Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Peter McDermott. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
	DEC 13, 1966

	THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37 
        OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.

004086,000002:                                                                                                  ## Copyright:   Public domain.
004087,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
004088,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
004089,000005:                                                                                                  ##              It is part of an early development version of the software
004090,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
004091,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
004092,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
004093,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
004094,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
004095,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
004096,000012:                                                                                                  ##              that the code format has been changed to conform to the
004097,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
004098,000014:                                                                                                  ##              original YUL assembler.
004099,000015:                                                                                                  ## Reference:   pp. 90-123
004100,000016:                                                                                                  ## Assembler:   yaYUL
004101,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
004102,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
004103,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
004104,000020:                                                                                                  ##              2017-05-29 HG   Transcribed
004105,000021:                                                                                                  ##              2017-06-15 HG   Fix operator TCF  -> TC
004106,000022:                                                                                                  ##                                           CS   -> CAF
004107,000023:                                                                                                  ##              2017-06-21 RSB  Proofed using octopus/ProoferComments.
004108,000024: 

Page 90

004110,000026: 12,2000                                           BANK     12                                    
004111,000027: 12,2000  E6,1404                                  EBANK=   M11                                   
004112,000028: 12,2000           54016        T4RUPT             TS       BANKRUPT                              
004113,000029: 
004114,000030: 12,2001           37761                           CA       ZERO                                  
004115,000031: 12,2002           00006                           EXTEND                                         #  ZERO OUT0 EVERY T4RUPT.
004116,000032: 12,2003           01010                           WRITE    OUT0                                  
004117,000033: 
004118,000034: 12,2004           50346                           INDEX    T4LOC                                 #  NORMALLY TO NORMT4, BUT TO LMPRESET OR
004119,000035: 12,2005           10000                           TCF      0                                     #  DSKYRSET AFTER OUT0 COMMAND.
004120,000036: 
004121,000037: 12,2006           10347        NORMT4             CCS      DSRUPTSW                              #  GOES 7(-1)0.
004122,000038: 12,2007           12011                           TCF      +2                                    
004123,000039: 12,2010           37757                           CAF      SEVEN                                 
004124,000040: 12,2011           54347                           TS       DSRUPTSW                              
004125,000041: 
004126,000042: 12,2012           12030                           TCF      T4RUPTA                               
004127,000043: 
004128,000044: 12,2013           34265        LMPRESET           CAF      LNORMT4                               #  DO THINGS IN THIS ORDER FOR RESTART
004129,000045: 12,2014           54346                           TS       T4LOC                                 #  PROTECTION.
004130,000046: 12,2015           31144                           CA       LMPOUTT                               #  NEW VALUE OF OUTPUT POINTER.
004131,000047: 12,2016           55143                           TS       LMPOUT                                
004132,000048: 12,2017           47755                           CS       ONE                                   #  TO SHOW OUTPUT POINTER ALREADY UPDATED.
004133,000049: 12,2020           55144                           TS       LMPOUTT                               
004134,000050: 12,2021           34263                           CAF      90MRUPT                               
004135,000051: 12,2022           12026                           TCF      +4                                    
004136,000052: 
004137,000053: 12,2023           34265        DSKYRSET           CAF      LNORMT4                               #  20 MS ON / 100 MS OFF.
004138,000054: 12,2024           54346                           TS       T4LOC                                 
004139,000055: 12,2025           34264                           CAF      100MRUPT                              
004140,000056: 12,2026           54027                 +4        TS       TIME4                                 
004141,000057: 12,2027           15753                           TCF      NOQRSM                                
004142,000058: 
004143,000059:    4263                                           BLOCK    02                                    
004144,000060:    4263           37767        90MRUPT            DEC      16375      B-14                       
004145,000061:    4264           37766        100MRUPT           DEC      16374      B-14                       
004146,000062:    4265           02006        LNORMT4            ADRES    NORMT4                                
004147,000063:    4266           74000        74K                OCT      74000                                 
004148,000064: 
004149,000065:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
004150,000066:                                                                                                  #  IN LOWER 5 BITS.
004151,000067: 
004152,000068:    4267           04025        RELTAB             OCT      04025                                 
004153,000069:    4270           10003                           OCT      10003                                 
004154,000070:    4271           14031                           OCT      14031                                 
004155,000071:    4272           20033                           OCT      20033                                 
004156,000072:    4273           24017                           OCT      24017                                 
004157,000073:    4274           30036                           OCT      30036                                 
004158,000074:    4275           34034                           OCT      34034                                 
004159,000075:    4276           40023                           OCT      40023                                 
004160,000076:    4277           44035                           OCT      44035                                 
004161,000077: 

Page 91

004163,000079:    4300           50037                           OCT      50037                                 
004164,000080:    4301           54000                           OCT      54000                                 
004165,000081:    4302           60000        RELTAB11           OCT      60000                                 
004166,000082: 

Page 92

004168,000084:                                                                                                  #  SWITCHED-BANK PORTION.
004169,000085: 
004170,000086: 12,2030                                           BANK     12                                    
004171,000087: 12,2030           00006        T4RUPTA            EXTEND                                         
004172,000088: 12,2031           22012                           QXCH     QRUPT                                 
004173,000089: 
004174,000090: 12,2032           51143                           INDEX    LMPOUT                                #  SEE IF LMP COMMAND TO BE PUT OUT.
004175,000091: 12,2033           11132                           CCS      LMPCMD                                
004176,000092: 12,2034           12056                           TCF      CDRVE                                 #  BIT 15 = 1 AND (UP TO) BITS 1 - 11
004177,000093: 12,2035           12056                           TCF      CDRVE                                 #  CONTAIN THE COMMAND.
004178,000094: 
004179,000095: 12,2036           32147                           CAF      LLMPRS                                #  SET T4 FOR SPECIAL RUPT AND SHOW LMP
004180,000096: 12,2037           54346                           TS       T4LOC                                 #  COMMAND IN PROGRESS IF RESTART.
004181,000097: 
004182,000098: 12,2040           34552                           CAF      LOW11                                 
004183,000099: 12,2041           51143                           INDEX    LMPOUT                                
004184,000100: 12,2042           71132                           MASK     LMPCMD                                #  LEAVE COMMAND PORTION INTACT.
004185,000101: 12,2043           51143                           INDEX    LMPOUT                                
004186,000102: 12,2044           55132                           TS       LMPCMD                                
004187,000103: 12,2045           64266                           AD       74K                                   
004188,000104: 
004189,000105: 12,2046           00006                           EXTEND                                         
004190,000106: 12,2047           01010                           WRITE    OUT0                                  
004191,000107: 
004192,000108: 12,2050           11143                           CCS      LMPOUT                                #  PREDICT NEW VALUE OF LMPOUT BUT DONT
004193,000109: 12,2051           12053                           TCF      +2                                    #  UPDATE IT UNTIL COMMAND SENT (IN CASE OF
004194,000110: 12,2052           37757                           CAF      SEVEN                                 #  RESTART.)
004195,000111: 12,2053           55144                           TS       LMPOUTT                               
004196,000112: 
004197,000113: 12,2054           32150                           CAF      30MRUPT                               
004198,000114: 12,2055           12133                           TCF      SETTIME4                              
004199,000115: 
004200,000116: 12,2056           10326        CDRVE              CCS      DSPTAB     +11D                       
004201,000117: 12,2057           02066                           TC       DSPOUT                                
004202,000118: 12,2060           02066                           TC       DSPOUT                                
004203,000119: 
004204,000120: 12,2061           56326                           XCH      DSPTAB     +11D                       
004205,000121: 12,2062           74552                           MASK     LOW11                                 
004206,000122: 12,2063           54326                           TS       DSPTAB     +11D                       
004207,000123: 12,2064           64302                           AD       RELTAB11                              
004208,000124: 12,2065           02126                           TC       DSPLAYC                               
004209,000125: 

Page 93

004211,000127:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
004212,000128: 
004213,000129: 12,2066           10307        DSPOUT             CCS      NOUT                                  #  DRIVE DISPLAY SYSTEM RELAYS.
004214,000130: 12,2067           12072                           TCF      +3                                    
004215,000131: 
004216,000132: 12,2070           32107        NODSPOUT           CAF      120MRUPT                              #  SET FOR RUPT IN 120 MS IF NO RELAYS.
004217,000133: 12,2071           12133                           TCF      SETTIME4                              
004218,000134: 
004219,000135: 12,2072           54307                           TS       NOUT                                  
004220,000136: 12,2073           47761                           CS       ZERO                                  
004221,000137: 12,2074           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
004222,000138: 12,2075           56345                           XCH      DSPCNT                                
004223,000139: 12,2076           67762                           AD       NEG0                                  #  TO PREVENT +0
004224,000140: 12,2077           54345                           TS       DSPCNT                                
004225,000141: 12,2100           50345        DSPSCAN            INDEX    DSPCNT                                
004226,000142: 12,2101           10313                           CCS      DSPTAB                                
004227,000143: 12,2102           10345                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
004228,000144: 12,2103           02076                           TC       DSPSCAN    -2                         #  IF DSPCNT +, AGAIN
004229,000145: 12,2104           02115                           TC       DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
004230,000146: 12,2105           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
004231,000147: 12,2106           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
004232,000148: 12,2107           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0). +0 INTO NOUT.
004233,000149: 12,2110           54307                           TS       NOUT                                  
004234,000150: 12,2111           12070                           TCF      NODSPOUT                              
004235,000151: 12,2112           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
004236,000152: 12,2113           32105                           CAF      TABLNTH                               #  (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
004237,000153: 
004238,000154: 12,2114           02077                           TC       DSPSCAN    -1                         
004239,000155: 
004240,000156: 12,2115           67755        DSPLAY             AD       ONE                                   
004241,000157: 12,2116           50345                           INDEX    DSPCNT                                
004242,000158: 12,2117           54313                           TS       DSPTAB                                #  REPLACE POSITIVELY
004243,000159: 12,2120           74552                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
004244,000160: 12,2121           54073                           TS       DSRUPTEM                              
004245,000161: 12,2122           34547                           CAF      HI5                                   
004246,000162: 12,2123           50345                           INDEX    DSPCNT                                
004247,000163: 12,2124           74267                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
004248,000164: 12,2125           60073                           AD       DSRUPTEM                              
004249,000165: 12,2126           00006        DSPLAYC            EXTEND                                         
004250,000166: 12,2127           01010                           WRITE    OUT0                                  
004251,000167: 
004252,000168: 12,2130           32146                           CAF      LDSKYRS                               
004253,000169: 12,2131           54346                           TS       T4LOC                                 
004254,000170: 12,2132           32151                           CAF      20MRUPT                               
004255,000171: 
004256,000172: 12,2133           54027        SETTIME4           TS       TIME4                                 
004257,000173: 

Page 94

004259,000175:                                                                                                  #           JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
004260,000176: 
004261,000177: 12,2134           50347        T4JUMP             INDEX    DSRUPTSW                              
004262,000178: 12,2135           12136                           TCF      +1                                    
004263,000179: 
004264,000180: 12,2136           02152                           TC       ALTOUT                                
004265,000181: 
004266,000182: 12,2137           03176                           TC       NORRGMON                              #  WAS TCF RRAUTCHK (NO RADAR IN 206).
004267,000183: 
004268,000184: 12,2140           12305                           TCF      IMUMON                                
004269,000185: 12,2141           13176                           TCF      DAPT4S                                
004270,000186: 12,2142           02217                           TC       ALTROUT                               
004271,000187: 12,2143           03176                           TC       NORRGMON                              #  WAS TCF RRAUTCHK (NO RADAR IN 206).
004272,000188: 12,2144           12305                           TCF      IMUMON                                
004273,000189: 12,2145           13176                           TCF      DAPT4S                                
004274,000190: 
004275,000191: 12,2146           02023        LDSKYRS            ADRES    DSKYRSET                              
004276,000192: 12,2147           02013        LLMPRS             ADRES    LMPRESET                              
004277,000193: 
004278,000194: 12,2150           37775        30MRUPT            DEC      16381      B-14                       
004279,000195: 12,2151           37776        20MRUPT            DEC      16382      B-14                       
004280,000196: 

Page 95

004282,000198:                                                                                                  #  THIS ROUTINE SERVICES THE METER OUTPUTS.
004283,000199: 
004284,000200: 
004285,000201: 
004286,000202:                                                                                                  #  DIDFLG INDICATES THE STATE OF THE PROGRAM..............
004287,000203:                                                                                                  #  IF GREATER THAN ZERO, THEN UNABLE TO DISPLAY DATA
004288,000204:                                                                                                  #  IF EQUAL TO ZERO, THEN THE PROGRAM IS IN USE
004289,000205:                                                                                                  #  IF LESS THAN ZERO, THEN THE PROGRAM IS ABLE TO BE USED............
004290,000206: 
004291,000207: 12,2152           02225        ALTOUT             TC       DISINDAT                              
004292,000208: 12,2153           47754                           CS       BIT2                                  
004293,000209: 12,2154           00006                           EXTEND                                         
004294,000210: 12,2155           03014                           WAND     14                                    #  SET UP OUTPUT FOR ALTITUDE
004295,000211: 12,2156           10351                           CCS      ALT                                   #  -1 IF OLD DATA TO BE EXTRAPOLATED.
004296,000212: 
004297,000213: 12,2157           12163                           TCF      +4                                    #  NEW DATA.
004298,000214: 12,2160           12163                           TCF      +3                                    
004299,000215: 12,2161           12167                           TCF      OLDDATA                               
004300,000216: 
004301,000217: 12,2162           54351                           TS       ALT                                   #  CHANGE -0 IN ALT TO +0.
004302,000218: 12,2163           47755                           CS       ONE                                   #  RESET ALTSAVE.
004303,000219: 12,2164           52352                           DXCH     ALT                                   
004304,000220: 12,2165           52364        ZDATA2             DXCH     ALTSAVE                               
004305,000221: 12,2166           12207                           TCF      NEWDATA                               
004306,000222: 
004307,000223: 12,2167           30353        OLDDATA            CA       ALTRATE                               #  USE ALTRATE TO EXTRAPOLATE.
004308,000224: 12,2170           00006                           EXTEND                                         
004309,000225: 12,2171           72302                           MP       ARTOA                                 #  RATE APPLIES FOR .96 SEC.
004310,000226: 12,2172           60364                           AD       ALTSAVE    +1                         
004311,000227: 12,2173           54364                           TS       ALTSAVE    +1                         #  AND MAYBE SKIP.
004312,000228: 12,2174           37761                           CAF      ZERO                                  
004313,000229: 12,2175           26363                           ADS      ALTSAVE                               
004314,000230: 
004315,000231: 12,2176           37735                           CAF      POSMAX                                #  FORCE SIGN AGREEMENT ASSUMING ALTSAVE IS
004316,000232: 12,2177           67755                           AD       ONE                                   #  NOT NEGATIVE. IF IT IS, THE FINAL TS
004317,000233: 12,2200           60364                           AD       ALTSAVE    +1                         #  WILL NOT SKIP AND WE CAN SET ALTSAVE TO
004318,000234: 12,2201           54364                           TS       ALTSAVE    +1                         #  ZERO IN THAT CASE.
004319,000235: 12,2202           37761                           CAF      ZERO                                  
004320,000236: 
004321,000237: 12,2203           67735                           AD       POSMAX                                
004322,000238: 12,2204           60363                           AD       ALTSAVE                               
004323,000239: 12,2205           54363                           TS       ALTSAVE                               
004324,000240: 12,2206           12277                           TCF      ZERODATA                              #  ALTSAVE NEGATIVE - SET TO ZERO.
004325,000241: 
004326,000242: 12,2207           10363        NEWDATA            CCS      ALTSAVE                               #  MAKE UP 15 BIT UNSIGNED OUTPUT.
004327,000243: 12,2210           37737                           CAF      BIT15                                 #  MAJOR PART +1 OR +0.
004328,000244: 12,2211           60364                           AD       ALTSAVE    +1                         
004329,000245: 12,2212           54060        METEROUT           TS       ALTM                                  
004330,000246: 12,2213           32303                           CAF      BITSET                                
004331,000247: 12,2214           00006                           EXTEND                                         
004332,000248: 12,2215           05014                           WOR      14                                    
004333,000249: 12,2216           12276                           TCF      DONEDID                               
004334,000250: 

Page 96

004336,000252: 12,2217           02225        ALTROUT            TC       DISINDAT                              
004337,000253: 12,2220           37754                           CAF      BIT2                                  
004338,000254: 
004339,000255: 12,2221           00006                           EXTEND                                         
004340,000256: 12,2222           05014                           WOR      14                                    #  SET UP OUTPUT FOR ALT. RATE
004341,000257: 12,2223           30353                           CA       ALTRATE                               
004342,000258: 12,2224           12212                           TCF      METEROUT                              
004343,000259: 
004344,000260: 12,2225           10350        DISINDAT           CCS      DIDFLG                                
004345,000261: 12,2226           12273                           TCF      ALLDONE                               #  NOTE THAT THIS SHOULD ALWAYS GO TO
004346,000262:                                                                                                  #  ALLDONE AND NOT DONEDID SINCE THE
004347,000263:                                                                                                  #  AVAILABILITY OF DATA MAY DISAPPEAR WHILE
004348,000264:                                                                                                  #  THE ASTRONAUT HAS THE BUTTON DOWN.
004349,000265: 12,2227           12230                           NOOP                                           
004350,000266: 12,2230           37750                           CAF      BIT6                                  
004351,000267: 12,2231           00006                           EXTEND                                         
004352,000268: 12,2232           02030                           RAND     30                                    #  CHECK DISPLAY INERTIAL DATA BIT
004353,000269: 12,2233           10000                           CCS      A                                     
004354,000270: 12,2234           12273                           TCF      ALLDONE                               
004355,000271: 12,2235           10350                           CCS      DIDFLG                                
004356,000272: 12,2236           12237                           NOOP                                           
004357,000273: 12,2237           12260                           TCF      GOAGN                                 
004358,000274: 
004359,000275: 12,2240           37746        FIRSTIME           CAF      BIT8                                  
004360,000276: 12,2241           00006                           EXTEND                                         
004361,000277: 12,2242           05012                           WOR      12                                    #  ENABLE DISPLAY INERTIAL DATA
004362,000278: 
004363,000279: 12,2243           37761                           CAF      ZERO                                  
004364,000280: 12,2244           54350                           TS       DIDFLG                                
004365,000281: 12,2245           54362                           TS       LASTXCMD                              
004366,000282: 12,2246           54361                           TS       LASTYCMD                              
004367,000283: 12,2247           36276                           CAF      SIX                                   
004368,000284: 12,2250           05701                           TC       WAITLIST                              
004369,000285: 12,2251  E6,1404                                  EBANK=   M11                                   
004370,000286: 12,2251           02254 24006                     2CADR    INTLZE                                
004371,000287: 
004372,000288: 12,2253           02276                           TC       DONEDID                               
004373,000289: 
004374,000290: 12,2254           37754        INTLZE             CAF      BIT2                                  
004375,000291: 12,2255           00006                           EXTEND                                         
004376,000292: 12,2256           05012                           WOR      12                                    #  ENABLE RR ERROR COUNTER
004377,000293: 12,2257           05745                           TC       TASKOVER                              
004378,000294: 
004379,000295: 12,2260           40362        GOAGN              CS       LASTXCMD                              
004380,000296: 12,2261           60357                           AD       FORVEL                                
004381,000297: 12,2262           54054                           TS       OPTXCMD                               
004382,000298: 12,2263           30357                           CA       FORVEL                                
004383,000299: 12,2264           54362                           TS       LASTXCMD                              
004384,000300: 12,2265           40361                           CS       LASTYCMD                              
004385,000301: 12,2266           60360                           AD       LATVEL                                
004386,000302: 
004387,000303: 12,2267           54053                           TS       OPTYCMD                               
004388,000304: 12,2270           30360                           CA       LATVEL                                
004389,000305: 

Page 97

004391,000307: 12,2271           54361                           TS       LASTYCMD                              
004392,000308: 12,2272           00002                           TC       Q                                     
004393,000309: 
004394,000310: 12,2273           42304        ALLDONE            CS       DIDRESET                              #  REMOVE DISPLAY INERTIAL DATA AND ECTR.
004395,000311: 12,2274           00006                           EXTEND                                         
004396,000312: 12,2275           03012                           WAND     12                                    #  RESET RR ERROR COUNTER
004397,000313: 12,2276           15751        DONEDID            TCF      RESUME                                #  ** FIX LATER**
004398,000314: 
004399,000315: 12,2277           37761        ZERODATA           CAF      ZERO                                  
004400,000316: 12,2300           54001                           TS       L                                     
004401,000317: 12,2301           12165                           TCF      ZDATA2                                
004402,000318: 
004403,000319: 12,2302           06432        ARTOA              DEC      .20469                                #  ALT DUE TO ALTRATE FOR .96 SEC.
004404,000320: 12,2303           06004        BITSET             OCT      6004                                  
004405,000321: 
004406,000322: 12,2304           00202        DIDRESET           OCT      202                                   
004407,000323: 

Page 98

004409,000325:                                                                                                  #  PROGRAM NAME:  IMUMON
004410,000326: 
004411,000327:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
004412,000328:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
004413,000329: 
004414,000330:                                                                                                  #           FUNCTION               BIT    SUBROUTINE CALLED
004415,000331:                                                                                                  #           --------               ---    -----------------
004416,000332:                                                                                                  #           TEMP IN LIMITS          15    TLIM
004417,000333:                                                                                                  #           ISS TURN-ON REQUEST     14    ITURNON
004418,000334:                                                                                                  #           IMU FAIL                13    IMUFAIL (SETISSW)
004419,000335:                                                                                                  #           IMU CDU FAIL            12    ICDUFAIL (SETISSW)
004420,000336:                                                                                                  #           IMU CAGE                11    IMUCAGE
004421,000337:                                                                                                  #           IMU OPERATE              9    IMUOP
004422,000338: 
004423,000339:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
004424,000340:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
004425,000341: 
004426,000342:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
004427,000343: 
004428,000344:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004429,000345: 
004430,000346:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
004431,000347: 
004432,000348:                                                                                                  #  ERASABLE INITIALIZATION:
004433,000349:                                                                                                  #           FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
004434,000350:                                                                                                  #           RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
004435,000351:                                                                                                  #                                       THIS LEAVES IMU FAIL BITS INTACT.
004436,000352: 
004437,000353:                                                                                                  #  ALARMS:  NONE.
004438,000354: 
004439,000355:                                                                                                  #  EXIT:  TNONTEST.
004440,000356: 
004441,000357:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
004442,000358: 
004443,000359: 12,2305           33056        IMUMON             CAF      BITS4&5                               #  DISABLE DAP IF ZERO ICDU OR COARSE ALIGN
004444,000360: 12,2306           00006                           EXTEND                                         
004445,000361: 12,2307           02012                           RAND     12                                    
004446,000362: 12,2310           00006                           EXTEND                                         
004447,000363: 
004448,000364: 12,2311           62315                           BZMF     IMUNON1                               
004449,000365: 12,2312           00006                           EXTEND                                         
004450,000366: 12,2313           33035                           DCA      T4DAP                                 
004451,000367: 12,2314           53001                           DXCH     T5ADR                                 
004452,000368: 
004453,000369: 12,2315           30365        IMUNON1            CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
004454,000370: 12,2316           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
004455,000371: 12,2317           06030                           RXOR     30                                    
004456,000372: 12,2320           73042                           MASK     30RDMSK                               
004457,000373: 12,2321           00006                           EXTEND                                         
004458,000374: 12,2322           12352                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
004459,000375: 

Page 99

004461,000377: 12,2323           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
004462,000378: 12,2324           22365                           LXCH     IMODES30                              #  UPDATE IMODES30.
004463,000379: 12,2325           00006                           EXTEND                                         
004464,000380: 12,2326           06001                           RXOR     L                                     
004465,000381: 12,2327           54365                           TS       IMODES30                              
004466,000382: 
004467,000383: 12,2330           47755                           CS       ONE                                   
004468,000384: 12,2331           56070                           XCH      RUPTREG1                              
004469,000385: 12,2332           00006                           EXTEND                                         
004470,000386: 12,2333           62624                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
004471,000387: 12,2334           12336                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
004472,000388: 
004473,000389: 12,2335           67755                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
004474,000390: 12,2336           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
004475,000391: 12,2337           60000                 +1        DOUBLE                                         
004476,000392: 12,2340           54000                           TS       A                                     #  SKIP IF OVERFLOW.
004477,000393: 12,2341           12336                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
004478,000394: 
004479,000395: 12,2342           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
004480,000396: 12,2343           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
004481,000397: 
004482,000398: 12,2344           37740                           CAF      BIT14                                 
004483,000399: 12,2345           70365                           MASK     IMODES30                              
004484,000400: 12,2346           50070                           INDEX    RUPTREG1                              
004485,000401: 12,2347           03036                           TC       IFAILJMP                              
004486,000402: 
004487,000403: 12,2350           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
004488,000404: 12,2351           12335                           TCF      NXTIFBIT   -1                         
004489,000405: 

Page 100

004491,000407:                                                                                                  #  PROGRAM NAME:  TNONTEST.
004492,000408: 
004493,000409:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
004494,000410:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
004495,000411:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
004496,000412: 
004497,000413:                                                                                                  #           1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
004498,000414:                                                                                                  #           BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
004499,000415:                                                                                                  #           SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
004500,000416: 
004501,000417:                                                                                                  #           2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
004502,000418:                                                                                                  #           A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
004503,000419:                                                                                                  #           ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
004504,000420:                                                                                                  #           A RESTART, THE ICDU'S WILL NOT BE ZEROED.
004505,000421: 
004506,000422:                                                                                                  #           3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
004507,000423:                                                                                                  #           IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
004508,000424: 
004509,000425:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
004510,000426:                                                                                                  #  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
004511,000427:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
004512,000428:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
004513,000429:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
004514,000430:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
004515,000431:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
004516,000432:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
004517,000433: 
004518,000434:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
004519,000435: 
004520,000436:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
004521,000437:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
004522,000438: 
004523,000439:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
004524,000440: 
004525,000441:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
004526,000442:                                                                                                  #           3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
004527,000443:                                                                                                  #           STARTED.
004528,000444: 
004529,000445:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
004530,000446: 
004531,000447:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
004532,000448: 
004533,000449:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
004534,000450: 
004535,000451:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
004536,000452:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
004537,000453:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
004538,000454: 
004539,000455:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
004540,000456: 
004541,000457: 12,2352           40365        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT
004542,000458: 

Page 101

004544,000460: 12,2353           77747                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
004545,000461: 12,2354           10000                           CCS      A                                     
004546,000462: 12,2355           12507                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
004547,000463: 
004548,000464: 12,2356           37746                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
004549,000465: 12,2357           70365                           MASK     IMODES30                              
004550,000466: 12,2360           10000                           CCS      A                                     
004551,000467: 12,2361           12365                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
004552,000468: 
004553,000469: 12,2362           37746                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
004554,000470: 12,2363           26365                           ADS      IMODES30                              #  TIME.
004555,000471: 12,2364           12507                           TCF      C33TEST                               
004556,000472: 
004557,000473:                                                                                                  #           PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
004558,000474: 
004559,000475: 12,2365           43061        PROCTNON           CS       BITS7&8                               
004560,000476: 12,2366           70365                           MASK     IMODES30                              
004561,000477: 12,2367           54365                           TS       IMODES30                              
004562,000478: 12,2370           77740                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
004563,000479: 12,2371           10000                           CCS      A                                     
004564,000480: 12,2372           12465                           TCF      OPONLY                                #  OPERATE ON ONLY.
004565,000481: 
004566,000482: 12,2373           40365                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
004567,000483: 12,2374           77745                           MASK     BIT9                                  #  OPERATE.
004568,000484: 12,2375           10000                           CCS      A                                     
004569,000485: 12,2376           12401                           TCF      +3                                    
004570,000486: 
004571,000487: 12,2377           04744                           TC       ALARM                                 #  ALARM IF NOT.
004572,000488: 12,2400           00213                           OCT      213                                   
004573,000489: 
004574,000490: 12,2401           03012                 +3        TC       CAGESUB                               
004575,000491: 12,2402           33067                           CAF      90SECS                                
004576,000492: 
004577,000493: 12,2403           05701                           TC       WAITLIST                              
004578,000494: 12,2404  E6,1404                                  EBANK=   M11                                   
004579,000495: 12,2404           02411 24006                     2CADR    ENDTNON                               
004580,000496: 
004581,000497: 12,2406           12507                           TCF      C33TEST                               
004582,000498: 
004583,000499: 12,2407           33067        RETNON             CAF      90SECS                                
004584,000500: 12,2410           05722                           TC       VARDELAY                              
004585,000501: 
004586,000502: 12,2411           47754        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
004587,000503: 12,2412           70365                           MASK     IMODES30                              
004588,000504: 12,2413           56365                           XCH      IMODES30                              
004589,000505: 12,2414           77754                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
004590,000506: 12,2415           00006                           EXTEND                                         
004591,000507: 12,2416           12431                           BZF      ENDTNON2                              
004592,000508: 
004593,000509: 12,2417           37740                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
004594,000510: 12,2420           70365                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
004595,000511: 

Page 102

004597,000513: 12,2421           00006                           EXTEND                                         
004598,000514: 12,2422           12407                           BZF      RETNON                                
004599,000515: 
004600,000516: 12,2423           40074                           CS       STATE                                 #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
004601,000517: 12,2424           77746                           MASK     IMUSEFLG                              #  WAITING.
004602,000518: 12,2425           10000                           CCS      A                                     
004603,000519: 12,2426           15745                           TCF      TASKOVER                              
004604,000520: 12,2427           05243                           TC       POSTJUMP                              
004605,000521: 12,2430           26703                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
004606,000522: 
004607,000523: 12,2431           37737        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
004608,000524: 12,2432           00006                           EXTEND                                         
004609,000525: 12,2433           05012                           WOR      CHAN12                                
004610,000526: 
004611,000527: 12,2434           05307                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
004612,000528: 12,2435           26323                           CADR     NOATTOFF                              
004613,000529: 
004614,000530: 12,2436           04303        UNZ2               TC       ZEROICDU                              
004615,000531: 
004616,000532: 12,2437           43056                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
004617,000533: 12,2440           00006                           EXTEND                                         
004618,000534: 12,2441           03012                           WAND     CHAN12                                
004619,000535: 
004620,000536: 12,2442           34310                           CAF      4SECS                                 #  WAIT 4 SECS FOR COUNTERS TO FIND GIMBALS
004621,000537: 12,2443           05722                           TC       VARDELAY                              
004622,000538: 
004623,000539: 12,2444           43057        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
004624,000540: 12,2445           70365                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
004625,000541: 12,2446           54365                           TS       IMODES30                              
004626,000542: 
004627,000543: 12,2447           02763                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
004628,000544: 
004629,000545: 12,2450           47737                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
004630,000546: 12,2451           00006                           EXTEND                                         
004631,000547: 12,2452           03012                           WAND     12                                    
004632,000548: 
004633,000549: 12,2453           37743                           CAF      BIT11                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR
004634,000550: 12,2454           05701                           TC       WAITLIST                              #  ANOTHER 10 SECS.
004635,000551: 
004636,000552: 12,2455  E6,1404                                  EBANK=   M11                                   
004637,000553: 12,2455           02307 26006                     2CADR    PFAILOK                               
004638,000554: 
004639,000555: 12,2457           40074                           CS       STATE                                 #  SEE IF ANYONE IS WAITING FOR THE IMU AT
004640,000556: 12,2460           77746                           MASK     IMUSEFLG                              #  IMUZERO. IF SO, WAKE THEM UP.
004641,000557: 12,2461           10000                           CCS      A                                     
004642,000558: 12,2462           15745                           TCF      TASKOVER                              
004643,000559: 
004644,000560: 12,2463           05243                           TC       POSTJUMP                              
004645,000561: 12,2464           26675                           CADR     ENDIMU                                
004646,000562: 
004647,000563: 12,2465           37752        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
004648,000564: 

Page 103

004650,000566: 12,2466           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
004651,000567: 12,2467           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK.
004652,000568: 12,2470           10000                           CCS      A                                     
004653,000569: 12,2471           12507                           TCF      C33TEST                               
004654,000570: 
004655,000571: 12,2472           37746                           CAF      IMUSEFLG                              #  OTHERWISE, ZERO THE COUNTERS
004656,000572: 12,2473           70074                           MASK     STATE                                 #  UNLESS SOMEONE IS USING THE IMU.
004657,000573: 12,2474           10000                           CCS      A                                     
004658,000574: 12,2475           12507                           TCF      C33TEST                               
004659,000575: 
004660,000576: 12,2476           03024                           TC       CAGESUB2                              #  SET TURNON FLAGS.
004661,000577: 
004662,000578: 12,2477           37751                           CAF      BIT5                                  
004663,000579: 12,2500           00006                           EXTEND                                         
004664,000580: 12,2501           05012                           WOR      12                                    
004665,000581: 
004666,000582: 12,2502           37750                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
004667,000583: 12,2503           05701                           TC       WAITLIST                              
004668,000584: 12,2504  E6,1404                                  EBANK=   M11                                   
004669,000585: 12,2504           02436 24006                     2CADR    UNZ2                                  
004670,000586: 
004671,000587: 12,2506           12507                           TCF      C33TEST                               
004672,000588: 

Page 104

004674,000590:                                                                                                  #  PROGRAM NAME:  C33TEST
004675,000591: 
004676,000592:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
004677,000593:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
004678,000594:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
004679,000595:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
004680,000596: 
004681,000597:                                                                                                  #           BIT    FUNCTION                SUBROUTINE
004682,000598:                                                                                                  #           ---    --------                ----------
004683,000599:                                                                                                  #            13    PIPA FAIL               PIPFAIL
004684,000600:                                                                                                  #            12    DOWNLINK TOO FAST       DNTMFAST
004685,000601:                                                                                                  #            11    UPLINK TOO FAST         UPTMFAST
004686,000602: 
004687,000603:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
004688,000604: 
004689,000605:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
004690,000606: 
004691,000607:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004692,000608: 
004693,000609:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
004694,000610: 
004695,000611:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
004696,000612:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
004697,000613: 
004698,000614:                                                                                                  #  ALARMS:  NONE.
004699,000615: 
004700,000616:                                                                                                  #  EXIT:  GLOCKMON.
004701,000617: 
004702,000618:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
004703,000619: 
004704,000620: 12,2507           30366        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN 33 BITS HAVE
004705,000621: 12,2510           75660                           MASK     33RDMSK                               
004706,000622: 12,2511           54001                           TS       L                                     #  CHANGED.
004707,000623: 12,2512           35660                           CAF      33RDMSK                               
004708,000624: 12,2513           00006                           EXTEND                                         
004709,000625: 12,2514           03033                           WAND     33                                    #  RESETS FLIP-FLOP INPUTS.
004710,000626: 12,2515           00006                           EXTEND                                         
004711,000627: 12,2516           06001                           RXOR     L                                     
004712,000628: 12,2517           00006                           EXTEND                                         
004713,000629: 12,2520           12547                           BZF      GLOCKMON                              #  ON NO CHANGE.
004714,000630: 
004715,000631: 12,2521           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
004716,000632: 12,2522           22366                           LXCH     IMODES33                              
004717,000633: 12,2523           00006                           EXTEND                                         
004718,000634: 12,2524           06001                           RXOR     L                                     
004719,000635: 12,2525           54366                           TS       IMODES33                              #  UPDATED IMODES33.
004720,000636: 
004721,000637: 12,2526           37761                           CAF      ZERO                                  
004722,000638: 12,2527           56070                           XCH      RUPTREG1                              
004723,000639: 12,2530           60000                           DOUBLE                                         
004724,000640: 

Page 105

004726,000642: 12,2531           12534                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
004727,000643: 
004728,000644: 12,2532           67755                 -1        AD       ONE                                   
004729,000645: 12,2533           24070        NXTIBT             INCR     RUPTREG1                              
004730,000646: 12,2534           60000                 +1        DOUBLE                                         
004731,000647: 12,2535           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
004732,000648: 12,2536           12533                           TCF      NXTIBT                                
004733,000649: 
004734,000650: 12,2537           56071                           XCH      RUPTREG2                              
004735,000651: 12,2540           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
004736,000652: 12,2541           37741                           CAF      BIT13                                 
004737,000653: 12,2542           70366                           MASK     IMODES33                              
004738,000654: 12,2543           50070                           INDEX    RUPTREG1                              
004739,000655: 12,2544           03044                           TC       C33JMP                                
004740,000656: 
004741,000657: 12,2545           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
004742,000658: 12,2546           12532                           TCF      NXTIBT     -1                         
004743,000659: 

Page 106

004745,000661:                                                                                                  #  PROGRAM NAME:  GLOCKMON
004746,000662: 
004747,000663:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
004748,000664:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
004749,000665: 
004750,000666:                                                                                                  #           1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
004751,000667:                                                                                                  #           2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
004752,000668:                                                                                                  #           3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
004753,000669: 
004754,000670:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
004755,000671: 
004756,000672:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004757,000673: 
004758,000674:                                                                                                  #  SUBROUTINES CALLED:  1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
004759,000675:                                                                                                  #                       2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
004760,000676: 
004761,000677:                                                                                                  #  ERASABLE INITIALIZATION:
004762,000678:                                                                                                  #           1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 =  0.
004763,000679:                                                                                                  #           2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
004764,000680:                                                                                                  #                                           PROCEEDS AS BEFORE.
004765,000681: 
004766,000682:                                                                                                  #  ALARMS:  1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
004767,000683:                                                                                                  #           2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
004768,000684:                                                                                                  #              SO ALREADY.
004769,000685: 
004770,000686: 12,2547           10034        GLOCKMON           CCS      CDUZ                                  
004771,000687: 12,2550           12554                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
004772,000688: 12,2551           12574                           TCF      SETGLOCK                              #  70 DEGREES.
004773,000689: 12,2552           12554                           TCF      GLOCKCHK                              
004774,000690: 12,2553           12574                           TCF      SETGLOCK                              
004775,000691: 
004776,000692: 12,2554           62621        GLOCKCHK           AD       -70DEGS                               
004777,000693: 12,2555           00006                           EXTEND                                         
004778,000694: 12,2556           62573                           BZMF     SETGLOCK   -1                         #  NO LOCK.
004779,000695: 
004780,000696: 12,2557           62622                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
004781,000697: 12,2560           00006                           EXTEND                                         
004782,000698: 12,2561           62571                           BZMF     NOGIMRUN                              
004783,000699: 
004784,000700: 12,2562           37752                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
004785,000701: 12,2563           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
004786,000702: 12,2564           02012                           RAND     12                                    
004787,000703: 12,2565           10000                           CCS      A                                     
004788,000704: 12,2566           12571                           TCF      NOGIMRUN                              
004789,000705: 
004790,000706: 12,2567           05307                           TC       IBNKCALL                              
004791,000707: 12,2570           26231                           CADR     SETCOARS                              
004792,000708: 
004793,000709: 12,2571           37750        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
004794,000710: 12,2572           12574                           TCF      SETGLOCK                              
004795,000711: 

Page 107

004797,000713: 12,2573           37761                 -1        CAF      ZERO                                  
004798,000714: 12,2574           60326        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
004799,000715: 12,2575           77750                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
004800,000716: 12,2576           00006                           EXTEND                                         #  THE TWO.
004801,000717: 12,2577           13203                           BZF      GLOCKOK                               #  OK AS IS.
004802,000718: 
004803,000719: 12,2600           70326                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
004804,000720: 12,2601           10000                           CCS      A                                     
004805,000721: 12,2602           12616                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
004806,000722: 
004807,000723: 12,2603           37750                           CAF      BIT6                                  
004808,000724: 12,2604           70365                           MASK     IMODES30                              
004809,000725: 12,2605           10000                           CCS      A                                     
004810,000726: 12,2606           13203                           TCF      GLOCKOK                               
004811,000727: 
004812,000728: 12,2607           40326        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
004813,000729: 12,2610           77750                           MASK     BIT6                                  
004814,000730: 12,2611           67737                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
004815,000731: 12,2612           56326                           XCH      DSPTAB     +11D                       
004816,000732: 
004817,000733: 12,2613           72623                           MASK     OCT37737                              
004818,000734: 12,2614           26326                           ADS      DSPTAB     +11D                       
004819,000735: 12,2615           13203                           TCF      GLOCKOK                               
004820,000736: 
004821,000737: 12,2616           03047        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
004822,000738: 12,2617           13203                           TCF      GLOCKOK                               
004823,000739: 12,2620           12607                           TCF      GLINVERT                              
004824,000740: 
004825,000741: 12,2621           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
004826,000742: 12,2622           75252        -15DEGS            DEC      -.08333                               
004827,000743: 12,2623           37737        OCT37737           OCT      37737                                 
004828,000744: 

Page 108

004830,000746:                                                                                                  #  PROGRAM NAME:  TLIM.
004831,000747: 
004832,000748:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
004833,000749:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
004834,000750:                                                                                                  #  IS IN PROGRESS.
004835,000751: 
004836,000752:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
004837,000753: 
004838,000754:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004839,000755: 
004840,000756:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
004841,000757: 
004842,000758:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
004843,000759: 
004844,000760:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
004845,000761: 
004846,000762:                                                                                                  #  EXIT:  NXTIFAIL.
004847,000763: 
004848,000764:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                                          IN A, EXCEPT FOR TLIM.
004849,000765: 
004850,000766: 12,2624           77735        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
004851,000767: 12,2625           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
004852,000768: 
004853,000769: 12,2626           10365                           CCS      IMODES30                              
004854,000770: 12,2627           12635                           TCF      TEMPOK                                
004855,000771: 12,2630           12635                           TCF      TEMPOK                                
004856,000772: 
004857,000773: 12,2631           37752                           CAF      BIT4                                  #  TURN ON LAMP.
004858,000774: 12,2632           00006                           EXTEND                                         
004859,000775: 12,2633           05011                           WOR      11                                    
004860,000776: 12,2634           12350                           TCF      NXTIFAIL                              
004861,000777: 
004862,000778: 12,2635           03047        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
004863,000779: 12,2636           12350                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
004864,000780: 
004865,000781: 12,2637           47752                           CS       BIT4                                  
004866,000782: 12,2640           00006                           EXTEND                                         
004867,000783: 12,2641           03011                           WAND     11                                    
004868,000784: 12,2642           12350                           TCF      NXTIFAIL                              
004869,000785: 

Page 109

004871,000787:                                                                                                  #  PROGRAM NAME:  ITURNON.
004872,000788: 
004873,000789:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
004874,000790:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
004875,000791:                                                                                                  #  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
004876,000792:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
004877,000793:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
004878,000794:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
004879,000795: 
004880,000796:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
004881,000797:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
004882,000798:                                                                                                  #  ENDS.
004883,000799: 
004884,000800:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
004885,000801: 
004886,000802:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004887,000803: 
004888,000804:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
004889,000805: 
004890,000806:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
004891,000807:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
004892,000808: 
004893,000809:                                                                                                  #  ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
004894,000810: 
004895,000811:                                                                                                  #  EXIT:  NXTIFAIL.
004896,000812: 
004897,000813:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
004898,000814:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
004899,000815: 
004900,000816: 12,2643           37754        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
004901,000817: 12,2644           70365                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
004902,000818: 12,2645           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
004903,000819: 
004904,000820: 12,2646           12350                           TCF      NXTIFAIL                              
004905,000821: 
004906,000822: 12,2647           37740                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
004907,000823: 12,2650           70365                           MASK     IMODES30                              
004908,000824: 12,2651           00006                           EXTEND                                         
004909,000825: 12,2652           12666                           BZF      ITURNON2                              #  IF JUST ON.
004910,000826: 
004911,000827: 12,2653           37737                           CAF      BIT15                                 
004912,000828: 12,2654           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
004913,000829: 12,2655           02012                           RAND     12                                    #  SENT.  IF SO, ACTION COMPLETE.
004914,000830: 12,2656           00006                           EXTEND                                         
004915,000831: 12,2657           12661                           BZF      +2                                    
004916,000832: 12,2660           12350                           TCF      NXTIFAIL                              
004917,000833: 
004918,000834: 12,2661           37754                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
004919,000835: 12,2662           26365                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
004920,000836: 12,2663           04744                           TC       ALARM                                 
004921,000837: 12,2664           00207                           OCT      207                                   
004922,000838: 12,2665           12350                           TCF      NXTIFAIL                              
004923,000839: 

Page 110

004925,000841: 12,2666           47747        ITURNON2           CS       BIT7                                  #  SET BIT 7 TO INITIATE WAIT OF 1 SAMPLE.
004926,000842: 12,2667           70365                           MASK     IMODES30                              
004927,000843: 12,2670           67747                           AD       BIT7                                  
004928,000844: 12,2671           54365                           TS       IMODES30                              
004929,000845: 12,2672           12350                           TCF      NXTIFAIL                              
004930,000846: 

Page 111

004932,000848:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
004933,000849: 
004934,000850:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
004935,000851:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
004936,000852:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
004937,000853:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
004938,000854:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
004939,000855: 
004940,000856:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
004941,000857: 
004942,000858:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004943,000859: 
004944,000860:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
004945,000861: 
004946,000862:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
004947,000863: 
004948,000864:                                                                                                  #  ALARMS: NONE.
004949,000865: 
004950,000866:                                                                                                  #  EXIT:  NXTIFAIL.
004951,000867: 
004952,000868:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
004953,000869: 
004954,000870: 12,2673           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
004955,000871: 12,2674           12350                           TCF      NXTIFAIL                              
004956,000872: 
004957,000873: 12,2675           43064                           CS       OCT71000                              #  TERMINATE ICDU AND GYRO PULSE TRAINS.
004958,000874: 12,2676           00006                           EXTEND                                         
004959,000875: 12,2677           03014                           WAND     14                                    
004960,000876: 
004961,000877: 12,2700           03012                           TC       CAGESUB                               
004962,000878: 
004963,000879: 12,2701           37761                           CAF      ZERO                                  #  ZERO COMMAND OUT-COUNTERS.
004964,000880: 12,2702           54050                           TS       CDUXCMD                               
004965,000881: 12,2703           54051                           TS       CDUYCMD                               
004966,000882: 12,2704           54052                           TS       CDUZCMD                               
004967,000883: 12,2705           54047                           TS       GYROCMD                               
004968,000884: 
004969,000885: 12,2706           43063                           CS       OCT1700                               #  HAVING WAITED AT LEAST 27 MCT FROM
004970,000886: 12,2707           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
004971,000887: 12,2710           03014                           WAND     14                                    #  DE-SELECT THE GYROS.
004972,000888: 
004973,000889: 12,2711           12350                           TCF      NXTIFAIL                              
004974,000890: 

Page 112

004976,000892:                                                                                                  #  PROGRAM NAME:  IMUOP.
004977,000893: 
004978,000894:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
004979,000895:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
004980,000896:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
004981,000897:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
004982,000898:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
004983,000899: 
004984,000900:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
004985,000901: 
004986,000902:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
004987,000903: 
004988,000904:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
004989,000905: 
004990,000906:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
004991,000907:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
004992,000908: 
004993,000909:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
004994,000910: 
004995,000911:                                                                                                  #  EXIT:  NXTIFAIL.
004996,000912: 
004997,000913:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
004998,000914: 
004999,000915: 12,2712           00006        IMUOP              EXTEND                                         
005000,000916: 12,2713           12723                           BZF      IMUOP2                                
005001,000917: 
005002,000918: 12,2714           40074                           CS       STATE                                 #  IF GOING OFF, ALARM IF PROG USING IMU.
005003,000919: 12,2715           77746                           MASK     IMUSEFLG                              
005004,000920: 12,2716           10000                           CCS      A                                     
005005,000921: 12,2717           12350                           TCF      NXTIFAIL                              
005006,000922: 
005007,000923: 12,2720           04744                           TC       ALARM                                 
005008,000924: 12,2721           00214                           OCT      214                                   
005009,000925: 12,2722           12350                           TCF      NXTIFAIL                              
005010,000926: 
005011,000927: 12,2723           37754        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
005012,000928: 12,2724           70365                           MASK     IMODES30                              
005013,000929: 12,2725           10000                           CCS      A                                     
005014,000930: 12,2726           12350                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
005015,000931: 12,2727           12666                           TCF      ITURNON2                              #  SECONDS EXPIRES.
005016,000932: 

Page 113

005018,000934:                                                                                                  #  PROGRAM NAME:  PIPFAIL
005019,000935: 
005020,000936:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
005021,000937:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT,I.E., IMODES30
005022,000938:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
005023,000939: 
005024,000940:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
005025,000941: 
005026,000942:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005027,000943: 
005028,000944:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
005029,000945: 
005030,000946:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
005031,000947: 
005032,000948:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
005033,000949:                                                                                                  #  BEING INITIALIZED.
005034,000950: 
005035,000951:                                                                                                  #  EXIT:  NXTFL33.
005036,000952: 
005037,000953:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
005038,000954: 
005039,000955: 12,2730           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
005040,000956: 12,2731           37744                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
005041,000957: 12,2732           56365                           XCH      IMODES30                              
005042,000958: 12,2733           73066                           MASK     -BIT10                                
005043,000959: 12,2734           26365                           ADS      IMODES30                              
005044,000960: 
005045,000961: 12,2735           02763                           TC       SETISSW                               
005046,000962: 
005047,000963: 12,2736           40365                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
005048,000964: 12,2737           77755                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
005049,000965: 12,2740           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
005050,000966: 
005051,000967: 12,2741           12545                           TCF      NXTFL33                               
005052,000968: 
005053,000969: 12,2742           30365                           CA       IMODES30                              
005054,000970: 12,2743           73062                           MASK     OCT1720                               
005055,000971: 12,2744           10000                           CCS      A                                     
005056,000972: 12,2745           12545                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
005057,000973: 
005058,000974: 12,2746           04744                           TC       ALARM                                 
005059,000975: 12,2747           00212                           OCT      212                                   
005060,000976: 12,2750           12545                           TCF      NXTFL33                               
005061,000977: 

Page 114

005063,000979:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
005064,000980: 
005065,000981:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
005066,000982:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
005067,000983: 
005068,000984:                                                                                                  #           BIT    ALARM           CAUSE
005069,000985:                                                                                                  #           ---    -----           -----
005070,000986:                                                                                                  #            12    01105           DOWNLINK TOO FAST
005071,000987:                                                                                                  #            11    01106           UPLINK TOO FAST
005072,000988: 
005073,000989:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
005074,000990: 
005075,000991:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
005076,000992: 
005077,000993:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
005078,000994: 
005079,000995:                                                                                                  #  ALARMS:  SET FUNCTIONAL DESCRIPTION.
005080,000996: 
005081,000997:                                                                                                  #  EXIT:  NXTFL33.
005082,000998: 
005083,000999:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
005084,001000: 
005085,001001: 12,2751           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
005086,001002: 12,2752           12545                           TCF      NXTFL33                               
005087,001003: 
005088,001004: 12,2753           04744                           TC       ALARM                                 
005089,001005: 12,2754           01105                           OCT      1105                                  
005090,001006: 12,2755           12545                           TCF      NXTFL33                               
005091,001007: 
005092,001008: 12,2756           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
005093,001009: 12,2757           12545                           TCF      NXTFL33                               #  ALARM CODE.
005094,001010: 
005095,001011: 12,2760           04744                           TC       ALARM                                 
005096,001012: 12,2761           01106                           OCT      1106                                  
005097,001013: 12,2762           12545                           TCF      NXTFL33                               
005098,001014: 

Page 115

005100,001016:                                                                                                  #  PROGRAM NAME:  SETISSW
005101,001017: 
005102,001018:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
005103,001019:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
005104,001020:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
005105,001021:                                                                                                  #  PROGRESS.
005106,001022: 
005107,001023:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
005108,001024:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
005109,001025:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
005110,001026:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
005111,001027: 
005112,001028:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005113,001029: 
005114,001030:                                                                                                  #  SUBROUTINES CALLED:  NONE.
005115,001031: 
005116,001032:                                                                                                  #  ERASABLE INITIALIZATION:
005117,001033: 
005118,001034:                                                                                                  #           1) IMODES30 - SEE IMUMON.
005119,001035:                                                                                                  #           2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
005120,001036: 
005121,001037:                                                                                                  #  ALARMS:  ISS WARNING.
005122,001038: 
005123,001039:                                                                                                  #  EXIT: VIA Q.
005124,001040: 
005125,001041:                                                                                                  #  OUTPUT: ISS WARNING LAMP SET PROPERLY.
005126,001042: 
005127,001043: 12,2763           33054        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
005128,001044: 12,2764           70365                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
005129,001045: 12,2765           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
005130,001046: 12,2766           77744                           MP       BIT10                                 #  4, 3, AND 1.
005131,001047: 12,2767           30365                           CA       IMODES30                              
005132,001048: 12,2770           00006                           EXTEND                                         
005133,001049: 12,2771           04001                           ROR      L                                     #  0 INDICATES FAILURE.
005134,001050: 12,2772           40000                           COM                                            
005135,001051: 12,2773           75657                           MASK     OCT15000                              
005136,001052: 12,2774           10000                           CCS      A                                     
005137,001053: 12,2775           13006                           TCF      ISSWON                                #  FAILURE.
005138,001054: 
005139,001055: 12,2776           37755        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
005140,001056: 12,2777           70366                           MASK     IMODES33                              #  IN PROGRESS.
005141,001057: 12,3000           10000                           CCS      A                                     
005142,001058: 12,3001           00002                           TC       Q                                     
005143,001059: 
005144,001060: 12,3002           47755                           CS       BIT1                                  
005145,001061: 12,3003           00006                           EXTEND                                         
005146,001062: 12,3004           03011                           WAND     11                                    
005147,001063: 12,3005           00002                           TC       Q                                     
005148,001064: 
005149,001065: 12,3006           37755        ISSWON             CAF      BIT1                                  
005150,001066: 

Page 116

005152,001068: 12,3007           00006                           EXTEND                                         
005153,001069: 12,3010           05011                           WOR      11                                    
005154,001070: 
005155,001071: 12,3011           00002                           TC       Q                                     
005156,001072: 
005157,001073: 12,3012           43065        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
005158,001074: 12,3013           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE.  DISABLE THE
005159,001075: 12,3014           03012                           WAND     12                                    #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
005160,001076: 12,3015           33056                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
005161,001077: 12,3016           00006                           EXTEND                                         
005162,001078: 12,3017           05012                           WOR      12                                    
005163,001079: 
005164,001080: 12,3020           43055                           CS       OC40010                               #  TURN ON NO ATT LAMP.
005165,001081: 12,3021           70326                           MASK     DSPTAB     +11D                       
005166,001082: 12,3022           63055                           AD       OC40010                               
005167,001083: 12,3023           54326                           TS       DSPTAB     +11D                       
005168,001084: 
005169,001085: 12,3024           43060        CAGESUB2           CS       OCT75                                 #  SET FLAGS TO INDICATE CAGING OR TURN-ON,
005170,001086: 12,3025           70365                           MASK     IMODES30                              #  AND TO INHIBIT ALL ISS WARNING INFO.
005171,001087: 12,3026           63060                           AD       OCT75                                 
005172,001088: 12,3027           54365                           TS       IMODES30                              
005173,001089: 
005174,001090: 12,3030           00006                           EXTEND                                         
005175,001091: 12,3031           33035                           DCA      T4DAP                                 #  DISABLE DAP DURING ISS INITIALIZATION
005176,001092: 12,3032           53001                           DXCH     T5ADR                                 
005177,001093: 
005178,001094: 12,3033           00002                           TC       Q                                     
005179,001095: 
005180,001096: 12,3034  E6,1541                                  EBANK=   DT                                    
005181,001097: 12,3034           02136 34006  T4DAP              2CADR    DAPIDLER                              
005182,001098: 12,3036  12,2763               IMUFAIL            EQUALS   SETISSW                               
005183,001099: 12,3036  12,2763               ICDUFAIL           EQUALS   SETISSW                               
005184,001100: 

Page 117

005186,001102:                                                                                                  #           JUMP TABLES AND CONSTANTS.
005187,001103: 
005188,001104: 12,3036           12643        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
005189,001105: 12,3037           12763                           TCF      IMUFAIL                               
005190,001106: 12,3040           12763                           TCF      ICDUFAIL                              
005191,001107: 12,3041           12673                           TCF      IMUCAGE                               
005192,001108: 12,3042           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
005193,001109: 12,3043           12712                           TCF      IMUOP                                 
005194,001110: 
005195,001111: 12,3044           12730        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
005196,001112: 12,3045           12751                           TCF      DNTMFAST                              
005197,001113: 12,3046           12756                           TCF      UPTMFAST                              
005198,001114: 
005199,001115:                                                                                                  #           SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
005200,001116: 12,3047           40366        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
005201,001117: 12,3050           77755                           MASK     BIT1                                  #  PROGRESS.
005202,001118: 12,3051           10000                           CCS      A                                     
005203,001119: 12,3052           24002                           INCR     Q                                     
005204,001120: 12,3053           00002                           TC       Q                                     
005205,001121: 
005206,001122: 12,3054     5660               33RDMSK            EQUALS   PRIO16                                
005207,001123: 12,3054           00015        OCT15              OCT      15                                    
005208,001124: 12,3055           40010        OC40010            OCT      40010                                 
005209,001125: 12,3056           00030        BITS4&5            OCT      30                                    
005210,001126: 12,3057           00054        OCT54              OCT      54                                    
005211,001127: 12,3060           00075        OCT75              OCT      75                                    
005212,001128: 12,3061           00300        BITS7&8            OCT      300                                   
005213,001129: 12,3062           01720        OCT1720            OCT      1720                                  
005214,001130: 12,3063           01700        OCT1700            OCT      1700                                  
005215,001131: 12,3064     5657               OCT15000           EQUALS   PRIO15                                
005216,001132: 12,3064           71000        OCT71000           OCT      71000                                 
005217,001133: 12,3065           40040        BITS6&15           OCT      40040                                 
005218,001134: 
005219,001135: 12,3066           76777        -BIT10             OCT      -1000                                 
005220,001136: 
005221,001137: 12,3067           21450        90SECS             DEC      9000       B-14                       
005222,001138: 12,3070           00014        120MS              DEC      12         B-14                       
005223,001139: 
005224,001140: 12,3071  12,3203               GLOCKOK            EQUALS   RCSMONIT                              
005225,001141: 12,3071  12,3203               NOIMUON            EQUALS   GLOCKOK                               
005226,001142: 

Page 118

005228,001144:                                                                                                  #           RR INBIT MONITOR.
005229,001145: 
005230,001146: 12,3071           30413        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
005231,001147: 12,3072           00006                           EXTEND                                         
005232,001148: 12,3073           06033                           RXOR     33                                    
005233,001149: 12,3074           77754                           MASK     BIT2                                  
005234,001150: 12,3075           00006                           EXTEND                                         
005235,001151: 12,3076           13132                           BZF      RRCDUCHK                              
005236,001152: 
005237,001153: 12,3077           22413                           LXCH     RADMODES                              #  UPDATE RADMODES.
005238,001154: 12,3100           00006                           EXTEND                                         
005239,001155: 12,3101           06001                           RXOR     L                                     
005240,001156: 12,3102           54413                           TS       RADMODES                              
005241,001157: 12,3103           77754                           MASK     BIT2                                  #  SEE IF JUST ON.
005242,001158: 
005243,001159: 12,3104           10000                           CCS      A                                     
005244,001160: 12,3105           13124                           TCF      RROFF                                 #  OFF.
005245,001161: 
005246,001162: 12,3106           37747                           CAF      BIT7                                  #  IF JUST ON AND SOME PROGRAM IS USING THE
005247,001163: 12,3107           70074                           MASK     STATE                                 #  RR, DONT ZERO THE CDUS.
005248,001164: 12,3110           10000                           CCS      A                                     
005249,001165: 12,3111           13132                           TCF      RRCDUCHK                              
005250,001166: 
005251,001167: 12,3112           43123                           CS       OCT10001                              #  SET BITS TO INDICATE ZERO AND TURNON
005252,001168: 12,3113           70413                           MASK     RADMODES                              #  IN PROGRESS.
005253,001169: 12,3114           63123                           AD       OCT10001                              
005254,001170: 12,3115           54413                           TS       RADMODES                              
005255,001171: 
005256,001172: 12,3116           37755                           CAF      ONE                                   
005257,001173: 12,3117           05701                           TC       WAITLIST                              
005258,001174: 12,3120  E6,1404                                  EBANK=   M11                                   
005259,001175: 12,3120           02000 20006                     2CADR    RRTURNON                              
005260,001176: 12,3122           13176                           TCF      NORRGMON                              
005261,001177: 
005262,001178: 12,3123           10001        OCT10001           OCT      10001                                 
005263,001179: 
005264,001180: 12,3124           40074        RROFF              CS       STATE                                 #  IF SOMEONE WAS USING THE RR, DISPLAY AN
005265,001181: 
005266,001182: 12,3125           77747                           MASK     BIT7                                  #  ALARM IF THE RR GOES OUT OF AUTO MODE.
005267,001183: 12,3126           10000                           CCS      A                                     
005268,001184: 12,3127           13132                           TCF      RRCDUCHK                              
005269,001185: 
005270,001186: 12,3130           04744                           TC       ALARM                                 
005271,001187: 12,3131           00514                           OCT      514                                   
005272,001188: 

Page 119

005274,001190:                                                                                                  #           CHECK FOR RR CDU FAIL.
005275,001191: 
005276,001192: 12,3132           30413        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
005277,001193: 12,3133           00006                           EXTEND                                         
005278,001194: 12,3134           06030                           RXOR     30                                    
005279,001195: 12,3135           77747                           MASK     BIT7                                  
005280,001196: 12,3136           00006                           EXTEND                                         
005281,001197: 12,3137           13152                           BZF      RRGIMON                               
005282,001198: 
005283,001199: 12,3140           37754                           CAF      BIT2                                  #  IF RR NOT IN AUTO MODE, DONT CHANGE BIT
005284,001200: 12,3141           70413                           MASK     RADMODES                              #  7 OF RADMODES. IF THIS WERE NOT DONE,
005285,001201: 12,3142           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
005286,001202: 12,3143           13176                           TCF      NORRGMON                              #  JUST READING LR DATA.
005287,001203: 
005288,001204: 12,3144           37747                           CAF      BIT7                                  #  SET BIT 7 OF RADMODES FOR SETTRKF.
005289,001205: 12,3145           22413                           LXCH     RADMODES                              #  UPDATE RADMODES.
005290,001206: 12,3146           00006                           EXTEND                                         
005291,001207: 12,3147           06001                           RXOR     L                                     
005292,001208: 12,3150           54413                           TS       RADMODES                              
005293,001209: 
005294,001210: 12,3151           04366        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
005295,001211: 

Page 120

005297,001213:                                                                                                  #           THE RR GIMBAL LIMIT MONITOR IS ENABLED WHENEVER THE RR IS IN THE AUTO MODE EXCEPT WHEN THE RR CDUS ARE
005298,001214:                                                                                                  #  BEING ZEROED, OR DURING A REMODE OR MONITOR REPOSITION OPERATION. THE LATTER IS INITIATED BY THIS MONITOR WHEN
005299,001215: 
005300,001216:                                                                                                  #  THE GIMBALS EXCEED THE LIMITS FOR THE CURRENT MODE. A ROUTINE IS INITIATED TO DRIVE THE GIMBALS TO T = 0 AND
005301,001217:                                                                                                  #  S = 0 IF IN MODE 1 AND T = 180 WITH S = -90 FOR MODE 2.
005302,001218: 
005303,001219: 12,3152           33174        RRGIMON            CAF      OCT32002                              #  INHIBITED BY REMODE, ZEROING, MONITOR.
005304,001220: 12,3153           70413                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
005305,001221: 12,3154           10000                           CCS      A                                     
005306,001222: 12,3155           13176                           TCF      NORRGMON                              
005307,001223: 
005308,001224: 12,3156           04323                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
005309,001225: 12,3157           00035                           ADRES    OPTY                                  
005310,001226: 
005311,001227: 12,3160           13162                           TCF      MONREPOS                              
005312,001228: 
005313,001229: 12,3161           13176                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
005314,001230: 
005315,001231: 12,3162           37743        MONREPOS           CAF      BIT11                                 #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
005316,001232: 12,3163           26413                           ADS      RADMODES                              
005317,001233: 
005318,001234: 12,3164           43175                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
005319,001235: 12,3165           00006                           EXTEND                                         
005320,001236: 12,3166           03012                           WAND     12                                    
005321,001237: 
005322,001238: 12,3167           37754                           CAF      TWO                                   
005323,001239: 
005324,001240: 12,3170           05701                           TC       WAITLIST                              
005325,001241: 12,3171  E6,1404                                  EBANK=   M11                                   
005326,001242: 12,3171           02051 20006                     2CADR    DORREPOS                              
005327,001243: 12,3173           13176                           TCF      NORRGMON                              
005328,001244: 
005329,001245: 12,3174           32002        OCT32002           OCT      32002                                 
005330,001246: 12,3175           20002        OCT20002           OCT      20002                                 
005331,001247: 

Page 121

005333,001249:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
005334,001250: 
005335,001251:                                                                                                  #  AUTHOR:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
005336,001252: 
005337,001253:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
005338,001254:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
005339,001255:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
005340,001256: 
005341,001257:                                                                                                  #  CALLING SEQUENCE:  GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
005342,001258:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
005343,001259: 
005344,001260:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
005345,001261: 
005346,001262:                                                                                                  #  NORMAL EXIT: RESUME.
005347,001263: 
005348,001264:                                                                                                  #  ALARM/ABORT MODE:  THERE ARE NO REAL ALARMS OR ABORTS.  HOWEVER, WHEN THE MIDDLE GIMBAL ANGLE NEARS GIMBAL LOCK,
005349,001265:                                                                                                  #  A DIVISION BY COS(MG) WILL CAUSE OVERFLOW (I.E. A BAD QUOTIENT).  THIS CONDITION IS PREVENTED BY TESTING COS(MG)
005350,001266:                                                                                                  #  AND SUBSTITUTING POSMAX/NEGMAX FOR THE INCALCULABLE QUANTITIES.
005351,001267: 
005352,001268:                                                                                                  #  INPUT: CDUX,CDUY,CDUZ.          OUTPUT: M11,M21,M31,M22,M32,MR12,MR13.
005353,001269:                                                                                                  #                                          (ALSO MR22=M22,MR23=M32)
005354,001270: 
005355,001271:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
005356,001272: 
005357,001273:                                                                                                  #     *       *    SIN(MG)        0         1      *
005358,001274:                                                                                                  #     M   =   *    COS(MG)COS(OG) SIN(OG)   0      *
005359,001275:                                                                                                  #      GP     *   -COS(MG)SIN(OG) COS(OG)   0      *
005360,001276: 
005361,001277:                                                                                                  #     *       *  0    COS(OG)/COS(MG)         -SIN(OG)/COS(MG)         *
005362,001278:                                                                                                  #     M   =   *  0    SIN(OG)                  COS(OG)                 *
005363,001279:                                                                                                  #      PG     *  1   -SIN(MG)COS(OG)/COS(MG)   SIN(MG)SIN(OG)/COS(MG)  *
005364,001280: 
005365,001281:                                                                                                  #  THIS CODING TRANSFERS CONTROL TO THE DAP FIXED BANK FOR GPMATRIX:
005366,001282: 
005367,001283: 12,3176                                           BANK     12                                    
005368,001284: 12,3176  E6,1404                                  EBANK=   M11                                   
005369,001285: 
005370,001286: 12,3176           00006        DAPT4S             EXTEND                                         #  GET 2CADR OF GPMATRIX
005371,001287: 12,3177           33202                           DCA      DAPT4                                 
005372,001288: 12,3200           52006                           DTCB                                           #  CROSS BANKS
005373,001289: 
005374,001290: 12,3201  12,3176               NORRGMON           EQUALS   DAPT4S                                
005375,001291: 
005376,001292: 12,3201  E6,1404                                  EBANK=   M11                                   
005377,001293: 12,3201           02000 40006  DAPT4              2CADR    GPMATRIX                              
005378,001294: 

Page 122

005380,001296:                                                                                                  #  T4RUPT DAP LOGIC:
005381,001297: 
005382,001298: 20,2000                                           BANK     20                                    
005383,001299: 20,2000  E6,1404                                  EBANK=   M11                                   
005384,001300: 
005385,001301: 20,2000           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
005386,001302: 20,2001           05373                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
005387,001303: 20,2002           55404                           TS       M11                                   #  SCALED AT 1
005388,001304: 
005389,001305: 20,2003           30034                           CAE      CDUZ                                  
005390,001306: 20,2004           05372                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
005391,001307: 20,2005           55457                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
005392,001308: 
005393,001309: 20,2006           30032                           CAE      CDUX                                  
005394,001310: 
005395,001311: 20,2007           05373                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
005396,001312: 20,2010           55401                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
005397,001313: 
005398,001314: 20,2011           41401                           CS       M22                                   
005399,001315: 20,2012           00006                           EXTEND                                         
005400,001316: 20,2013           71457                           MP       COSMG                                 #  -SIN(OG)COS(MG)
005401,001317: 20,2014           55406                           TS       M31                                   #  SCALED AT 1
005402,001318: 
005403,001319: 20,2015           30032                           CAE      CDUX                                  
005404,001320: 20,2016           05372                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
005405,001321: 20,2017           55403                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
005406,001322: 
005407,001323: 20,2020           00006                           EXTEND                                         
005408,001324: 20,2021           71457                           MP       COSMG                                 #  COS(OG)COS(MG)
005409,001325: 20,2022           55405                           TS       M21                                   #  SCALED AT 1
005410,001326: 
005411,001327: 20,2023           31457                           CAE      COSMG                                 #  TEST FOR GIMBAL LOCK (OVERFLOW) REGION
005412,001328: 20,2024           67736                           AD       NEG1/2                                #  BY TESTING MIDDLE GIMBAL ANGLE FOR
005413,001329: 20,2025           00006                           EXTEND                                         #  VALUES EQUAL TO OR GREATER THAN 60 DEGS.
005414,001330: 20,2026           62043                           BZMF     GPGLOCK                               
005415,001331: 
005416,001332: 20,2027           31403                           CAE      M32                                   
005417,001333: 20,2030           00006                           EXTEND                                         
005418,001334: 
005419,001335: 20,2031           77740                           MP       BIT14                                 #  SCALE FOR DIVISION
005420,001336: 20,2032           00006                           EXTEND                                         
005421,001337: 20,2033           11457                           DV       COSMG                                 #  COS(OG)/COS(MG)
005422,001338: 20,2034           55400                           TS       MR12                                  #  SCALED AT 2
005423,001339: 
005424,001340: 20,2035           41401                           CS       M22                                   
005425,001341: 20,2036           00006                           EXTEND                                         
005426,001342: 20,2037           77740                           MP       BIT14                                 #  SCALE FOR DIVISION
005427,001343: 20,2040           00006                           EXTEND                                         
005428,001344: 20,2041           11457                           DV       COSMG                                 #  -SIN(OG)/COS(MG)
005429,001345: 20,2042           12054                           TCF      MR13STOR                              
005430,001346: 

Page 123

005432,001348:                                                                                                  #  SPECIAL LOGIC FOR MIDDLE GIMBAL ANGLES GREATER THAN OR EQUAL TO 60 DEGS:
005433,001349: 
005434,001350: 20,2043           11403        GPGLOCK            CCS      M32                                   #  SINCE DIVISION BY COS(MG) MIGHT CREATE
005435,001351: 20,2044           37735                           CAF      POSMAX                                
005436,001352: 20,2045           12047                           TCF      +2                                    #  OVERFLOW (I.E. A NUMBER GREATER THAN 2)
005437,001353: 20,2046           37737                           CAF      NEGMAX                                
005438,001354: 20,2047           55400                           TS       MR12                                  #  USE THE VALUE SGN(NUMERATOR)*POSMAX AS
005439,001355: 
005440,001356: 20,2050           11401                           CCS      M22                                   
005441,001357: 20,2051           37735                           CAF      POSMAX                                #  THE CLOSEST APPROXIMATION
005442,001358: 20,2052           12054                           TCF      +2                                    
005443,001359: 20,2053           37737                           CAF      NEGMAX                                
005444,001360: 20,2054           55402        MR13STOR           TS       MR13                                  #  SCALED AT 2
005445,001361: 
005446,001362: 20,2055           15751                           TCF      RESUME                                

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