ RR AUTO
007526,001205: 06,3060           10000                           CCS      A                                     
007527,001206: 06,3061           13070                           TCF      TRKFLCDU                              #  NO
007528,001207: 06,3062           40074                           CS       FLAGWRD0                              #  RNDVFLG P20 OR P22 OPERATING
007529,001208: 06,3063           74745                           MASK     RNDVZBIT                              
007530,001209: 06,3064           10000                           CCS      A                                     
007531,001210: 06,3065           13070                           TCF      TRKFLCDU                              #  NO
007532,001211: 06,3066           05567                           TC       ALARM                                 #  YES
007533,001212: 06,3067           00515                           OCT      00515                                 
007534,001213: 06,3070           04564        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
007535,001214: 

Page 188

007537,001216:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
007538,001217: 
007539,001218:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                               TTER IS INITIATED BY THIS MONITOR WHEN
007540,001219:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR.  INITIALLY THE FOLLOWING IS   ED TO DRIVE THE GIMBALS TO T = 0 AND
007541,001220:                                                                                                  #  CHECKED_  REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
007542,001221:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2).  IF ANY OF THESE
007543,001222:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX.  IF NONE ARE PRESENT RRLIMCHK
007544,001223:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
007545,001224:                                                                                                  #  THE LIMITS OF THE CURRENT MODE.  IF WITHIN LIMITS, THE PROGRAM EXITS
007546,001225:                                                                                                  #  TO NORRGMON.  IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
007547,001226:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
007548,001227:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
007549,001228:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
007550,001229: 
007551,001230:                                                                                                  #  CALLING SEQUENCE_
007552,001231:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
007553,001232:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
007554,001233:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
007555,001234:                                                                                                  #  (RADMODES BIT 2).
007556,001235: 
007557,001236:                                                                                                  #  ERASABLE INITIALIZATION_  RADMODES
007558,001237: 
007559,001238:                                                                                                  #  SUBROUTINES CALLED_
007560,001239:                                                                                                  #  RRLIMCHK, WAITLIST
007561,001240: 
007562,001241:                                                                                                  #  JOBS OR TASKS INITIATED_
007563,001242:                                                                                                  #  DORREPOS
007564,001243: 
007565,001244:                                                                                                  #  ALARMS_
007566,001245:                                                                                                  #  NONE
007567,001246: 
007568,001247:                                                                                                  #  EXIT_
007569,001248:                                                                                                  #  NORRGMON
007570,001249: 
007571,001250: 06,3071           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
007572,001251: 06,3072           74750                           MASK     NORRMBIT                              
007573,001252: 06,3073           10000                           CCS      A                                     
007574,001253: 06,3074           13126                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
007575,001254: 06,3075           40103                           CS       FLAGWRD7                              #  IS SERVICER RUNNING?
007576,001255: 06,3076           74747                           MASK     AVEGFBIT                              
007577,001256: 06,3077           10000                           CCS      A                                     
007578,001257: 06,3100           13105                           TCF      +5                                    #  NO. DO R25
007579,001258: 06,3101           30102                           CA       FLAGWRD6                              #  YES. IS MUNFLAG SET?
007580,001259: 06,3102           74744                           MASK     MUNFLBIT                              
007581,001260: 06,3103           10000                           CCS      A                                     
007582,001261: 06,3104           13126                           TCF      NORRGMON                              #  YES. DON'T DO R25
007583,001262: 06,3105           33135                 +5        CAF      OCT32002                              #  INHIBIT BY REMODE, ZEROING, MONITOR.
007584,001263: 06,3106           70110                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
007585,001264: 06,3107           10000                           CCS      A                                     
007586,001265: 06,3110           13126                           TCF      NORRGMON                              

Page 189

007588,001267: 06,3111           04523                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
007589,001268: 06,3112           00035                           ADRES    CDUT                                  
007590,001269: 
007591,001270: 06,3113           13115                           TCF      MONREPOS                              
007592,001271: 
007593,001272: 06,3114           13126                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
007594,001273: 
007595,001274: 06,3115           34741        MONREPOS           CAF      REPOSBIT                              #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
007596,001275: 06,3116           26110                           ADS      RADMODES                              
007597,001276: 
007598,001277: 06,3117           43136                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
007599,001278: 06,3120           00006                           EXTEND                                         
007600,001279: 06,3121           03012                           WAND     CHAN12                                
007601,001280: 
007602,001281: 06,3122           34752                           CAF      TWO                                   
007603,001282: 06,3123           05203                           TC       WAITLIST                              
007604,001283: 06,3124  E7,1456                                  EBANK=   LOSCOUNT                              
007605,001284: 06,3124           02140 52107                     2CADR    DORREPOS                              
007606,001285: 
007607,001286: 06,3126           30110        NORRGMON           CA       RADMODES                              #  IF SELECT SWITCH IS NOT IN LGC, SEND RR
007608,001287: 06,3127           74752                           MASK     AUTOMBIT                              #  CDU ZERO BIT TO PREVENT MEMORY CYCLE
007609,001288: 06,3130           10000                           CCS      A                                     #  SNATCHING BY MANIC RR CDUS.  BIT2 OF
007610,001289: 06,3131           13132                           NOOP                                           #  RADMODES AGREES WITH BIT2 OF CHANNEL
007611,001290: 06,3132           00006                           EXTEND                                         #  33. FOR THIS CODING, WHICH ASSUMES
007612,001291: 06,3133           05012                           WOR      CHAN12                                #  AUTOMBIT = BIT2, THANKS TO HUGH B-S.
007613,001292: 06,3134           13140                           TCF      ENDRRMON                              
007614,001293: 
007615,001294: 06,3135  06,3140               ENDRRMON           EQUALS   DAPT4S                                
007616,001295: 
007617,001296: 06,3135           32002        OCT32002           OCT      32002                                 
007618,001297: 06,3136           20002        OCT20002           OCT      20002                                 
007619,001298: 06,3137           02100        OCT02100           OCT      02100                                 #  P20, P22 MASK BITS
007620,001299: 

Page 190

007622,001301:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
007623,001302: 
007624,001303:                                                                                                  #  AUTHOR:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007625,001304: 
007626,001305:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
007627,001306: 
007628,001307:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
007629,001308:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
007630,001309:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
007631,001310: 
007632,001311:                                                                                                  #  CALLING SEQUENCE:  GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
007633,001312:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
007634,001313: 
007635,001314:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
007636,001315: 
007637,001316:                                                                                                  #  NORMAL EXIT MODE:  TCF RESUME
007638,001317: 
007639,001318:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
007640,001319: 
007641,001320:                                                                                                  #  INPUT: CDUX, CDUY, CDUZ.
007642,001321: 
007643,001322:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
007644,001323: 
007645,001324:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
007646,001325: 
007647,001326:                                                                                                  #                *       *       SIN(MG)                 0                       1       *
007648,001327:                                                                                                  #                M   =   *       COS(MG)COS(OG)          SIN(OG)                 0       *
007649,001328:                                                                                                  #                 GP     *      -COS(MG)SIN(OG)          COS(OG)                 0       *
007650,001329: 
007651,001330:                                                                                                  #                *       *       0                       COS(OG)/COS(MG)        -SIN(OG)/COS(MG)         *
007652,001331:                                                                                                  #                M   =   *       0                       SIN(OG)                 COS(OG)                 *
007653,001332:                                                                                                  #                 PG     *       1                      -SIN(MG)COS(OG)/COS(MG)  SIN(MG)SIN(OG)/COS(MG)  *
007654,001333: 
007655,001334: 06,3140  E6,1414                                  EBANK=   M11                                   
007656,001335: 06,3140  06,3140               DAPT4S             EQUALS   GPMATRIX                              
007657,001336: 
007658,001337:                                                                                                  #  T4RUPT DAP LOGIC:
007659,001338: 
007660,001339: 06,3140           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
007661,001340: 06,3141           05033                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
007662,001341: 06,3142           55414                           TS       M11                                   #  SCALED AT 1
007663,001342: 
007664,001343: 06,3143           30034                           CAE      CDUZ                                  
007665,001344: 06,3144           05032                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
007666,001345: 06,3145           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
007667,001346: 
007668,001347: 06,3146           30032                           CAE      CDUX                                  
007669,001348: 06,3147           05033                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
007670,001349: 06,3150           55417                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
007671,001350: 
007672,001351: 06,3151           41417                           CS       M22                                   

Page 191

007674,001353: 06,3152           00006                           EXTEND                                         
007675,001354: 06,3153           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
007676,001355: 06,3154           55416                           TS       M31                                   #  SCALED AT 1
007677,001356: 
007678,001357: 06,3155           30032                           CAE      CDUX                                  
007679,001358: 06,3156           05032                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
007680,001359: 06,3157           55420                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
007681,001360: 
007682,001361: 06,3160           00006                           EXTEND                                         
007683,001362: 06,3161           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
007684,001363: 06,3162           55415                           TS       M21                                   #  SCALED AT 1
007685,001364: 
007686,001365: 06,3163           05270                           TC       RESUME                                
007687,001366: 
007688,001367: 06,3164     5270               ENDDAPT4           EQUALS   RESUME                                
007689,001368: 

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