Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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006899,000002: ## Copyright: Public domain.
006900,000003: ## Filename: T4RUPT_PROGRAM.agc
006901,000004: ## Purpose: A section of Luminary revision 163.
006902,000005: ## It is part of the reconstructed source code for the first
006903,000006: ## (unflown) release of the flight software for the Lunar
006904,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
006905,000008: ## The code has been recreated from a reconstructed copy of
006906,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
006907,000010: ## It has been adapted such that the resulting bugger words
006908,000011: ## exactly match those specified for Luminary 163 in NASA
006909,000012: ## drawing 2021152N, which gives relatively high confidence
006910,000013: ## that the reconstruction is correct.
006911,000014: ## Reference: pp. 161-195
006912,000015: ## Assembler: yaYUL
006913,000016: ## Contact: Ron Burkey <info@sandroid.org>.
006914,000017: ## Website: www.ibiblio.org/apollo/index.html
006915,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
006916,000019:
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Page 161
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006918,000021: 12,2000 BANK 12
006919,000022: 06,2000 SETLOC T4RUP
006920,000023: 06,2000 BANK
006921,000024:
006922,000025: 06,2000 E6,1414 EBANK= M11
006923,000026: 06,2000 COUNT* $$/T4RPT
006924,000027: 06,2000 54016 T4RUPT TS BANKRUPT
006925,000028:
006926,000029: 06,2001 00006 EXTEND
006927,000030: 06,2002 22012 QXCH QRUPT
006928,000031:
006929,000032: 06,2003 11310 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
006930,000033: 06,2004 12010 TCF NORMT4 +1
006931,000034: 06,2005 12007 TCF NORMT4
006932,000035:
006933,000036: 06,2006 12134 TCF QUIKDSP
006934,000037:
006935,000038: 06,2007 34757 NORMT4 CAF SEVEN
006936,000039: 06,2010 54070 TS RUPTREG1
006937,000040: 06,2011 55310 TS DSRUPTSW
006938,000041:
006939,000042: 4066 BLOCK 02
006940,000043: 4000 SETLOC FFTAG10
006941,000044: 4000 BANK
006942,000045:
006943,000046: 4066 COUNT* $$/T4RPT
006944,000047: 4066 7732 100MRUPT = OCT37766 # (DEC 16374)
006945,000048: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006946,000049: # IN LOWER 5 BITS.
006947,000050: 4066 04025 RELTAB OCT 04025
006948,000051: 4067 10003 OCT 10003
006949,000052: 4070 14031 OCT 14031
006950,000053: 4071 20033 OCT 20033
006951,000054: 4072 24017 OCT 24017
006952,000055: 4073 30036 OCT 30036
006953,000056: 4074 34034 OCT 34034
006954,000057: 4075 40023 OCT 40023
006955,000058: 4076 44035 OCT 44035
006956,000059: 4077 50037 OCT 50037
006957,000060: 4100 54000 OCT 54000
006958,000061: 4101 60000 RELTAB11 OCT 60000
006959,000062:
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006961,000064: # SWITCHED-BANK PORTION.
006962,000065:
006963,000066: 12,2000 BANK 12
006964,000067: 06,2000 SETLOC T4RUP
006965,000068: 06,2000 BANK
006966,000069:
006967,000070: 06,2012 COUNT* $$/T4RPT
006968,000071: 06,2012 11035 CDRVE CCS DSPTAB +11D
006969,000072: 06,2013 02063 TC DSPOUT
006970,000073: 06,2014 02063 TC DSPOUT
006971,000074:
006972,000075: 06,2015 57035 XCH DSPTAB +11D
006973,000076: 06,2016 74356 MASK LOW11
006974,000077: 06,2017 55035 TS DSPTAB +11D
006975,000078: 06,2020 64101 AD RELTAB11
006976,000079: 06,2021 00006 EXTEND
006977,000080: 06,2022 01010 WRITE OUT0
006978,000081: 06,2023 02071 TC HANG20
006979,000082:
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Page 163
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006981,000084: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006982,000085:
006983,000086: 06,2024 55015 DSPOUTSB TS NOUT
006984,000087: 06,2025 44755 CS ZERO
006985,000088: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
006986,000089: 06,2027 56775 XCH DSPCNT
006987,000090: 06,2030 64754 AD NEG0 # TO PREVENT +0
006988,000091: 06,2031 54775 TS DSPCNT
006989,000092: 06,2032 50775 DSPSCAN INDEX DSPCNT
006990,000093: 06,2033 11022 CCS DSPTAB
006991,000094: 06,2034 10775 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
006992,000095: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
006993,000096: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
006994,000097: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
006995,000098: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
006996,000099: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
006997,000100: 06,2042 55015 TS NOUT
006998,000101: 06,2043 00002 TC Q
006999,000102: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007000,000103: 06,2045 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007001,000104: 06,2046 12031 TCF DSPSCAN -1
007002,000105:
007003,000106: 06,2047 64753 DSPLAY AD ONE
007004,000107: 06,2050 50775 INDEX DSPCNT
007005,000108: 06,2051 55022 TS DSPTAB # REPLACE POSITIVELY
007006,000109: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
007007,000110: 06,2053 54073 TS DSRUPTEM
007008,000111: 06,2054 34350 CAF HI5
007009,000112: 06,2055 50775 INDEX DSPCNT
007010,000113: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007011,000114: 06,2057 60073 AD DSRUPTEM
007012,000115: 06,2060 00006 EXTEND
007013,000116: 06,2061 01010 WRITE OUT0
007014,000117:
007015,000118: 06,2062 16742 TCF Q+1
007016,000119:
007017,000120: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
007018,000121: 06,2064 34755 CAF ZERO # NO
007019,000122: 06,2065 12130 TCF NODSPOUT # NO
007020,000123: 06,2066 11015 CCS NOUT # YES
007021,000124: 06,2067 02024 TC DSPOUTSB
007022,000125: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
007023,000126:
007024,000127: 06,2071 42171 HANG20 CS 14,11,9
007025,000128: 06,2072 27310 ADS DSRUPTSW
007026,000129:
007027,000130: 06,2073 37734 CAF 20MRUPT
007028,000131:
007029,000132: 06,2074 54027 SETTIME4 TS TIME4
007030,000133:
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007032,000135: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007033,000136: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007034,000137:
007035,000138: # IF PREV ON AND NOW ON - BYPASS
007036,000139: # IF PREV ON AND NOW OFF - UPDATE IMODES33
007037,000140: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
007038,000141: # IF PREV OFF AND NOW OFF - BYPASS
007039,000142:
007040,000143: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007041,000144:
007042,000145:
007043,000146: 06,2075 31300 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
007044,000147: 06,2076 00006 EXTEND
007045,000148: 06,2077 06032 RXOR CHAN32
007046,000149: 06,2100 74736 MASK BIT14
007047,000150: 06,2101 00006 EXTEND
007048,000151: 06,2102 12116 BZF T4JUMP # NO CHANGE
007049,000152:
007050,000153: 06,2103 23300 LXCH IMODES33
007051,000154: 06,2104 00006 EXTEND
007052,000155: 06,2105 06001 RXOR LCHAN
007053,000156: 06,2106 55300 TS IMODES33 # UPDATE IMODES33
007054,000157: 06,2107 74736 MASK BIT14
007055,000158: 06,2110 10000 CCS A
007056,000159: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
007057,000160:
007058,000161: 06,2112 34355 CAF CHRPRIO # WAS OFF - NOW ON
007059,000162: 06,2113 05072 TC NOVAC
007060,000163: 06,2114 0776 EBANK= DSPCOUNT
007061,000164: 06,2114 03515 60101 2CADR PROCKEY
007062,000165:
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007064,000167: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007065,000168:
007066,000169: 06,2116 50070 T4JUMP INDEX RUPTREG1
007067,000170: 06,2117 12120 TCF +1
007068,000171:
007069,000172: 06,2120 03164 TC RCSMONIT
007070,000173: 06,2121 13006 TCF RRAUTCHK
007071,000174: 06,2122 12172 TCF IMUMON
007072,000175: 06,2123 13140 TCF DAPT4S
007073,000176: 06,2124 03164 TC RCSMONIT
007074,000177: 06,2125 13006 TCF RRAUTCHK
007075,000178: 06,2126 12172 TCF IMUMON
007076,000179: 06,2127 13140 TCF DAPT4S
007077,000180:
007078,000181: 06,2130 7734 20MRUPT = OCT37776 # (DEC 16382)
007079,000182:
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007081,000184: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007082,000185:
007083,000186: 06,2130 00006 NODSPOUT EXTEND
007084,000187: 06,2131 01010 WRITE OUT0
007085,000188:
007086,000189: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
007087,000190: 06,2133 12074 TCF SETTIME4
007088,000191:
007089,000192: 06,2134 34736 QUIKDSP CAF BIT14
007090,000193: 06,2135 71310 MASK DSRUPTSW
007091,000194: 06,2136 00006 EXTEND
007092,000195: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
007093,000196:
007094,000197: 06,2140 11015 CCS NOUT
007095,000198: 06,2141 02024 TC DSPOUTSB
007096,000199: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
007097,000200: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
007098,000201: 06,2144 27310 QUIKRUPT ADS DSRUPTSW
007099,000202:
007100,000203: 06,2145 37734 CAF 20MRUPT
007101,000204: 06,2146 54027 TS TIME4
007102,000205:
007103,000206: 06,2147 34743 CAF BIT9
007104,000207: 06,2150 27310 ADS DSRUPTSW
007105,000208:
007106,000209: 06,2151 05301 TC RESUME
007107,000210:
007108,000211: 06,2152 00006 NODSPY EXTEND
007109,000212: 06,2153 01010 WRITE OUT0
007110,000213:
007111,000214: 06,2154 37734 SYNCT4 CAF 20MRUPT
007112,000215: 06,2155 26027 ADS TIME4
007113,000216:
007114,000217: 06,2156 34743 CAF BIT9
007115,000218: 06,2157 27310 ADS DSRUPTSW
007116,000219:
007117,000220: 06,2160 11310 CCS DSRUPTSW
007118,000221: 06,2161 05301 TC RESUME
007119,000222: 06,2162 37737 OCT37737 OCT 37737
007120,000223: 06,2163 02154 TC SYNCT4
007121,000224: 06,2164 05301 TC RESUME
007122,000225:
007123,000226: 06,2165 00006 QUIKOFF EXTEND
007124,000227: 06,2166 01010 WRITE OUT0
007125,000228: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007126,000229: 06,2170 12144 TCF QUIKRUPT
007127,000230:
007128,000231: 06,2171 22400 14,11,9 OCT 22400
007129,000232:
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007131,000234: # PROGRAM NAME: IMUMON
007132,000235:
007133,000236: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007134,000237: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007135,000238:
007136,000239: # FUNCTION BIT SUBROUTINE CALLED
007137,000240: # -------- --- -----------------
007138,000241: # TEMP IN LIMITS 15 TLIM
007139,000242: # ISS TURN-ON REQUEST 14 ITURNON
007140,000243: # IMU FAIL 13 IMUFAIL (SETISSW)
007141,000244: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
007142,000245: # IMU CAGE 11 IMUCAGE
007143,000246: # IMU OPERATE 9 IMUOP
007144,000247:
007145,000248: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007146,000249: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007147,000250:
007148,000251: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
007149,000252:
007150,000253: # JOBS OR TASKS INITIATED: NONE.
007151,000254:
007152,000255: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007153,000256:
007154,000257: # ERASABLE INITIALIZATION:
007155,000258: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007156,000259: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007157,000260: # THIS LEAVES IMU FAIL BITS INTACT.
007158,000261:
007159,000262: # ALARMS: NONE.
007160,000263:
007161,000264: # EXIT: TNONTEST.
007162,000265:
007163,000266: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007164,000267:
007165,000268: 06,2172 31277 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
007166,000269: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
007167,000270: 06,2174 06030 RXOR CHAN30
007168,000271: 06,2175 72761 MASK 30RDMSK
007169,000272: 06,2176 00006 EXTEND
007170,000273: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
007171,000274:
007172,000275: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007173,000276: 06,2201 23277 LXCH IMODES30 # UPDATE IMODES30.
007174,000277: 06,2202 00006 EXTEND
007175,000278: 06,2203 06001 RXOR LCHAN
007176,000279: 06,2204 55277 TS IMODES30
007177,000280:
007178,000281: 06,2205 44753 CS ONE
007179,000282: 06,2206 56070 XCH RUPTREG1
007180,000283: 06,2207 00006 EXTEND
007181,000284:
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007183,000286: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
007184,000287: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
007185,000288:
007186,000289: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
007187,000290: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
007188,000291: 06,2214 60000 +1 DOUBLE
007189,000292: 06,2215 54000 TS A # SKIP IF OVERFLOW.
007190,000293: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
007191,000294:
007192,000295: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
007193,000296: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
007194,000297: 06,2221 34736 CAF BIT14
007195,000298: 06,2222 71277 MASK IMODES30
007196,000299: 06,2223 50070 INDEX RUPTREG1
007197,000300: 06,2224 02755 TC IFAILJMP
007198,000301:
007199,000302: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
007200,000303: 06,2226 12212 TCF NXTIFBIT -1
007201,000304:
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Page 169
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007203,000306: # PROGRAM NAME: TNONTEST.
007204,000307:
007205,000308: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
007206,000309: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007207,000310: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007208,000311:
007209,000312: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
007210,000313: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007211,000314: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007212,000315:
007213,000316: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007214,000317: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
007215,000318: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007216,000319: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007217,000320:
007218,000321: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007219,000322: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007220,000323:
007221,000324: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
007222,000325: # 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
007223,000326: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007224,000327: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
007225,000328: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
007226,000329: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007227,000330: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
007228,000331: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007229,000332: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007230,000333:
007231,000334: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007232,000335: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007233,000336:
007234,000337: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007235,000338:
007236,000339: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007237,000340: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007238,000341: # STARTED.
007239,000342:
007240,000343: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007241,000344:
007242,000345: # ERASABLE INITIALIZATION: SEE IMUMON.
007243,000346:
007244,000347: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007245,000348:
007246,000349: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
007247,000350: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007248,000351: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007249,000352:
007250,000353: # OUTPUT: ISS INITIALIZED.
007251,000354:
007252,000355: 06,2227 41277 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
007253,000356:
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Page 170
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007255,000358: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
007256,000359: 06,2231 10000 CCS A
007257,000360: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
007258,000361:
007259,000362: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
007260,000363: 06,2234 71277 MASK IMODES30
007261,000364: 06,2235 10000 CCS A
007262,000365: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
007263,000366:
007264,000367: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
007265,000368: 06,2240 27277 ADS IMODES30 # TIME.
007266,000369: 06,2241 12374 TCF C33TEST
007267,000370:
007268,000371: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007269,000372:
007270,000373: 06,2242 42777 PROCTNON CS BITS7&8
007271,000374: 06,2243 71277 MASK IMODES30
007272,000375: 06,2244 55277 TS IMODES30
007273,000376: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
007274,000377: 06,2246 10000 CCS A
007275,000378: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
007276,000379:
007277,000380: 06,2250 41277 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007278,000381: 06,2251 74743 MASK BIT9 # OPERATE.
007279,000382: 06,2252 10000 CCS A
007280,000383: 06,2253 12256 TCF +3
007281,000384:
007282,000385: 06,2254 05600 TC ALARM # ALARM IF NOT.
007283,000386: 06,2255 00213 OCT 213
007284,000387:
007285,000388: 06,2256 02735 +3 TC CAGESUB
007286,000389: 06,2257 33005 CAF 90SECS
007287,000390: 06,2260 05214 TC WAITLIST
007288,000391: 06,2261 E6,1414 EBANK= M11
007289,000392: 06,2261 02266 14106 2CADR ENDTNON
007290,000393:
007291,000394: 06,2263 12374 TCF C33TEST
007292,000395:
007293,000396: 06,2264 33005 RETNON CAF 90SECS
007294,000397: 06,2265 05235 TC VARDELAY
007295,000398:
007296,000399: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
007297,000400: 06,2267 71277 MASK IMODES30
007298,000401: 06,2270 57277 XCH IMODES30
007299,000402: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007300,000403: 06,2272 00006 EXTEND
007301,000404: 06,2273 12306 BZF ENDTNON2
007302,000405:
007303,000406: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
007304,000407:
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007306,000409: 06,2275 71277 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007307,000410: 06,2276 00006 EXTEND
007308,000411: 06,2277 12264 BZF RETNON
007309,000412:
007310,000413: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
007311,000414: 06,2301 74744 MASK IMUSEBIT # WAITING.
007312,000415: 06,2302 10000 CCS A
007313,000416: 06,2303 15272 TCF TASKOVER
007314,000417: 06,2304 04635 TC POSTJUMP
007315,000418: 06,2305 17643 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
007316,000419:
007317,000420: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
007318,000421: 06,2307 00006 EXTEND
007319,000422: 06,2310 05012 WOR CHAN12
007320,000423:
007321,000424: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
007322,000425: 06,2312 17252 CADR NOATTOFF
007323,000426:
007324,000427: 06,2313 05470 UNZ2 TC ZEROICDU
007325,000428:
007326,000429: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
007327,000430: 06,2315 00006 EXTEND
007328,000431: 06,2316 03012 WAND CHAN12
007329,000432:
007330,000433: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007331,000434: 06,2320 05235 TC VARDELAY
007332,000435:
007333,000436: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
007334,000437: 06,2322 71277 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
007335,000438: 06,2323 55277 TS IMODES30
007336,000439:
007337,000440: 06,2324 44746 CS BIT6 # ENABLE DAP
007338,000441: 06,2325 71300 MASK IMODES33
007339,000442: 06,2326 55300 TS IMODES33
007340,000443:
007341,000444: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007342,000445: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART
007343,000446: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
007344,000447: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
007345,000448: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
007346,000449: 06,2334 30025 CA TIME1
007347,000450: 06,2335 57074 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
007348,000451:
007349,000452: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
007350,000453:
007351,000454: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
007352,000455: 06,2340 00006 EXTEND
007353,000456: 06,2341 03012 WAND CHAN12
007354,000457:
007355,000458: 06,2342 35003 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
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007357,000460: 06,2343 05214 TC WAITLIST # ANOTHER 4 SECS.
007358,000461: 06,2344 E3,1474 EBANK= CDUIND
007359,000462: 06,2344 03240 16103 2CADR PFAILOK
007360,000463:
007361,000464: 06,2346 15272 TCF TASKOVER
007362,000465:
007363,000466: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
007364,000467: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
007365,000468: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
007366,000469: 06,2352 10000 CCS A
007367,000470: 06,2353 12374 TCF C33TEST
007368,000471:
007369,000472: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
007370,000473: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
007371,000474: 06,2356 10000 CCS A
007372,000475: 06,2357 12374 TCF C33TEST
007373,000476:
007374,000477: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
007375,000478:
007376,000479: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
007377,000480: 06,2362 17252 CADR NOATTOFF # IMU CAGE OFF ENTRY
007378,000481:
007379,000482: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
007380,000483: 06,2364 00006 EXTEND
007381,000484: 06,2365 05012 WOR CHAN12
007382,000485:
007383,000486: 06,2366 05470 TC ZEROICDU
007384,000487: 06,2367 34746 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
007385,000488: 06,2370 05214 TC WAITLIST
007386,000489: 06,2371 E6,1414 EBANK= M11
007387,000490: 06,2371 02313 14106 2CADR UNZ2
007388,000491:
007389,000492: 06,2373 12374 TCF C33TEST
007390,000493:
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007392,000495: # PROGRAM NAME: C33TEST
007393,000496:
007394,000497: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
007395,000498: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
007396,000499: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
007397,000500: # PROCESSED AND THE SUBROUTINES CALLED ARE:
007398,000501:
007399,000502: # BIT FUNCTION SUBROUTINE
007400,000503: # --- -------- ----------
007401,000504: # 13 PIPA FAIL PIPFAIL
007402,000505: # 12 DOWNLINK TOO FAST DNTMFAST
007403,000506: # 11 UPLINK TOO FAST UPTMFAST
007404,000507:
007405,000508: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
007406,000509:
007407,000510: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
007408,000511:
007409,000512: # JOBS OR TASKS INITIATED: NONE.
007410,000513:
007411,000514: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
007412,000515:
007413,000516: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
007414,000517: # REAPPEAR IF THE CONDITIONS PERSIST.
007415,000518:
007416,000519: # ALARMS: NONE.
007417,000520:
007418,000521: # EXIT: GLOCKMON.
007419,000522:
007420,000523: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
007421,000524:
007422,000525: 06,2374 31300 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
007423,000526: 06,2375 75026 MASK 33RDMSK
007424,000527: 06,2376 54001 TS L # CHANGED.
007425,000528: 06,2377 35026 CAF 33RDMSK
007426,000529: 06,2400 00006 EXTEND
007427,000530: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
007428,000531: 06,2402 00006 EXTEND
007429,000532: 06,2403 06001 RXOR LCHAN
007430,000533: 06,2404 00006 EXTEND
007431,000534: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
007432,000535:
007433,000536: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007434,000537: 06,2407 23300 LXCH IMODES33
007435,000538: 06,2410 00006 EXTEND
007436,000539: 06,2411 06001 RXOR LCHAN
007437,000540: 06,2412 55300 TS IMODES33 # UPDATED IMODES33.
007438,000541:
007439,000542: 06,2413 34755 CAF ZERO
007440,000543: 06,2414 56070 XCH RUPTREG1
007441,000544: 06,2415 60000 DOUBLE
007442,000545:
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007444,000547: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
007445,000548:
007446,000549: 06,2417 64753 -1 AD ONE
007447,000550: 06,2420 24070 NXTIBT INCR RUPTREG1
007448,000551: 06,2421 60000 +1 DOUBLE
007449,000552: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
007450,000553: 06,2423 12420 TCF NXTIBT
007451,000554:
007452,000555: 06,2424 56071 XCH RUPTREG2
007453,000556: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
007454,000557: 06,2426 34737 CAF BIT13
007455,000558: 06,2427 71300 MASK IMODES33
007456,000559: 06,2430 50070 INDEX RUPTREG1
007457,000560: 06,2431 02763 TC C33JMP
007458,000561:
007459,000562: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
007460,000563: 06,2433 12417 TCF NXTIBT -1
007461,000564:
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007463,000566: # PROGRAM NAME: GLOCKMON
007464,000567:
007465,000568: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
007466,000569: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
007467,000570:
007468,000571: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
007469,000572: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
007470,000573: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
007471,000574:
007472,000575: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
007473,000576:
007474,000577: # JOBS OR TASKS INITIATED: NONE.
007475,000578:
007476,000579: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
007477,000580: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
007478,000581:
007479,000582: # ERASABLE INITIALIZATION:
007480,000583: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
007481,000584: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
007482,000585: # PROCEEDS AS BEFORE.
007483,000586:
007484,000587: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
007485,000588: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
007486,000589: # SO ALREADY.
007487,000590:
007488,000591: 06,2434 10034 GLOCKMON CCS CDUZ
007489,000592: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
007490,000593: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
007491,000594: 06,2437 12441 TCF GLOCKCHK
007492,000595: 06,2440 12465 TCF SETGLOCK
007493,000596:
007494,000597: 06,2441 62512 GLOCKCHK AD -70DEGS
007495,000598: 06,2442 00006 EXTEND
007496,000599: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
007497,000600:
007498,000601: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
007499,000602: 06,2445 00006 EXTEND
007500,000603: 06,2446 62462 BZMF NOGIMRUN
007501,000604:
007502,000605: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
007503,000606: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
007504,000607: 06,2451 02012 RAND CHAN12
007505,000608: 06,2452 10000 CCS A
007506,000609: 06,2453 12462 TCF NOGIMRUN
007507,000610:
007508,000611: 06,2454 04674 TC IBNKCALL
007509,000612: 06,2455 17130 CADR SETCOARS
007510,000613:
007511,000614: 06,2456 36245 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
007512,000615: 06,2457 05214 TC WAITLIST
007513,000616:
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007515,000618: 06,2460 E3,1474 EBANK= CDUIND
007516,000619: 06,2460 03124 16103 2CADR CA+ECE
007517,000620:
007518,000621: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
007519,000622: 06,2463 12465 TCF SETGLOCK
007520,000623:
007521,000624: 06,2464 34755 -1 CAF ZERO
007522,000625: 06,2465 61035 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
007523,000626: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
007524,000627: 06,2467 00006 EXTEND # THE TWO.
007525,000628: 06,2470 15301 BZF GLOCKOK # OK AS IS.
007526,000629:
007527,000630: 06,2471 71035 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
007528,000631: 06,2472 10000 CCS A
007529,000632: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007530,000633:
007531,000634: 06,2474 34746 CAF BIT6
007532,000635: 06,2475 71277 MASK IMODES30
007533,000636: 06,2476 10000 CCS A
007534,000637: 06,2477 15301 TCF GLOCKOK
007535,000638:
007536,000639: 06,2500 41035 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
007537,000640: 06,2501 74746 MASK BIT6
007538,000641: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
007539,000642: 06,2503 57035 XCH DSPTAB +11D
007540,000643: 06,2504 72162 MASK OCT37737
007541,000644: 06,2505 27035 ADS DSPTAB +11D
007542,000645: 06,2506 15301 TCF GLOCKOK
007543,000646:
007544,000647: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007545,000648: 06,2510 15301 TCF GLOCKOK
007546,000649: 06,2511 12500 TCF GLINVERT
007547,000650:
007548,000651: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
007549,000652: 06,2513 75252 -15DEGS DEC -.08333
007550,000653:
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007552,000655: # PROGRAM NAME: TLIM.
007553,000656:
007554,000657: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
007555,000658: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
007556,000659: # IS IN PROGRESS.
007557,000660:
007558,000661: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
007559,000662:
007560,000663: # JOBS OR TASKS INITIATED: NONE.
007561,000664:
007562,000665: # SUBROUTINES CALLED: LAMPTEST.
007563,000666:
007564,000667: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007565,000668:
007566,000669: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
007567,000670:
007568,000671: # EXIT: NXTIFAIL.
007569,000672:
007570,000673: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
007571,000674:
007572,000675: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
007573,000676: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
007574,000677:
007575,000678: 06,2516 11277 CCS IMODES30
007576,000679: 06,2517 12525 TCF TEMPOK
007577,000680: 06,2520 12525 TCF TEMPOK
007578,000681:
007579,000682: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
007580,000683: 06,2522 00006 EXTEND
007581,000684: 06,2523 05011 WOR DSALMOUT
007582,000685: 06,2524 12225 TCF NXTIFAIL
007583,000686:
007584,000687: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
007585,000688: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
007586,000689:
007587,000690: 06,2527 44750 CS BIT4
007588,000691: 06,2530 00006 EXTEND
007589,000692: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
007590,000693: 06,2532 12225 TCF NXTIFAIL
007591,000694:
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007593,000696: # PROGRAM NAME: ITURNON.
007594,000697:
007595,000698: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007596,000699: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007597,000700: # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO
007598,000701: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007599,000702: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007600,000703: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007601,000704: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007602,000705: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007603,000706: # ENDS.
007604,000707:
007605,000708: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007606,000709:
007607,000710: # JOBS OR TASKS INITIATED: NONE.
007608,000711:
007609,000712: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007610,000713:
007611,000714: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007612,000715: # AND BIT 14 OF IMODES30 TO 1.
007613,000716:
007614,000717: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007615,000718:
007616,000719: # EXIT: NXTIFAIL.
007617,000720:
007618,000721: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007619,000722: # A FAILED TURN-ON SEQUENCE.
007620,000723:
007621,000724: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
007622,000725: 06,2534 71277 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
007623,000726: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007624,000727: 06,2536 12225 TCF NXTIFAIL
007625,000728:
007626,000729: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
007627,000730: 06,2540 71277 MASK IMODES30
007628,000731: 06,2541 00006 EXTEND
007629,000732: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
007630,000733:
007631,000734: 06,2543 34735 CAF BIT15
007632,000735: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
007633,000736: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
007634,000737: 06,2546 00006 EXTEND
007635,000738: 06,2547 12551 BZF +2
007636,000739: 06,2550 12225 TCF NXTIFAIL
007637,000740:
007638,000741: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
007639,000742: 06,2552 27277 ADS IMODES30 # PRESENT FOR FULL DURATION.
007640,000743: 06,2553 05600 TC ALARM
007641,000744: 06,2554 00207 OCT 207
007642,000745: 06,2555 12225 TCF NXTIFAIL
007643,000746:
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007645,000748: 06,2556 41277 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007646,000749: 06,2557 74745 MASK BIT7
007647,000750: 06,2560 27277 ADS IMODES30
007648,000751: 06,2561 32564 CAF RRINIT
007649,000752: 06,2562 54110 TS RADMODES
007650,000753: 06,2563 12225 TCF NXTIFAIL
007651,000754:
007652,000755: 06,2564 00102 RRINIT OCT 00102
007653,000756:
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007655,000758: # PROGRAM NAME: IMUCAGE.
007656,000759:
007657,000760: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
007658,000761: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007659,000762: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007660,000763: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
007661,000764: # RELEASED (INBIT CHANGES TO 1).
007662,000765:
007663,000766: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
007664,000767:
007665,000768: # JOBS OR TASKS INITIATED: NONE.
007666,000769:
007667,000770: # SUBROUTINES CALLED: CAGESUB.
007668,000771:
007669,000772: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007670,000773:
007671,000774: # ALARMS: NONE.
007672,000775:
007673,000776: # EXIT: NXTIFAIL.
007674,000777:
007675,000778: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007676,000779:
007677,000780: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
007678,000781: 06,2566 12361 TCF ISSZERO
007679,000782: 06,2567 43002 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
007680,000783: 06,2570 00006 EXTEND
007681,000784: 06,2571 03014 WAND CHAN14
007682,000785:
007683,000786: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007684,000787: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007685,000788: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007686,000789:
007687,000790: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
007688,000791: 06,2576 70101 MASK FLAGWRD5
007689,000792: 06,2577 54101 TS FLAGWRD5
007690,000793: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
007691,000794: 06,2601 00006 EXTEND
007692,000795: 06,2602 02011 RAND DSALMOUT
007693,000796: 06,2603 64736 AD BIT14
007694,000797: 06,2604 00006 EXTEND
007695,000798: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
007696,000799:
007697,000800: 06,2606 02743 TC CAGESUB1
007698,000801:
007699,000802: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007700,000803: 06,2610 17161 CADR RNDREFDR
007701,000804:
007702,000805: 06,2611 44755 CS ZERO
007703,000806: 06,2612 54050 TS CDUXCMD
007704,000807: 06,2613 54051 TS CDUYCMD
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007706,000809: 06,2614 54052 TS CDUZCMD
007707,000810: 06,2615 54047 TS GYROCMD
007708,000811:
007709,000812: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
007710,000813: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
007711,000814: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
007712,000815: 06,2621 12225 TCF NXTIFAIL
007713,000816:
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007715,000818: # PROGRAM NAME: IMUOP.
007716,000819:
007717,000820: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007718,000821: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007719,000822: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007720,000823: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007721,000824: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
007722,000825:
007723,000826: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007724,000827:
007725,000828: # JOBS OR TASKS INITIATED: NONE.
007726,000829:
007727,000830: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007728,000831:
007729,000832: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007730,000833: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007731,000834:
007732,000835: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007733,000836:
007734,000837: # EXIT: NXTIFAIL.
007735,000838:
007736,000839: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007737,000840:
007738,000841: 06,2622 00006 IMUOP EXTEND
007739,000842: 06,2623 12643 BZF IMUOP2
007740,000843:
007741,000844: 06,2624 41300 CS IMODES33 # DISABLE DAP
007742,000845: 06,2625 74746 MASK BIT6
007743,000846: 06,2626 27300 ADS IMODES33
007744,000847:
007745,000848: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007746,000849: 06,2630 17161 CADR RNDREFDR
007747,000850:
007748,000851: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007749,000852: 06,2632 70074 MASK FLAGWRD0
007750,000853: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
007751,000854: 06,2634 40000 COM
007752,000855: 06,2635 74744 MASK IMUSEFLG
007753,000856: 06,2636 10000 CCS A
007754,000857: 06,2637 12225 TCF NXTIFAIL
007755,000858:
007756,000859: 06,2640 05600 TC ALARM
007757,000860: 06,2641 00214 OCT 214
007758,000861: 06,2642 12225 TCF NXTIFAIL
007759,000862:
007760,000863: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007761,000864: 06,2644 71277 MASK IMODES30
007762,000865: 06,2645 10000 CCS A
007763,000866: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
007764,000867: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
007765,000868:
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007767,000870: # PROGRAM NAME: PIPFAIL
007768,000871:
007769,000872: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
007770,000873: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT,I.E., IMODES30
007771,000874: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
007772,000875:
007773,000876: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007774,000877:
007775,000878: # JOBS OR TASKS INITIATED: NONE.
007776,000879:
007777,000880: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
007778,000881:
007779,000882: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
007780,000883:
007781,000884: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007782,000885: # BEING INITIALIZED.
007783,000886:
007784,000887: # EXIT: NXTFL33.
007785,000888:
007786,000889: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007787,000890:
007788,000891: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
007789,000892: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
007790,000893: 06,2652 57277 XCH IMODES30
007791,000894: 06,2653 73004 MASK -BIT10
007792,000895: 06,2654 27277 ADS IMODES30
007793,000896:
007794,000897: 06,2655 02703 TC SETISSW
007795,000898:
007796,000899: 06,2656 41277 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
007797,000900: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
007798,000901: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
007799,000902: 06,2661 12432 TCF NXTFL33
007800,000903:
007801,000904: 06,2662 31277 CA IMODES30
007802,000905: 06,2663 73000 MASK OCT1720
007803,000906: 06,2664 10000 CCS A
007804,000907: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
007805,000908:
007806,000909: 06,2666 05600 TC ALARM
007807,000910: 06,2667 00212 OCT 212
007808,000911: 06,2670 12432 TCF NXTFL33
007809,000912:
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007811,000914: # PROGRAM NAMES: DNTMFAST, UPTMFAST
007812,000915:
007813,000916: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
007814,000917: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
007815,000918:
007816,000919: # BIT ALARM CAUSE
007817,000920: # --- ----- -----
007818,000921: # 12 01105 DOWNLINK TOO FAST
007819,000922: # 11 01106 UPLINK TOO FAST
007820,000923:
007821,000924: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
007822,000925:
007823,000926: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
007824,000927:
007825,000928: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007826,000929:
007827,000930: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
007828,000931:
007829,000932: # EXIT: NXTFL33.
007830,000933:
007831,000934: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
007832,000935:
007833,000936: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
007834,000937: 06,2672 12432 TCF NXTFL33
007835,000938:
007836,000939: 06,2673 05600 TC ALARM
007837,000940: 06,2674 01105 OCT 1105
007838,000941: 06,2675 12432 TCF NXTFL33
007839,000942:
007840,000943: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
007841,000944: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
007842,000945:
007843,000946: 06,2700 05600 TC ALARM
007844,000947: 06,2701 01106 OCT 1106
007845,000948: 06,2702 12432 TCF NXTFL33
007846,000949:
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007848,000951: # PROGRAM NAME: SETISSW
007849,000952:
007850,000953: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007851,000954: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007852,000955: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007853,000956: # PROGRESS.
007854,000957:
007855,000958: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
007856,000959: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
007857,000960: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007858,000961: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007859,000962:
007860,000963: # JOBS OR TASKS INITIATED: NONE.
007861,000964:
007862,000965: # SUBROUTINES CALLED: NONE.
007863,000966:
007864,000967: # ERASABLE INITIALIZATION:
007865,000968:
007866,000969: # 1) IMODES30 - SEE IMUMON.
007867,000970: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007868,000971:
007869,000972: # ALARMS: ISS WARNING.
007870,000973:
007871,000974: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007872,000975: # PROGRAM ALARM 00777 PIPA FAIL
007873,000976: # PROGRAM ALARM 03777 ICDU FAIL
007874,000977: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
007875,000978: # PROGRAM ALARM 07777 IMU FAIL
007876,000979: # PROGRAM ALARM 10777 IMU , PIPA FAILS
007877,000980: # PROGRAM ALARM 13777 IMU , ICDU FAILS
007878,000981: # PROGRAM ALARM 14777 IMU , ICDU, PIPA FAILS
007879,000982:
007880,000983: # EXIT: VIA Q.
007881,000984:
007882,000985: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
007883,000986:
007884,000987: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
007885,000988: 06,2704 71277 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
007886,000989: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
007887,000990: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
007888,000991: 06,2707 31277 CA IMODES30
007889,000992: 06,2710 00006 EXTEND
007890,000993: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
007891,000994: 06,2712 40000 COM
007892,000995: 06,2713 75025 MASK OCT15000
007893,000996: 06,2714 10000 CCS A
007894,000997: 06,2715 12726 TCF ISSWON # FAILURE.
007895,000998:
007896,000999: 06,2716 34753 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
007897,001000: 06,2717 71300 MASK IMODES33 # IN PROGRESS.
007898,001001:
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007900,001003: 06,2720 10000 CCS A
007901,001004: 06,2721 00002 TC Q
007902,001005:
007903,001006: 06,2722 44753 CS BIT1
007904,001007: 06,2723 00006 EXTEND
007905,001008: 06,2724 03011 WAND DSALMOUT
007906,001009: 06,2725 00002 TC Q
007907,001010:
007908,001011: 06,2726 00006 ISSWON EXTEND
007909,001012: 06,2727 22066 QXCH ITEMP6
007910,001013: 06,2730 05745 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING
007911,001014: 06,2731 34753 CAF BIT1
007912,001015: 06,2732 00006 EXTEND
007913,001016: 06,2733 05011 WOR DSALMOUT
007914,001017: 06,2734 00066 TC ITEMP6
007915,001018:
007916,001019: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
007917,001020: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
007918,001021: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
007919,001022: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
007920,001023: 06,2741 00006 EXTEND
007921,001024: 06,2742 05012 WOR CHAN12
007922,001025:
007923,001026: 06,2743 41035 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
007924,001027: 06,2744 72773 MASK OC40010
007925,001028: 06,2745 27035 ADS DSPTAB +11D
007926,001029:
007927,001030: 06,2746 41277 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
007928,001031: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
007929,001032: 06,2750 27277 ADS IMODES30
007930,001033:
007931,001034: 06,2751 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
007932,001035: 06,2752 74746 MASK BIT6
007933,001036: 06,2753 27300 ADS IMODES33
007934,001037:
007935,001038: 06,2754 00002 TC Q
007936,001039:
007937,001040: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
007938,001041: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
007939,001042:
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007941,001044: # JUMP TABLES AND CONSTANTS.
007942,001045:
007943,001046: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
007944,001047: 06,2756 12703 TCF IMUFAIL
007945,001048: 06,2757 12703 TCF ICDUFAIL
007946,001049: 06,2760 12565 TCF IMUCAGE
007947,001050: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
007948,001051: 06,2762 12622 TCF IMUOP
007949,001052:
007950,001053: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
007951,001054: 06,2764 12671 TCF DNTMFAST
007952,001055: 06,2765 12676 TCF UPTMFAST
007953,001056:
007954,001057: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007955,001058: 06,2766 41300 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007956,001059: 06,2767 74753 MASK BIT1 # PROGRESS.
007957,001060: 06,2770 10000 CCS A
007958,001061: 06,2771 24002 INCR Q
007959,001062: 06,2772 00002 TC Q
007960,001063:
007961,001064: 06,2773 5026 33RDMSK EQUALS PRIO16
007962,001065: 06,2773 40010 OC40010 OCT 40010
007963,001066: 06,2774 00054 OCT54 OCT 54
007964,001067: 06,2775 00075 OCT75 OCT 75
007965,001068: 06,2776 00272 OCT272 OCT 00272
007966,001069: 06,2777 00300 BITS7&8 OCT 300
007967,001070: 06,3000 01720 OCT1720 OCT 1720
007968,001071: 06,3001 00740 OCT740 OCT 00740
007969,001072: 06,3002 5025 OCT15000 EQUALS PRIO15
007970,001073: 06,3002 77000 OCT77000 OCT 77000
007971,001074: 06,3003 40040 BITS6&15 OCT 40040
007972,001075: 06,3004 76777 -BIT10 OCT -1000
007973,001076:
007974,001077: 06,3005 21450 90SECS DEC 9000 B-14
007975,001078: 06,3006 5752 120MS = OCT14 # (DEC12)
007976,001079: 06,3006 5301 GLOCKOK EQUALS RESUME
007977,001080:
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007979,001082: # PROGRAM NAME_ RRAUTCHK
007980,001083:
007981,001084: # FUNCTIONAL DESCRIPTION_
007982,001085: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
007983,001086: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
007984,001087: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
007985,001088: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
007986,001089: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
007987,001090: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
007988,001091: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
007989,001092: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
007990,001093: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
007991,001094: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007992,001095: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
007993,001096: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007994,001097:
007995,001098: # CALLING SEQUENCE_
007996,001099: # T4RUPT EVERY 480 MILLISECONDS
007997,001100:
007998,001101: # ERASABLE INITIALIZATION REQUIRED_
007999,001102: # RADMODES, STATE
008000,001103:
008001,001104: # SUBROUTINES CALLED_
008002,001105: # WAITLIST
008003,001106:
008004,001107: # JOBS OR TASKS INITIATED_
008005,001108: # RRTURNON
008006,001109:
008007,001110: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008008,001111: # USED
008009,001112:
008010,001113: # EXIT_ RRCDUCHK, NORRGMON
008011,001114:
008012,001115: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
008013,001116: 06,3007 00006 EXTEND
008014,001117: 06,3010 06033 RXOR CHAN33
008015,001118: 06,3011 74752 MASK AUTOMBIT
008016,001119: 06,3012 00006 EXTEND
008017,001120: 06,3013 13037 BZF RRCDUCHK
008018,001121:
008019,001122: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
008020,001123: 06,3015 00006 EXTEND
008021,001124: 06,3016 06001 RXOR LCHAN
008022,001125: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
008023,001126: 06,3020 54110 TS RADMODES # AND TURNON BITS.
008024,001127: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
008025,001128: 06,3022 10000 CCS A
008026,001129: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
008027,001130: 06,3024 37666 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
008028,001131: 06,3025 26110 ADS RADMODES
008029,001132:
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008031,001134: 06,3026 34753 CAF ONE
008032,001135: 06,3027 05214 TC WAITLIST
008033,001136: 06,3030 E7,1456 EBANK= LOSCOUNT
008034,001137: 06,3030 02073 52107 2CADR RRTURNON
008035,001138:
008036,001139: 06,3032 13126 TCF NORRGMON
008037,001140:
008038,001141: 06,3033 05776 OCT05776 OCT 5776
008039,001142:
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008041,001144: # PROGRAM NAME_ RRCDUCHK
008042,001145:
008043,001146: # FUNCTIONAL DESCRIPTION_
008044,001147: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008045,001148: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008046,001149: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008047,001150: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008048,001151: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008049,001152: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008050,001153: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008051,001154: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008052,001155: # RRGIMON.
008053,001156:
008054,001157: # CALLING SEQUENCE_
008055,001158: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008056,001159: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008057,001160:
008058,001161: # ERASABLE INITIALIZATION REQUIRED_
008059,001162: # RADMODES
008060,001163:
008061,001164: # SUBROUTINES CALLED_
008062,001165: # SETTRKF
008063,001166:
008064,001167: # JOBS OR TASKS INITIATED_
008065,001168: # NONE
008066,001169:
008067,001170: # ALARMS_
008068,001171: # TRACKER FAIL
008069,001172: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008070,001173:
008071,001174: # EXIT_
008072,001175: # RRGIMON, NORRGMON
008073,001176:
008074,001177: 06,3034 44752 -3 CS BIT2
008075,001178: 06,3035 00006 EXTEND
008076,001179: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
008077,001180:
008078,001181: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
008079,001182: 06,3040 00006 EXTEND
008080,001183: 06,3041 06030 RXOR CHAN30
008081,001184: 06,3042 74745 MASK RCDUFBIT
008082,001185: 06,3043 00006 EXTEND
008083,001186: 06,3044 13071 BZF RRGIMON
008084,001187:
008085,001188: 06,3045 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
008086,001189: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
008087,001190: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
008088,001191: 06,3050 13126 TCF NORRGMON # JUST READING LR DATA.
008089,001192:
008090,001193: 06,3051 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
008091,001194:
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008093,001196: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
008094,001197: 06,3053 00006 EXTEND
008095,001198: 06,3054 06001 RXOR L
008096,001199: 06,3055 54110 TS RADMODES
008097,001200:
008098,001201: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
008099,001202: 06,3057 74615 MASK 13,7,2 # CDU ZERO+ CDUFAIL+ RR AUTO
008100,001203: 06,3060 10000 CCS A
008101,001204: 06,3061 13070 TCF TRKFLCDU # NO
008102,001205: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
008103,001206: 06,3063 74745 MASK RNDVZBIT
008104,001207: 06,3064 10000 CCS A
008105,001208: 06,3065 13070 TCF TRKFLCDU # NO
008106,001209: 06,3066 05600 TC ALARM # YES
008107,001210: 06,3067 00515 OCT 00515
008108,001211: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
008109,001212:
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008111,001214: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008112,001215:
008113,001216: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
008114,001217: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
008115,001218: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008116,001219: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008117,001220: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008118,001221: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008119,001222: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008120,001223: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008121,001224: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008122,001225: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008123,001226: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008124,001227:
008125,001228: # CALLING SEQUENCE_
008126,001229: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008127,001230: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008128,001231: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008129,001232: # (RADMODES BIT 2).
008130,001233:
008131,001234: # ERASABLE INITIALIZATION_ RADMODES
008132,001235:
008133,001236: # SUBROUTINES CALLED_
008134,001237: # RRLIMCHK, WAITLIST
008135,001238:
008136,001239: # JOBS OR TASKS INITIATED_
008137,001240: # DORREPOS
008138,001241:
008139,001242: # ALARMS_
008140,001243: # NONE
008141,001244:
008142,001245: # EXIT_
008143,001246: # NORRGMON
008144,001247:
008145,001248: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
008146,001249: 06,3072 74750 MASK NORRMBIT
008147,001250: 06,3073 10000 CCS A
008148,001251: 06,3074 13126 TCF NORRGMON # YES - SKIP LIMIT CHECK
008149,001252: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
008150,001253: 06,3076 74747 MASK AVEGFBIT
008151,001254: 06,3077 10000 CCS A
008152,001255: 06,3100 13105 TCF +5 # NO. DO R25
008153,001256: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
008154,001257: 06,3102 74744 MASK MUNFLBIT
008155,001258: 06,3103 10000 CCS A
008156,001259: 06,3104 13126 TCF NORRGMON # YES. DON'T DO R25
008157,001260: 06,3105 33135 +5 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR.
008158,001261: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
008159,001262: 06,3107 10000 CCS A
008160,001263: 06,3110 13126 TCF NORRGMON
008161,001264:
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008163,001266: 06,3111 04523 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
008164,001267: 06,3112 00035 ADRES CDUT
008165,001268:
008166,001269: 06,3113 13115 TCF MONREPOS
008167,001270:
008168,001271: 06,3114 13126 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
008169,001272:
008170,001273: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
008171,001274: 06,3116 26110 ADS RADMODES
008172,001275:
008173,001276: 06,3117 43136 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
008174,001277: 06,3120 00006 EXTEND
008175,001278: 06,3121 03012 WAND CHAN12
008176,001279:
008177,001280: 06,3122 34752 CAF TWO
008178,001281: 06,3123 05214 TC WAITLIST
008179,001282: 06,3124 E7,1456 EBANK= LOSCOUNT
008180,001283: 06,3124 02140 52107 2CADR DORREPOS
008181,001284:
008182,001285: 06,3126 30110 NORRGMON CA RADMODES # IF SELECT SWITCH IS NOT IN LGC, SEND RR
008183,001286: 06,3127 74752 MASK AUTOMBIT # CDU ZERO BIT TO PREVENT MEMORY CYCLE
008184,001287: 06,3130 10000 CCS A # SNATCHING BY MANIC RR CDUS. BIT2 OF
008185,001288: 06,3131 13132 NOOP # RADMODES AGREES WITH BIT2 OF CHANNEL
008186,001289: 06,3132 00006 EXTEND # 33. FOR THIS CODING, WHICH ASSUMES
008187,001290: 06,3133 05012 WOR CHAN12 # AUTOMBIT = BIT2, THANKS TO HUGH B-S.
008188,001291: 06,3134 13140 TCF ENDRRMON
008189,001292:
008190,001293: 06,3135 06,3140 ENDRRMON EQUALS DAPT4S
008191,001294:
008192,001295: 06,3135 32002 OCT32002 OCT 32002
008193,001296: 06,3136 20002 OCT20002 OCT 20002
008194,001297: 06,3137 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS
008195,001298:
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008197,001300: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008198,001301:
008199,001302: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008200,001303:
008201,001304: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008202,001305:
008203,001306: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008204,001307: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008205,001308: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008206,001309:
008207,001310: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008208,001311: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008209,001312:
008210,001313: # SUBROUTINES CALLED: SPSIN, SPCOS.
008211,001314:
008212,001315: # NORMAL EXIT MODE: TCF RESUME
008213,001316:
008214,001317: # ALARM AND ABORT MODES: NONE.
008215,001318:
008216,001319: # INPUT: CDUX, CDUY, CDUZ.
008217,001320:
008218,001321: # OUTPUT: M11, M21, M31, M22, M32.
008219,001322:
008220,001323: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
008221,001324:
008222,001325: # * * SIN(MG) 0 1 *
008223,001326: # M = * COS(MG)COS(OG) SIN(OG) 0 *
008224,001327: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
008225,001328:
008226,001329: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
008227,001330: # M = * 0 SIN(OG) COS(OG) *
008228,001331: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
008229,001332:
008230,001333: 06,3140 E6,1414 EBANK= M11
008231,001334: 06,3140 06,3140 DAPT4S EQUALS GPMATRIX
008232,001335: # T4RUPT DAP LOGIC:
008233,001336:
008234,001337: 06,3140 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
008235,001338: 06,3141 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
008236,001339: 06,3142 55414 TS M11 # SCALED AT 1
008237,001340:
008238,001341: 06,3143 30034 CAE CDUZ
008239,001342: 06,3144 05032 TC SPCOS # COS(CDUZ) = COS(MG)
008240,001343: 06,3145 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
008241,001344:
008242,001345: 06,3146 30032 CAE CDUX
008243,001346: 06,3147 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
008244,001347: 06,3150 55417 TS M22 # SCALED AT 1 (ALSO IS MR22)
008245,001348:
008246,001349: 06,3151 41417 CS M22
008247,001350:
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008249,001352: 06,3152 00006 EXTEND
008250,001353: 06,3153 70061 MP COSMG # -SIN(OG)COS(MG)
008251,001354: 06,3154 55416 TS M31 # SCALED AT 1
008252,001355:
008253,001356: 06,3155 30032 CAE CDUX
008254,001357: 06,3156 05032 TC SPCOS # COS(CDUX) = COS(OG)
008255,001358: 06,3157 55420 TS M32 # SCALED AT 1 (ALSO IS MR23)
008256,001359:
008257,001360: 06,3160 00006 EXTEND
008258,001361: 06,3161 70061 MP COSMG # COS(OG)COS(MG)
008259,001362: 06,3162 55415 TS M21 # SCALED AT 1
008260,001363:
008261,001364: 06,3163 05301 TC RESUME
008262,001365:
008263,001366: 06,3164 5301 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc