Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

004510,000002:                                                                                                  ## Copyright:   Public domain.
004511,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
004512,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
004513,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
004514,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
004515,000007:                                                                                                  ## Assembler:   yaYUL
004516,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
004517,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
004518,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
004519,000011:                                                                                                  ##              2016-10-05 RSB  Finished transcribing.
004520,000012:                                                                                                  ##              2016-10-30 MAS  Some spelling corrections, channel updates and a line correction.
004521,000013:                                                                                                  ##              2016-10-31 RSB  Typo.
004522,000014:                                                                                                  ##              2016-11-02 RSB  More typos.
004523,000015:                                                                                                  ##              2016-12-03 RSB  Fixed a bunch of typos in the comments, using octopus/ProoferComments,
004524,000016:                                                                                                  ##                              but some of the pages still don't work well with octopus, so the 
004525,000017:                                                                                                  ##                              proofing process isn't complete yet.
004526,000018:                                                                                                  ##              2016-12-04 RSB  I was a bit too aggressive yesterday in interpreting noise in the scans
004527,000019:                                                                                                  ##                              as colons, and have backed that off in 5 places.  Also, fixed a couple
004528,000020:                                                                                                  ##                              more typos.
004529,000021:                                                                                                  ##              2016-12-05 RSB  Comment-proofing process with octopus/ProoferComments completed; 
004530,000022:                                                                                                  ##                              fixes made.
004531,000023:                                                                                                  ##              2017-01-26 RSB  Back-ported a comment-text fix found while
004532,000024:                                                                                                  ##                              proofing corresponding Luminary 69 file.        
004533,000025:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
004534,000026:                                                                                                  ##              2017-03-03 RSB  Fixed comment-text errors identified while proofing
004535,000027:                                                                                                  ##                              Luminary 116.
004536,000028: 

Page 104

004538,000030: 12,2000                                           BANK     12                                    
004539,000031: 
004540,000032: 12,2000  E6,1404                                  EBANK=   M11                                   
004541,000033: 12,2000           54016        T4RUPT             TS       BANKRUPT                              
004542,000034: 
004543,000035: 12,2001           37767                           CA       ZERO                                  
004544,000036: 12,2002           00006                           EXTEND                                         #  ZERO OUT0 EVERY T4RUPT.
004545,000037: 12,2003           01010                           WRITE    OUT0                                  
004546,000038: 
004547,000039: 12,2004           50346                           INDEX    T4LOC                                 #  NORMALLY TO NORMT4, BUT TO LMPRESET OR
004548,000040: 12,2005           10000                           TCF      0                                     #  DSKYRSET AFTER OUT0 COMMAND.
004549,000041: 
004550,000042: 12,2006           10347        NORMT4             CCS      DSRUPTSW                              #  GOES 7(-1)0.
004551,000043: 12,2007           12011                           TCF      +2                                    
004552,000044: 12,2010           37765                           CAF      SEVEN                                 
004553,000045: 12,2011           54347                           TS       DSRUPTSW                              
004554,000046: 
004555,000047: 12,2012           12030                           TCF      T4RUPTA                               
004556,000048: 
004557,000049: 12,2013           34276        LMPRESET           CAF      LNORMT4                               #  DO THINGS IN THIS ORDER FOR RESTART
004558,000050: 12,2014           54346                           TS       T4LOC                                 #  PROTECTION.
004559,000051: 12,2015           31145                           CA       LMPOUTT                               #  NEW VALUE OF OUTPUT POINTER.
004560,000052: 12,2016           55144                           TS       LMPOUT                                
004561,000053: 12,2017           47763                           CS       ONE                                   #  TO SHOW OUTPUT POINTER ALREADY UPDATED.
004562,000054: 12,2020           55145                           TS       LMPOUTT                               
004563,000055: 12,2021           34274                           CAF      90MRUPT                               
004564,000056: 12,2022           12026                           TCF      +4                                    
004565,000057: 
004566,000058: 12,2023           34276        DSKYRSET           CAF      LNORMT4                               #  20 MS ON / 100 MS OFF.
004567,000059: 12,2024           54346                           TS       T4LOC                                 
004568,000060: 12,2025           34275                           CAF      100MRUPT                              
004569,000061: 12,2026           54027                 +4        TS       TIME4                                 
004570,000062: 12,2027           15735                           TCF      NOQRSM                                
004571,000063:    4274                                           BLOCK    02                                    
004572,000064:    4274           37767        90MRUPT            DEC      16375      B-14                       
004573,000065:    4275           37766        100MRUPT           DEC      16374      B-14                       
004574,000066:    4276           02006        LNORMT4            ADRES    NORMT4                                
004575,000067:    4277           74000        74K                OCT      74000                                 
004576,000068: 
004577,000069:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
004578,000070:                                                                                                  #  IN LOWER 5 BITS.
004579,000071: 
004580,000072:    4300           04025        RELTAB             OCT      04025                                 
004581,000073:    4301           10003                           OCT      10003                                 
004582,000074:    4302           14031                           OCT      14031                                 
004583,000075:    4303           20033                           OCT      20033                                 
004584,000076:    4304           24017                           OCT      24017                                 
004585,000077:    4305           30036                           OCT      30036                                 
004586,000078:    4306           34034                           OCT      34034                                 
004587,000079:    4307           40023                           OCT      40023                                 
004588,000080:    4310           44035                           OCT      44035                                 

Page 105

004590,000082:    4311           50037                           OCT      50037                                 
004591,000083:    4312           54000                           OCT      54000                                 
004592,000084:    4313           60000        RELTAB11           OCT      60000                                 
004593,000085: 

Page 106

004595,000087:                                                                                                  #  SWITCHED-BANK PORTION.
004596,000088: 
004597,000089: 12,2030                                           BANK     12                                    
004598,000090: 12,2030           00006        T4RUPTA            EXTEND                                         
004599,000091: 12,2031           22012                           QXCH     QRUPT                                 
004600,000092: 
004601,000093: 12,2032           51144                           INDEX    LMPOUT                                #  SEE IF LMP COMMAND TO BE PUT OUT.
004602,000094: 12,2033           11133                           CCS      LMPCMD                                
004603,000095: 12,2034           12056                           TCF      CDRVE                                 #  BIT 15 = 1 AND (UP TO) BITS 1 - 11
004604,000096: 12,2035           12056                           TCF      CDRVE                                 #  CONTAIN THE COMMAND.
004605,000097: 
004606,000098: 12,2036           32147                           CAF      LLMPRS                                #  SET T4 FOR SPECIAL RUPT AND SHOW LMP
004607,000099: 12,2037           54346                           TS       T4LOC                                 #  COMMAND IN PROGRESS IF RESTART.
004608,000100: 
004609,000101: 12,2040           34563                           CAF      LOW11                                 
004610,000102: 12,2041           51144                           INDEX    LMPOUT                                
004611,000103: 12,2042           71133                           MASK     LMPCMD                                #  LEAVE COMMAND PORTION INTACT.
004612,000104: 12,2043           51144                           INDEX    LMPOUT                                
004613,000105: 12,2044           55133                           TS       LMPCMD                                
004614,000106: 12,2045           64277                           AD       74K                                   
004615,000107: 12,2046           00006                           EXTEND                                         
004616,000108: 12,2047           01010                           WRITE    OUT0                                  
004617,000109: 
004618,000110: 12,2050           11144                           CCS      LMPOUT                                #  PREDICT NEW VALUE OF LMPOUT BUT DONT
004619,000111: 12,2051           12053                           TCF      +2                                    #  UPDATE IT UNTIL COMMAND SENT (IN CASE OF
004620,000112: 12,2052           37765                           CAF      SEVEN                                 #  RESTART.)
004621,000113: 12,2053           55145                           TS       LMPOUTT                               
004622,000114: 
004623,000115: 12,2054           32150                           CAF      30MRUPT                               
004624,000116: 12,2055           12133                           TCF      SETTIME4                              
004625,000117: 
004626,000118: 12,2056           10326        CDRVE              CCS      DSPTAB     +11D                       
004627,000119: 12,2057           02066                           TC       DSPOUT                                
004628,000120: 12,2060           02066                           TC       DSPOUT                                
004629,000121: 
004630,000122: 12,2061           56326                           XCH      DSPTAB     +11D                       
004631,000123: 12,2062           74563                           MASK     LOW11                                 
004632,000124: 12,2063           54326                           TS       DSPTAB     +11D                       
004633,000125: 12,2064           64313                           AD       RELTAB11                              
004634,000126: 12,2065           02126                           TC       DSPLAYC                               
004635,000127: 

Page 107

004637,000129:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
004638,000130: 
004639,000131: 12,2066           10307        DSPOUT             CCS      NOUT                                  #  DRIVE DISPLAY SYSTEM RELAYS.
004640,000132: 12,2067           12072                           TCF      +3                                    
004641,000133: 
004642,000134: 12,2070           32107        NODSPOUT           CAF      120MRUPT                              #  SET FOR RUPT IN 120 MS IF NO RELAYS.
004643,000135: 12,2071           12133                           TCF      SETTIME4                              
004644,000136: 
004645,000137: 12,2072           54307                           TS       NOUT                                  
004646,000138: 12,2073           47767                           CS       ZERO                                  
004647,000139: 12,2074           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
004648,000140: 12,2075           56345                           XCH      DSPCNT                                
004649,000141: 12,2076           67770                           AD       NEG0                                  #  TO PREVENT +0
004650,000142: 12,2077           54345                           TS       DSPCNT                                
004651,000143: 12,2100           50345        DSPSCAN            INDEX    DSPCNT                                
004652,000144: 12,2101           10313                           CCS      DSPTAB                                
004653,000145: 12,2102           10345                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
004654,000146: 12,2103           02076                           TC       DSPSCAN    -2                         #  IF DSPCNT +, AGAIN
004655,000147: 12,2104           02115                           TC       DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
004656,000148: 12,2105           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
004657,000149: 12,2106           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
004658,000150: 12,2107           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0).  +0 INTO NOUT.
004659,000151: 12,2110           54307                           TS       NOUT                                  
004660,000152: 12,2111           12070                           TCF      NODSPOUT                              
004661,000153: 12,2112           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
004662,000154: 12,2113           32105                           CAF      TABLNTH                               #  (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
004663,000155: 12,2114           02077                           TC       DSPSCAN    -1                         
004664,000156: 
004665,000157: 12,2115           67763        DSPLAY             AD       ONE                                   
004666,000158: 12,2116           50345                           INDEX    DSPCNT                                
004667,000159: 12,2117           54313                           TS       DSPTAB                                #  REPLACE POSITIVELY
004668,000160: 12,2120           74563                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
004669,000161: 12,2121           54073                           TS       DSRUPTEM                              
004670,000162: 12,2122           34560                           CAF      HI5                                   
004671,000163: 12,2123           50345                           INDEX    DSPCNT                                
004672,000164: 12,2124           74300                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
004673,000165: 12,2125           60073                           AD       DSRUPTEM                              
004674,000166: 12,2126           00006        DSPLAYC            EXTEND                                         
004675,000167: 12,2127           01010                           WRITE    OUT0                                  
004676,000168: 
004677,000169: 12,2130           32146                           CAF      LDSKYRS                               
004678,000170: 12,2131           54346                           TS       T4LOC                                 
004679,000171: 12,2132           32151                           CAF      20MRUPT                               
004680,000172: 
004681,000173: 12,2133           54027        SETTIME4           TS       TIME4                                 
004682,000174: 

Page 108

004684,000176:                                                                                                  #  JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
004685,000177: 
004686,000178: 12,2134           50347        T4JUMP             INDEX    DSRUPTSW                              
004687,000179: 12,2135           12136                           TCF      +1                                    
004688,000180: 
004689,000181: 12,2136           03166                           TC       RCSMONIT                              
004690,000182: 12,2137           03161                           TC       NORRGMON                              #  WAS TCF RRAUTCHK (NO RADAR IN 206).
004691,000183: 12,2140           12305                           TCF      IMUMON                                
004692,000184: 12,2141           13161                           TCF      DAPT4S                                
004693,000185: 12,2142           15733                           TCF      RESUME                                
004694,000186: 12,2143           03161                           TC       NORRGMON                              #  WAS TCF RRAUTCHK (NO RADAR IN 206).
004695,000187: 12,2144           12305                           TCF      IMUMON                                
004696,000188: 12,2145           13161                           TCF      DAPT4S                                
004697,000189: 
004698,000190: 12,2146           02023        LDSKYRS            ADRES    DSKYRSET                              
004699,000191: 12,2147           02013        LLMPRS             ADRES    LMPRESET                              
004700,000192: 
004701,000193: 12,2150           37775        30MRUPT            DEC      16381      B-14                       
004702,000194: 12,2151           37776        20MRUPT            DEC      16382      B-14                       
004703,000195: 

Page 109

004705,000197:                                                                                                  #  THIS ROUTINE SERVICES THE METER OUTPUTS.
004706,000198: 
004707,000199:                                                                                                  #  DIDFLG INDICATES THE STATE OF THE PROGRAM..............
004708,000200:                                                                                                  #  IF GREATER THAN ZERO, THEN UNABLE TO DISPLAY DATA
004709,000201:                                                                                                  #  IF EQUAL TO ZERO, THEN THE PROGRAM IS IN USE
004710,000202:                                                                                                  #  IF LESS THAN ZERO, THEN THE PROGRAM IS ABLE TO BE USED............
004711,000203: 
004712,000204: 12,2152           02225        ALTOUT             TC       DISINDAT                              
004713,000205: 12,2153           47762                           CS       BIT2                                  
004714,000206: 12,2154           00006                           EXTEND                                         
004715,000207: 12,2155           03014                           WAND     14                                    #  SET UP OUTPUT FOR ALTITUDE
004716,000208: 12,2156           10351                           CCS      ALT                                   #  -1 IF OLD DATA TO BE EXTRAPOLATED.
004717,000209: 12,2157           12163                           TCF      +4                                    #  NEW DATA.
004718,000210: 12,2160           12163                           TCF      +3                                    
004719,000211: 12,2161           12167                           TCF      OLDDATA                               
004720,000212: 
004721,000213: 12,2162           54351                           TS       ALT                                   #  CHANGE -0 IN ALT TO +0.
004722,000214: 12,2163           47763                           CS       ONE                                   #  RESET ALTSAVE.
004723,000215: 12,2164           52352                           DXCH     ALT                                   
004724,000216: 12,2165           52364        ZDATA2             DXCH     ALTSAVE                               
004725,000217: 12,2166           12207                           TCF      NEWDATA                               
004726,000218: 
004727,000219: 12,2167           30353        OLDDATA            CA       ALTRATE                               #  USE ALTRATE TO EXTRAPOLATE.
004728,000220: 12,2170           00006                           EXTEND                                         
004729,000221: 12,2171           72302                           MP       ARTOA                                 #  RATE APPLIES FOR .96 SEC.
004730,000222: 12,2172           60364                           AD       ALTSAVE    +1                         
004731,000223: 12,2173           54364                           TS       ALTSAVE    +1                         #  AND MAYBE SKIP.
004732,000224: 12,2174           37767                           CAF      ZERO                                  
004733,000225: 12,2175           26363                           ADS      ALTSAVE                               
004734,000226: 
004735,000227: 12,2176           37743                           CAF      POSMAX                                #  FORCE SIGN AGREEMENT ASSUMING ALTSAVE IS
004736,000228: 12,2177           67763                           AD       ONE                                   #  NOT NEGATIVE. IF IT IS, THE FINAL TS
004737,000229: 12,2200           60364                           AD       ALTSAVE    +1                         #  WILL NOT SKIP AND WE CAN SET ALTSAVE TO
004738,000230: 12,2201           54364                           TS       ALTSAVE    +1                         #  ZERO IN THAT CASE.
004739,000231: 12,2202           37767                           CAF      ZERO                                  
004740,000232: 12,2203           67743                           AD       POSMAX                                
004741,000233: 12,2204           60363                           AD       ALTSAVE                               
004742,000234: 12,2205           54363                           TS       ALTSAVE                               
004743,000235: 12,2206           12277                           TCF      ZERODATA                              #  ALTSAVE NEGATIVE - SET TO ZERO.
004744,000236: 
004745,000237: 12,2207           10363        NEWDATA            CCS      ALTSAVE                               #  MAKE UP 15 BIT UNSIGNED OUTPUT.
004746,000238: 12,2210           37745                           CAF      BIT15                                 #  MAJOR PART +1 OR +0.
004747,000239: 12,2211           60364                           AD       ALTSAVE    +1                         
004748,000240: 12,2212           54060        METEROUT           TS       ALTM                                  
004749,000241: 12,2213           32303                           CAF      BITSET                                
004750,000242: 12,2214           00006                           EXTEND                                         
004751,000243: 12,2215           05014                           WOR      14                                    
004752,000244: 12,2216           12276                           TCF      DONEDID                               
004753,000245: 

Page 110

004755,000247: 12,2217           02225        ALTROUT            TC       DISINDAT                              
004756,000248: 12,2220           37762                           CAF      BIT2                                  
004757,000249: 12,2221           00006                           EXTEND                                         
004758,000250: 12,2222           05014                           WOR      14                                    #  SET UP OUTPUT FOR ALT. RATE
004759,000251: 12,2223           30353                           CA       ALTRATE                               
004760,000252: 12,2224           12212                           TCF      METEROUT                              
004761,000253: 
004762,000254: 12,2225           10350        DISINDAT           CCS      DIDFLG                                
004763,000255: 12,2226           12273                           TCF      ALLDONE                               #  NOTE THAT THIS SHOULD ALWAYS GO TO
004764,000256:                                                                                                  #  ALLDONE AND NOT DONEDID SINCE THE
004765,000257:                                                                                                  #  AVAILABILITY OF DATA MAY DISAPPEAR WHILE
004766,000258:                                                                                                  #  THE ASTRONAUT HAS THE BUTTON DOWN.
004767,000259: 12,2227           12230                           NOOP                                           
004768,000260: 12,2230           37756                           CAF      BIT6                                  
004769,000261: 12,2231           00006                           EXTEND                                         
004770,000262: 12,2232           02030                           RAND     30                                    #  CHECK DISPLAY INERTIAL DATA BIT
004771,000263: 12,2233           10000                           CCS      A                                     
004772,000264: 12,2234           12273                           TCF      ALLDONE                               
004773,000265: 12,2235           10350                           CCS      DIDFLG                                
004774,000266: 12,2236           12237                           NOOP                                           
004775,000267: 12,2237           12260                           TCF      GOAGN                                 
004776,000268: 
004777,000269: 12,2240           37754        FIRSTIME           CAF      BIT8                                  
004778,000270: 12,2241           00006                           EXTEND                                         
004779,000271: 12,2242           05012                           WOR      12                                    #  ENABLE DISPLAY INERTIAL DATA
004780,000272: 12,2243           37767                           CAF      ZERO                                  
004781,000273: 12,2244           54350                           TS       DIDFLG                                
004782,000274: 12,2245           54362                           TS       LASTXCMD                              
004783,000275: 12,2246           54361                           TS       LASTYCMD                              
004784,000276: 12,2247           36306                           CAF      SIX                                   
004785,000277: 12,2250           05663                           TC       WAITLIST                              
004786,000278: 12,2251  E6,1404                                  EBANK=   M11                                   
004787,000279: 12,2251           02254 24066                     2CADR    INTLZE                                
004788,000280: 
004789,000281: 12,2253           02276                           TC       DONEDID                               
004790,000282: 
004791,000283: 12,2254           37762        INTLZE             CAF      BIT2                                  
004792,000284: 12,2255           00006                           EXTEND                                         
004793,000285: 12,2256           05012                           WOR      12                                    #  ENABLE RR ERROR COUNTER
004794,000286: 12,2257           05727                           TC       TASKOVER                              
004795,000287: 
004796,000288: 12,2260           40362        GOAGN              CS       LASTXCMD                              
004797,000289: 12,2261           60357                           AD       FORVEL                                
004798,000290: 12,2262           54054                           TS       OPTXCMD                               
004799,000291: 12,2263           30357                           CA       FORVEL                                
004800,000292: 12,2264           54362                           TS       LASTXCMD                              
004801,000293: 12,2265           40361                           CS       LASTYCMD                              
004802,000294: 12,2266           60360                           AD       LATVEL                                
004803,000295: 12,2267           54053                           TS       OPTYCMD                               
004804,000296: 12,2270           30360                           CA       LATVEL                                
004805,000297: 

Page 111

004807,000299: 12,2271           54361                           TS       LASTYCMD                              
004808,000300: 12,2272           00002                           TC       Q                                     
004809,000301: 
004810,000302: 12,2273           42304        ALLDONE            CS       DIDRESET                              #  REMOVE DISPLAY INERTIAL DATA AND ECTR.
004811,000303: 12,2274           00006                           EXTEND                                         
004812,000304: 12,2275           03012                           WAND     12                                    #  RESET RR ERROR COUNTER
004813,000305: 12,2276           15733        DONEDID            TCF      RESUME                                #  ** FIX LATER**
004814,000306: 
004815,000307: 12,2277           37767        ZERODATA           CAF      ZERO                                  
004816,000308: 12,2300           54001                           TS       L                                     
004817,000309: 12,2301           12165                           TCF      ZDATA2                                
004818,000310: 
004819,000311: 12,2302           06432        ARTOA              DEC      .20469                                #  ALT DUE TO ALTRATE FOR .96 SEC.
004820,000312: 12,2303           06004        BITSET             OCT      6004                                  
004821,000313: 
004822,000314: 12,2304           00202        DIDRESET           OCT      202                                   
004823,000315: 

Page 112

004825,000317:                                                                                                  #  PROGRAM NAME:  IMUMON
004826,000318: 
004827,000319:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
004828,000320:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
004829,000321: 
004830,000322:                                                                                                  #        FUNCTION                BIT     SUBROUTINE CALLED
004831,000323:                                                                                                  #        --------                ---     -----------------
004832,000324:                                                                                                  #        TEMP IN LIMITS           15     TLIM
004833,000325:                                                                                                  #        ISS TURN-ON REQUEST      14     ITURNON
004834,000326:                                                                                                  #        IMU FAIL                 13     IMUFAIL (SETISSW)
004835,000327:                                                                                                  #        IMU CDU FAIL             12     ICDUFAIL (SETISSW)
004836,000328:                                                                                                  #        IMU CAGE                 11     IMUCAGE
004837,000329:                                                                                                  #        IMU OPERATE               9     IMUOP
004838,000330: 
004839,000331:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
004840,000332:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
004841,000333: 
004842,000334:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
004843,000335: 
004844,000336:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004845,000337: 
004846,000338:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
004847,000339: 
004848,000340:                                                                                                  #  ERASABLE INITIALIZATION:
004849,000341:                                                                                                  #        FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(IMODES30) = OCT 37411.
004850,000342:                                                                                                  #        RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
004851,000343:                                                                                                  #                                    THIS LEAVES IMU FAIL BITS INTACT.
004852,000344: 
004853,000345:                                                                                                  #  ALARMS:  NONE.
004854,000346: 
004855,000347:                                                                                                  #  EXIT:  TNONTEST.
004856,000348: 
004857,000349:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
004858,000350: 
004859,000351: 12,2305           30365        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
004860,000352: 12,2306           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
004861,000353: 12,2307           06030                           RXOR     30                                    
004862,000354: 12,2310           73025                           MASK     30RDMSK                               
004863,000355: 12,2311           00006                           EXTEND                                         
004864,000356: 12,2312           12342                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
004865,000357: 
004866,000358: 12,2313           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
004867,000359: 12,2314           22365                           LXCH     IMODES30                              #  UPDATE IMODES30.
004868,000360: 12,2315           00006                           EXTEND                                         
004869,000361: 12,2316           06001                           RXOR     L                                     
004870,000362: 12,2317           54365                           TS       IMODES30                              
004871,000363: 
004872,000364: 12,2320           47763                           CS       ONE                                   
004873,000365: 12,2321           56070                           XCH      RUPTREG1                              
004874,000366: 12,2322           00006                           EXTEND                                         

Page 113

004876,000368: 12,2323           62614                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
004877,000369: 12,2324           12326                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
004878,000370: 
004879,000371: 12,2325           67763                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
004880,000372: 12,2326           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
004881,000373: 12,2327           60000                 +1        DOUBLE                                         
004882,000374: 12,2330           54000                           TS       A                                     #  SKIP IF OVERFLOW.
004883,000375: 12,2331           12326                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
004884,000376: 
004885,000377: 12,2332           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
004886,000378: 12,2333           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
004887,000379: 12,2334           37746                           CAF      BIT14                                 
004888,000380: 12,2335           70365                           MASK     IMODES30                              
004889,000381: 12,2336           50070                           INDEX    RUPTREG1                              
004890,000382: 12,2337           03021                           TC       IFAILJMP                              
004891,000383: 
004892,000384: 12,2340           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
004893,000385: 12,2341           12325                           TCF      NXTIFBIT   -1                         
004894,000386: 

Page 114

004896,000388:                                                                                                  #  PROGRAM NAME:  TNONTEST.
004897,000389: 
004898,000390:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
004899,000391:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
004900,000392:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
004901,000393: 
004902,000394:                                                                                                  #        1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
004903,000395:                                                                                                  #        BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
004904,000396:                                                                                                  #        SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
004905,000397: 
004906,000398:                                                                                                  #        2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
004907,000399:                                                                                                  #        A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
004908,000400:                                                                                                  #        ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
004909,000401:                                                                                                  #        A RESTART, THE ICDU'S WILL NOT BE ZEROED.
004910,000402: 
004911,000403:                                                                                                  #        3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
004912,000404:                                                                                                  #        IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
004913,000405: 
004914,000406:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
004915,000407:                                                                                                  #  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
004916,000408:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
004917,000409:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
004918,000410:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
004919,000411:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
004920,000412:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
004921,000413:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
004922,000414:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
004923,000415: 
004924,000416:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
004925,000417:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
004926,000418: 
004927,000419:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
004928,000420: 
004929,000421:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
004930,000422:                                                                                                  #        3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
004931,000423:                                                                                                  #        STARTED.
004932,000424: 
004933,000425:                                                                                                  #  SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
004934,000426: 
004935,000427:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
004936,000428: 
004937,000429:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
004938,000430: 
004939,000431:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
004940,000432:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
004941,000433:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
004942,000434: 
004943,000435:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
004944,000436: 
004945,000437: 12,2342           40365        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT

Page 115

004947,000439: 12,2343           77755                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
004948,000440: 12,2344           10000                           CCS      A                                     
004949,000441: 12,2345           12477                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
004950,000442: 
004951,000443: 12,2346           37754                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
004952,000444: 12,2347           70365                           MASK     IMODES30                              
004953,000445: 12,2350           10000                           CCS      A                                     
004954,000446: 12,2351           12355                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
004955,000447: 
004956,000448: 12,2352           37754                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
004957,000449: 12,2353           26365                           ADS      IMODES30                              #  TIME.
004958,000450: 12,2354           12477                           TCF      C33TEST                               
004959,000451: 
004960,000452:                                                                                                  #  PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
004961,000453: 
004962,000454: 12,2355           43044        PROCTNON           CS       BITS7&8                               
004963,000455: 12,2356           70365                           MASK     IMODES30                              
004964,000456: 12,2357           54365                           TS       IMODES30                              
004965,000457: 12,2360           77746                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
004966,000458: 12,2361           10000                           CCS      A                                     
004967,000459: 12,2362           12455                           TCF      OPONLY                                #  OPERATE ON ONLY.
004968,000460: 
004969,000461: 12,2363           40365                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
004970,000462: 12,2364           77753                           MASK     BIT9                                  #  OPERATE.
004971,000463: 12,2365           10000                           CCS      A                                     
004972,000464: 12,2366           12371                           TCF      +3                                    
004973,000465: 
004974,000466: 12,2367           04755                           TC       ALARM                                 #  ALARM IF NOT.
004975,000467: 12,2370           00213                           OCT      213                                   
004976,000468: 
004977,000469: 12,2371           03002                 +3        TC       CAGESUB                               
004978,000470: 12,2372           33052                           CAF      90SECS                                
004979,000471: 12,2373           05663                           TC       WAITLIST                              
004980,000472: 12,2374  E6,1404                                  EBANK=   M11                                   
004981,000473: 12,2374           02401 24066                     2CADR    ENDTNON                               
004982,000474: 
004983,000475: 12,2376           12477                           TCF      C33TEST                               
004984,000476: 
004985,000477: 12,2377           33052        RETNON             CAF      90SECS                                
004986,000478: 12,2400           05704                           TC       VARDELAY                              
004987,000479: 
004988,000480: 12,2401           47762        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
004989,000481: 12,2402           70365                           MASK     IMODES30                              
004990,000482: 12,2403           56365                           XCH      IMODES30                              
004991,000483: 12,2404           77762                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
004992,000484: 12,2405           00006                           EXTEND                                         
004993,000485: 12,2406           12421                           BZF      ENDTNON2                              
004994,000486: 
004995,000487: 12,2407           37746                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
004996,000488: 12,2410           70365                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.

Page 116

004998,000490: 12,2411           00006                           EXTEND                                         
004999,000491: 12,2412           12377                           BZF      RETNON                                
005000,000492: 
005001,000493: 12,2413           40074                           CS       STATE                                 #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
005002,000494: 12,2414           77754                           MASK     IMUSEFLG                              #  WAITING.
005003,000495: 12,2415           10000                           CCS      A                                     
005004,000496: 12,2416           15727                           TCF      TASKOVER                              
005005,000497: 12,2417           05225                           TC       POSTJUMP                              
005006,000498: 12,2420           26672                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
005007,000499: 
005008,000500: 12,2421           37745        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
005009,000501: 12,2422           00006                           EXTEND                                         
005010,000502: 12,2423           05012                           WOR      CHAN12                                
005011,000503: 
005012,000504: 12,2424           05270                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
005013,000505: 12,2425           26324                           CADR     NOATTOFF                              
005014,000506: 
005015,000507: 12,2426           04314        UNZ2               TC       ZEROICDU                              
005016,000508: 
005017,000509: 12,2427           43041                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
005018,000510: 12,2430           00006                           EXTEND                                         
005019,000511: 12,2431           03012                           WAND     CHAN12                                
005020,000512: 
005021,000513: 12,2432           34321                           CAF      4SECS                                 #  WAIT 4 SECS FOR COUNTERS TO FIND GIMBALS
005022,000514: 12,2433           05704                           TC       VARDELAY                              
005023,000515: 
005024,000516: 12,2434           43042        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
005025,000517: 12,2435           70365                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
005026,000518: 12,2436           54365                           TS       IMODES30                              
005027,000519: 
005028,000520: 12,2437           02753                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
005029,000521: 
005030,000522: 12,2440           47745                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
005031,000523: 12,2441           00006                           EXTEND                                         
005032,000524: 12,2442           03012                           WAND     12                                    
005033,000525: 
005034,000526: 12,2443           37751                           CAF      BIT11                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR
005035,000527: 12,2444           05663                           TC       WAITLIST                              #  ANOTHER 10 SECS.
005036,000528: 12,2445  E6,1404                                  EBANK=   M11                                   
005037,000529: 12,2445           02310 26066                     2CADR    PFAILOK                               
005038,000530: 
005039,000531: 12,2447           40074                           CS       STATE                                 #  SEE IF ANYONE IS WAITING FOR THE IMU AT
005040,000532: 12,2450           77754                           MASK     IMUSEFLG                              #  IMUZERO. IF SO, WAKE THEM UP.
005041,000533: 12,2451           10000                           CCS      A                                     
005042,000534: 12,2452           15727                           TCF      TASKOVER                              
005043,000535: 
005044,000536: 12,2453           05225                           TC       POSTJUMP                              
005045,000537: 12,2454           26664                           CADR     ENDIMU                                
005046,000538: 
005047,000539: 12,2455           37760        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE

Page 117

005049,000541: 12,2456           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
005050,000542: 12,2457           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK.
005051,000543: 12,2460           10000                           CCS      A                                     
005052,000544: 12,2461           12477                           TCF      C33TEST                               
005053,000545: 
005054,000546: 12,2462           37754                           CAF      IMUSEFLG                              #  OTHERWISE, ZERO THE COUNTERS
005055,000547: 12,2463           70074                           MASK     STATE                                 #  UNLESS SOMEONE IS USING THE IMU.
005056,000548: 12,2464           10000                           CCS      A                                     
005057,000549: 12,2465           12477                           TCF      C33TEST                               
005058,000550: 
005059,000551: 12,2466           03014                           TC       CAGESUB2                              #  SET TURNON FLAGS.
005060,000552: 
005061,000553: 12,2467           37757                           CAF      BIT5                                  
005062,000554: 12,2470           00006                           EXTEND                                         
005063,000555: 12,2471           05012                           WOR      12                                    
005064,000556: 
005065,000557: 12,2472           37756                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
005066,000558: 12,2473           05663                           TC       WAITLIST                              
005067,000559: 12,2474  E6,1404                                  EBANK=   M11                                   
005068,000560: 12,2474           02426 24066                     2CADR    UNZ2                                  
005069,000561: 
005070,000562: 12,2476           12477                           TCF      C33TEST                               
005071,000563: 

Page 118

005073,000565:                                                                                                  #  PROGRAM NAME:  C33TEST
005074,000566: 
005075,000567:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
005076,000568:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
005077,000569:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
005078,000570:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
005079,000571: 
005080,000572:                                                                                                  #        BIT     FUNCTION                SUBROUTINE
005081,000573:                                                                                                  #        ---     --------                ----------
005082,000574:                                                                                                  #         13     PIPA FAIL               PIPFAIL
005083,000575:                                                                                                  #         12     DOWNLINK TOO FAST       DNTMFAST
005084,000576:                                                                                                  #         11     UPLINK TOO FAST         UPTMFAST
005085,000577: 
005086,000578:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
005087,000579: 
005088,000580:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
005089,000581: 
005090,000582:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005091,000583: 
005092,000584:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
005093,000585: 
005094,000586:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
005095,000587:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
005096,000588: 
005097,000589:                                                                                                  #  ALARMS:  NONE.
005098,000590: 
005099,000591:                                                                                                  #  EXIT:  GLOCKMON.
005100,000592: 
005101,000593:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
005102,000594: 
005103,000595: 12,2477           30366        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
005104,000596: 12,2500           75642                           MASK     33RDMSK                               
005105,000597: 12,2501           54001                           TS       L                                     #  CHANGED.
005106,000598: 12,2502           35642                           CAF      33RDMSK                               
005107,000599: 12,2503           00006                           EXTEND                                         
005108,000600: 12,2504           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS.
005109,000601: 12,2505           00006                           EXTEND                                         
005110,000602: 12,2506           06001                           RXOR     L                                     
005111,000603: 12,2507           00006                           EXTEND                                         
005112,000604: 12,2510           12537                           BZF      GLOCKMON                              #  ON NO CHANGE.
005113,000605: 
005114,000606: 12,2511           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
005115,000607: 12,2512           22366                           LXCH     IMODES33                              
005116,000608: 12,2513           00006                           EXTEND                                         
005117,000609: 12,2514           06001                           RXOR     L                                     
005118,000610: 12,2515           54366                           TS       IMODES33                              #  UPDATED IMODES33.
005119,000611: 
005120,000612: 12,2516           37767                           CAF      ZERO                                  
005121,000613: 12,2517           56070                           XCH      RUPTREG1                              
005122,000614: 12,2520           60000                           DOUBLE                                         

Page 119

005124,000616: 12,2521           12524                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
005125,000617: 
005126,000618: 12,2522           67763                 -1        AD       ONE                                   
005127,000619: 12,2523           24070        NXTIBT             INCR     RUPTREG1                              
005128,000620: 12,2524           60000                 +1        DOUBLE                                         
005129,000621: 12,2525           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
005130,000622: 12,2526           12523                           TCF      NXTIBT                                
005131,000623: 
005132,000624: 12,2527           56071                           XCH      RUPTREG2                              
005133,000625: 12,2530           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
005134,000626: 12,2531           37747                           CAF      BIT13                                 
005135,000627: 12,2532           70366                           MASK     IMODES33                              
005136,000628: 12,2533           50070                           INDEX    RUPTREG1                              
005137,000629: 12,2534           03027                           TC       C33JMP                                
005138,000630: 12,2535           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
005139,000631: 12,2536           12522                           TCF      NXTIBT     -1                         
005140,000632: 

Page 120

005142,000634:                                                                                                  #  PROGRAM NAME:  GLOCKMON
005143,000635: 
005144,000636:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
005145,000637:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
005146,000638: 
005147,000639:                                                                                                  #        1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
005148,000640:                                                                                                  #        2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
005149,000641:                                                                                                  #        3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
005150,000642: 
005151,000643:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
005152,000644: 
005153,000645:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005154,000646: 
005155,000647:                                                                                                  #  SUBROUTINES CALLED:   1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
005156,000648:                                                                                                  #                        2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
005157,000649: 
005158,000650:                                                                                                  #  ERASABLE INITIALIZATION:
005159,000651:                                                                                                  #                1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 =  0.
005160,000652:                                                                                                  #                2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
005161,000653:                                                                                                  #                                                PROCEEDS AS BEFORE.
005162,000654: 
005163,000655:                                                                                                  #  ALARMS:       1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
005164,000656:                                                                                                  #                2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
005165,000657:                                                                                                  #                   SO ALREADY.
005166,000658: 
005167,000659: 12,2537           10034        GLOCKMON           CCS      CDUZ                                  
005168,000660: 12,2540           12544                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
005169,000661: 12,2541           12564                           TCF      SETGLOCK                              #  70 DEGREES.
005170,000662: 12,2542           12544                           TCF      GLOCKCHK                              
005171,000663: 12,2543           12564                           TCF      SETGLOCK                              
005172,000664: 
005173,000665: 12,2544           62611        GLOCKCHK           AD       -70DEGS                               
005174,000666: 12,2545           00006                           EXTEND                                         
005175,000667: 12,2546           62563                           BZMF     SETGLOCK   -1                         #  NO LOCK.
005176,000668: 
005177,000669: 12,2547           62612                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
005178,000670: 12,2550           00006                           EXTEND                                         
005179,000671: 12,2551           62561                           BZMF     NOGIMRUN                              
005180,000672: 
005181,000673: 12,2552           37760                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
005182,000674: 12,2553           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
005183,000675: 12,2554           02012                           RAND     CHAN12                                
005184,000676: 12,2555           10000                           CCS      A                                     
005185,000677: 12,2556           12561                           TCF      NOGIMRUN                              
005186,000678: 
005187,000679: 12,2557           05270                           TC       IBNKCALL                              
005188,000680: 12,2560           26232                           CADR     SETCOARS                              
005189,000681: 
005190,000682: 12,2561           37756        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
005191,000683: 12,2562           12564                           TCF      SETGLOCK                              
005192,000684: 

Page 121

005194,000686: 12,2563           37767                 -1        CAF      ZERO                                  
005195,000687: 12,2564           60326        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
005196,000688: 12,2565           77756                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
005197,000689: 12,2566           00006                           EXTEND                                         #  THE TWO.
005198,000690: 12,2567           15733                           BZF      GLOCKOK                               #  OK AS IS.
005199,000691: 
005200,000692: 12,2570           70326                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
005201,000693: 12,2571           10000                           CCS      A                                     
005202,000694: 12,2572           12606                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
005203,000695: 
005204,000696: 12,2573           37756                           CAF      BIT6                                  
005205,000697: 12,2574           70365                           MASK     IMODES30                              
005206,000698: 12,2575           10000                           CCS      A                                     
005207,000699: 12,2576           15733                           TCF      GLOCKOK                               
005208,000700: 
005209,000701: 12,2577           40326        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
005210,000702: 12,2600           77756                           MASK     BIT6                                  
005211,000703: 12,2601           67745                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
005212,000704: 12,2602           56326                           XCH      DSPTAB     +11D                       
005213,000705: 12,2603           72613                           MASK     OCT37737                              
005214,000706: 12,2604           26326                           ADS      DSPTAB     +11D                       
005215,000707: 12,2605           15733                           TCF      GLOCKOK                               
005216,000708: 
005217,000709: 12,2606           03032        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
005218,000710: 12,2607           15733                           TCF      GLOCKOK                               
005219,000711: 12,2610           12577                           TCF      GLINVERT                              
005220,000712: 
005221,000713: 12,2611           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
005222,000714: 12,2612           75252        -15DEGS            DEC      -.08333                               
005223,000715: 12,2613           37737        OCT37737           OCT      37737                                 
005224,000716: 

Page 122

005226,000718:                                                                                                  #  PROGRAM NAME:  TLIM.
005227,000719: 
005228,000720:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
005229,000721:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
005230,000722:                                                                                                  #  IS IN PROGRESS.
005231,000723: 
005232,000724:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
005233,000725: 
005234,000726:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005235,000727: 
005236,000728:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
005237,000729: 
005238,000730:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
005239,000731: 
005240,000732:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
005241,000733: 
005242,000734:                                                                                                  #  EXIT:  NXTIFAIL.
005243,000735: 
005244,000736:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                  IN A, EXCEPT FOR TLIM.
005245,000737: 
005246,000738: 12,2614           77743        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
005247,000739: 12,2615           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
005248,000740: 
005249,000741: 12,2616           10365                           CCS      IMODES30                              
005250,000742: 12,2617           12625                           TCF      TEMPOK                                
005251,000743: 12,2620           12625                           TCF      TEMPOK                                
005252,000744: 
005253,000745: 12,2621           37760                           CAF      BIT4                                  #  TURN ON LAMP.
005254,000746: 12,2622           00006                           EXTEND                                         
005255,000747: 12,2623           05011                           WOR      11                                    
005256,000748: 12,2624           12340                           TCF      NXTIFAIL                              
005257,000749: 
005258,000750: 12,2625           03032        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
005259,000751: 12,2626           12340                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
005260,000752: 
005261,000753: 12,2627           47760                           CS       BIT4                                  
005262,000754: 12,2630           00006                           EXTEND                                         
005263,000755: 12,2631           03011                           WAND     11                                    
005264,000756: 12,2632           12340                           TCF      NXTIFAIL                              
005265,000757: 

Page 123

005267,000759:                                                                                                  #  PROGRAM NAME:  ITURNON.
005268,000760: 
005269,000761:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
005270,000762:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
005271,000763:                                                                                                  #  IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF.  IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
005272,000764:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
005273,000765:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
005274,000766:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
005275,000767:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
005276,000768:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
005277,000769:                                                                                                  #  ENDS.
005278,000770: 
005279,000771:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
005280,000772: 
005281,000773:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005282,000774: 
005283,000775:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
005284,000776: 
005285,000777:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
005286,000778:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
005287,000779: 
005288,000780:                                                                                                  #  ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
005289,000781: 
005290,000782:                                                                                                  #  EXIT:  NXTIFAIL.
005291,000783: 
005292,000784:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
005293,000785:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
005294,000786: 
005295,000787: 12,2633           37762        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
005296,000788: 12,2634           70365                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
005297,000789: 12,2635           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
005298,000790: 12,2636           12340                           TCF      NXTIFAIL                              
005299,000791: 
005300,000792: 12,2637           37746                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
005301,000793: 12,2640           70365                           MASK     IMODES30                              
005302,000794: 12,2641           00006                           EXTEND                                         
005303,000795: 12,2642           12656                           BZF      ITURNON2                              #  IF JUST ON.
005304,000796: 
005305,000797: 12,2643           37745                           CAF      BIT15                                 
005306,000798: 12,2644           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
005307,000799: 12,2645           02012                           RAND     12                                    #  SENT.  IF SO, ACTION COMPLETE.
005308,000800: 12,2646           00006                           EXTEND                                         
005309,000801: 12,2647           12651                           BZF      +2                                    
005310,000802: 12,2650           12340                           TCF      NXTIFAIL                              
005311,000803: 
005312,000804: 12,2651           37762                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
005313,000805: 12,2652           26365                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
005314,000806: 12,2653           04755                           TC       ALARM                                 
005315,000807: 12,2654           00207                           OCT      207                                   
005316,000808: 12,2655           12340                           TCF      NXTIFAIL                              
005317,000809: 

Page 124

005319,000811: 12,2656           47755        ITURNON2           CS       BIT7                                  #  SET BIT 7 TO INITIATE WAIT OF 1 SAMPLE.
005320,000812: 12,2657           70365                           MASK     IMODES30                              
005321,000813: 12,2660           67755                           AD       BIT7                                  
005322,000814: 12,2661           54365                           TS       IMODES30                              
005323,000815: 12,2662           12340                           TCF      NXTIFAIL                              
005324,000816: 

Page 125

005326,000818:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
005327,000819: 
005328,000820:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
005329,000821:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
005330,000822:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
005331,000823:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
005332,000824:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
005333,000825: 
005334,000826:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
005335,000827: 
005336,000828:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005337,000829: 
005338,000830:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
005339,000831: 
005340,000832:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
005341,000833: 
005342,000834:                                                                                                  #  ALARMS: NONE.
005343,000835: 
005344,000836:                                                                                                  #  EXIT:  NXTIFAIL.
005345,000837: 
005346,000838:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
005347,000839: 
005348,000840: 12,2663           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
005349,000841: 12,2664           12340                           TCF      NXTIFAIL                              
005350,000842: 
005351,000843: 12,2665           43047                           CS       OCT71000                              #  TERMINATE ICDU AND GYRO PULSE TRAINS.
005352,000844: 12,2666           00006                           EXTEND                                         
005353,000845: 12,2667           03014                           WAND     14                                    
005354,000846: 
005355,000847: 12,2670           03002                           TC       CAGESUB                               
005356,000848: 
005357,000849: 12,2671           47767                           CS       ZERO                                  #  ZERO COMMAND OUT-COUNTERS
005358,000850: 12,2672           54050                           TS       CDUXCMD                               
005359,000851: 12,2673           54051                           TS       CDUYCMD                               
005360,000852: 12,2674           54052                           TS       CDUZCMD                               
005361,000853: 12,2675           54047                           TS       GYROCMD                               
005362,000854: 
005363,000855: 12,2676           43046                           CS       OCT1700                               #  HAVING WAITED AT LEAST 27 MCT FROM
005364,000856: 12,2677           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
005365,000857: 12,2700           03014                           WAND     14                                    #  DE-SELECT THE GYROS.
005366,000858: 
005367,000859: 12,2701           12340                           TCF      NXTIFAIL                              
005368,000860: 

Page 126

005370,000862:                                                                                                  #  PROGRAM NAME:  IMUOP.
005371,000863: 
005372,000864:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
005373,000865:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
005374,000866:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
005375,000867:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
005376,000868:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
005377,000869: 
005378,000870:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
005379,000871: 
005380,000872:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005381,000873:                                                                                                  #  
005382,000874:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
005383,000875: 
005384,000876:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
005385,000877:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
005386,000878: 
005387,000879:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
005388,000880: 
005389,000881:                                                                                                  #  EXIT:  NXTIFAIL.
005390,000882: 
005391,000883:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
005392,000884: 
005393,000885: 12,2702           00006        IMUOP              EXTEND                                         
005394,000886: 12,2703           12713                           BZF      IMUOP2                                
005395,000887: 
005396,000888: 12,2704           40074                           CS       STATE                                 #  IF GOING OFF, ALARM IF PROG USING IMU.
005397,000889: 12,2705           77754                           MASK     IMUSEFLG                              
005398,000890: 12,2706           10000                           CCS      A                                     
005399,000891: 12,2707           12340                           TCF      NXTIFAIL                              
005400,000892: 
005401,000893: 12,2710           04755                           TC       ALARM                                 
005402,000894: 12,2711           00214                           OCT      214                                   
005403,000895: 12,2712           12340                           TCF      NXTIFAIL                              
005404,000896: 
005405,000897: 12,2713           37762        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
005406,000898: 12,2714           70365                           MASK     IMODES30                              
005407,000899: 12,2715           10000                           CCS      A                                     
005408,000900: 12,2716           12340                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
005409,000901: 12,2717           12656                           TCF      ITURNON2                              #  SECONDS EXPIRES.
005410,000902: 

Page 127

005412,000904:                                                                                                  #  PROGRAM NAME:  PIPFAIL
005413,000905: 
005414,000906:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
005415,000907:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT,I.E., IMODES30
005416,000908:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
005417,000909: 
005418,000910:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
005419,000911: 
005420,000912:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005421,000913: 
005422,000914:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
005423,000915: 
005424,000916:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
005425,000917: 
005426,000918:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
005427,000919:                                                                                                  #  BEING INITIALIZED.
005428,000920: 
005429,000921:                                                                                                  #  EXIT:  NXTFL33.
005430,000922: 
005431,000923:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
005432,000924: 
005433,000925: 12,2720           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
005434,000926: 12,2721           37752                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
005435,000927: 12,2722           56365                           XCH      IMODES30                              
005436,000928: 12,2723           73051                           MASK     -BIT10                                
005437,000929: 12,2724           26365                           ADS      IMODES30                              
005438,000930: 
005439,000931: 12,2725           02753                           TC       SETISSW                               
005440,000932: 
005441,000933: 12,2726           40365                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
005442,000934: 12,2727           77763                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
005443,000935: 12,2730           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
005444,000936: 12,2731           12535                           TCF      NXTFL33                               
005445,000937: 
005446,000938: 12,2732           30365                           CA       IMODES30                              
005447,000939: 12,2733           73045                           MASK     OCT1720                               
005448,000940: 12,2734           10000                           CCS      A                                     
005449,000941: 12,2735           12535                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
005450,000942: 
005451,000943: 12,2736           04755                           TC       ALARM                                 
005452,000944: 12,2737           00212                           OCT      212                                   
005453,000945: 12,2740           12535                           TCF      NXTFL33                               
005454,000946: 

Page 128

005456,000948:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
005457,000949: 
005458,000950:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
005459,000951:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
005460,000952: 
005461,000953:                                                                                                  #        BIT     ALARM   CAUSE
005462,000954:                                                                                                  #        ---     -----   -----
005463,000955:                                                                                                  #         12     01105   DOWNLINK TOO FAST
005464,000956:                                                                                                  #         11     01106   UPLINK TOO FAST
005465,000957: 
005466,000958:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
005467,000959: 
005468,000960:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
005469,000961: 
005470,000962:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
005471,000963: 
005472,000964:                                                                                                  #  ALARMS:  SET FUNCTIONAL DESCRIPTION.
005473,000965: 
005474,000966:                                                                                                  #  EXIT:  NXTFL33.
005475,000967: 
005476,000968:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
005477,000969: 
005478,000970: 12,2741           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
005479,000971: 12,2742           12535                           TCF      NXTFL33                               
005480,000972: 
005481,000973: 12,2743           04755                           TC       ALARM                                 
005482,000974: 12,2744           01105                           OCT      1105                                  
005483,000975: 12,2745           12535                           TCF      NXTFL33                               
005484,000976: 
005485,000977: 12,2746           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
005486,000978: 12,2747           12535                           TCF      NXTFL33                               #  ALARM CODE.
005487,000979: 
005488,000980: 12,2750           04755                           TC       ALARM                                 
005489,000981: 12,2751           01106                           OCT      1106                                  
005490,000982: 12,2752           12535                           TCF      NXTFL33                               

Page 129

005492,000984:                                                                                                  #  PROGRAM NAME:  SETISSW
005493,000985: 
005494,000986:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
005495,000987:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
005496,000988:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
005497,000989:                                                                                                  #  PROGRESS.
005498,000990: 
005499,000991:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
005500,000992:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
005501,000993:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
005502,000994:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
005503,000995: 
005504,000996:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005505,000997: 
005506,000998:                                                                                                  #  SUBROUTINES CALLED:  NONE.
005507,000999: 
005508,001000:                                                                                                  #  ERASABLE INITIALIZATION:
005509,001001: 
005510,001002:                                                                                                  #        1) IMODES30 - SEE IMUMON.
005511,001003:                                                                                                  #        2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
005512,001004: 
005513,001005:                                                                                                  #  ALARMS:  ISS WARNING.
005514,001006: 
005515,001007:                                                                                                  #  EXIT: VIA Q.
005516,001008: 
005517,001009:                                                                                                  #  OUTPUT: ISS WARNING LAMP SET PROPERLY.
005518,001010: 
005519,001011: 12,2753           33037        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
005520,001012: 12,2754           70365                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
005521,001013: 12,2755           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
005522,001014: 12,2756           77752                           MP       BIT10                                 #  4, 3, AND 1.
005523,001015: 12,2757           30365                           CA       IMODES30                              
005524,001016: 12,2760           00006                           EXTEND                                         
005525,001017: 12,2761           04001                           ROR      L                                     #  0 INDICATES FAILURE.
005526,001018: 12,2762           40000                           COM                                            
005527,001019: 12,2763           75641                           MASK     OCT15000                              
005528,001020: 12,2764           10000                           CCS      A                                     
005529,001021: 12,2765           12776                           TCF      ISSWON                                #  FAILURE.
005530,001022: 
005531,001023: 12,2766           37763        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
005532,001024: 12,2767           70366                           MASK     IMODES33                              #  IN PROGRESS.
005533,001025: 12,2770           10000                           CCS      A                                     
005534,001026: 12,2771           00002                           TC       Q                                     
005535,001027: 
005536,001028: 12,2772           47763                           CS       BIT1                                  
005537,001029: 12,2773           00006                           EXTEND                                         
005538,001030: 12,2774           03011                           WAND     11                                    
005539,001031: 12,2775           00002                           TC       Q                                     
005540,001032: 
005541,001033: 12,2776           37763        ISSWON             CAF      BIT1                                  

Page 130

005543,001035: 12,2777           00006                           EXTEND                                         
005544,001036: 12,3000           05011                           WOR      11                                    
005545,001037: 12,3001           00002                           TC       Q                                     
005546,001038: 
005547,001039: 12,3002           43050        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
005548,001040: 12,3003           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE.  DISABLE THE
005549,001041: 12,3004           03012                           WAND     12                                    #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
005550,001042: 12,3005           33041                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
005551,001043: 12,3006           00006                           EXTEND                                         
005552,001044: 12,3007           05012                           WOR      12                                    
005553,001045: 
005554,001046: 12,3010           43040                           CS       OC40010                               #  TURN ON NO ATT LAMP.
005555,001047: 12,3011           70326                           MASK     DSPTAB     +11D                       
005556,001048: 12,3012           63040                           AD       OC40010                               
005557,001049: 12,3013           54326                           TS       DSPTAB     +11D                       
005558,001050: 
005559,001051: 12,3014           43043        CAGESUB2           CS       OCT75                                 #  SET FLAGS TO INDICATE CAGING OR TURN-ON,
005560,001052: 12,3015           70365                           MASK     IMODES30                              #  AND TO INHIBIT ALL ISS WARNING INFO.
005561,001053: 12,3016           63043                           AD       OCT75                                 
005562,001054: 12,3017           54365                           TS       IMODES30                              
005563,001055: 
005564,001056: 12,3020           00002                           TC       Q                                     
005565,001057: 
005566,001058: 12,3021  12,2753               IMUFAIL            EQUALS   SETISSW                               
005567,001059: 12,3021  12,2753               ICDUFAIL           EQUALS   SETISSW                               
005568,001060: 

Page 131

005570,001062:                                                                                                  #  JUMP TABLES AND CONSTANTS.
005571,001063: 
005572,001064: 12,3021           12633        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
005573,001065: 12,3022           12753                           TCF      IMUFAIL                               
005574,001066: 12,3023           12753                           TCF      ICDUFAIL                              
005575,001067: 12,3024           12663                           TCF      IMUCAGE                               
005576,001068: 12,3025           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
005577,001069: 12,3026           12702                           TCF      IMUOP                                 
005578,001070: 
005579,001071: 12,3027           12720        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
005580,001072: 12,3030           12741                           TCF      DNTMFAST                              
005581,001073: 12,3031           12746                           TCF      UPTMFAST                              
005582,001074: 
005583,001075:                                                                                                  #  SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
005584,001076: 12,3032           40366        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
005585,001077: 12,3033           77763                           MASK     BIT1                                  #  PROGRESS.
005586,001078: 12,3034           10000                           CCS      A                                     
005587,001079: 12,3035           24002                           INCR     Q                                     
005588,001080: 12,3036           00002                           TC       Q                                     
005589,001081: 
005590,001082: 12,3037     5642               33RDMSK            EQUALS   PRIO16                                
005591,001083: 12,3037           00015        OCT15              OCT      15                                    
005592,001084: 12,3040           40010        OC40010            OCT      40010                                 
005593,001085: 12,3041           00030        BITS4&5            OCT      30                                    
005594,001086: 12,3042           00054        OCT54              OCT      54                                    
005595,001087: 12,3043           00075        OCT75              OCT      75                                    
005596,001088: 12,3044           00300        BITS7&8            OCT      300                                   
005597,001089: 12,3045           01720        OCT1720            OCT      1720                                  
005598,001090: 12,3046           01700        OCT1700            OCT      1700                                  
005599,001091: 12,3047     5641               OCT15000           EQUALS   PRIO15                                
005600,001092: 12,3047           71000        OCT71000           OCT      71000                                 
005601,001093: 12,3050           40040        BITS6&15           OCT      40040                                 
005602,001094: 12,3051           76777        -BIT10             OCT      -1000                                 
005603,001095: 
005604,001096: 12,3052           21450        90SECS             DEC      9000       B-14                       
005605,001097: 12,3053           00014        120MS              DEC      12         B-14                       
005606,001098: 
005607,001099: 12,3054     5733               GLOCKOK            EQUALS   RESUME                                
005608,001100: 

Page 132

005610,001102:                                                                                                  #  RR INBIT MONITOR.
005611,001103: 
005612,001104: 12,3054           30412        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
005613,001105: 12,3055           00006                           EXTEND                                         
005614,001106: 12,3056           06033                           RXOR     33                                    
005615,001107: 12,3057           77762                           MASK     BIT2                                  
005616,001108: 12,3060           00006                           EXTEND                                         
005617,001109: 12,3061           13115                           BZF      RRCDUCHK                              
005618,001110: 
005619,001111: 12,3062           22412                           LXCH     RADMODES                              #  UPDATE RADMODES.
005620,001112: 12,3063           00006                           EXTEND                                         
005621,001113: 12,3064           06001                           RXOR     L                                     
005622,001114: 12,3065           54412                           TS       RADMODES                              
005623,001115: 12,3066           77762                           MASK     BIT2                                  #  SEE IF JUST ON.
005624,001116: 12,3067           10000                           CCS      A                                     
005625,001117: 12,3070           13107                           TCF      RROFF                                 #  OFF.
005626,001118: 
005627,001119: 12,3071           37755                           CAF      BIT7                                  #  IF JUST ON AND SOME PROGRAM IS USING THE
005628,001120: 12,3072           70074                           MASK     STATE                                 #  RR, DONT ZERO THE CDUS.
005629,001121: 12,3073           10000                           CCS      A                                     
005630,001122: 12,3074           13115                           TCF      RRCDUCHK                              
005631,001123: 
005632,001124: 12,3075           43106                           CS       OCT10001                              #  SET BITS TO INDICATE ZERO AND TURNON
005633,001125: 12,3076           70412                           MASK     RADMODES                              #  IN PROGRESS.
005634,001126: 12,3077           63106                           AD       OCT10001                              
005635,001127: 12,3100           54412                           TS       RADMODES                              
005636,001128: 
005637,001129: 12,3101           37763                           CAF      ONE                                   
005638,001130: 12,3102           05663                           TC       WAITLIST                              
005639,001131: 12,3103  E6,1404                                  EBANK=   M11                                   
005640,001132: 12,3103           02000 20066                     2CADR    RRTURNON                              
005641,001133: 
005642,001134: 12,3105           13161                           TCF      NORRGMON                              
005643,001135: 
005644,001136: 12,3106           10001        OCT10001           OCT      10001                                 
005645,001137: 
005646,001138: 12,3107           40074        RROFF              CS       STATE                                 #  IF SOMEONE WAS USING THE RR, DISPLAY AN
005647,001139: 12,3110           77755                           MASK     BIT7                                  #  ALARM IF THE RR GOES OUT OF AUTO MODE.
005648,001140: 12,3111           10000                           CCS      A                                     
005649,001141: 12,3112           13115                           TCF      RRCDUCHK                              
005650,001142: 
005651,001143: 12,3113           04755                           TC       ALARM                                 
005652,001144: 12,3114           00514                           OCT      514                                   
005653,001145: 

Page 133

005655,001147:                                                                                                  #  CHECK FOR RR CDU FAIL.
005656,001148: 
005657,001149: 12,3115           30412        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
005658,001150: 12,3116           00006                           EXTEND                                         
005659,001151: 12,3117           06030                           RXOR     30                                    
005660,001152: 12,3120           77755                           MASK     BIT7                                  
005661,001153: 12,3121           00006                           EXTEND                                         
005662,001154: 12,3122           13135                           BZF      RRGIMON                               
005663,001155: 
005664,001156: 12,3123           37762                           CAF      BIT2                                  #  IF RR NOT IN AUTO MODE, DONT CHANGE BIT
005665,001157: 12,3124           70412                           MASK     RADMODES                              #  7 OF RADMODES.  IF THIS WERE NOT DONE,
005666,001158: 12,3125           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
005667,001159: 12,3126           13161                           TCF      NORRGMON                              #  JUST READING LR DATA.
005668,001160: 
005669,001161: 12,3127           37755                           CAF      BIT7                                  #  SET BIT 7 OF RADMODES FOR SETTRKF.
005670,001162: 12,3130           22412                           LXCH     RADMODES                              #  UPDATE RADMODES.
005671,001163: 12,3131           00006                           EXTEND                                         
005672,001164: 12,3132           06001                           RXOR     L                                     
005673,001165: 12,3133           54412                           TS       RADMODES                              
005674,001166: 
005675,001167: 12,3134           04377        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
005676,001168: 

Page 134

005678,001170:                                                                                                  #           THE RR GIMBAL LIMIT MONITOR IS ENABLED WHENEVER THE RR IS IN THE AUTO MODE EXCEPT WHEN THE RR CDUS ARE
005679,001171:                                                                                                  #  BEING ZEROED, OR DURING A REMODE OR MONITOR REPOSITION OPERATION. THE LATTER IS INITIATED BY THIS MONITOR WHEN
005680,001172:                                                                                                  #  THE GIMBALS EXCEED THE LIMITS FOR THE CURRENT MODE. A ROUTINE IS INITIATED TO DRIVE THE GIMBALS TO T = 0 AND
005681,001173:                                                                                                  #  S = 0 IF IN MODE 1 AND T = 180 WITH S = -90 FOR MODE 2.
005682,001174: 
005683,001175: 12,3135           33157        RRGIMON            CAF      OCT32002                              #  INHIBITED BY REMODE, ZEROING, MONITOR.
005684,001176: 12,3136           70412                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
005685,001177: 12,3137           10000                           CCS      A                                     
005686,001178: 12,3140           13161                           TCF      NORRGMON                              
005687,001179: 
005688,001180: 12,3141           04334                           TC       RRLIMCHK                              #  SET IF ANGLES IN LIMITS.
005689,001181: 12,3142           00035                           ADRES    OPTY                                  
005690,001182: 
005691,001183: 12,3143           13145                           TCF      MONREPOS                              
005692,001184: 
005693,001185: 12,3144           13161                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
005694,001186: 
005695,001187: 12,3145           37751        MONREPOS           CAF      BIT11                                 #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
005696,001188: 12,3146           26412                           ADS      RADMODES                              
005697,001189: 
005698,001190: 12,3147           43160                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
005699,001191: 12,3150           00006                           EXTEND                                         
005700,001192: 12,3151           03012                           WAND     12                                    
005701,001193: 
005702,001194: 12,3152           37762                           CAF      TWO                                   
005703,001195: 12,3153           05663                           TC       WAITLIST                              
005704,001196: 12,3154  E6,1404                                  EBANK=   M11                                   
005705,001197: 12,3154           02051 20066                     2CADR    DORREPOS                              
005706,001198: 
005707,001199: 12,3156           13161                           TCF      NORRGMON                              
005708,001200: 
005709,001201: 12,3157           32002        OCT32002           OCT      32002                                 
005710,001202: 12,3160           20002        OCT20002           OCT      20002                                 
005711,001203: 

Page 135

005713,001205:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
005714,001206: 
005715,001207:                                                                                                  #  AUTHOR:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
005716,001208: 
005717,001209:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
005718,001210:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
005719,001211:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
005720,001212: 
005721,001213:                                                                                                  #  CALLING SEQUENCE:  GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
005722,001214:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
005723,001215: 
005724,001216:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
005725,001217: 
005726,001218:                                                                                                  #  NORMAL EXIT: RESUME.
005727,001219: 
005728,001220:                                                                                                  #  ALARM/ABORT MODE:  THERE ARE NO REAL ALARMS OR ABORTS.  HOWEVER, WHEN THE MIDDLE GIMBAL ANGLE NEARS GIMBAL LOCK,
005729,001221:                                                                                                  #  A DIVISION BY COS(MG) WILL CAUSE OVERFLOW (I.E. A BAD QUOTIENT).  THIS CONDITION IS PREVENTED BY TESTING COS(MG)
005730,001222:                                                                                                  #  AND SUBSTITUTING POSMAX/NEGMAX FOR THE INCALCULABLE QUANTITIES.
005731,001223: 
005732,001224:                                                                                                  #  INPUT: CDUX, CDUY, CDUZ.        OUTPUT: M11,M21,M31,M22,M32,MR12,MR13.
005733,001225:                                                                                                  #                                          (ALSO MR22=M22,MR23=M32)
005734,001226: 
005735,001227:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
005736,001228: 
005737,001229:                                                                                                  #                *       *       SIN(MG)                 0                       1       *
005738,001230:                                                                                                  #                M   =   *       COS(MG)COS(OG)          SIN(OG)                 0       *
005739,001231:                                                                                                  #                 GP     *       -COS(MG)SIN(OG)         COS(OG)                 0       *
005740,001232: 
005741,001233:                                                                                                  #                *       *       0                       COS(OG)/COS(MG)         -SIN(OG)/COS(MG)        *
005742,001234:                                                                                                  #                M   =   *       0                       SIN(OG)                 COS(OG)                 *
005743,001235:                                                                                                  #                 PG     *       1                       -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG)  *
005744,001236: 
005745,001237:                                                                                                  #  THIS CODING TRANSFERS CONTROL TO THE DAP FIXED BANK FOR GPMATRIX:
005746,001238: 12,3161                                           BANK     12                                    
005747,001239: 12,3161  E6,1404                                  EBANK=   M11                                   
005748,001240: 
005749,001241: 12,3161           00006        DAPT4S             EXTEND                                         #  GET 2CADR OF GPMATRIX
005750,001242: 12,3162           33165                           DCA      DAPT4                                 
005751,001243: 12,3163           52006                           DTCB                                           
005752,001244: 
005753,001245: 12,3164  12,3161               NORRGMON           EQUALS   DAPT4S                                
005754,001246: 
005755,001247: 12,3164  E6,1404                                  EBANK=   M11                                   
005756,001248: 12,3164           02000 40066  DAPT4              2CADR    GPMATRIX                              
005757,001249: 

Page 136

005759,001251:                                                                                                  #  T4RUPT DAP LOGIC:
005760,001252: 
005761,001253: 20,2000                                           BANK     20                                    
005762,001254: 20,2000  E6,1404                                  EBANK=   M11                                   
005763,001255: 
005764,001256: 20,2000           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
005765,001257: 20,2001           05355                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
005766,001258: 20,2002           55404                           TS       M11                                   #  SCALED AT 1
005767,001259: 
005768,001260: 20,2003           30034                           CAE      CDUZ                                  
005769,001261: 20,2004           05354                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
005770,001262: 20,2005           55457                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
005771,001263: 
005772,001264: 20,2006           30032                           CAE      CDUX                                  
005773,001265: 20,2007           05355                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
005774,001266: 20,2010           55401                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
005775,001267: 
005776,001268: 20,2011           41401                           CS       M22                                   
005777,001269: 20,2012           00006                           EXTEND                                         
005778,001270: 20,2013           71457                           MP       COSMG                                 #  -SIN(OG)COS(MG)
005779,001271: 20,2014           55406                           TS       M31                                   #  SCALED AT 1
005780,001272: 
005781,001273: 20,2015           30032                           CAE      CDUX                                  
005782,001274: 20,2016           05354                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
005783,001275: 20,2017           55403                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
005784,001276: 
005785,001277: 20,2020           00006                           EXTEND                                         
005786,001278: 20,2021           71457                           MP       COSMG                                 #  COS(OG)COS(MG)
005787,001279: 20,2022           55405                           TS       M21                                   #  SCALED AT 1
005788,001280: 
005789,001281: 20,2023           41457                           CS       COSMG                                 #  CHECK FOR CDUZ GREATER THAN 60 DEGREES.
005790,001282: 20,2024           67746                           AD       BIT14                                 
005791,001283: 20,2025           00006                           EXTEND                                         
005792,001284: 20,2026           62031                           BZMF     +3                                    
005793,001285: 20,2027           37746                           CAF      BIT14                                 #  USE 60 DEG. FOR CDUZ-HENCE COS(CDUZ)=1/2
005794,001286: 20,2030           55457                           TS       COSMG                                 #  (SINMG NOT SIMILARLY LIMITED)
005795,001287: 20,2031           31403                 +3        CAE      M32                                   
005796,001288: 20,2032           00006                           EXTEND                                         
005797,001289: 20,2033           77746                           MP       BIT14                                 #  SCALE FOR DIVISION
005798,001290: 20,2034           00006                           EXTEND                                         
005799,001291: 20,2035           11457                           DV       COSMG                                 #  COS(OG)/COS(MG)
005800,001292: 20,2036           55400                           TS       MR12                                  #  SCALED AT 2
005801,001293: 
005802,001294: 20,2037           41401                           CS       M22                                   
005803,001295: 20,2040           00006                           EXTEND                                         
005804,001296: 20,2041           77746                           MP       BIT14                                 #  SCALE FOR DIVISION
005805,001297: 20,2042           00006                           EXTEND                                         
005806,001298: 20,2043           11457                           DV       COSMG                                 #  -SIN(OG)/COS(MG)
005807,001299: 20,2044           55402                           TS       MR13                                  #  SCALED AT 2
005808,001300: 20,2045           15733                           TCF      RESUME                                
005809,001301: 

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