Source Code

These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:
  • B1 — Revision 292
  • B2 — Revision 302
  • B3 — Revision 302
  • B4 — Revision 302
  • B5 — Revision 292
  • B6 — Revision 306
These dumps were then modified using memos, checklists, observed address changes, and the Sundance GSOPs to get the entire program to match Sundance revision 306 as closely as possible. Without more information, it is not possible to say how close it actually is; however, this code should be quite close. It is capable of flying the whole Apollo 9 mission using the original checklists and padload. Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

005471,000002:                                                                                                  ## Copyright:   Public domain.
005472,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
005473,000004:                                                                                                  ## Purpose:     A section of an attempt to reconstruct Sundance revision 306
005474,000005:                                                                                                  ##              as closely as possible with available information. Sundance
005475,000006:                                                                                                  ##              306 is the source code for the Lunar Module's (LM) Apollo
005476,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 9. This program was created
005477,000008:                                                                                                  ##              using the mixed-revision SundanceXXX as a starting point, and
005478,000009:                                                                                                  ##              pulling back features from Luminary 69 believed to have been
005479,000010:                                                                                                  ##              added based on memos, checklists, observed address changes,
005480,000011:                                                                                                  ##              or the Sundance GSOPs.
005481,000012:                                                                                                  ## Assembler:   yaYUL
005482,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
005483,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
005484,000015:                                                                                                  ## Mod history: 2020-07-24 MAS  Created from SundanceXXX.
005485,000016: 
005486,000017: 
005487,000018: 
005488,000019: 12,2000                                           BANK     12                                    
005489,000020: 06,2000                                           SETLOC   T4RUP                                 
005490,000021: 06,2000                                           BANK                                           
005491,000022: 
005492,000023: 06,2000  E6,1412                                  EBANK=   M11                                   
005493,000024: 06,2000                                           COUNT*   $$/T4RPT                              
005494,000025: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
005495,000026: 
005496,000027: 06,2001           00006                           EXTEND                                         
005497,000028: 06,2002           22012                           QXCH     QRUPT                                 
005498,000029: 
005499,000030: 06,2003           11315                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
005500,000031: 06,2004           12010                           TCF      NORMT4     +1                         
005501,000032: 06,2005           12007                           TCF      NORMT4                                
005502,000033: 
005503,000034: 06,2006           12134                           TCF      QUIKDSP                               
005504,000035: 
005505,000036: 06,2007           35032        NORMT4             CAF      SEVEN                                 
005506,000037: 06,2010           54070                           TS       RUPTREG1                              
005507,000038: 06,2011           55315                           TS       DSRUPTSW                              
005508,000039: 
005509,000040: 
005510,000041:    4072                                           BLOCK    02                                    
005511,000042:    4000                                           SETLOC   FFTAG10                               
005512,000043:    4000                                           BANK                                           
005513,000044: 
005514,000045:    4072                                           COUNT*   $$/T4RPT                              
005515,000046:    4072     7701               100MRUPT           =        OCT37766                              #  (DEC 16374)
005516,000047:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
005517,000048:                                                                                                  #  IN LOWER 5 BITS.
005518,000049: 
005519,000050:    4072           04025        RELTAB             OCT      04025                                 
005520,000051:    4073           10003                           OCT      10003                                 
005521,000052:    4074           14031                           OCT      14031                                 
005522,000053:    4075           20033                           OCT      20033                                 
005523,000054:    4076           24017                           OCT      24017                                 
005524,000055:    4077           30036                           OCT      30036                                 
005525,000056:    4100           34034                           OCT      34034                                 
005526,000057:    4101           40023                           OCT      40023                                 
005527,000058:    4102           44035                           OCT      44035                                 
005528,000059:    4103           50037                           OCT      50037                                 
005529,000060:    4104           54000                           OCT      54000                                 
005530,000061:    4105           60000        RELTAB11           OCT      60000                                 
005531,000062: 
005532,000063: 
005533,000064:                                                                                                  #           SWITCHED-BANK PORTION.
005534,000065: 
005535,000066: 12,2000                                           BANK     12                                    
005536,000067: 06,2000                                           SETLOC   T4RUP                                 
005537,000068: 06,2000                                           BANK                                           
005538,000069: 
005539,000070: 06,2012                                           COUNT*   $$/T4RPT                              
005540,000071: 06,2012           11037        CDRVE              CCS      DSPTAB     +11D                       
005541,000072: 06,2013           02063                           TC       DSPOUT                                
005542,000073: 06,2014           02063                           TC       DSPOUT                                
005543,000074: 
005544,000075: 06,2015           57037                           XCH      DSPTAB     +11D                       
005545,000076: 06,2016           74370                           MASK     LOW11                                 
005546,000077: 06,2017           55037                           TS       DSPTAB     +11D                       
005547,000078: 06,2020           64105                           AD       RELTAB11                              
005548,000079: 06,2021           00006                           EXTEND                                         
005549,000080: 06,2022           01010                           WRITE    OUT0                                  
005550,000081: 06,2023           02071                           TC       HANG20                                
005551,000082: 
005552,000083:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
005553,000084: 
005554,000085: 06,2024           55017        DSPOUTSB           TS       NOUT                                  
005555,000086: 06,2025           45030                           CS       ZERO                                  
005556,000087: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
005557,000088: 06,2027           56777                           XCH      DSPCNT                                
005558,000089: 06,2030           65027                           AD       NEG0                                  #  TO PREVENT +0
005559,000090: 06,2031           54777                           TS       DSPCNT                                
005560,000091: 06,2032           50777        DSPSCAN            INDEX    DSPCNT                                
005561,000092: 06,2033           11024                           CCS      DSPTAB                                
005562,000093: 06,2034           10777                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
005563,000094: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
005564,000095: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
005565,000096: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
005566,000097: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
005567,000098: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0). +0 INTO NOUT.
005568,000099: 06,2042           55017                           TS       NOUT                                  
005569,000100: 06,2043           00002                           TC       Q                                     
005570,000101: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
005571,000102: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
005572,000103: 06,2046           12031                           TCF      DSPSCAN    -1                         
005573,000104: 
005574,000105: 06,2047           65026        DSPLAY             AD       ONE                                   
005575,000106: 06,2050           50777                           INDEX    DSPCNT                                
005576,000107: 06,2051           55024                           TS       DSPTAB                                #  REPLACE POSITIVELY
005577,000108: 06,2052           74370                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
005578,000109: 06,2053           54073                           TS       DSRUPTEM                              
005579,000110: 06,2054           34362                           CAF      HI5                                   
005580,000111: 06,2055           50777                           INDEX    DSPCNT                                
005581,000112: 06,2056           74072                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
005582,000113: 06,2057           60073                           AD       DSRUPTEM                              
005583,000114: 06,2060           00006                           EXTEND                                         
005584,000115: 06,2061           01010                           WRITE    OUT0                                  
005585,000116: 
005586,000117: 06,2062           16713                           TCF      Q+1                                   
005587,000118: 
005588,000119: 
005589,000120: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
005590,000121: 06,2064           35030                           CAF      ZERO                                  #  NO
005591,000122: 06,2065           12130                           TCF      NODSPOUT                              #  NO
005592,000123: 06,2066           11017                           CCS      NOUT                                  #  YES
005593,000124: 06,2067           02024                           TC       DSPOUTSB                              
005594,000125: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
005595,000126: 
005596,000127: 06,2071           42171        HANG20             CS       14,11,9                               
005597,000128: 06,2072           27315                           ADS      DSRUPTSW                              
005598,000129: 
005599,000130: 06,2073           37703                           CAF      20MRUPT                               
005600,000131: 
005601,000132: 06,2074           54027        SETTIME4           TS       TIME4                                 
005602,000133: 
005603,000134:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
005604,000135:                                                                                                  #  THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
005605,000136: 
005606,000137:                                                                                                  #     IF PREV ON AND NOW ON    -   BYPASS
005607,000138:                                                                                                  #     IF PREV ON AND NOW OFF   -   UPDATE IMODES33
005608,000139:                                                                                                  #     IF PREV OFF AND NOW ON   -   UPDATE IMODES33 AND PROCESS VIA PINBALL
005609,000140:                                                                                                  #     IF PREV OFF AND NOW OFF  -   BYPASS
005610,000141: 
005611,000142:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
005612,000143: 
005613,000144: 
005614,000145: 06,2075           31305        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
005615,000146: 06,2076           00006                           EXTEND                                         
005616,000147: 06,2077           06032                           RXOR     CHAN32                                
005617,000148: 06,2100           75011                           MASK     BIT14                                 
005618,000149: 06,2101           00006                           EXTEND                                         
005619,000150: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
005620,000151: 
005621,000152: 06,2103           23305                           LXCH     IMODES33                              
005622,000153: 06,2104           00006                           EXTEND                                         
005623,000154: 06,2105           06001                           RXOR     LCHAN                                 
005624,000155: 06,2106           55305                           TS       IMODES33                              #  UPDATE IMODES33
005625,000156: 06,2107           75011                           MASK     BIT14                                 
005626,000157: 06,2110           10000                           CCS      A                                     
005627,000158: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
005628,000159: 
005629,000160: 06,2112           34367                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
005630,000161: 06,2113           05142                           TC       NOVAC                                 
005631,000162: 06,2114     1000                                  EBANK=   DSPCOUNT                              
005632,000163: 06,2114           03554 60102                     2CADR    PROCKEY                               
005633,000164: 
005634,000165:                                                                                                  #           JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
005635,000166: 
005636,000167: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
005637,000168: 06,2117           12120                           TCF      +1                                    
005638,000169: 
005639,000170: 06,2120           03153                           TC       RCSMONIT                              
005640,000171: 06,2121           13011                           TCF      RRAUTCHK                              
005641,000172: 06,2122           12172                           TCF      IMUMON                                
005642,000173: 06,2123           13127                           TCF      DAPT4S                                
005643,000174: 06,2124           03153                           TC       RCSMONIT                              
005644,000175: 06,2125           13011                           TCF      RRAUTCHK                              
005645,000176: 06,2126           12172                           TCF      IMUMON                                
005646,000177: 06,2127           13127                           TCF      DAPT4S                                
005647,000178: 
005648,000179: 06,2130     7703               20MRUPT            =        OCT37776                              #  (DEC 16382)
005649,000180: 
005650,000181:                                                                                                  #           ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
005651,000182: 
005652,000183: 06,2130           00006        NODSPOUT           EXTEND                                         
005653,000184: 06,2131           01010                           WRITE    OUT0                                  
005654,000185: 
005655,000186: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
005656,000187: 06,2133           12074                           TCF      SETTIME4                              
005657,000188: 
005658,000189: 06,2134           35011        QUIKDSP            CAF      BIT14                                 
005659,000190: 06,2135           71315                           MASK     DSRUPTSW                              
005660,000191: 06,2136           00006                           EXTEND                                         
005661,000192: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
005662,000193: 
005663,000194: 06,2140           11017                           CCS      NOUT                                  
005664,000195: 06,2141           02024                           TC       DSPOUTSB                              
005665,000196: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
005666,000197: 06,2143           45011                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
005667,000198: 06,2144           27315        QUIKRUPT           ADS      DSRUPTSW                              
005668,000199: 
005669,000200: 06,2145           37703                           CAF      20MRUPT                               
005670,000201: 06,2146           54027                           TS       TIME4                                 
005671,000202: 
005672,000203: 06,2147           35016                           CAF      BIT9                                  
005673,000204: 06,2150           27315                           ADS      DSRUPTSW                              
005674,000205: 
005675,000206: 06,2151           05340                           TC       RESUME                                
005676,000207: 
005677,000208: 06,2152           00006        NODSPY             EXTEND                                         
005678,000209: 06,2153           01010                           WRITE    OUT0                                  
005679,000210: 
005680,000211: 06,2154           37703        SYNCT4             CAF      20MRUPT                               
005681,000212: 06,2155           26027                           ADS      TIME4                                 
005682,000213: 
005683,000214: 06,2156           35016                           CAF      BIT9                                  
005684,000215: 06,2157           27315                           ADS      DSRUPTSW                              
005685,000216: 
005686,000217: 06,2160           11315                           CCS      DSRUPTSW                              
005687,000218: 06,2161           05340                           TC       RESUME                                
005688,000219: 06,2162           37737        OCT37737           OCT      37737                                 
005689,000220: 06,2163           02154                           TC       SYNCT4                                
005690,000221: 06,2164           05340                           TC       RESUME                                
005691,000222: 
005692,000223: 06,2165           00006        QUIKOFF            EXTEND                                         
005693,000224: 06,2166           01010                           WRITE    OUT0                                  
005694,000225: 06,2167           35011                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
005695,000226: 06,2170           12144                           TCF      QUIKRUPT                              
005696,000227: 
005697,000228: 06,2171           22400        14,11,9            OCT      22400                                 
005698,000229: 
005699,000230:                                                                                                  #  PROGRAM NAME:  IMUMON
005700,000231: 
005701,000232:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
005702,000233:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
005703,000234: 
005704,000235:                                                                                                  #           FUNCTION               BIT    SUBROUTINE CALLED
005705,000236:                                                                                                  #           --------               ---    -----------------
005706,000237:                                                                                                  #           TEMP IN LIMITS          15    TLIM
005707,000238:                                                                                                  #           ISS TURN-ON REQUEST     14    ITURNON
005708,000239:                                                                                                  #           IMU FAIL                13    IMUFAIL (SETISSW)
005709,000240:                                                                                                  #           IMU CDU FAIL            12    ICDUFAIL (SETISSW)
005710,000241:                                                                                                  #           IMU CAGE                11    IMUCAGE
005711,000242:                                                                                                  #           IMU OPERATE              9    IMUOP
005712,000243: 
005713,000244:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
005714,000245:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
005715,000246: 
005716,000247:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
005717,000248: 
005718,000249:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005719,000250: 
005720,000251:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
005721,000252: 
005722,000253:                                                                                                  #  ERASABLE INITIALIZATION:
005723,000254:                                                                                                  #           FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
005724,000255:                                                                                                  #           RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
005725,000256:                                                                                                  #                                       THIS LEAVES IMU FAIL BITS INTACT.
005726,000257: 
005727,000258:                                                                                                  #  ALARMS:  NONE.
005728,000259: 
005729,000260:                                                                                                  #  EXIT:  TNONTEST.
005730,000261: 
005731,000262:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
005732,000263: 
005733,000264: 06,2172           31304        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
005734,000265: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
005735,000266: 06,2174           06030                           RXOR     CHAN30                                
005736,000267: 06,2175           72763                           MASK     30RDMSK                               
005737,000268: 06,2176           00006                           EXTEND                                         
005738,000269: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
005739,000270: 
005740,000271: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
005741,000272: 06,2201           23304                           LXCH     IMODES30                              #  UPDATE IMODES30.
005742,000273: 06,2202           00006                           EXTEND                                         
005743,000274: 06,2203           06001                           RXOR     LCHAN                                 
005744,000275: 06,2204           55304                           TS       IMODES30                              
005745,000276: 
005746,000277: 06,2205           45026                           CS       ONE                                   
005747,000278: 06,2206           56070                           XCH      RUPTREG1                              
005748,000279: 06,2207           00006                           EXTEND                                         
005749,000280: 
005750,000281: 06,2210           62521                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
005751,000282: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
005752,000283: 
005753,000284: 06,2212           65026                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
005754,000285: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
005755,000286: 06,2214           60000                 +1        DOUBLE                                         
005756,000287: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
005757,000288: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
005758,000289: 
005759,000290: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
005760,000291: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
005761,000292: 06,2221           35011                           CAF      BIT14                                 
005762,000293: 06,2222           71304                           MASK     IMODES30                              
005763,000294: 06,2223           50070                           INDEX    RUPTREG1                              
005764,000295: 06,2224           02757                           TC       IFAILJMP                              
005765,000296: 
005766,000297: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
005767,000298: 06,2226           12212                           TCF      NXTIFBIT   -1                         
005768,000299: 
005769,000300:                                                                                                  #  PROGRAM NAME:  TNONTEST.
005770,000301: 
005771,000302:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
005772,000303:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
005773,000304:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
005774,000305: 
005775,000306:                                                                                                  #           1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
005776,000307:                                                                                                  #           BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
005777,000308:                                                                                                  #           SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
005778,000309: 
005779,000310:                                                                                                  #           2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
005780,000311:                                                                                                  #           A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
005781,000312:                                                                                                  #           ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
005782,000313:                                                                                                  #           A RESTART, THE ICDU'S WILL NOT BE ZEROED.
005783,000314: 
005784,000315:                                                                                                  #           3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
005785,000316:                                                                                                  #           IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
005786,000317: 
005787,000318:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
005788,000319:                                                                                                  #  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
005789,000320:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
005790,000321:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
005791,000322:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
005792,000323:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
005793,000324:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
005794,000325:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
005795,000326:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
005796,000327: 
005797,000328:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
005798,000329:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
005799,000330: 
005800,000331:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
005801,000332: 
005802,000333:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
005803,000334:                                                                                                  #           3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
005804,000335:                                                                                                  #           STARTED.
005805,000336: 
005806,000337:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
005807,000338: 
005808,000339:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
005809,000340: 
005810,000341:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
005811,000342: 
005812,000343:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
005813,000344:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
005814,000345:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
005815,000346: 
005816,000347:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
005817,000348: 
005818,000349: 06,2227           41304        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT
005819,000350: 
005820,000351: 06,2230           75020                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
005821,000352: 06,2231           10000                           CCS      A                                     
005822,000353: 06,2232           12401                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
005823,000354: 
005824,000355: 06,2233           35017                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
005825,000356: 06,2234           71304                           MASK     IMODES30                              
005826,000357: 06,2235           10000                           CCS      A                                     
005827,000358: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
005828,000359: 
005829,000360: 06,2237           35017                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
005830,000361: 06,2240           27304                           ADS      IMODES30                              #  TIME.
005831,000362: 06,2241           12401                           TCF      C33TEST                               
005832,000363: 
005833,000364:                                                                                                  #           PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
005834,000365: 
005835,000366: 06,2242           43002        PROCTNON           CS       BITS7&8                               
005836,000367: 06,2243           71304                           MASK     IMODES30                              
005837,000368: 06,2244           55304                           TS       IMODES30                              
005838,000369: 06,2245           75011                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
005839,000370: 06,2246           10000                           CCS      A                                     
005840,000371: 06,2247           12354                           TCF      OPONLY                                #  OPERATE ON ONLY.
005841,000372: 
005842,000373: 06,2250           41304                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
005843,000374: 06,2251           75016                           MASK     BIT9                                  #  OPERATE.
005844,000375: 06,2252           10000                           CCS      A                                     
005845,000376: 06,2253           12256                           TCF      +3                                    
005846,000377: 
005847,000378: 06,2254           05651                           TC       ALARM                                 #  ALARM IF NOT.
005848,000379: 06,2255           00213                           OCT      213                                   
005849,000380: 
005850,000381: 06,2256           02737                 +3        TC       CAGESUB                               
005851,000382: 06,2257           33010                           CAF      90SECS                                
005852,000383: 06,2260           05252                           TC       WAITLIST                              
005853,000384: 06,2261  E6,1412                                  EBANK=   M11                                   
005854,000385: 06,2261           02266 14006                     2CADR    ENDTNON                               
005855,000386: 
005856,000387: 06,2263           12401                           TCF      C33TEST                               
005857,000388: 
005858,000389: 06,2264           33010        RETNON             CAF      90SECS                                
005859,000390: 06,2265           05274                           TC       VARDELAY                              
005860,000391: 
005861,000392: 06,2266           45025        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
005862,000393: 06,2267           71304                           MASK     IMODES30                              
005863,000394: 06,2270           57304                           XCH      IMODES30                              
005864,000395: 06,2271           75025                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
005865,000396: 06,2272           00006                           EXTEND                                         
005866,000397: 06,2273           12306                           BZF      ENDTNON2                              
005867,000398: 
005868,000399: 06,2274           35011                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
005869,000400: 
005870,000401: 06,2275           71304                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
005871,000402: 06,2276           00006                           EXTEND                                         
005872,000403: 06,2277           12264                           BZF      RETNON                                
005873,000404: 
005874,000405: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
005875,000406: 06,2301           75017                           MASK     IMUSEBIT                              #  WAITING.
005876,000407: 06,2302           10000                           CCS      A                                     
005877,000408: 06,2303           15331                           TCF      TASKOVER                              
005878,000409: 06,2304           04674                           TC       POSTJUMP                              
005879,000410: 06,2305           17550                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
005880,000411: 
005881,000412: 06,2306           35010        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
005882,000413: 06,2307           00006                           EXTEND                                         
005883,000414: 06,2310           05012                           WOR      CHAN12                                
005884,000415: 
005885,000416: 06,2311           04737                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
005886,000417: 06,2312           17177                           CADR     NOATTOFF                              
005887,000418: 
005888,000419: 06,2313           07722        UNZ2               TC       ZEROICDU                              
005889,000420: 
005890,000421: 06,2314           42776                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
005891,000422: 06,2315           00006                           EXTEND                                         
005892,000423: 06,2316           03012                           WAND     CHAN12                                
005893,000424: 
005894,000425: 06,2317           35014                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
005895,000426: 06,2320           05274                           TC       VARDELAY                              
005896,000427: 
005897,000428: 06,2321           42777        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
005898,000429: 06,2322           71304                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
005899,000430: 06,2323           55304                           TS       IMODES30                              
005900,000431: 
005901,000432: 06,2324           45021                           CS       BIT6                                  #  ENABLE DAP
005902,000433: 06,2325           71305                           MASK     IMODES33                              
005903,000434: 06,2326           55305                           TS       IMODES33                              
005904,000435: 
005905,000436: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
005906,000437: 06,2330           75010                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP(RESTART
005907,000438: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
005908,000439: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
005909,000440: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
005910,000441: 06,2334           30025                           CA       TIME1                                 
005911,000442: 06,2335           57075                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
005912,000443: 
005913,000444: 06,2336           02705                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
005914,000445: 
005915,000446: 06,2337           45010                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
005916,000447: 06,2340           00006                           EXTEND                                         
005917,000448: 06,2341           03012                           WAND     CHAN12                                
005918,000449: 
005919,000450: 06,2342           35053                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR
005920,000451: 
005921,000452: 06,2343           05252                           TC       WAITLIST                              #  ANOTHER 4 SECS.
005922,000453: 06,2344  E3,1474                                  EBANK=   CDUIND                                
005923,000454: 06,2344           03165 16003                     2CADR    PFAILOK                               
005924,000455: 
005925,000456: 06,2346           40074                           CS       STATE                                 #  SEE IF ANYONE IS WAITING FOR THE IMU AT
005926,000457: 06,2347           75017                           MASK     IMUSEFLG                              #  IMUZERO. IF SO, WAKE THEM UP.
005927,000458: 06,2350           10000                           CCS      A                                     
005928,000459: 06,2351           15331                           TCF      TASKOVER                              
005929,000460: 
005930,000461: 06,2352           04674                           TC       POSTJUMP                              
005931,000462: 06,2353           17542                           CADR     ENDIMU                                
005932,000463: 
005933,000464: 06,2354           35023        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
005934,000465: 06,2355           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
005935,000466: 06,2356           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
005936,000467: 06,2357           10000                           CCS      A                                     
005937,000468: 06,2360           12401                           TCF      C33TEST                               
005938,000469: 
005939,000470: 06,2361           35017                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
005940,000471: 06,2362           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
005941,000472: 06,2363           10000                           CCS      A                                     
005942,000473: 06,2364           12401                           TCF      C33TEST                               
005943,000474: 
005944,000475: 06,2365           02750                           TC       CAGESUB2                              #  SET TURNON FLAGS.
005945,000476: 
005946,000477: 06,2366           04737        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
005947,000478: 06,2367           17177                           CADR     NOATTOFF                              #      IMU CAGE OFF ENTRY
005948,000479: 
005949,000480: 06,2370           35022                           CAF      BIT5                                  #  ISS CDU ZERO
005950,000481: 06,2371           00006                           EXTEND                                         
005951,000482: 06,2372           05012                           WOR      CHAN12                                
005952,000483: 
005953,000484: 06,2373           07722                           TC       ZEROICDU                              
005954,000485: 06,2374           35021                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
005955,000486: 06,2375           05252                           TC       WAITLIST                              
005956,000487: 06,2376  E6,1412                                  EBANK=   M11                                   
005957,000488: 06,2376           02313 14006                     2CADR    UNZ2                                  
005958,000489: 
005959,000490: 06,2400           12401                           TCF      C33TEST                               
005960,000491: 
005961,000492:                                                                                                  #  PROGRAM NAME:  C33TEST
005962,000493: 
005963,000494:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
005964,000495:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
005965,000496:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
005966,000497:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
005967,000498: 
005968,000499:                                                                                                  #           BIT    FUNCTION                SUBROUTINE
005969,000500:                                                                                                  #           ---    --------                ----------
005970,000501:                                                                                                  #            13    PIPA FAIL               PIPFAIL
005971,000502:                                                                                                  #            12    DOWNLINK TOO FAST       DNTMFAST
005972,000503:                                                                                                  #            11    UPLINK TOO FAST         UPTMFAST
005973,000504: 
005974,000505:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
005975,000506: 
005976,000507:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
005977,000508: 
005978,000509:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
005979,000510: 
005980,000511:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
005981,000512: 
005982,000513:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
005983,000514:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
005984,000515: 
005985,000516:                                                                                                  #  ALARMS:  NONE.
005986,000517: 
005987,000518:                                                                                                  #  EXIT:  GLOCKMON.
005988,000519: 
005989,000520:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
005990,000521: 
005991,000522: 06,2401           31305        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
005992,000523: 06,2402           75076                           MASK     33RDMSK                               
005993,000524: 06,2403           54001                           TS       L                                     #  CHANGED.
005994,000525: 06,2404           35076                           CAF      33RDMSK                               
005995,000526: 06,2405           00006                           EXTEND                                         
005996,000527: 06,2406           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
005997,000528: 06,2407           00006                           EXTEND                                         
005998,000529: 06,2410           06001                           RXOR     LCHAN                                 
005999,000530: 06,2411           00006                           EXTEND                                         
006000,000531: 06,2412           12441                           BZF      GLOCKMON                              #  ON NO CHANGE.
006001,000532: 
006002,000533: 06,2413           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
006003,000534: 06,2414           23305                           LXCH     IMODES33                              
006004,000535: 06,2415           00006                           EXTEND                                         
006005,000536: 06,2416           06001                           RXOR     LCHAN                                 
006006,000537: 06,2417           55305                           TS       IMODES33                              #  UPDATED IMODES33.
006007,000538: 
006008,000539: 06,2420           35030                           CAF      ZERO                                  
006009,000540: 06,2421           56070                           XCH      RUPTREG1                              
006010,000541: 06,2422           60000                           DOUBLE                                         
006011,000542: 
006012,000543: 06,2423           12426                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
006013,000544: 
006014,000545: 06,2424           65026                 -1        AD       ONE                                   
006015,000546: 06,2425           24070        NXTIBT             INCR     RUPTREG1                              
006016,000547: 06,2426           60000                 +1        DOUBLE                                         
006017,000548: 06,2427           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
006018,000549: 06,2430           12425                           TCF      NXTIBT                                
006019,000550: 
006020,000551: 06,2431           56071                           XCH      RUPTREG2                              
006021,000552: 06,2432           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
006022,000553: 06,2433           35012                           CAF      BIT13                                 
006023,000554: 06,2434           71305                           MASK     IMODES33                              
006024,000555: 06,2435           50070                           INDEX    RUPTREG1                              
006025,000556: 06,2436           02765                           TC       C33JMP                                
006026,000557: 
006027,000558: 06,2437           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
006028,000559: 06,2440           12424                           TCF      NXTIBT     -1                         
006029,000560: 
006030,000561:                                                                                                  #  PROGRAM NAME:  GLOCKMON
006031,000562: 
006032,000563:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006033,000564:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006034,000565: 
006035,000566:                                                                                                  #           1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
006036,000567:                                                                                                  #           2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
006037,000568:                                                                                                  #           3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006038,000569: 
006039,000570:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
006040,000571: 
006041,000572:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006042,000573: 
006043,000574:                                                                                                  #  SUBROUTINES CALLED:  1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006044,000575:                                                                                                  #                       2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006045,000576: 
006046,000577:                                                                                                  #  ERASABLE INITIALIZATION:
006047,000578:                                                                                                  #           1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 =  0.
006048,000579:                                                                                                  #           2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006049,000580:                                                                                                  #                                           PROCEEDS AS BEFORE.
006050,000581: 
006051,000582:                                                                                                  #  ALARMS:  1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006052,000583:                                                                                                  #           2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006053,000584:                                                                                                  #              SO ALREADY.
006054,000585: 
006055,000586: 06,2441           10034        GLOCKMON           CCS      CDUZ                                  
006056,000587: 06,2442           12446                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
006057,000588: 06,2443           12472                           TCF      SETGLOCK                              #  70 DEGREES.
006058,000589: 06,2444           12446                           TCF      GLOCKCHK                              
006059,000590: 06,2445           12472                           TCF      SETGLOCK                              
006060,000591: 
006061,000592: 06,2446           62517        GLOCKCHK           AD       -70DEGS                               
006062,000593: 06,2447           00006                           EXTEND                                         
006063,000594: 06,2450           62471                           BZMF     SETGLOCK   -1                         #  NO LOCK.
006064,000595: 
006065,000596: 06,2451           62520                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
006066,000597: 06,2452           00006                           EXTEND                                         
006067,000598: 06,2453           62467                           BZMF     NOGIMRUN                              
006068,000599: 
006069,000600: 06,2454           35023                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006070,000601: 06,2455           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
006071,000602: 06,2456           02012                           RAND     CHAN12                                
006072,000603: 06,2457           10000                           CCS      A                                     
006073,000604: 06,2460           12467                           TCF      NOGIMRUN                              
006074,000605: 
006075,000606: 06,2461           04737                           TC       IBNKCALL                              
006076,000607: 06,2462           17055                           CADR     SETCOARS                              
006077,000608: 
006078,000609: 06,2463           36216                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
006079,000610: 06,2464           05252                           TC       WAITLIST                              
006080,000611: 
006081,000612: 06,2465  E3,1474                                  EBANK=   CDUIND                                
006082,000613: 06,2465           03051 16003                     2CADR    CA+ECE                                
006083,000614: 
006084,000615: 06,2467           35021        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
006085,000616: 06,2470           12472                           TCF      SETGLOCK                              
006086,000617: 
006087,000618: 06,2471           35030                 -1        CAF      ZERO                                  
006088,000619: 06,2472           61037        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006089,000620: 06,2473           75021                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
006090,000621: 06,2474           00006                           EXTEND                                         #  THE TWO.
006091,000622: 06,2475           15340                           BZF      GLOCKOK                               #  OK AS IS.
006092,000623: 
006093,000624: 06,2476           71037                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
006094,000625: 06,2477           10000                           CCS      A                                     
006095,000626: 06,2500           12514                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006096,000627: 
006097,000628: 06,2501           35021                           CAF      BIT6                                  
006098,000629: 06,2502           71304                           MASK     IMODES30                              
006099,000630: 06,2503           10000                           CCS      A                                     
006100,000631: 06,2504           15340                           TCF      GLOCKOK                               
006101,000632: 
006102,000633: 06,2505           41037        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
006103,000634: 06,2506           75021                           MASK     BIT6                                  
006104,000635: 06,2507           65010                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
006105,000636: 06,2510           57037                           XCH      DSPTAB     +11D                       
006106,000637: 06,2511           72162                           MASK     OCT37737                              
006107,000638: 06,2512           27037                           ADS      DSPTAB     +11D                       
006108,000639: 06,2513           15340                           TCF      GLOCKOK                               
006109,000640: 
006110,000641: 06,2514           02770        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
006111,000642: 06,2515           15340                           TCF      GLOCKOK                               
006112,000643: 06,2516           12505                           TCF      GLINVERT                              
006113,000644: 
006114,000645: 06,2517           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006115,000646: 06,2520           75252        -15DEGS            DEC      -.08333                               
006116,000647: 
006117,000648:                                                                                                  #  PROGRAM NAME:  TLIM.
006118,000649: 
006119,000650:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006120,000651:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006121,000652:                                                                                                  #  IS IN PROGRESS.
006122,000653: 
006123,000654:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
006124,000655: 
006125,000656:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006126,000657: 
006127,000658:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
006128,000659: 
006129,000660:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
006130,000661: 
006131,000662:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
006132,000663: 
006133,000664:                                                                                                  #  EXIT:  NXTIFAIL.
006134,000665: 
006135,000666:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                        IN A, EXCEPT FOR TLIM.
006136,000667: 
006137,000668: 06,2521           75006        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
006138,000669: 06,2522           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
006139,000670: 
006140,000671: 06,2523           11304                           CCS      IMODES30                              
006141,000672: 06,2524           12532                           TCF      TEMPOK                                
006142,000673: 06,2525           12532                           TCF      TEMPOK                                
006143,000674: 
006144,000675: 06,2526           35023                           CAF      BIT4                                  #  TURN ON LAMP.
006145,000676: 06,2527           00006                           EXTEND                                         
006146,000677: 06,2530           05011                           WOR      DSALMOUT                              
006147,000678: 06,2531           12225                           TCF      NXTIFAIL                              
006148,000679: 
006149,000680: 06,2532           02770        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
006150,000681: 06,2533           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
006151,000682: 
006152,000683: 06,2534           45023                           CS       BIT4                                  
006153,000684: 06,2535           00006                           EXTEND                                         
006154,000685: 06,2536           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
006155,000686: 06,2537           12225                           TCF      NXTIFAIL                              
006156,000687: 
006157,000688:                                                                                                  #  PROGRAM NAME:  ITURNON.
006158,000689: 
006159,000690:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
006160,000691:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
006161,000692:                                                                                                  #  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
006162,000693:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
006163,000694:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
006164,000695:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
006165,000696:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
006166,000697:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
006167,000698:                                                                                                  #  ENDS.
006168,000699: 
006169,000700:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
006170,000701: 
006171,000702:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006172,000703: 
006173,000704:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
006174,000705: 
006175,000706:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
006176,000707:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
006177,000708: 
006178,000709:                                                                                                  #  ALARMS:  PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
006179,000710: 
006180,000711:                                                                                                  #  EXIT:  NXTIFAIL.
006181,000712: 
006182,000713:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
006183,000714:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
006184,000715: 
006185,000716: 06,2540           35025        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
006186,000717: 06,2541           71304                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
006187,000718: 06,2542           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
006188,000719: 06,2543           12225                           TCF      NXTIFAIL                              
006189,000720: 
006190,000721: 06,2544           35011                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
006191,000722: 06,2545           71304                           MASK     IMODES30                              
006192,000723: 06,2546           00006                           EXTEND                                         
006193,000724: 06,2547           12563                           BZF      ITURNON2                              #  IF JUST ON.
006194,000725: 
006195,000726: 06,2550           35010                           CAF      BIT15                                 
006196,000727: 06,2551           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
006197,000728: 06,2552           02012                           RAND     CHAN12                                #  SENT. IF SO, ACTION COMPLETE
006198,000729: 06,2553           00006                           EXTEND                                         
006199,000730: 06,2554           12556                           BZF      +2                                    
006200,000731: 06,2555           12225                           TCF      NXTIFAIL                              
006201,000732: 
006202,000733: 06,2556           35025                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
006203,000734: 06,2557           27304                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
006204,000735: 06,2560           05651                           TC       ALARM                                 
006205,000736: 06,2561           00207                           OCT      207                                   
006206,000737: 06,2562           12225                           TCF      NXTIFAIL                              
006207,000738: 
006208,000739: 06,2563           41304        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
006209,000740: 06,2564           75020                           MASK     BIT7                                  
006210,000741: 06,2565           27304                           ADS      IMODES30                              
006211,000742: 06,2566           32571                           CAF      RRINIT                                
006212,000743: 06,2567           55101                           TS       RADMODES                              
006213,000744: 06,2570           12225                           TCF      NXTIFAIL                              
006214,000745: 
006215,000746: 06,2571           00102        RRINIT             OCT      00102                                 
006216,000747: 
006217,000748:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
006218,000749: 
006219,000750:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
006220,000751:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
006221,000752:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
006222,000753:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
006223,000754:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
006224,000755: 
006225,000756:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
006226,000757: 
006227,000758:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006228,000759: 
006229,000760:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
006230,000761: 
006231,000762:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
006232,000763: 
006233,000764:                                                                                                  #  ALARMS:  NONE.
006234,000765: 
006235,000766:                                                                                                  #  EXIT:  NXTIFAIL.
006236,000767: 
006237,000768:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
006238,000769: 
006239,000770: 06,2572           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
006240,000771: 06,2573           12366                           TCF      ISSZERO                               
006241,000772: 06,2574           43005                           CS       OCT77000                              #  TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
006242,000773: 06,2575           00006                           EXTEND                                         
006243,000774: 06,2576           03014                           WAND     CHAN14                                
006244,000775: 
006245,000776: 06,2577           43001                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
006246,000777: 06,2600           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
006247,000778: 06,2601           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
006248,000779: 
006249,000780: 06,2602           44367                           CS       PRIO30                                #  TURN ENGINE OFF.
006250,000781: 06,2603           00006                           EXTEND                                         
006251,000782: 06,2604           02011                           RAND     DSALMOUT                              
006252,000783: 06,2605           65011                           AD       BIT14                                 
006253,000784: 06,2606           00006                           EXTEND                                         
006254,000785: 06,2607           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
006255,000786: 
006256,000787: 06,2610           02745                           TC       CAGESUB1                              
006257,000788: 
006258,000789: 06,2611           04737                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
006259,000790: 06,2612           17106                           CADR     RNDREFDR                              
006260,000791: 
006261,000792: 06,2613           45030                           CS       ZERO                                  
006262,000793: 06,2614           54050                           TS       CDUXCMD                               
006263,000794: 06,2615           54051                           TS       CDUYCMD                               
006264,000795: 
006265,000796: 06,2616           54052                           TS       CDUZCMD                               
006266,000797: 06,2617           54047                           TS       GYROCMD                               
006267,000798: 
006268,000799: 06,2620           43004                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
006269,000800: 06,2621           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
006270,000801: 06,2622           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
006271,000802: 06,2623           12225                           TCF      NXTIFAIL                              
006272,000803: 
006273,000804:                                                                                                  #  PROGRAM NAME:  IMUOP.
006274,000805: 
006275,000806:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
006276,000807:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
006277,000808:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
006278,000809:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
006279,000810:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
006280,000811: 
006281,000812:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
006282,000813: 
006283,000814:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006284,000815: 
006285,000816:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
006286,000817: 
006287,000818:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
006288,000819:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
006289,000820: 
006290,000821:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
006291,000822: 
006292,000823:                                                                                                  #  EXIT:  NXTIFAIL.
006293,000824: 
006294,000825:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
006295,000826: 
006296,000827: 06,2624           00006        IMUOP              EXTEND                                         
006297,000828: 06,2625           12645                           BZF      IMUOP2                                
006298,000829: 
006299,000830: 06,2626           41305                           CS       IMODES33                              #  DISABLE DAP
006300,000831: 06,2627           75021                           MASK     BIT6                                  
006301,000832: 06,2630           27305                           ADS      IMODES33                              
006302,000833: 
006303,000834: 06,2631           04737                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
006304,000835: 06,2632           17106                           CADR     RNDREFDR                              
006305,000836: 
006306,000837: 06,2633           43002                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
006307,000838: 06,2634           70074                           MASK     FLAGWRD0                              
006308,000839: 06,2635           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
006309,000840: 06,2636           40000                           COM                                            
006310,000841: 06,2637           75017                           MASK     IMUSEFLG                              
006311,000842: 06,2640           10000                           CCS      A                                     
006312,000843: 06,2641           12225                           TCF      NXTIFAIL                              
006313,000844: 
006314,000845: 06,2642           05651                           TC       ALARM                                 
006315,000846: 06,2643           00214                           OCT      214                                   
006316,000847: 06,2644           12225                           TCF      NXTIFAIL                              
006317,000848: 
006318,000849: 06,2645           35025        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
006319,000850: 06,2646           71304                           MASK     IMODES30                              
006320,000851: 06,2647           10000                           CCS      A                                     
006321,000852: 06,2650           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
006322,000853: 06,2651           12563                           TCF      ITURNON2                              #  SECONDS EXPIRES.
006323,000854: 
006324,000855:                                                                                                  #  PROGRAM NAME:  PIPFAIL
006325,000856: 
006326,000857:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
006327,000858:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT, I.E., IMODES30
006328,000859:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
006329,000860: 
006330,000861:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
006331,000862: 
006332,000863:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006333,000864: 
006334,000865:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
006335,000866: 
006336,000867:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
006337,000868: 
006338,000869:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
006339,000870:                                                                                                  #  BEING INITIALIZED.
006340,000871: 
006341,000872:                                                                                                  #  EXIT:  NXTFL33.
006342,000873: 
006343,000874:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
006344,000875: 
006345,000876: 06,2652           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
006346,000877: 06,2653           35015                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
006347,000878: 06,2654           57304                           XCH      IMODES30                              
006348,000879: 06,2655           73007                           MASK     -BIT10                                
006349,000880: 06,2656           27304                           ADS      IMODES30                              
006350,000881: 
006351,000882: 06,2657           02705                           TC       SETISSW                               
006352,000883: 
006353,000884: 06,2660           41304                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
006354,000885: 06,2661           75026                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
006355,000886: 06,2662           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
006356,000887: 06,2663           12437                           TCF      NXTFL33                               
006357,000888: 
006358,000889: 06,2664           31304                           CA       IMODES30                              
006359,000890: 06,2665           73003                           MASK     OCT1720                               
006360,000891: 06,2666           10000                           CCS      A                                     
006361,000892: 06,2667           12437                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
006362,000893: 
006363,000894: 06,2670           05651                           TC       ALARM                                 
006364,000895: 06,2671           00212                           OCT      212                                   
006365,000896: 06,2672           12437                           TCF      NXTFL33                               
006366,000897: 
006367,000898:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
006368,000899: 
006369,000900:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
006370,000901:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
006371,000902: 
006372,000903:                                                                                                  #           BIT    ALARM           CAUSE
006373,000904:                                                                                                  #           ---    -----           -----
006374,000905:                                                                                                  #            12    01105           DOWNLINK TOO FAST
006375,000906:                                                                                                  #            11    01106           UPLINK TOO FAST
006376,000907: 
006377,000908:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
006378,000909: 
006379,000910:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
006380,000911: 
006381,000912:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
006382,000913: 
006383,000914:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
006384,000915: 
006385,000916:                                                                                                  #  EXIT:  NXTFL33.
006386,000917: 
006387,000918:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
006388,000919: 
006389,000920: 06,2673           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
006390,000921: 06,2674           12437                           TCF      NXTFL33                               
006391,000922: 
006392,000923: 06,2675           05651                           TC       ALARM                                 
006393,000924: 06,2676           01105                           OCT      1105                                  
006394,000925: 06,2677           12437                           TCF      NXTFL33                               
006395,000926: 
006396,000927: 06,2700           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
006397,000928: 06,2701           12437                           TCF      NXTFL33                               #  ALARM CODE.
006398,000929: 
006399,000930: 06,2702           05651                           TC       ALARM                                 
006400,000931: 06,2703           01106                           OCT      1106                                  
006401,000932: 06,2704           12437                           TCF      NXTFL33                               
006402,000933:                                                                                                  #  PROGRAM NAME:  SETISSW
006403,000934: 
006404,000935:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
006405,000936:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
006406,000937:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
006407,000938:                                                                                                  #  PROGRESS.
006408,000939: 
006409,000940:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
006410,000941:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
006411,000942:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
006412,000943:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
006413,000944: 
006414,000945:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
006415,000946: 
006416,000947:                                                                                                  #  SUBROUTINES CALLED:  NONE.
006417,000948: 
006418,000949:                                                                                                  #  ERASABLE INITIALIZATION:
006419,000950: 
006420,000951:                                                                                                  #           1) IMODES30 - SEE IMUMON.
006421,000952:                                                                                                  #           2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
006422,000953: 
006423,000954:                                                                                                  #  ALARMS:  ISS WARNING.
006424,000955: 
006425,000956:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
006426,000957:                                                                                                  #  PROGRAM ALARM 00777  PIPA FAIL
006427,000958:                                                                                                  #  PROGRAM ALARM 03777  ICDU FAIL
006428,000959:                                                                                                  #  PROGRAM ALARM 04777  ICDU , PIPA FAILS
006429,000960:                                                                                                  #  PROGRAM ALARM 07777  IMU FAIL
006430,000961:                                                                                                  #  PROGRAM ALARM 10777  IMU , PIPA FAILS
006431,000962:                                                                                                  #  PROGRAM ALARM 13777  IMU , ICDU FAILS
006432,000963:                                                                                                  #  PROGRAM ALARM 14777  IMU , ICDU , PIPA FAILS
006433,000964: 
006434,000965:                                                                                                  #  EXIT:  VIA Q.
006435,000966: 
006436,000967:                                                                                                  #  OUTPUT:  ISS WARNING LAMP SET PROPERLY.
006437,000968: 
006438,000969: 06,2705           35034        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
006439,000970: 06,2706           71304                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
006440,000971: 06,2707           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
006441,000972: 06,2710           75015                           MP       BIT10                                 #  4, 3, AND 1.
006442,000973: 06,2711           31304                           CA       IMODES30                              
006443,000974: 06,2712           00006                           EXTEND                                         
006444,000975: 06,2713           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
006445,000976: 06,2714           40000                           COM                                            
006446,000977: 06,2715           75075                           MASK     OCT15000                              
006447,000978: 06,2716           10000                           CCS      A                                     
006448,000979: 06,2717           12730                           TCF      ISSWON                                #  FAILURE.
006449,000980: 
006450,000981: 06,2720           35026        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
006451,000982: 06,2721           71305                           MASK     IMODES33                              #  IN PROGRESS.
006452,000983: 
006453,000984: 06,2722           10000                           CCS      A                                     
006454,000985: 06,2723           00002                           TC       Q                                     
006455,000986: 
006456,000987: 06,2724           45026                           CS       BIT1                                  
006457,000988: 06,2725           00006                           EXTEND                                         
006458,000989: 06,2726           03011                           WAND     DSALMOUT                              
006459,000990: 06,2727           00002                           TC       Q                                     
006460,000991: 
006461,000992: 06,2730           00006        ISSWON             EXTEND                                         
006462,000993: 06,2731           22066                           QXCH     ITEMP6                                
006463,000994: 06,2732           05741                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISSWARNING
006464,000995: 06,2733           35026                           CAF      BIT1                                  
006465,000996: 06,2734           00006                           EXTEND                                         
006466,000997: 06,2735           05011                           WOR      DSALMOUT                              
006467,000998: 06,2736           00066                           TC       ITEMP6                                
006468,000999: 
006469,001000: 06,2737           43006        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
006470,001001: 06,2740           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE. DISABLE THE
006471,001002: 06,2741           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
006472,001003: 06,2742           32776                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
006473,001004: 06,2743           00006                           EXTEND                                         
006474,001005: 06,2744           05012                           WOR      CHAN12                                
006475,001006: 
006476,001007: 06,2745           41037        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
006477,001008: 06,2746           72775                           MASK     OC40010                               
006478,001009: 06,2747           27037                           ADS      DSPTAB     +11D                       
006479,001010: 
006480,001011: 06,2750           41304        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
006481,001012: 06,2751           73000                           MASK     OCT75                                 #      AND INHIBIT ALL ISS WARNING INFO
006482,001013: 06,2752           27304                           ADS      IMODES30                              
006483,001014: 
006484,001015: 06,2753           41305                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
006485,001016: 06,2754           75021                           MASK     BIT6                                  
006486,001017: 06,2755           27305                           ADS      IMODES33                              
006487,001018: 
006488,001019: 06,2756           00002                           TC       Q                                     
006489,001020: 
006490,001021: 06,2757  06,2705               IMUFAIL            EQUALS   SETISSW                               
006491,001022: 06,2757  06,2705               ICDUFAIL           EQUALS   SETISSW                               
006492,001023: 
006493,001024:                                                                                                  #           JUMP TABLES AND CONSTANTS.
006494,001025: 
006495,001026: 06,2757           12540        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
006496,001027: 06,2760           12705                           TCF      IMUFAIL                               
006497,001028: 06,2761           12705                           TCF      ICDUFAIL                              
006498,001029: 06,2762           12572                           TCF      IMUCAGE                               
006499,001030: 06,2763           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
006500,001031: 06,2764           12624                           TCF      IMUOP                                 
006501,001032: 
006502,001033: 06,2765           12652        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
006503,001034: 06,2766           12673                           TCF      DNTMFAST                              
006504,001035: 06,2767           12700                           TCF      UPTMFAST                              
006505,001036: 
006506,001037:                                                                                                  #           SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
006507,001038: 06,2770           41305        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
006508,001039: 06,2771           75026                           MASK     BIT1                                  #  PROGRESS.
006509,001040: 06,2772           10000                           CCS      A                                     
006510,001041: 06,2773           24002                           INCR     Q                                     
006511,001042: 06,2774           00002                           TC       Q                                     
006512,001043: 
006513,001044: 06,2775     5076               33RDMSK            EQUALS   PRIO16                                
006514,001045: 06,2775           40010        OC40010            OCT      40010                                 
006515,001046: 06,2776           00030        BITS4&5            OCT      30                                    
006516,001047: 06,2777           00054        OCT54              OCT      54                                    
006517,001048: 06,3000           00075        OCT75              OCT      75                                    
006518,001049: 06,3001           00272        OCT272             OCT      00272                                 
006519,001050: 06,3002           00300        BITS7&8            OCT      300                                   
006520,001051: 06,3003           01720        OCT1720            OCT      1720                                  
006521,001052: 06,3004           00740        OCT740             OCT      00740                                 
006522,001053: 06,3005     5075               OCT15000           EQUALS   PRIO15                                
006523,001054: 06,3005           77000        OCT77000           OCT      77000                                 
006524,001055: 06,3006           40040        BITS6&15           OCT      40040                                 
006525,001056: 06,3007           76777        -BIT10             OCT      -1000                                 
006526,001057: 
006527,001058: 06,3010           21450        90SECS             DEC      9000       B-14                       
006528,001059: 06,3011     5746               120MS              =        OCT14                                 #  (DEC12)
006529,001060: 06,3011     5340               GLOCKOK            EQUALS   RESUME                                
006530,001061: 
006531,001062:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
006532,001063: 
006533,001064:                                                                                                  #  FUNCTIONAL DESCRIPTION_
006534,001065:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
006535,001066:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
006536,001067:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
006537,001068:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
006538,001069:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
006539,001070:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
006540,001071:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
006541,001072:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
006542,001073:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
006543,001074:                                                                                                  #  SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
006544,001075:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
006545,001076:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
006546,001077: 
006547,001078:                                                                                                  #  CALLING SEQUENCE_
006548,001079:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
006549,001080: 
006550,001081:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
006551,001082:                                                                                                  #  RADMODES, STATE
006552,001083: 
006553,001084:                                                                                                  #  SUBROUTINES CALLED_
006554,001085:                                                                                                  #  WAITLIST
006555,001086: 
006556,001087:                                                                                                  #  JOBS OR TASKS INITIATED_
006557,001088:                                                                                                  #  RRTURNON
006558,001089: 
006559,001090:                                                                                                  #  ALARMS_   PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
006560,001091:                                                                                                  #  USED
006561,001092: 
006562,001093:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
006563,001094: 
006564,001095: 06,3011           31101        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
006565,001096: 06,3012           00006                           EXTEND                                         
006566,001097: 06,3013           06033                           RXOR     CHAN33                                
006567,001098: 06,3014           75025                           MASK     BIT2                                  
006568,001099: 06,3015           00006                           EXTEND                                         
006569,001100: 06,3016           13044                           BZF      RRCDUCHK                              
006570,001101: 
006571,001102: 06,3017           23101                           LXCH     RADMODES                              #  UPDATE RADMODES.
006572,001103: 06,3020           00006                           EXTEND                                         
006573,001104: 06,3021           06001                           RXOR     LCHAN                                 
006574,001105: 06,3022           55101                           TS       RADMODES                              
006575,001106: 06,3023           75025                           MASK     BIT2                                  #  SEE IF JUST ON.
006576,001107: 06,3024           10000                           CCS      A                                     
006577,001108: 06,3025           13041                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
006578,001109: 06,3026           43040                           CS       OCT72001                              #  SET BITS TO INDICATE ZERO AND TURNON
006579,001110: 06,3027           71101                           MASK     RADMODES                              #  IN PROGRESS.
006580,001111: 06,3030           63037                           AD       OCT10001                              
006581,001112: 06,3031           55101                           TS       RADMODES                              
006582,001113: 
006583,001114: 06,3032           35026                           CAF      ONE                                   
006584,001115: 06,3033           05252                           TC       WAITLIST                              
006585,001116: 06,3034  E7,1433                                  EBANK=   LOSCOUNT                              
006586,001117: 06,3034           02053 52007                     2CADR    RRTURNON                              
006587,001118: 
006588,001119: 06,3036           13127                           TCF      NORRGMON                              
006589,001120: 
006590,001121: 06,3037           10001        OCT10001           OCT      10001                                 
006591,001122: 06,3040           72001        OCT72001           OCT      72001                                 
006592,001123: 
006593,001124:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
006594,001125: 
006595,001126:                                                                                                  #  FUNCTIONAL DESCRIPTION_
006596,001127:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
006597,001128:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
006598,001129:                                                                                                  #  PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
006599,001130:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
006600,001131:                                                                                                  #  PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
006601,001132:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
006602,001133:                                                                                                  #  REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
006603,001134:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
006604,001135:                                                                                                  #  RRGIMON.
006605,001136: 
006606,001137:                                                                                                  #  CALLING SEQUENCE_
006607,001138:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
006608,001139:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
006609,001140: 
006610,001141:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
006611,001142:                                                                                                  #  RADMODES
006612,001143: 
006613,001144:                                                                                                  #  SUBROUTINES CALLED_
006614,001145:                                                                                                  #  SETTRKF
006615,001146: 
006616,001147:                                                                                                  #  JOBS OR TASKS INITIATED_
006617,001148:                                                                                                  #  NONE
006618,001149: 
006619,001150:                                                                                                  #  ALARMS_
006620,001151:                                                                                                  #  TRACKER FAIL
006621,001152:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
006622,001153: 
006623,001154:                                                                                                  #  EXIT_
006624,001155:                                                                                                  #  RRGIMON, NORRGMON
006625,001156: 
006626,001157: 06,3041           45025                 -3        CS       BIT2                                  
006627,001158: 06,3042           00006                           EXTEND                                         
006628,001159: 06,3043           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
006629,001160: 
006630,001161: 06,3044           31101        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
006631,001162: 06,3045           00006                           EXTEND                                         
006632,001163: 06,3046           06030                           RXOR     CHAN30                                
006633,001164: 06,3047           75020                           MASK     BIT7                                  
006634,001165: 06,3050           00006                           EXTEND                                         
006635,001166: 06,3051           13076                           BZF      RRGIMON                               
006636,001167: 
006637,001168: 06,3052           35025                           CAF      BIT2                                  #  IF RR NOT IN AUTO MODE, DONT CHANGE BIT
006638,001169: 06,3053           71101                           MASK     RADMODES                              #  7 OF RADMODES. IF THIS WERE NOT DONE,
006639,001170: 06,3054           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
006640,001171: 06,3055           13127                           TCF      NORRGMON                              #  JUST READING LR DATA.
006641,001172: 
006642,001173: 06,3056           35020                           CAF      BIT7                                  #  SET BIT 7 OF RADMODES FOR SETTRKF.
006643,001174: 
006644,001175: 06,3057           23101                           LXCH     RADMODES                              #  UPDATE RADMODES.
006645,001176: 06,3060           00006                           EXTEND                                         
006646,001177: 06,3061           06001                           RXOR     L                                     
006647,001178: 06,3062           55101                           TS       RADMODES                              
006648,001179: 
006649,001180: 06,3063           31101                           CA       RADMODES                              #  DID RR CDU FAIL
006650,001181: 06,3064           75020                           MASK     BIT7                                  
006651,001182: 06,3065           10000                           CCS      A                                     
006652,001183: 06,3066           13075                           TCF      TRKFLCDU                              #  NO
006653,001184: 06,3067           40074                           CS       FLAGWRD0                              #  RNDVFLG  P20 OR P22 OPERATING
006654,001185: 06,3070           75020                           MASK     RNDVZBIT                              
006655,001186: 06,3071           10000                           CCS      A                                     
006656,001187: 06,3072           13075                           TCF      TRKFLCDU                              #  NO
006657,001188: 06,3073           05651                           TC       ALARM                                 #  YES
006658,001189: 06,3074           00515                           OCT      00515                                 
006659,001190: 06,3075           04601        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
006660,001191: 
006661,001192:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                   E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
006662,001193: 
006663,001194:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                  TTER IS INITIATED BY THIS MONITOR WHEN
006664,001195:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR.  INITIALLY THE FOLLOWING IS      ED TO DRIVE THE GIMBALS TO T = 0 AND
006665,001196:                                                                                                  #  CHECKED_  REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
006666,001197:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
006667,001198:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
006668,001199:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
006669,001200:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
006670,001201:                                                                                                  #  TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
006671,001202:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
006672,001203:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
006673,001204:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
006674,001205: 
006675,001206:                                                                                                  #  CALLING SEQUENCE_
006676,001207:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
006677,001208:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
006678,001209:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
006679,001210:                                                                                                  #  (RADMODES BIT 2).
006680,001211: 
006681,001212:                                                                                                  #  ERASABLE INITIALIZATION_   RADMODES
006682,001213: 
006683,001214:                                                                                                  #  SUBROUTINES CALLED_
006684,001215:                                                                                                  #  RRLIMCHK, WAITLIST
006685,001216: 
006686,001217:                                                                                                  #  JOBS OR TASKS INITIATED_
006687,001218:                                                                                                  #  DORREPOS
006688,001219: 
006689,001220:                                                                                                  #  ALARMS_
006690,001221:                                                                                                  #  NONE
006691,001222: 
006692,001223:                                                                                                  #  EXIT_
006693,001224:                                                                                                  #  NORRGMON
006694,001225: 
006695,001226: 06,3076           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
006696,001227: 06,3077           75023                           MASK     NORRMBIT                              
006697,001228: 06,3100           10000                           CCS      A                                     
006698,001229: 06,3101           13127                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
006699,001230: 06,3102           33124                           CAF      OCT32002                              #  INHIBIT BY REMODE,ZEROING,MONITOR.
006700,001231: 06,3103           71101                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
006701,001232: 06,3104           10000                           CCS      A                                     
006702,001233: 06,3105           13127                           TCF      NORRGMON                              
006703,001234: 
006704,001235: 06,3106           04540                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
006705,001236: 06,3107           00035                           ADRES    CDUT                                  
006706,001237: 
006707,001238: 06,3110           13112                           TCF      MONREPOS                              
006708,001239: 
006709,001240: 06,3111           13127                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
006710,001241: 
006711,001242: 06,3112           35014        MONREPOS           CAF      BIT11                                 #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
006712,001243: 06,3113           27101                           ADS      RADMODES                              
006713,001244: 
006714,001245: 06,3114           43125                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
006715,001246: 06,3115           00006                           EXTEND                                         
006716,001247: 06,3116           03012                           WAND     CHAN12                                
006717,001248: 
006718,001249: 06,3117           35025                           CAF      TWO                                   
006719,001250: 06,3120           05252                           TC       WAITLIST                              
006720,001251: 06,3121  E7,1433                                  EBANK=   LOSCOUNT                              
006721,001252: 06,3121           02120 52007                     2CADR    DORREPOS                              
006722,001253: 
006723,001254: 06,3123           13127                           TCF      NORRGMON                              
006724,001255: 
006725,001256: 06,3124           32002        OCT32002           OCT      32002                                 
006726,001257: 06,3125           20002        OCT20002           OCT      20002                                 
006727,001258: 06,3126           02100        OCT02100           OCT      02100                                 #  P20,P22 MASK BITS
006728,001259: 
006729,001260:                                                                                                  #  PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2  DATE: OCTOBER 27, 1966
006730,001261: 
006731,001262:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
006732,001263: 
006733,001264:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
006734,001265: 
006735,001266:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
006736,001267:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
006737,001268:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
006738,001269: 
006739,001270:                                                                                                  #  CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
006740,001271:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
006741,001272: 
006742,001273:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
006743,001274: 
006744,001275:                                                                                                  #  NORMAL EXIT MODE:  TCF   RESUME
006745,001276: 
006746,001277:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
006747,001278: 
006748,001279:                                                                                                  #  INPUT:  CDUX, CDUY, CDUZ.
006749,001280: 
006750,001281:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
006751,001282: 
006752,001283:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
006753,001284: 
006754,001285:                                                                                                  #     *       *    SIN(MG)        0         1       *
006755,001286:                                                                                                  #     M   =   *    COS(MG)COS(OG) SIN(OG)   0       *
006756,001287:                                                                                                  #      GP     *   -COS(MG)SIN(OG) COS(OG)   0       *
006757,001288: 
006758,001289:                                                                                                  #     *       *  0    COS(OG)/COS(MG)         -SIN(OG)/COS(MG)         *
006759,001290:                                                                                                  #     M   =   *  0    SIN(OG)                  COS(OG)                 *
006760,001291:                                                                                                  #      PG     *  1   -SIN(MG)COS(OG)/COS(MG)   SIN(MG)SIN(OG)/COS(MG)  *
006761,001292: 
006762,001293: 06,3127  E6,1412                                  EBANK=   M11                                   
006763,001294: 06,3127  06,3127               DAPT4S             EQUALS   GPMATRIX                              
006764,001295: 
006765,001296:                                                                                                  #  T4RUPT DAP LOGIC:
006766,001297: 
006767,001298: 06,3127           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
006768,001299: 06,3130           05103                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
006769,001300: 06,3131           55412                           TS       M11                                   #  SCALED AT 1
006770,001301: 
006771,001302: 06,3132           30034                           CAE      CDUZ                                  
006772,001303: 06,3133           05102                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
006773,001304: 06,3134           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
006774,001305: 
006775,001306: 06,3135           30032                           CAE      CDUX                                  
006776,001307: 06,3136           05103                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
006777,001308: 06,3137           55415                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
006778,001309: 
006779,001310: 06,3140           41415                           CS       M22                                   
006780,001311: 
006781,001312: 06,3141           00006                           EXTEND                                         
006782,001313: 06,3142           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
006783,001314: 06,3143           55414                           TS       M31                                   #  SCALED AT 1
006784,001315: 
006785,001316: 06,3144           30032                           CAE      CDUX                                  
006786,001317: 06,3145           05102                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
006787,001318: 06,3146           55416                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
006788,001319: 
006789,001320: 06,3147           00006                           EXTEND                                         
006790,001321: 06,3150           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
006791,001322: 06,3151           55413                           TS       M21                                   #  SCALED AT 1
006792,001323: 
006793,001324: 06,3152           05340                           TC       RESUME                                
006794,001325: 
006795,001326: 06,3153  06,3127               NORRGMON           EQUALS   DAPT4S                                
006796,001327: 06,3153     5340               ENDDAPT4           EQUALS   RESUME                                

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