Source Code

These source-code files derive from a printout of Luminary 210 (Apollo 15-17 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Jim Lawton, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY 
	BY NASA 2021112-161 17:11 MAR. 19,1971
Note that the date is the date of the printout, not the date of the program revision.

007137,000002:                                                                                                  ## Copyright:   Public domain.
007138,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
007139,000004:                                                                                                  ## Purpose:     A section of Luminary revision 210.
007140,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
007141,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 15-17.
007142,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
007143,000008:                                                                                                  ##              that the code format has been changed to conform to the
007144,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
007145,000010:                                                                                                  ##              original YUL assembler.
007146,000011:                                                                                                  ## Reference:   pp. 165-200
007147,000012:                                                                                                  ## Assembler:   yaYUL
007148,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
007149,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
007150,000015:                                                                                                  ## Mod history: 2016-11-17 JL   Created from Luminary131 version.
007151,000016:                                                                                                  ##              2016-11-21 HG   Transcribed
007152,000017:                                                                                                  ##              2016-12-23 RSB  Proofed comment text with octopus/ProoferComments
007153,000018:                                                                                                  ##                              and fixed all errors found.
007154,000019:                                                                                                  ##              2017-01-26 RSB  Back-ported comment-text fixes found while
007155,000020:                                                                                                  ##                              proofing corresponding Luminary 69 file.        
007156,000021:                                                                                                  ##              2017-02-08 RSB  Comment-text fixes identified while proofing Artemis 72.
007157,000022:                                                                                                  ##              2017-03-03 RSB  Fixed comment-text errors identified while proofing
007158,000023:                                                                                                  ##                              Luminary 116.
007159,000024:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
007160,000025:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
007161,000026: 

Page 165

007163,000028: 12,2000                                           BANK     12                                    
007164,000029: 06,2000                                           SETLOC   T4RUP                                 
007165,000030: 06,2000                                           BANK                                           
007166,000031: 
007167,000032: 06,2000  E6,1414                                  EBANK=   M11                                   
007168,000033: 06,2000                                           COUNT*   $$/T4RPT                              
007169,000034: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
007170,000035: 
007171,000036: 06,2001           00006                           EXTEND                                         
007172,000037: 06,2002           22012                           QXCH     QRUPT                                 
007173,000038: 
007174,000039: 06,2003           11310                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
007175,000040: 06,2004           12010                           TCF      NORMT4     +1                         
007176,000041: 06,2005           12007                           TCF      NORMT4                                
007177,000042: 
007178,000043: 06,2006           12134                           TCF      QUIKDSP                               
007179,000044: 
007180,000045: 06,2007           34750        NORMT4             CAF      SEVEN                                 
007181,000046: 06,2010           54070                           TS       RUPTREG1                              
007182,000047: 06,2011           55310                           TS       DSRUPTSW                              
007183,000048: 
007184,000049:    4066                                           BLOCK    02                                    
007185,000050:    4000                                           SETLOC   FFTAG10                               
007186,000051:    4000                                           BANK                                           
007187,000052: 
007188,000053:    4066                                           COUNT*   $$/T4RPT                              
007189,000054:    4066     7750               100MRUPT           =        OCT37766                              #  (DEC 16374)
007190,000055:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007191,000056:                                                                                                  #  IN LOWER 5 BITS.
007192,000057:    4066           04025        RELTAB             OCT      04025                                 
007193,000058:    4067           10003                           OCT      10003                                 
007194,000059:    4070           14031                           OCT      14031                                 
007195,000060:    4071           20033                           OCT      20033                                 
007196,000061:    4072           24017                           OCT      24017                                 
007197,000062:    4073           30036                           OCT      30036                                 
007198,000063:    4074           34034                           OCT      34034                                 
007199,000064:    4075           40023                           OCT      40023                                 
007200,000065:    4076           44035                           OCT      44035                                 
007201,000066:    4077           50037                           OCT      50037                                 
007202,000067:    4100           54000                           OCT      54000                                 
007203,000068:    4101           60000        RELTAB11           OCT      60000                                 
007204,000069: 

Page 166

007206,000071:                                                                                                  #           SWITCHED-BANK PORTION.
007207,000072: 
007208,000073: 12,2000                                           BANK     12                                    
007209,000074: 06,2000                                           SETLOC   T4RUP                                 
007210,000075: 06,2000                                           BANK                                           
007211,000076: 
007212,000077: 06,2012                                           COUNT*   $$/T4RPT                              
007213,000078: 06,2012           11035        CDRVE              CCS      DSPTAB     +11D                       
007214,000079: 06,2013           02063                           TC       DSPOUT                                
007215,000080: 06,2014           02063                           TC       DSPOUT                                
007216,000081: 
007217,000082: 06,2015           57035                           XCH      DSPTAB     +11D                       
007218,000083: 06,2016           74347                           MASK     LOW11                                 
007219,000084: 06,2017           55035                           TS       DSPTAB     +11D                       
007220,000085: 06,2020           64101                           AD       RELTAB11                              
007221,000086: 06,2021           00006                           EXTEND                                         
007222,000087: 06,2022           01010                           WRITE    OUT0                                  
007223,000088: 06,2023           02071                           TC       HANG20                                
007224,000089: 

Page 167

007226,000091:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007227,000092: 
007228,000093: 06,2024           55015        DSPOUTSB           TS       NOUT                                  
007229,000094: 06,2025           44746                           CS       ZERO                                  
007230,000095: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
007231,000096: 06,2027           56775                           XCH      DSPCNT                                
007232,000097: 06,2030           64745                           AD       NEG0                                  #  TO PREVENT +0
007233,000098: 06,2031           54775                           TS       DSPCNT                                
007234,000099: 06,2032           50775        DSPSCAN            INDEX    DSPCNT                                
007235,000100: 06,2033           11022                           CCS      DSPTAB                                
007236,000101: 06,2034           10775                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
007237,000102: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
007238,000103: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
007239,000104: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
007240,000105: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007241,000106: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0). +0 INTO NOUT.
007242,000107: 06,2042           55015                           TS       NOUT                                  
007243,000108: 06,2043           00002                           TC       Q                                     
007244,000109: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007245,000110: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007246,000111: 06,2046           12031                           TCF      DSPSCAN    -1                         
007247,000112: 
007248,000113: 06,2047           64744        DSPLAY             AD       ONE                                   
007249,000114: 06,2050           50775                           INDEX    DSPCNT                                
007250,000115: 06,2051           55022                           TS       DSPTAB                                #  REPLACE POSITIVELY
007251,000116: 06,2052           74347                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
007252,000117: 06,2053           54073                           TS       DSRUPTEM                              
007253,000118: 06,2054           34341                           CAF      HI5                                   
007254,000119: 06,2055           50775                           INDEX    DSPCNT                                
007255,000120: 06,2056           74066                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007256,000121: 06,2057           60073                           AD       DSRUPTEM                              
007257,000122: 06,2060           00006                           EXTEND                                         
007258,000123: 06,2061           01010                           WRITE    OUT0                                  
007259,000124: 
007260,000125: 06,2062           16760                           TCF      Q+1                                   
007261,000126: 
007262,000127: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
007263,000128: 06,2064           34746                           CAF      ZERO                                  #  NO
007264,000129: 06,2065           12130                           TCF      NODSPOUT                              #  NO
007265,000130: 06,2066           11015                           CCS      NOUT                                  #  YES
007266,000131: 06,2067           02024                           TC       DSPOUTSB                              
007267,000132: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
007268,000133: 
007269,000134: 06,2071           42171        HANG20             CS       14,11,9                               
007270,000135: 06,2072           27310                           ADS      DSRUPTSW                              
007271,000136: 
007272,000137: 06,2073           37752                           CAF      20MRUPT                               
007273,000138: 
007274,000139: 06,2074           54027        SETTIME4           TS       TIME4                                 
007275,000140: 

Page 168

007277,000142:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007278,000143:                                                                                                  #  THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007279,000144: 
007280,000145:                                                                                                  #     IF PREV ON AND NOW ON    -   BYPASS
007281,000146:                                                                                                  #     IF PREV ON AND NOW OFF   -   UPDATE IMODES33
007282,000147:                                                                                                  #     IF PREV OFF AND NOW ON   -   UPDATE IMODES33 AND PROCESS VIA PINBALL
007283,000148:                                                                                                  #     IF PREV OFF AND NOW OFF  -   BYPASS
007284,000149: 
007285,000150:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007286,000151: 
007287,000152: 
007288,000153: 06,2075           31300        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
007289,000154: 06,2076           00006                           EXTEND                                         
007290,000155: 06,2077           06032                           RXOR     CHAN32                                
007291,000156: 06,2100           74727                           MASK     BIT14                                 
007292,000157: 06,2101           00006                           EXTEND                                         
007293,000158: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
007294,000159: 
007295,000160: 06,2103           23300                           LXCH     IMODES33                              
007296,000161: 06,2104           00006                           EXTEND                                         
007297,000162: 06,2105           06001                           RXOR     LCHAN                                 
007298,000163: 06,2106           55300                           TS       IMODES33                              #  UPDATE IMODES33
007299,000164: 06,2107           74727                           MASK     BIT14                                 
007300,000165: 06,2110           10000                           CCS      A                                     
007301,000166: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
007302,000167: 
007303,000168: 06,2112           34346                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
007304,000169: 06,2113           05063                           TC       NOVAC                                 
007305,000170: 06,2114     0776                                  EBANK=   DSPCOUNT                              
007306,000171: 06,2114           03501 60101                     2CADR    PROCKEY                               
007307,000172: 

Page 169

007309,000174:                                                                                                  #           JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007310,000175: 
007311,000176: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
007312,000177: 06,2117           12120                           TCF      +1                                    
007313,000178: 
007314,000179: 06,2120           03213                           TC       RCSMONIT                              
007315,000180: 06,2121           13035                           TCF      RRAUTCHK                              
007316,000181: 06,2122           12172                           TCF      IMUMON                                
007317,000182: 06,2123           13167                           TCF      DAPT4S                                
007318,000183: 06,2124           03213                           TC       RCSMONIT                              
007319,000184: 06,2125           13035                           TCF      RRAUTCHK                              
007320,000185: 06,2126           12172                           TCF      IMUMON                                
007321,000186: 06,2127           13167                           TCF      DAPT4S                                
007322,000187: 
007323,000188: 06,2130     7752               20MRUPT            =        OCT37776                              #  (DEC 16382)
007324,000189: 

Page 170

007326,000191:                                                                                                  #           ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007327,000192: 
007328,000193: 06,2130           00006        NODSPOUT           EXTEND                                         
007329,000194: 06,2131           01010                           WRITE    OUT0                                  
007330,000195: 
007331,000196: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
007332,000197: 06,2133           12074                           TCF      SETTIME4                              
007333,000198: 
007334,000199: 06,2134           34727        QUIKDSP            CAF      BIT14                                 
007335,000200: 06,2135           71310                           MASK     DSRUPTSW                              
007336,000201: 06,2136           00006                           EXTEND                                         
007337,000202: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
007338,000203: 
007339,000204: 06,2140           11015                           CCS      NOUT                                  
007340,000205: 06,2141           02024                           TC       DSPOUTSB                              
007341,000206: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
007342,000207: 06,2143           44727                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
007343,000208: 06,2144           27310        QUIKRUPT           ADS      DSRUPTSW                              
007344,000209: 
007345,000210: 06,2145           37752                           CAF      20MRUPT                               
007346,000211: 06,2146           54027                           TS       TIME4                                 
007347,000212: 
007348,000213: 06,2147           34734                           CAF      BIT9                                  
007349,000214: 06,2150           27310                           ADS      DSRUPTSW                              
007350,000215: 
007351,000216: 06,2151           05272                           TC       RESUME                                
007352,000217: 
007353,000218: 06,2152           00006        NODSPY             EXTEND                                         
007354,000219: 06,2153           01010                           WRITE    OUT0                                  
007355,000220: 
007356,000221: 06,2154           37752        SYNCT4             CAF      20MRUPT                               
007357,000222: 06,2155           26027                           ADS      TIME4                                 
007358,000223: 
007359,000224: 06,2156           34734                           CAF      BIT9                                  
007360,000225: 06,2157           27310                           ADS      DSRUPTSW                              
007361,000226: 
007362,000227: 06,2160           11310                           CCS      DSRUPTSW                              
007363,000228: 06,2161           05272                           TC       RESUME                                
007364,000229: 06,2162           37737        OCT37737           OCT      37737                                 
007365,000230: 06,2163           02154                           TC       SYNCT4                                
007366,000231: 06,2164           05272                           TC       RESUME                                
007367,000232: 
007368,000233: 06,2165           00006        QUIKOFF            EXTEND                                         
007369,000234: 06,2166           01010                           WRITE    OUT0                                  
007370,000235: 06,2167           34727                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007371,000236: 06,2170           12144                           TCF      QUIKRUPT                              
007372,000237: 
007373,000238: 06,2171           22400        14,11,9            OCT      22400                                 
007374,000239: 

Page 171

007376,000241:                                                                                                  #  PROGRAM NAME:  IMUMON
007377,000242: 
007378,000243:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007379,000244:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007380,000245: 
007381,000246:                                                                                                  #           FUNCTION               BIT    SUBROUTINE CALLED
007382,000247:                                                                                                  #           --------               ---    -----------------
007383,000248:                                                                                                  #           TEMP IN LIMITS          15    TLIM
007384,000249:                                                                                                  #           ISS TURN-ON REQUEST     14    ITURNON
007385,000250:                                                                                                  #           IMU FAIL                13    IMUFAIL (SETISSW)
007386,000251:                                                                                                  #           IMU CDU FAIL            12    ICDUFAIL (SETISSW)
007387,000252:                                                                                                  #           IMU CAGE                11    IMUCAGE
007388,000253:                                                                                                  #           IMU OPERATE              9    IMUOP
007389,000254: 
007390,000255:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007391,000256:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007392,000257: 
007393,000258:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
007394,000259: 
007395,000260:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007396,000261: 
007397,000262:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007398,000263: 
007399,000264:                                                                                                  #  ERASABLE INITIALIZATION:
007400,000265:                                                                                                  #            FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007401,000266:                                                                                                  #            RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007402,000267:                                                                                                  #                                        THIS LEAVES IMU FAIL BITS INTACT.
007403,000268: 
007404,000269:                                                                                                  #  ALARMS:   NONE.
007405,000270: 
007406,000271:                                                                                                  #  EXIT:  TNONTEST.
007407,000272: 
007408,000273:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007409,000274: 
007410,000275: 06,2172           31277        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
007411,000276: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
007412,000277: 06,2174           06030                           RXOR     CHAN30                                
007413,000278: 06,2175           72761                           MASK     30RDMSK                               
007414,000279: 06,2176           00006                           EXTEND                                         
007415,000280: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
007416,000281: 
007417,000282: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
007418,000283: 06,2201           23277                           LXCH     IMODES30                              #  UPDATE IMODES30.
007419,000284: 06,2202           00006                           EXTEND                                         
007420,000285: 06,2203           06001                           RXOR     LCHAN                                 
007421,000286: 06,2204           55277                           TS       IMODES30                              
007422,000287: 
007423,000288: 06,2205           44744                           CS       ONE                                   
007424,000289: 06,2206           56070                           XCH      RUPTREG1                              
007425,000290: 06,2207           00006                           EXTEND                                         
007426,000291: 

Page 172

007428,000293: 06,2210           62514                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
007429,000294: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
007430,000295: 
007431,000296: 06,2212           64744                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
007432,000297: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
007433,000298: 06,2214           60000                 +1        DOUBLE                                         
007434,000299: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
007435,000300: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
007436,000301: 
007437,000302: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
007438,000303: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
007439,000304: 06,2221           34727                           CAF      BIT14                                 
007440,000305: 06,2222           71277                           MASK     IMODES30                              
007441,000306: 06,2223           50070                           INDEX    RUPTREG1                              
007442,000307: 06,2224           02755                           TC       IFAILJMP                              
007443,000308: 
007444,000309: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
007445,000310: 06,2226           12212                           TCF      NXTIFBIT   -1                         
007446,000311: 

Page 173

007448,000313:                                                                                                  #  PROGRAM NAME:  TNONTEST.
007449,000314: 
007450,000315:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
007451,000316:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007452,000317:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007453,000318: 
007454,000319:                                                                                                  #           1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
007455,000320:                                                                                                  #           BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007456,000321:                                                                                                  #           SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007457,000322: 
007458,000323:                                                                                                  #           2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007459,000324:                                                                                                  #           A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
007460,000325:                                                                                                  #           ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007461,000326:                                                                                                  #           A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007462,000327: 
007463,000328:                                                                                                  #           3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007464,000329:                                                                                                  #           IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007465,000330: 
007466,000331:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
007467,000332:                                                                                                  #  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
007468,000333:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007469,000334:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
007470,000335:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
007471,000336:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007472,000337:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
007473,000338:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007474,000339:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007475,000340: 
007476,000341:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007477,000342:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007478,000343: 
007479,000344:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007480,000345: 
007481,000346:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007482,000347:                                                                                                  #           3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007483,000348:                                                                                                  #           STARTED.
007484,000349: 
007485,000350:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007486,000351: 
007487,000352:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
007488,000353: 
007489,000354:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007490,000355: 
007491,000356:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
007492,000357:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007493,000358:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007494,000359: 
007495,000360:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
007496,000361: 
007497,000362: 06,2227           41277        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT
007498,000363: 

Page 174

007500,000365: 06,2230           74736                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
007501,000366: 06,2231           10000                           CCS      A                                     
007502,000367: 06,2232           12374                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
007503,000368: 
007504,000369: 06,2233           34735                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
007505,000370: 06,2234           71277                           MASK     IMODES30                              
007506,000371: 06,2235           10000                           CCS      A                                     
007507,000372: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
007508,000373: 
007509,000374: 06,2237           34735                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
007510,000375: 06,2240           27277                           ADS      IMODES30                              #  TIME.
007511,000376: 06,2241           12374                           TCF      C33TEST                               
007512,000377: 
007513,000378:                                                                                                  #           PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007514,000379: 
007515,000380: 06,2242           42777        PROCTNON           CS       BITS7&8                               
007516,000381: 06,2243           71277                           MASK     IMODES30                              
007517,000382: 06,2244           55277                           TS       IMODES30                              
007518,000383: 06,2245           74727                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
007519,000384: 06,2246           10000                           CCS      A                                     
007520,000385: 06,2247           12347                           TCF      OPONLY                                #  OPERATE ON ONLY.
007521,000386: 
007522,000387: 06,2250           41277                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007523,000388: 06,2251           74734                           MASK     BIT9                                  #  OPERATE.
007524,000389: 06,2252           10000                           CCS      A                                     
007525,000390: 06,2253           12256                           TCF      +3                                    
007526,000391: 
007527,000392: 06,2254           05571                           TC       ALARM                                 #  ALARM IF NOT.
007528,000393: 06,2255           00213                           OCT      213                                   
007529,000394: 
007530,000395: 06,2256           02735                 +3        TC       CAGESUB                               
007531,000396: 06,2257           33005                           CAF      90SECS                                
007532,000397: 06,2260           05205                           TC       WAITLIST                              
007533,000398: 06,2261  E6,1414                                  EBANK=   M11                                   
007534,000399: 06,2261           02266 14106                     2CADR    ENDTNON                               
007535,000400: 
007536,000401: 06,2263           12374                           TCF      C33TEST                               
007537,000402: 
007538,000403: 06,2264           33005        RETNON             CAF      90SECS                                
007539,000404: 06,2265           05226                           TC       VARDELAY                              
007540,000405: 
007541,000406: 06,2266           44743        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
007542,000407: 06,2267           71277                           MASK     IMODES30                              
007543,000408: 06,2270           57277                           XCH      IMODES30                              
007544,000409: 06,2271           74743                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007545,000410: 06,2272           00006                           EXTEND                                         
007546,000411: 06,2273           12306                           BZF      ENDTNON2                              
007547,000412: 
007548,000413: 06,2274           34727                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
007549,000414: 

Page 175

007551,000416: 06,2275           71277                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007552,000417: 06,2276           00006                           EXTEND                                         
007553,000418: 06,2277           12264                           BZF      RETNON                                
007554,000419: 
007555,000420: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
007556,000421: 06,2301           74735                           MASK     IMUSEBIT                              #  WAITING.
007557,000422: 06,2302           10000                           CCS      A                                     
007558,000423: 06,2303           15263                           TCF      TASKOVER                              
007559,000424: 06,2304           04626                           TC       POSTJUMP                              
007560,000425: 06,2305           17656                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
007561,000426: 
007562,000427: 06,2306           34726        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
007563,000428: 06,2307           00006                           EXTEND                                         
007564,000429: 06,2310           05012                           WOR      CHAN12                                
007565,000430: 
007566,000431: 06,2311           04665                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
007567,000432: 06,2312           17253                           CADR     NOATTOFF                              
007568,000433: 
007569,000434: 06,2313           05461        UNZ2               TC       ZEROICDU                              
007570,000435: 
007571,000436: 06,2314           44754                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
007572,000437: 06,2315           00006                           EXTEND                                         
007573,000438: 06,2316           03012                           WAND     CHAN12                                
007574,000439: 
007575,000440: 06,2317           34732                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007576,000441: 06,2320           05226                           TC       VARDELAY                              
007577,000442: 
007578,000443: 06,2321           42774        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
007579,000444: 06,2322           71277                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
007580,000445: 06,2323           55277                           TS       IMODES30                              
007581,000446: 
007582,000447: 06,2324           44737                           CS       BIT6                                  #  ENABLE DAP
007583,000448: 06,2325           71300                           MASK     IMODES33                              
007584,000449: 06,2326           55300                           TS       IMODES33                              
007585,000450: 
007586,000451: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007587,000452: 06,2330           74726                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP(RESTART
007588,000453: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
007589,000454: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
007590,000455: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
007591,000456: 06,2334           30025                           CA       TIME1                                 
007592,000457: 06,2335           57074                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
007593,000458: 
007594,000459: 06,2336           02703                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
007595,000460: 
007596,000461: 06,2337           44726                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
007597,000462: 06,2340           00006                           EXTEND                                         
007598,000463: 06,2341           03012                           WAND     CHAN12                                
007599,000464: 
007600,000465: 06,2342           34774                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR

Page 176

007602,000467: 06,2343           05205                           TC       WAITLIST                              #  ANOTHER 4 SECS.
007603,000468: 06,2344  E3,1474                                  EBANK=   CDUIND                                
007604,000469: 06,2344           03241 16103                     2CADR    PFAILOK                               
007605,000470: 
007606,000471: 06,2346           15263                           TCF      TASKOVER                              
007607,000472: 
007608,000473: 06,2347           34741        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
007609,000474: 06,2350           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
007610,000475: 06,2351           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
007611,000476: 06,2352           10000                           CCS      A                                     
007612,000477: 06,2353           12374                           TCF      C33TEST                               
007613,000478: 
007614,000479: 06,2354           34735                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
007615,000480: 06,2355           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
007616,000481: 06,2356           10000                           CCS      A                                     
007617,000482: 06,2357           12374                           TCF      C33TEST                               
007618,000483: 
007619,000484: 06,2360           02746                           TC       CAGESUB2                              #  SET TURNON FLAGS.
007620,000485: 
007621,000486: 06,2361           04665        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
007622,000487: 06,2362           17253                           CADR     NOATTOFF                              #      IMU CAGE OFF ENTRY
007623,000488: 
007624,000489: 06,2363           34740                           CAF      BIT5                                  #  ISS CDU ZERO
007625,000490: 06,2364           00006                           EXTEND                                         
007626,000491: 06,2365           05012                           WOR      CHAN12                                
007627,000492: 
007628,000493: 06,2366           05461                           TC       ZEROICDU                              
007629,000494: 06,2367           34737                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
007630,000495: 06,2370           05205                           TC       WAITLIST                              
007631,000496: 06,2371  E6,1414                                  EBANK=   M11                                   
007632,000497: 06,2371           02313 14106                     2CADR    UNZ2                                  
007633,000498: 
007634,000499: 06,2373           12374                           TCF      C33TEST                               
007635,000500: 

Page 177

007637,000502:                                                                                                  #  PROGRAM NAME:  C33TEST
007638,000503: 
007639,000504:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
007640,000505:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
007641,000506:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
007642,000507:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
007643,000508: 
007644,000509:                                                                                                  #           BIT    FUNCTION                SUBROUTINE
007645,000510:                                                                                                  #           ---    --------                ----------
007646,000511:                                                                                                  #            13    PIPA FAIL               PIPFAIL
007647,000512:                                                                                                  #            12    DOWNLINK TOO FAST       DNTMFAST
007648,000513:                                                                                                  #            11    UPLINK TOO FAST         UPTMFAST
007649,000514: 
007650,000515:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
007651,000516: 
007652,000517:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
007653,000518: 
007654,000519:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007655,000520: 
007656,000521:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
007657,000522: 
007658,000523:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
007659,000524:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
007660,000525: 
007661,000526:                                                                                                  #  ALARMS:  NONE.
007662,000527: 
007663,000528:                                                                                                  #  EXIT:  GLOCKMON.
007664,000529: 
007665,000530:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
007666,000531: 
007667,000532: 06,2374           31300        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
007668,000533: 06,2375           75017                           MASK     33RDMSK                               
007669,000534: 06,2376           54001                           TS       L                                     #  CHANGED.
007670,000535: 06,2377           35017                           CAF      33RDMSK                               
007671,000536: 06,2400           00006                           EXTEND                                         
007672,000537: 06,2401           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
007673,000538: 06,2402           00006                           EXTEND                                         
007674,000539: 06,2403           06001                           RXOR     LCHAN                                 
007675,000540: 06,2404           00006                           EXTEND                                         
007676,000541: 06,2405           12434                           BZF      GLOCKMON                              #  ON NO CHANGE.
007677,000542: 
007678,000543: 06,2406           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
007679,000544: 06,2407           23300                           LXCH     IMODES33                              
007680,000545: 06,2410           00006                           EXTEND                                         
007681,000546: 06,2411           06001                           RXOR     LCHAN                                 
007682,000547: 06,2412           55300                           TS       IMODES33                              #  UPDATED IMODES33.
007683,000548: 
007684,000549: 06,2413           34746                           CAF      ZERO                                  
007685,000550: 06,2414           56070                           XCH      RUPTREG1                              
007686,000551: 06,2415           60000                           DOUBLE                                         
007687,000552: 

Page 178

007689,000554: 06,2416           12421                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
007690,000555: 
007691,000556: 06,2417           64744                 -1        AD       ONE                                   
007692,000557: 06,2420           24070        NXTIBT             INCR     RUPTREG1                              
007693,000558: 06,2421           60000                 +1        DOUBLE                                         
007694,000559: 06,2422           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
007695,000560: 06,2423           12420                           TCF      NXTIBT                                
007696,000561: 
007697,000562: 06,2424           56071                           XCH      RUPTREG2                              
007698,000563: 06,2425           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
007699,000564: 06,2426           34730                           CAF      BIT13                                 
007700,000565: 06,2427           71300                           MASK     IMODES33                              
007701,000566: 06,2430           50070                           INDEX    RUPTREG1                              
007702,000567: 06,2431           02763                           TC       C33JMP                                
007703,000568: 06,2432           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
007704,000569: 06,2433           12417                           TCF      NXTIBT     -1                         
007705,000570: 

Page 179

007707,000572:                                                                                                  #  PROGRAM NAME:  GLOCKMON
007708,000573: 
007709,000574:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
007710,000575:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
007711,000576: 
007712,000577:                                                                                                  #           1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
007713,000578:                                                                                                  #           2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
007714,000579:                                                                                                  #           3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
007715,000580: 
007716,000581:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
007717,000582: 
007718,000583:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007719,000584: 
007720,000585:                                                                                                  #  SUBROUTINES CALLED:  1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
007721,000586:                                                                                                  #                       2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
007722,000587: 
007723,000588:                                                                                                  #  ERASABLE INITIALIZATION:
007724,000589:                                                                                                  #           1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
007725,000590:                                                                                                  #           2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
007726,000591:                                                                                                  #                                           PROCEEDS AS BEFORE.
007727,000592: 
007728,000593:                                                                                                  #  ALARMS:  1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
007729,000594:                                                                                                  #           2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
007730,000595:                                                                                                  #              SO ALREADY.
007731,000596: 
007732,000597: 06,2434           10034        GLOCKMON           CCS      CDUZ                                  
007733,000598: 06,2435           12441                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
007734,000599: 06,2436           12465                           TCF      SETGLOCK                              #  70 DEGREES.
007735,000600: 06,2437           12441                           TCF      GLOCKCHK                              
007736,000601: 06,2440           12465                           TCF      SETGLOCK                              
007737,000602: 
007738,000603: 06,2441           62512        GLOCKCHK           AD       -70DEGS                               
007739,000604: 06,2442           00006                           EXTEND                                         
007740,000605: 06,2443           62464                           BZMF     SETGLOCK   -1                         #  NO LOCK.
007741,000606: 
007742,000607: 06,2444           62513                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
007743,000608: 06,2445           00006                           EXTEND                                         
007744,000609: 06,2446           62462                           BZMF     NOGIMRUN                              
007745,000610: 
007746,000611: 06,2447           34741                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
007747,000612: 06,2450           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
007748,000613: 06,2451           02012                           RAND     CHAN12                                
007749,000614: 06,2452           10000                           CCS      A                                     
007750,000615: 06,2453           12462                           TCF      NOGIMRUN                              
007751,000616: 
007752,000617: 06,2454           04665                           TC       IBNKCALL                              
007753,000618: 06,2455           17131                           CADR     SETCOARS                              
007754,000619: 
007755,000620: 06,2456           36263                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
007756,000621: 06,2457           05205                           TC       WAITLIST                              
007757,000622: 

Page 180

007759,000624: 06,2460  E3,1474                                  EBANK=   CDUIND                                
007760,000625: 06,2460           03125 16103                     2CADR    CA+ECE                                
007761,000626: 
007762,000627: 06,2462           34737        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
007763,000628: 06,2463           12465                           TCF      SETGLOCK                              
007764,000629: 
007765,000630: 06,2464           34746                 -1        CAF      ZERO                                  
007766,000631: 06,2465           61035        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
007767,000632: 06,2466           74737                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
007768,000633: 06,2467           00006                           EXTEND                                         #  THE TWO.
007769,000634: 06,2470           13006                           BZF      GLOCKOK                               #  OK AS IS.
007770,000635: 
007771,000636: 06,2471           71035                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
007772,000637: 06,2472           10000                           CCS      A                                     
007773,000638: 06,2473           12507                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
007774,000639: 
007775,000640: 06,2474           34737                           CAF      BIT6                                  
007776,000641: 06,2475           71277                           MASK     IMODES30                              
007777,000642: 06,2476           10000                           CCS      A                                     
007778,000643: 06,2477           13006                           TCF      GLOCKOK                               
007779,000644: 
007780,000645: 06,2500           41035        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
007781,000646: 06,2501           74737                           MASK     BIT6                                  
007782,000647: 06,2502           64726                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
007783,000648: 06,2503           57035                           XCH      DSPTAB     +11D                       
007784,000649: 06,2504           72162                           MASK     OCT37737                              
007785,000650: 06,2505           27035                           ADS      DSPTAB     +11D                       
007786,000651: 06,2506           13006                           TCF      GLOCKOK                               
007787,000652: 
007788,000653: 06,2507           02766        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
007789,000654: 06,2510           13006                           TCF      GLOCKOK                               
007790,000655: 06,2511           12500                           TCF      GLINVERT                              
007791,000656: 
007792,000657: 06,2512           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
007793,000658: 06,2513           75252        -15DEGS            DEC      -.08333                               
007794,000659: 

Page 181

007796,000661:                                                                                                  #  PROGRAM NAME:  TLIM.
007797,000662: 
007798,000663:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
007799,000664:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
007800,000665:                                                                                                  #  IS IN PROGRESS.
007801,000666: 
007802,000667:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
007803,000668: 
007804,000669:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007805,000670: 
007806,000671:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
007807,000672: 
007808,000673:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007809,000674: 
007810,000675:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
007811,000676: 
007812,000677:                                                                                                  #  EXIT:  NXTIFAIL.
007813,000678: 
007814,000679:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                  IN A, EXCEPT FOR TLIM.
007815,000680: 
007816,000681: 06,2514           74724        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
007817,000682: 06,2515           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
007818,000683: 
007819,000684: 06,2516           11277                           CCS      IMODES30                              
007820,000685: 06,2517           12525                           TCF      TEMPOK                                
007821,000686: 06,2520           12525                           TCF      TEMPOK                                
007822,000687: 
007823,000688: 06,2521           34741                           CAF      BIT4                                  #  TURN ON LAMP.
007824,000689: 06,2522           00006                           EXTEND                                         
007825,000690: 06,2523           05011                           WOR      DSALMOUT                              
007826,000691: 06,2524           12225                           TCF      NXTIFAIL                              
007827,000692: 
007828,000693: 06,2525           02766        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
007829,000694: 06,2526           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
007830,000695: 
007831,000696: 06,2527           44741                           CS       BIT4                                  
007832,000697: 06,2530           00006                           EXTEND                                         
007833,000698: 06,2531           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
007834,000699: 06,2532           12225                           TCF      NXTIFAIL                              
007835,000700: 

Page 182

007837,000702:                                                                                                  #  PROGRAM NAME:  ITURNON.
007838,000703: 
007839,000704:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007840,000705:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007841,000706:                                                                                                  #  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
007842,000707:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007843,000708:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007844,000709:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007845,000710:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007846,000711:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007847,000712:                                                                                                  #  ENDS.
007848,000713: 
007849,000714:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007850,000715: 
007851,000716:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007852,000717: 
007853,000718:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007854,000719: 
007855,000720:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007856,000721:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
007857,000722: 
007858,000723:                                                                                                  #  ALARMS:  PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007859,000724: 
007860,000725:                                                                                                  #  EXIT:  NXTIFAIL.
007861,000726: 
007862,000727:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007863,000728:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
007864,000729: 
007865,000730: 06,2533           34743        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
007866,000731: 06,2534           71277                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
007867,000732: 06,2535           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007868,000733: 06,2536           12225                           TCF      NXTIFAIL                              
007869,000734: 
007870,000735: 06,2537           34727                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
007871,000736: 06,2540           71277                           MASK     IMODES30                              
007872,000737: 06,2541           00006                           EXTEND                                         
007873,000738: 06,2542           12556                           BZF      ITURNON2                              #  IF JUST ON.
007874,000739: 
007875,000740: 06,2543           34726                           CAF      BIT15                                 
007876,000741: 06,2544           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
007877,000742: 06,2545           02012                           RAND     CHAN12                                #  SENT. IF SO, ACTION COMPLETE
007878,000743: 06,2546           00006                           EXTEND                                         
007879,000744: 06,2547           12551                           BZF      +2                                    
007880,000745: 06,2550           12225                           TCF      NXTIFAIL                              
007881,000746: 
007882,000747: 06,2551           34743                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
007883,000748: 06,2552           27277                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
007884,000749: 06,2553           05571                           TC       ALARM                                 
007885,000750: 06,2554           00207                           OCT      207                                   
007886,000751: 06,2555           12225                           TCF      NXTIFAIL                              
007887,000752: 

Page 183

007889,000754: 06,2556           41277        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007890,000755: 06,2557           74736                           MASK     BIT7                                  
007891,000756: 06,2560           27277                           ADS      IMODES30                              
007892,000757: 06,2561           32564                           CAF      RRINIT                                
007893,000758: 06,2562           54110                           TS       RADMODES                              
007894,000759: 06,2563           12225                           TCF      NXTIFAIL                              
007895,000760: 
007896,000761: 06,2564           00102        RRINIT             OCT      00102                                 
007897,000762: 

Page 184

007899,000764:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
007900,000765: 
007901,000766:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
007902,000767:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007903,000768:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007904,000769:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
007905,000770:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
007906,000771: 
007907,000772:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
007908,000773: 
007909,000774:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007910,000775: 
007911,000776:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
007912,000777: 
007913,000778:                                                                                                  #  ERASABLE INITIALIZATION:    FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007914,000779: 
007915,000780:                                                                                                  #  ALARMS:  NONE.
007916,000781: 
007917,000782:                                                                                                  #  EXIT:  NXTIFAIL.
007918,000783: 
007919,000784:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007920,000785: 
007921,000786: 06,2565           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
007922,000787: 06,2566           12361                           TCF      ISSZERO                               
007923,000788: 06,2567           43002                           CS       OCT77000                              #  TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
007924,000789: 06,2570           00006                           EXTEND                                         
007925,000790: 06,2571           03014                           WAND     CHAN14                                
007926,000791: 
007927,000792: 06,2572           42776                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007928,000793: 06,2573           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007929,000794: 06,2574           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007930,000795: 
007931,000796: 06,2575           44736                           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
007932,000797: 06,2576           70101                           MASK     FLAGWRD5                              
007933,000798: 06,2577           54101                           TS       FLAGWRD5                              
007934,000799: 06,2600           44346                           CS       PRIO30                                #  TURN ENGINE OFF.
007935,000800: 06,2601           00006                           EXTEND                                         
007936,000801: 06,2602           02011                           RAND     DSALMOUT                              
007937,000802: 06,2603           64727                           AD       BIT14                                 
007938,000803: 06,2604           00006                           EXTEND                                         
007939,000804: 06,2605           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
007940,000805: 
007941,000806: 06,2606           02743                           TC       CAGESUB1                              
007942,000807: 
007943,000808: 06,2607           04665                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007944,000809: 06,2610           17162                           CADR     RNDREFDR                              
007945,000810: 
007946,000811: 06,2611           44746                           CS       ZERO                                  
007947,000812: 06,2612           54050                           TS       CDUXCMD                               
007948,000813: 06,2613           54051                           TS       CDUYCMD                               

Page 185

007950,000815: 06,2614           54052                           TS       CDUZCMD                               
007951,000816: 06,2615           54047                           TS       GYROCMD                               
007952,000817: 
007953,000818: 06,2616           43001                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
007954,000819: 06,2617           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
007955,000820: 06,2620           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
007956,000821: 06,2621           12225                           TCF      NXTIFAIL                              
007957,000822: 

Page 186

007959,000824:                                                                                                  #  PROGRAM NAME:  IMUOP.
007960,000825: 
007961,000826:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007962,000827:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007963,000828:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007964,000829:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007965,000830:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
007966,000831: 
007967,000832:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007968,000833: 
007969,000834:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007970,000835: 
007971,000836:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007972,000837: 
007973,000838:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007974,000839:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007975,000840: 
007976,000841:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007977,000842: 
007978,000843:                                                                                                  #  EXIT:  NXTIFAIL.
007979,000844: 
007980,000845:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007981,000846: 
007982,000847: 06,2622           00006        IMUOP              EXTEND                                         
007983,000848: 06,2623           12643                           BZF      IMUOP2                                
007984,000849: 
007985,000850: 06,2624           41300                           CS       IMODES33                              #  DISABLE DAP
007986,000851: 06,2625           74737                           MASK     BIT6                                  
007987,000852: 06,2626           27300                           ADS      IMODES33                              
007988,000853: 
007989,000854: 06,2627           04665                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007990,000855: 06,2630           17162                           CADR     RNDREFDR                              
007991,000856: 
007992,000857: 06,2631           42777                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007993,000858: 06,2632           70074                           MASK     FLAGWRD0                              
007994,000859: 06,2633           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
007995,000860: 06,2634           40000                           COM                                            
007996,000861: 06,2635           74735                           MASK     IMUSEFLG                              
007997,000862: 06,2636           10000                           CCS      A                                     
007998,000863: 06,2637           12225                           TCF      NXTIFAIL                              
007999,000864: 
008000,000865: 06,2640           05571                           TC       ALARM                                 
008001,000866: 06,2641           00214                           OCT      214                                   
008002,000867: 06,2642           12225                           TCF      NXTIFAIL                              
008003,000868: 
008004,000869: 06,2643           34743        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008005,000870: 06,2644           71277                           MASK     IMODES30                              
008006,000871: 06,2645           10000                           CCS      A                                     
008007,000872: 06,2646           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
008008,000873: 06,2647           12556                           TCF      ITURNON2                              #  SECONDS EXPIRES.
008009,000874: 

Page 187

008011,000876:                                                                                                  #  PROGRAM NAME:  PIPFAIL
008012,000877: 
008013,000878:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
008014,000879:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT,I.E., IMODES30
008015,000880:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008016,000881: 
008017,000882:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008018,000883: 
008019,000884:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008020,000885: 
008021,000886:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008022,000887: 
008023,000888:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008024,000889: 
008025,000890:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008026,000891:                                                                                                  #  BEING INITIALIZED.
008027,000892: 
008028,000893:                                                                                                  #  EXIT:  NXTFL33.
008029,000894: 
008030,000895:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008031,000896: 
008032,000897: 06,2650           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
008033,000898: 06,2651           34733                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
008034,000899: 06,2652           57277                           XCH      IMODES30                              
008035,000900: 06,2653           73004                           MASK     -BIT10                                
008036,000901: 06,2654           27277                           ADS      IMODES30                              
008037,000902: 
008038,000903: 06,2655           02703                           TC       SETISSW                               
008039,000904: 
008040,000905: 06,2656           41277                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008041,000906: 06,2657           74744                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
008042,000907: 06,2660           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
008043,000908: 06,2661           12432                           TCF      NXTFL33                               
008044,000909: 
008045,000910: 06,2662           31277                           CA       IMODES30                              
008046,000911: 06,2663           73000                           MASK     OCT1720                               
008047,000912: 06,2664           10000                           CCS      A                                     
008048,000913: 06,2665           12432                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
008049,000914: 
008050,000915: 06,2666           05571                           TC       ALARM                                 
008051,000916: 06,2667           00212                           OCT      212                                   
008052,000917: 06,2670           12432                           TCF      NXTFL33                               
008053,000918: 

Page 188

008055,000920:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
008056,000921: 
008057,000922:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
008058,000923:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
008059,000924: 
008060,000925:                                                                                                  #           BIT    ALARM           CAUSE
008061,000926:                                                                                                  #           ---    -----           -----
008062,000927:                                                                                                  #            12    01105           DOWNLINK TOO FAST
008063,000928:                                                                                                  #            11    01106           UPLINK TOO FAST
008064,000929: 
008065,000930:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
008066,000931: 
008067,000932:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
008068,000933: 
008069,000934:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008070,000935: 
008071,000936:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
008072,000937: 
008073,000938:                                                                                                  #  EXIT:  NXTFL33.
008074,000939: 
008075,000940:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
008076,000941: 
008077,000942: 06,2671           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
008078,000943: 06,2672           12432                           TCF      NXTFL33                               
008079,000944: 
008080,000945: 06,2673           05571                           TC       ALARM                                 
008081,000946: 06,2674           01105                           OCT      1105                                  
008082,000947: 06,2675           12432                           TCF      NXTFL33                               
008083,000948: 
008084,000949: 06,2676           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
008085,000950: 06,2677           12432                           TCF      NXTFL33                               #  ALARM CODE.
008086,000951: 
008087,000952: 06,2700           05571                           TC       ALARM                                 
008088,000953: 06,2701           01106                           OCT      1106                                  
008089,000954: 06,2702           12432                           TCF      NXTFL33                               
008090,000955: 

Page 189

008092,000957:                                                                                                  #  PROGRAM NAME:  SETISSW
008093,000958: 
008094,000959:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008095,000960:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008096,000961:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008097,000962:                                                                                                  #  PROGRESS.
008098,000963: 
008099,000964:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
008100,000965:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
008101,000966:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008102,000967:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008103,000968: 
008104,000969:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008105,000970: 
008106,000971:                                                                                                  #  SUBROUTINES CALLED:  NONE.
008107,000972: 
008108,000973:                                                                                                  #  ERASABLE INITIALIZATION:
008109,000974: 
008110,000975:                                                                                                  #           1) IMODES30 - SEE IMUMON.
008111,000976:                                                                                                  #           2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008112,000977: 
008113,000978:                                                                                                  #  ALARMS:  ISS WARNING.
008114,000979: 
008115,000980:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008116,000981:                                                                                                  #  PROGRAM ALARM 00777  PIPA FAIL
008117,000982:                                                                                                  #  PROGRAM ALARM 03777  ICDU FAIL
008118,000983:                                                                                                  #  PROGRAM ALARM 04777  ICDU , PIPA FAILS
008119,000984:                                                                                                  #  PROGRAM ALARM 07777  IMU FAIL
008120,000985:                                                                                                  #  PROGRAM ALARM 10777  IMU , PIPA FAILS
008121,000986:                                                                                                  #  PROGRAM ALARM 13777  IMU , ICDU FAILS
008122,000987:                                                                                                  #  PROGRAM ALARM 14777  IMU , ICDU, PIPA FAILS
008123,000988: 
008124,000989:                                                                                                  #  EXIT: VIA Q.
008125,000990: 
008126,000991:                                                                                                  #  OUTPUT: ISS WARNING LAMP SET PROPERLY.
008127,000992: 
008128,000993: 06,2703           34752        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
008129,000994: 06,2704           71277                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
008130,000995: 06,2705           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
008131,000996: 06,2706           74733                           MP       BIT10                                 #  4, 3, AND 1.
008132,000997: 06,2707           31277                           CA       IMODES30                              
008133,000998: 06,2710           00006                           EXTEND                                         
008134,000999: 06,2711           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
008135,001000: 06,2712           40000                           COM                                            
008136,001001: 06,2713           75016                           MASK     OCT15000                              
008137,001002: 06,2714           10000                           CCS      A                                     
008138,001003: 06,2715           12726                           TCF      ISSWON                                #  FAILURE.
008139,001004: 
008140,001005: 06,2716           34744        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
008141,001006: 06,2717           71300                           MASK     IMODES33                              #  IN PROGRESS.
008142,001007: 

Page 190

008144,001009: 06,2720           10000                           CCS      A                                     
008145,001010: 06,2721           00002                           TC       Q                                     
008146,001011: 
008147,001012: 06,2722           44744                           CS       BIT1                                  
008148,001013: 06,2723           00006                           EXTEND                                         
008149,001014: 06,2724           03011                           WAND     DSALMOUT                              
008150,001015: 06,2725           00002                           TC       Q                                     
008151,001016: 
008152,001017: 06,2726           00006        ISSWON             EXTEND                                         
008153,001018: 06,2727           22066                           QXCH     ITEMP6                                
008154,001019: 06,2730           05740                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISSWARNING
008155,001020: 06,2731           34744                           CAF      BIT1                                  
008156,001021: 06,2732           00006                           EXTEND                                         
008157,001022: 06,2733           05011                           WOR      DSALMOUT                              
008158,001023: 06,2734           00066                           TC       ITEMP6                                
008159,001024: 
008160,001025: 06,2735           43003        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
008161,001026: 06,2736           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE. DISABLE THE
008162,001027: 06,2737           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
008163,001028: 06,2740           34754                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
008164,001029: 06,2741           00006                           EXTEND                                         
008165,001030: 06,2742           05012                           WOR      CHAN12                                
008166,001031: 
008167,001032: 06,2743           41035        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
008168,001033: 06,2744           72773                           MASK     OC40010                               
008169,001034: 06,2745           27035                           ADS      DSPTAB     +11D                       
008170,001035: 
008171,001036: 06,2746           41277        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
008172,001037: 06,2747           72775                           MASK     OCT75                                 #      AND INHIBIT ALL ISS WARNING INFO
008173,001038: 06,2750           27277                           ADS      IMODES30                              
008174,001039: 
008175,001040: 06,2751           41300                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
008176,001041: 06,2752           74737                           MASK     BIT6                                  
008177,001042: 06,2753           27300                           ADS      IMODES33                              
008178,001043: 
008179,001044: 06,2754           00002                           TC       Q                                     
008180,001045: 
008181,001046: 06,2755  06,2703               IMUFAIL            EQUALS   SETISSW                               
008182,001047: 06,2755  06,2703               ICDUFAIL           EQUALS   SETISSW                               
008183,001048: 

Page 191

008185,001050:                                                                                                  #           JUMP TABLES AND CONSTANTS.
008186,001051: 
008187,001052: 06,2755           12533        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
008188,001053: 06,2756           12703                           TCF      IMUFAIL                               
008189,001054: 06,2757           12703                           TCF      ICDUFAIL                              
008190,001055: 06,2760           12565                           TCF      IMUCAGE                               
008191,001056: 06,2761           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
008192,001057: 06,2762           12622                           TCF      IMUOP                                 
008193,001058: 
008194,001059: 06,2763           12650        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
008195,001060: 06,2764           12671                           TCF      DNTMFAST                              
008196,001061: 06,2765           12676                           TCF      UPTMFAST                              
008197,001062: 
008198,001063:                                                                                                  #           SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008199,001064: 06,2766           41300        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008200,001065: 06,2767           74744                           MASK     BIT1                                  #  PROGRESS.
008201,001066: 06,2770           10000                           CCS      A                                     
008202,001067: 06,2771           24002                           INCR     Q                                     
008203,001068: 06,2772           00002                           TC       Q                                     
008204,001069: 
008205,001070: 06,2773     5017               33RDMSK            EQUALS   PRIO16                                
008206,001071: 06,2773           40010        OC40010            OCT      40010                                 
008207,001072: 06,2774           00054        OCT54              OCT      54                                    
008208,001073: 06,2775           00075        OCT75              OCT      75                                    
008209,001074: 06,2776           00272        OCT272             OCT      00272                                 
008210,001075: 06,2777           00300        BITS7&8            OCT      300                                   
008211,001076: 06,3000           01720        OCT1720            OCT      1720                                  
008212,001077: 06,3001           00740        OCT740             OCT      00740                                 
008213,001078: 06,3002     5016               OCT15000           EQUALS   PRIO15                                
008214,001079: 06,3002           77000        OCT77000           OCT      77000                                 
008215,001080: 06,3003           40040        BITS6&15           OCT      40040                                 
008216,001081: 06,3004           76777        -BIT10             OCT      -1000                                 
008217,001082: 
008218,001083: 06,3005           21450        90SECS             DEC      9000       B-14                       
008219,001084: 06,3006     5745               120MS              =        OCT14                                 #  (DEC12)
008220,001085: 06,3006           40106        GLOCKOK            CS       FLGWRD10                              
008221,001086: 06,3007           74743                           MASK     CONTRLBT                              
008222,001087: 06,3010           61035                           AD       DSPTAB     +11D                       
008223,001088: 06,3011           74743                           MASK     CONTRLBT                              
008224,001089: 06,3012           00006                           EXTEND                                         
008225,001090: 06,3013           13025                           BZF      LITEOK                                #  NO CHANGE
008226,001091: 
008227,001092: 06,3014           71035                           MASK     DSPTAB     +11D                       
008228,001093: 06,3015           10000                           CCS      A                                     
008229,001094: 06,3016           13032                           TCF      LAMPBTST                              #  WAS ON
008230,001095: 
008231,001096: 06,3017           41035        LITESWCH           CS       DSPTAB     +11D                       #  WAS OFF
008232,001097: 06,3020           74743                           MASK     CONTRLBT                              
008233,001098: 06,3021           64726                           AD       BIT15                                 
008234,001099: 06,3022           57035                           XCH      DSPTAB     +11D                       
008235,001100: 

Page 192

008237,001102: 06,3023           73031                           MASK     OCT37775                              
008238,001103: 06,3024           27035                           ADS      DSPTAB     +11D                       
008239,001104: 
008240,001105: 06,3025           40106        LITEOK             CS       FLGWRD10                              
008241,001106: 06,3026           74743                           MASK     CONTRLBT                              
008242,001107: 06,3027           26106                           ADS      FLGWRD10                              
008243,001108: 06,3030           15272                           TCF      RESUME                                
008244,001109: 
008245,001110: 06,3031           37775        OCT37775           OCT      37775                                 
008246,001111: 
008247,001112: 06,3032           02766        LAMPBTST           TC       LAMPTEST                              
008248,001113: 06,3033           13025                           TCF      LITEOK                                
008249,001114: 06,3034           13017                           TCF      LITESWCH                              
008250,001115: 

Page 193

008252,001117:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
008253,001118: 
008254,001119:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008255,001120:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008256,001121:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008257,001122:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008258,001123:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008259,001124:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008260,001125:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008261,001126:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008262,001127:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008263,001128:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008264,001129:                                                                                                  #  SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008265,001130:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008266,001131:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008267,001132: 
008268,001133:                                                                                                  #  CALLING SEQUENCE_
008269,001134:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
008270,001135: 
008271,001136:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008272,001137:                                                                                                  #  RADMODES, STATE
008273,001138: 
008274,001139:                                                                                                  #  SUBROUTINES CALLED_
008275,001140:                                                                                                  #  WAITLIST
008276,001141: 
008277,001142:                                                                                                  #  JOBS OR TASKS INITIATED_
008278,001143:                                                                                                  #  RRTURNON
008279,001144: 
008280,001145:                                                                                                  #  ALARMS_  PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008281,001146:                                                                                                  #  USED
008282,001147: 
008283,001148:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
008284,001149: 
008285,001150: 06,3035           30110        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
008286,001151: 06,3036           00006                           EXTEND                                         
008287,001152: 06,3037           06033                           RXOR     CHAN33                                
008288,001153: 06,3040           74743                           MASK     AUTOMBIT                              
008289,001154: 06,3041           00006                           EXTEND                                         
008290,001155: 06,3042           13066                           BZF      RRCDUCHK                              
008291,001156: 
008292,001157: 06,3043           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008293,001158: 06,3044           00006                           EXTEND                                         
008294,001159: 06,3045           06001                           RXOR     LCHAN                                 
008295,001160: 06,3046           73062                           MASK     OCT05776                              #  CLR CONT. DES., REMODE, REPOS, CDUZERO,
008296,001161: 06,3047           54110                           TS       RADMODES                              #    AND TURNON BITS.
008297,001162: 06,3050           74743                           MASK     BIT2                                  #  SEE IF JUST ON.
008298,001163: 06,3051           10000                           CCS      A                                     
008299,001164: 06,3052           13063                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
008300,001165: 06,3053           37704                           CA       OCT10001                              #  SET RRCDUZRO AND TURNON BITS.
008301,001166: 06,3054           26110                           ADS      RADMODES                              
008302,001167: 

Page 194

008304,001169: 06,3055           34744                           CAF      ONE                                   
008305,001170: 06,3056           05205                           TC       WAITLIST                              
008306,001171: 06,3057  E7,1456                                  EBANK=   LOSCOUNT                              
008307,001172: 06,3057           02053 52107                     2CADR    RRTURNON                              
008308,001173: 
008309,001174: 06,3061           13155                           TCF      NORRGMON                              
008310,001175: 
008311,001176: 06,3062           05776        OCT05776           OCT      5776                                  
008312,001177: 

Page 195

008314,001179:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
008315,001180: 
008316,001181:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008317,001182:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008318,001183:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008319,001184:                                                                                                  #  PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008320,001185:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008321,001186:                                                                                                  #  PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008322,001187:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008323,001188:                                                                                                  #  REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008324,001189:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008325,001190:                                                                                                  #  RRGIMON.
008326,001191: 
008327,001192:                                                                                                  #  CALLING SEQUENCE_
008328,001193:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008329,001194:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008330,001195: 
008331,001196:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008332,001197:                                                                                                  #  RADMODES
008333,001198: 
008334,001199:                                                                                                  #  SUBROUTINES CALLED_
008335,001200:                                                                                                  #  SETTRKF
008336,001201: 
008337,001202:                                                                                                  #  JOBS OR TASKS INITIATED_
008338,001203:                                                                                                  #  NONE
008339,001204: 
008340,001205:                                                                                                  #  ALARMS_
008341,001206:                                                                                                  #  TRACKER FAIL
008342,001207:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008343,001208: 
008344,001209:                                                                                                  #  EXIT_
008345,001210:                                                                                                  #  RRGIMON, NORRGMON
008346,001211: 
008347,001212: 06,3063           44743                 -3        CS       BIT2                                  
008348,001213: 06,3064           00006                           EXTEND                                         
008349,001214: 06,3065           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
008350,001215: 
008351,001216: 06,3066           30110        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
008352,001217: 06,3067           00006                           EXTEND                                         
008353,001218: 06,3070           06030                           RXOR     CHAN30                                
008354,001219: 06,3071           74736                           MASK     RCDUFBIT                              
008355,001220: 06,3072           00006                           EXTEND                                         
008356,001221: 06,3073           13120                           BZF      RRGIMON                               
008357,001222: 
008358,001223: 06,3074           34743                           CAF      AUTOMBIT                              #  IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
008359,001224: 06,3075           70110                           MASK     RADMODES                              #  7 OF RADMODES. IF THIS WERE NOT DONE,
008360,001225: 06,3076           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
008361,001226: 06,3077           13155                           TCF      NORRGMON                              #  JUST READING LR DATA.
008362,001227: 
008363,001228: 06,3100           34736                           CAF      RCDUFBIT                              #  SET BIT 7 OF RADMODES FOR SETTRKF.
008364,001229: 

Page 196

008366,001231: 06,3101           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008367,001232: 06,3102           00006                           EXTEND                                         
008368,001233: 06,3103           06001                           RXOR     L                                     
008369,001234: 06,3104           54110                           TS       RADMODES                              
008370,001235: 
008371,001236: 06,3105           30110                           CA       RADMODES                              #  DID RR CDU FAIL
008372,001237: 06,3106           74606                           MASK     13,7,2                                #  CDU ZERO+ CDUFAIL+ RR AUTO
008373,001238: 06,3107           10000                           CCS      A                                     
008374,001239: 06,3110           13117                           TCF      TRKFLCDU                              #  NO
008375,001240: 06,3111           40074                           CS       FLAGWRD0                              #  RNDVFLG P20 OR P22 OPERATING
008376,001241: 06,3112           74736                           MASK     RNDVZBIT                              
008377,001242: 06,3113           10000                           CCS      A                                     
008378,001243: 06,3114           13117                           TCF      TRKFLCDU                              #  NO
008379,001244: 06,3115           05571                           TC       ALARM                                 #  YES
008380,001245: 06,3116           00515                           OCT      00515                                 
008381,001246: 06,3117           04555        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
008382,001247: 

Page 197

008384,001249:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                  E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008385,001250: 
008386,001251:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 TTER IS INITIATED BY THIS MONITOR WHEN
008387,001252:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS      ED TO DRIVE THE GIMBALS TO T = 0 AND
008388,001253:                                                                                                  #  CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008389,001254:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008390,001255:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008391,001256:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008392,001257:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008393,001258:                                                                                                  #  TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008394,001259:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008395,001260:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008396,001261:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008397,001262: 
008398,001263:                                                                                                  #  CALLING SEQUENCE_
008399,001264:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008400,001265:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008401,001266:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008402,001267:                                                                                                  #  (RADMODES BIT 2).
008403,001268: 
008404,001269:                                                                                                  #  ERASABLE INITIALIZATION_  RADMODES
008405,001270: 
008406,001271:                                                                                                  #  SUBROUTINES CALLED_
008407,001272:                                                                                                  #  RRLIMCHK, WAITLIST
008408,001273: 
008409,001274:                                                                                                  #  JOBS OR TASKS INITIATED_
008410,001275:                                                                                                  #  DORREPOS
008411,001276: 
008412,001277:                                                                                                  #  ALARMS_
008413,001278:                                                                                                  #  NONE
008414,001279: 
008415,001280:                                                                                                  #  EXIT_
008416,001281:                                                                                                  #  NORRGMON
008417,001282: 
008418,001283: 06,3120           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
008419,001284: 06,3121           74741                           MASK     NORRMBIT                              
008420,001285: 06,3122           10000                           CCS      A                                     
008421,001286: 06,3123           13155                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
008422,001287: 06,3124           40103                           CS       FLAGWRD7                              #  IS SERVICER RUNNING?
008423,001288: 06,3125           74740                           MASK     AVEGFBIT                              
008424,001289: 06,3126           10000                           CCS      A                                     
008425,001290: 06,3127           13134                           TCF      +5                                    #  NO.  DO R25
008426,001291: 06,3130           30102                           CA       FLAGWRD6                              #  YES.  IS MUNFLAG SET?
008427,001292: 06,3131           74735                           MASK     MUNFLBIT                              
008428,001293: 06,3132           10000                           CCS      A                                     
008429,001294: 06,3133           13155                           TCF      NORRGMON                              #  YES.  DON'T DO R25
008430,001295: 06,3134           33164                 +5        CAF      OCT32002                              #  INHIBIT BY REMODE,ZEROING,MONITOR.
008431,001296: 06,3135           70110                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
008432,001297: 06,3136           10000                           CCS      A                                     
008433,001298: 06,3137           13155                           TCF      NORRGMON                              
008434,001299: 

Page 198

008436,001301: 06,3140           04514                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
008437,001302: 06,3141           00035                           ADRES    CDUT                                  
008438,001303: 
008439,001304: 06,3142           13144                           TCF      MONREPOS                              
008440,001305: 
008441,001306: 06,3143           13155                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
008442,001307: 
008443,001308: 06,3144           34732        MONREPOS           CAF      REPOSBIT                              #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
008444,001309: 06,3145           26110                           ADS      RADMODES                              
008445,001310: 
008446,001311: 06,3146           43165                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
008447,001312: 06,3147           00006                           EXTEND                                         
008448,001313: 06,3150           03012                           WAND     CHAN12                                
008449,001314: 
008450,001315: 06,3151           34743                           CAF      TWO                                   
008451,001316: 06,3152           05205                           TC       WAITLIST                              
008452,001317: 06,3153  E7,1456                                  EBANK=   LOSCOUNT                              
008453,001318: 06,3153           02120 52107                     2CADR    DORREPOS                              
008454,001319: 
008455,001320: 06,3155           30110        NORRGMON           CA       RADMODES                              #  IF SELECT SWITCH IS NOT IN LGC, SEND RR
008456,001321: 06,3156           74743                           MASK     AUTOMBIT                              #    CDU ZERO BIT TO PREVENT MEMORY CYCLE
008457,001322: 06,3157           10000                           CCS      A                                     #    SNATCHING BY MANIC RR CDUS.  BIT2 OF
008458,001323: 06,3160           13161                           NOOP                                           #    RADMODES AGREES WITH BIT2 OF CHANNEL
008459,001324: 06,3161           00006                           EXTEND                                         #    33.  FOR THIS CODING, WHICH ASSUMES
008460,001325: 06,3162           05012                           WOR      CHAN12                                #    AUTOMBIT = BIT2, THANKS TO HUGH B-S.
008461,001326: 06,3163           13167                           TCF      ENDRRMON                              

Note: In the above section in the comments the term LGC is underlined with blue pen as well as the whole section between the left of the label column and right of the operand (before the comment) column is bracketed with braces in blue pen extending from the line with the label NORRGMON down to the line TCF ... .

008465,001330: 
008466,001331: 06,3164  06,3167               ENDRRMON           EQUALS   DAPT4S                                
008467,001332: 
008468,001333: 06,3164           32002        OCT32002           OCT      32002                                 
008469,001334: 06,3165           20002        OCT20002           OCT      20002                                 
008470,001335: 06,3166           02100        OCT02100           OCT      02100                                 #  P20,P22 MASK BITS
008471,001336: 

Page 199

008473,001338:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008474,001339: 
008475,001340:                                                                                                  #  AUTHOR:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008476,001341: 
008477,001342:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008478,001343: 
008479,001344:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008480,001345:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008481,001346:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008482,001347: 
008483,001348:                                                                                                  #  CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008484,001349:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008485,001350: 
008486,001351:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
008487,001352: 
008488,001353:                                                                                                  #  NORMAL EXIT MODE:  TCF   RESUME
008489,001354: 
008490,001355:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
008491,001356: 
008492,001357:                                                                                                  #  INPUT: CDUX, CDUY, CDUZ.
008493,001358: 
008494,001359:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
008495,001360: 
008496,001361:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC  IS: OIM = XYZ
008497,001362: 
008498,001363:                                                                                                  #     *       *    SIN(MG)        0         1   *
008499,001364:                                                                                                  #     M   =   *    COS(MG)COS(OG) SIN(OG)   0   *
008500,001365:                                                                                                  #      GP     *   -COS(MG)SIN(OG) COS(OG)   0   *
008501,001366: 
008502,001367:                                                                                                  #     *       *  0    COS(OG)/COS(MG)         -SIN(OG)/COS(MG)         *
008503,001368:                                                                                                  #     M   =   *  0    SIN(OG)                  COS(OG)                 *
008504,001369:                                                                                                  #      PG     *  1   -SIN(MG)COS(OG)/COS(MG)   SIN(MG)SIN(OG)/COS(MG)  *
008505,001370: 
008506,001371: 06,3167  E6,1414                                  EBANK=   M11                                   
008507,001372: 06,3167  06,3167               DAPT4S             EQUALS   GPMATRIX                              
008508,001373:                                                                                                  #  T4RUPT DAP LOGIC:
008509,001374: 
008510,001375: 06,3167           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
008511,001376: 06,3170           05024                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
008512,001377: 06,3171           55414                           TS       M11                                   #  SCALED AT 1
008513,001378: 
008514,001379: 06,3172           30034                           CAE      CDUZ                                  
008515,001380: 06,3173           05023                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
008516,001381: 06,3174           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
008517,001382: 
008518,001383: 06,3175           30032                           CAE      CDUX                                  
008519,001384: 06,3176           05024                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
008520,001385: 06,3177           55417                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
008521,001386: 
008522,001387: 06,3200           41417                           CS       M22                                   
008523,001388: 

Page 200

008525,001390: 06,3201           00006                           EXTEND                                         
008526,001391: 06,3202           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
008527,001392: 06,3203           55416                           TS       M31                                   #  SCALED AT 1
008528,001393: 
008529,001394: 06,3204           30032                           CAE      CDUX                                  
008530,001395: 06,3205           05023                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
008531,001396: 06,3206           55420                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
008532,001397: 
008533,001398: 06,3207           00006                           EXTEND                                         
008534,001399: 06,3210           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
008535,001400: 06,3211           55415                           TS       M21                                   #  SCALED AT 1
008536,001401: 
008537,001402: 06,3212           05272                           TC       RESUME                                
008538,001403: 
008539,001404: 06,3213     5272               ENDDAPT4           EQUALS   RESUME                                

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