Source Code

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

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

056896,000002:                                                                                                  ## Copyright:   Public domain.
056897,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
056898,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
056899,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
056900,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
056901,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
056902,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
056903,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
056904,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
056905,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
056906,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
056907,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
056908,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
056909,000015:                                                                                                  ## Reference:   pp. 1298-1326
056910,000016:                                                                                                  ## Assembler:   yaYUL
056911,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
056912,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
056913,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
056914,000020:                                                                                                  ##              2017-08-20 MAS  Updated for Zerlina 56.
056915,000021: 

Page 1298

056917,000023:    5470                                           BLOCK    02                                    
056918,000024:    4000                                           SETLOC   FFTAG3                                
056919,000025:    4000                                           BANK                                           
056920,000026: 
056921,000027:    5470  E3,1471                                  EBANK=   COMMAND                               
056922,000028: 
056923,000029:                                                                                                  #           FIXED-FIXED ROUTINES.
056924,000030: 
056925,000031:    5470                                           COUNT*   $$/IMODE                              
056926,000032:    5470           34755        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
056927,000033:    5471           54032                           TS       CDUX                                  
056928,000034:    5472           54033                           TS       CDUY                                  
056929,000035:    5473           54034                           TS       CDUZ                                  
056930,000036:    5474           00002                           TC       Q                                     
056931,000037: 
056932,000038:    5475     4743               SPSCODE            =        BIT9                                  
056933,000039: 

Page 1299

056935,000041:                                                                                                  #           IMU ZEROING ROUTINE.
056936,000042: 
056937,000043: 11,3755                                           BANK     11                                    
056938,000044: 07,2000                                           SETLOC   MODESW                                
056939,000045: 07,2000                                           BANK                                           
056940,000046: 
056941,000047: 07,2661                                           COUNT*   $$/IMODE                              
056942,000048: 07,2661           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
056943,000049: 07,2662           41035                           CS       DSPTAB     +11D                       #  DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
056944,000050: 07,2663           74771                           MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
056945,000051: 07,2664           10000                           CCS      A                                     
056946,000052: 07,2665           12671                           TCF      IMUZEROA                              
056947,000053: 
056948,000054: 07,2666           05600                           TC       ALARM                                 #  IF SO.
056949,000055: 07,2667           00206                           OCT      00206                                 
056950,000056: 
056951,000057: 07,2670           13656                           TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
056952,000058: 
056953,000059: 07,2671           03652        IMUZEROA           TC       CAGETSTJ                              
056954,000060:                                                                                                  #           DELETE
056955,000061: 07,2672           41300                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
056956,000062: 07,2673           74773                           MASK     SUPER011                              #      BIT5 FOR GROUND
056957,000063: 07,2674           27300                           ADS      IMODES33                              
056958,000064: 
056959,000065: 07,2675           41277                           CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
056960,000066: 07,2676           75752                           MASK     BITS3&4                               #  JUST CAME OUT OF COARSE ALIGN).
056961,000067: 07,2677           27277                           ADS      IMODES30                              
056962,000068: 
056963,000069: 07,2700           44771                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
056964,000070: 07,2701           00006                           EXTEND                                         #  COUNTER DISABLED.
056965,000071: 07,2702           03012                           WAND     CHAN12                                
056966,000072: 
056967,000073: 07,2703           03233                           TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
056968,000074: 
056969,000075: 07,2704           34747                           CAF      BIT5                                  
056970,000076: 07,2705           00006                           EXTEND                                         
056971,000077: 07,2706           05012                           WOR      CHAN12                                
056972,000078: 
056973,000079: 07,2707           05470                           TC       ZEROICDU                              
056974,000080: 07,2710           34746                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
056975,000081: 07,2711           05214                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
056976,000082: 07,2712  E3,1474                                  EBANK=   CDUIND                                
056977,000083: 07,2712           02724 16103                     2CADR    IMUZERO2                              
056978,000084: 
056979,000085: 
056980,000086: 07,2714           41277                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
056981,000087: 07,2715           74743                           MASK     BIT9                                  
056982,000088: 07,2716           10000                           CCS      A                                     
056983,000089: 07,2717           12722                           TCF      MODEEXIT                              

Page 1300

056985,000091: 07,2720           05600                           TC       ALARM                                 
056986,000092: 07,2721           00210                           OCT      210                                   
056987,000093: 
056988,000094: 07,2722           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
056989,000095: 07,2723           14631                           TCF      SWRETURN                              
056990,000096: 
056991,000097: 
056992,000098: 07,2724           03640        IMUZERO2           TC       CAGETEST                              
056993,000099: 07,2725           05470                           TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
056994,000100: 
056995,000101: 07,2726           44747                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
056996,000102: 07,2727           00006                           EXTEND                                         
056997,000103: 07,2730           03012                           WAND     CHAN12                                
056998,000104: 
056999,000105: 07,2731           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
057000,000106: 07,2732           05235                           TC       VARDELAY                              
057001,000107: 
057002,000108: 07,2733           03640        IMUZERO3           TC       CAGETEST                              
057003,000109: 07,2734           45752                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
057004,000110: 07,2735           71277                           MASK     IMODES30                              
057005,000111: 07,2736           55277                           TS       IMODES30                              
057006,000112: 
057007,000113: 07,2737           44773                           CS       SUPER011                              #  ENABLE DAP AUTO AND HOLD MODES
057008,000114: 07,2740           71300                           MASK     IMODES33                              #      BIT5 FOR GROUND
057009,000115: 07,2741           55300                           TS       IMODES33                              
057010,000116: 
057011,000117: 07,2742           04674                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
057012,000118: 07,2743           14703                           CADR     SETISSW                               #  PRESENT.
057013,000119: 
057014,000120: 07,2744           13613                           TCF      ENDIMU                                
057015,000121: 

Page 1301

057017,000123:                                                                                                  #           IMU COARSE ALIGN MODE.
057018,000124: 
057019,000125: 07,2745           00004        IMUCOARS           INHINT                                         
057020,000126: 07,2746           03652                           TC       CAGETSTJ                              
057021,000127: 07,2747           03111                           TC       SETCOARS                              
057022,000128: 
057023,000129: 07,2750           36254                           CAF      SIX                                   
057024,000130: 07,2751           05214                           TC       WAITLIST                              
057025,000131: 07,2752  E3,1474                                  EBANK=   CDUIND                                
057026,000132: 07,2752           02755 16103                     2CADR    COARS                                 
057027,000133: 
057028,000134: 
057029,000135: 07,2754           12722                           TCF      MODEEXIT                              
057030,000136: 
057031,000137: 07,2755           03640        COARS              TC       CAGETEST                              
057032,000138: 07,2756           34746                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
057033,000139: 07,2757           00006                           EXTEND                                         
057034,000140: 07,2760           05012                           WOR      CHAN12                                
057035,000141: 
057036,000142: 07,2761           34752                           CAF      TWO                                   #  SET CDU INDICATOR
057037,000143: 07,2762           55474        COARS1             TS       CDUIND                                
057038,000144: 
057039,000145: 07,2763           51474                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
057040,000146: 07,2764           30321                           CA       THETAD                                #    COMPLEMENT FORM
057041,000147: 07,2765           00006                           EXTEND                                         
057042,000148: 07,2766           51474                           INDEX    CDUIND                                
057043,000149: 07,2767           20032                           MSU      CDUX                                  
057044,000150: 07,2770           00006                           EXTEND                                         
057045,000151: 07,2771           74737                           MP       BIT13                                 #  SHIFT RIGHT 2
057046,000152: 07,2772           56001                           XCH      L                                     #  ROUND
057047,000153: 07,2773           60000                           DOUBLE                                         
057048,000154: 07,2774           54061                           TS       ITEMP1                                
057049,000155: 07,2775           12777                           TCF      +2                                    
057050,000156: 07,2776           26001                           ADS      L                                     
057051,000157: 
057052,000158: 07,2777           51474                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
057053,000159: 07,3000           23471                           LXCH     COMMAND                               
057054,000160: 07,3001           11474                           CCS      CDUIND                                
057055,000161: 07,3002           02762                           TC       COARS1                                
057056,000162: 
057057,000163: 07,3003           34752                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
057058,000164: 07,3004           05235                           TC       VARDELAY                              
057059,000165: 

Page 1302

057061,000167: 07,3005           03640        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
057062,000168: 07,3006           54061                           TS       ITEMP1                                #  SETS TO +0.
057063,000169: 07,3007           34752                           CAF      TWO                                   #  SET CDU INDICATOR
057064,000170: 07,3010           55474                 +3        TS       CDUIND                                
057065,000171: 
057066,000172: 07,3011           51474                           INDEX    CDUIND                                
057067,000173: 07,3012           11471                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
057068,000174: 07,3013           03017                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
057069,000175: 07,3014           03026                           TC       NEXTCDU    +1                         
057070,000176: 07,3015           03064                           TC       COMNEG                                
057071,000177: 07,3016           03026                           TC       NEXTCDU    +1                         
057072,000178: 
057073,000179: 07,3017           63744        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
057074,000180: 07,3020           00006                           EXTEND                                         #    MINUS ONE
057075,000181: 07,3021           63074                           BZMF     COMZERO                               
057076,000182: 07,3022           51474                           INDEX    CDUIND                                
057077,000183: 07,3023           55471                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
057078,000184: 07,3024           43745                           CS       -COMMAX-                              #    ALLOWED
057079,000185: 
057080,000186: 07,3025           24061        NEXTCDU            INCR     ITEMP1                                
057081,000187: 07,3026           64754                           AD       NEG0                                  
057082,000188: 07,3027           51474                           INDEX    CDUIND                                
057083,000189: 07,3030           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
057084,000190: 
057085,000191: 07,3031           11474                           CCS      CDUIND                                
057086,000192: 07,3032           03010                           TC       COARS2     +3                         
057087,000193: 
057088,000194: 07,3033           10061                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
057089,000195: 07,3034           13100                           TCF      SENDPULS                              
057090,000196: 
057091,000197: 07,3035           05232                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
057092,000198: 07,3036           00226                           DEC      150        B-14                       
057093,000199: 
057094,000200: 
057095,000201: 07,3037           34752                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
057096,000202: 07,3040           54061        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
057097,000203: 07,3041           50000                           INDEX    A                                     
057098,000204: 07,3042           30032                           CA       CDUX                                  
057099,000205: 07,3043           00006                           EXTEND                                         
057100,000206: 07,3044           50061                           INDEX    ITEMP1                                
057101,000207: 07,3045           20321                           MSU      THETAD                                
057102,000208: 07,3046           10000                           CCS      A                                     
057103,000209: 07,3047           13055                           TCF      COARSERR                              
057104,000210: 07,3050           13052                           TCF      CORSCHK2                              
057105,000211: 07,3051           13055                           TCF      COARSERR                              
057106,000212: 

Page 1303

057108,000214: 07,3052           10061        CORSCHK2           CCS      ITEMP1                                
057109,000215: 07,3053           13040                           TCF      CHKCORS                               
057110,000216: 07,3054           13613                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
057111,000217: 
057112,000218: 07,3055           63063        COARSERR           AD       COARSTOL                              #  2 DEGREES.
057113,000219: 07,3056           00006                           EXTEND                                         
057114,000220: 07,3057           63052                           BZMF     CORSCHK2                              
057115,000221: 
057116,000222: 07,3060           05600                           TC       ALARM                                 #  COARSE ALIGN ERROR.
057117,000223: 07,3061           00211                           OCT      211                                   
057118,000224: 
057119,000225: 07,3062           13636                           TCF      IMUBAD                                
057120,000226: 
057121,000227: 07,3063           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
057122,000228: 
057123,000229: 
057124,000230: 07,3064           63744        COMNEG             AD       -COMMAX                               
057125,000231: 07,3065           00006                           EXTEND                                         
057126,000232: 07,3066           63074                           BZMF     COMZERO                               
057127,000233: 07,3067           40000                           COM                                            
057128,000234: 07,3070           51474                           INDEX    CDUIND                                
057129,000235: 07,3071           55471                           TS       COMMAND                               
057130,000236: 07,3072           33745                           CA       -COMMAX-                              
057131,000237: 07,3073           03025                           TC       NEXTCDU                               
057132,000238: 
057133,000239: 07,3074           34755        COMZERO            CAF      ZERO                                  
057134,000240: 07,3075           51474                           INDEX    CDUIND                                
057135,000241: 07,3076           57471                           XCH      COMMAND                               
057136,000242: 07,3077           03025                           TC       NEXTCDU                               
057137,000243: 
057138,000244: 
057139,000245: 07,3100           37752        SENDPULS           CAF      13,14,15                              
057140,000246: 07,3101           00006                           EXTEND                                         
057141,000247: 07,3102           05014                           WOR      CHAN14                                
057142,000248: 07,3103           33746                           CAF      600MS                                 
057143,000249: 07,3104           13004                           TCF      COARS2     -1                         #  THEN TO VARDELAY
057144,000250: 
057145,000251: 
057146,000252: 07,3105           34746        CA+ECE             CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
057147,000253: 07,3106           00006                           EXTEND                                         
057148,000254: 07,3107           05012                           WOR      CHAN12                                
057149,000255: 07,3110           05272                           TC       TASKOVER                              
057150,000256: 

Page 1304

057152,000258: 07,3111           34750        SETCOARS           CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
057153,000259: 07,3112           00006                           EXTEND                                         
057154,000260: 07,3113           02012                           RAND     CHAN12                                
057155,000261: 07,3114           10000                           CCS      A                                     
057156,000262: 07,3115           00002                           TC       Q                                     
057157,000263: 
057158,000264: 07,3116           44746                           CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
057159,000265: 07,3117           00006                           EXTEND                                         
057160,000266: 07,3120           03012                           WAND     CHAN12                                
057161,000267: 
057162,000268: 07,3121           44742                           CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
057163,000269: 07,3122           00006                           EXTEND                                         
057164,000270: 07,3123           03014                           WAND     CHAN14                                
057165,000271: 07,3124           44755                           CS       ZERO                                  
057166,000272: 07,3125           54047                           TS       GYROCMD                               
057167,000273: 
057168,000274: 07,3126           34750                           CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
057169,000275: 07,3127           00006                           EXTEND                                         
057170,000276: 07,3130           05012                           WOR      CHAN12                                
057171,000277: 
057172,000278: 07,3131           41035                           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
057173,000279: 07,3132           73154                           MASK     OCT40010                              
057174,000280: 07,3133           27035                           ADS      DSPTAB     +11D                       
057175,000281: 
057176,000282: 07,3134           41300                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
057177,000283: 07,3135           74746                           MASK     BIT6                                  
057178,000284: 07,3136           27300                           ADS      IMODES33                              
057179,000285: 
057180,000286: 07,3137           41277                           CS       IMODES30                              #  DISABLE IMUFAIL
057181,000287: 07,3140           74750                           MASK     BIT4                                  
057182,000288: 07,3141           27277                           ADS      IMODES30                              
057183,000289: 
057184,000290: 07,3142           44747        RNDREFDR           CS       TRACKBIT                              #  CLEAR TRACK FLAG
057185,000291: 07,3143           70075                           MASK     FLAGWRD1                              
057186,000292: 07,3144           54075                           TS       FLAGWRD1                              
057187,000293: 
057188,000294: 07,3145           44735                           CS       DRFTBIT                               #  CLEAR DRIFT FLAG
057189,000295: 07,3146           70076                           MASK     FLAGWRD2                              
057190,000296: 07,3147           54076                           TS       FLAGWRD2                              
057191,000297: 
057192,000298: 07,3150           44737                           CS       REFSMBIT                              #  CLEAR REFSMMAT FLAG
057193,000299: 07,3151           70077                           MASK     FLAGWRD3                              
057194,000300: 07,3152           54077                           TS       FLAGWRD3                              
057195,000301: 
057196,000302: 07,3153           00002                           TC       Q                                     
057197,000303: 
057198,000304: 07,3154           40010        OCT40010           OCT      40010                                 
057199,000305: 

Page 1305

057201,000307:                                                                                                  #           IMU FINE ALIGN MODE SWITCH.
057202,000308: 
057203,000309: 07,3155           00004        IMUFINE            INHINT                                         
057204,000310: 07,3156           03652                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
057205,000311: 
057206,000312: 07,3157           43743                           CS       BITS4-5                               #  RESET ZERO AND COARSE
057207,000313: 07,3160           00006                           EXTEND                                         
057208,000314: 07,3161           03012                           WAND     CHAN12                                
057209,000315: 
057210,000316: 07,3162           44746                           CS       BIT6                                  #  INSURE DAP AUTO AND HOLD MODES ENABLED
057211,000317: 07,3163           71300                           MASK     IMODES33                              
057212,000318: 07,3164           55300                           TS       IMODES33                              
057213,000319: 
057214,000320: 07,3165           03233                           TC       NOATTOFF                              
057215,000321: 
057216,000322: 07,3166           34742                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
057217,000323: 07,3167           05214                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
057218,000324: 07,3170  E3,1474                                  EBANK=   CDUIND                                
057219,000325: 07,3170           03201 16103                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
057220,000326: 
057221,000327: 
057222,000328: 07,3172           35000                           CAF      2SECS                                 
057223,000329: 07,3173           05214                           TC       WAITLIST                              
057224,000330: 07,3174  E3,1474                                  EBANK=   CDUIND                                
057225,000331: 07,3174           03177 16103                     2CADR    IMUFINED                              
057226,000332: 
057227,000333: 
057228,000334: 07,3176           12722                           TCF      MODEEXIT                              
057229,000335: 
057230,000336: 07,3177           03640        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
057231,000337: 07,3200           13613                           TCF      ENDIMU                                
057232,000338: 

Page 1306

057234,000340: 07,3201           03645        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FIAL UNLESS IMU BEING CAGED.
057235,000341: 07,3202           15272                           TCF      TASKOVER                              #  IT IS.
057236,000342: 
057237,000343: 07,3203           34750                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
057238,000344: 07,3204           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
057239,000345: 07,3205           02012                           RAND     CHAN12                                
057240,000346: 07,3206           10000                           CCS      A                                     
057241,000347: 07,3207           15272                           TCF      TASKOVER                              
057242,000348: 
057243,000349: 07,3210           41277                           CS       IMODES30                              #  RESET IMUFAIL.
057244,000350: 07,3211           74737                           MASK     BIT13                                 
057245,000351: 07,3212           27277                           ADS      IMODES30                              
057246,000352: 07,3213           44750                           CS       BIT4                                  
057247,000353: 07,3214           71277        PFAILOK2           MASK     IMODES30                              
057248,000354: 07,3215           55277                           TS       IMODES30                              
057249,000355: 07,3216           04674                           TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
057250,000356: 07,3217           14703                           CADR     SETISSW                               #  THAT THE INHIBIT HAS BEEN REMOVED.
057251,000357: 07,3220           15272                           TCF      TASKOVER                              
057252,000358: 
057253,000359: 07,3221           03645        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
057254,000360: 07,3222           15272                           TCF      TASKOVER                              
057255,000361: 
057256,000362: 07,3223           41277                           CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
057257,000363: 07,3224           74742                           MASK     BIT10                                 
057258,000364: 07,3225           27277                           ADS      IMODES30                              
057259,000365: 
057260,000366: 07,3226           41300                           CS       IMODES33                              
057261,000367: 07,3227           74737                           MASK     BIT13                                 
057262,000368: 07,3230           27300                           ADS      IMODES33                              
057263,000369: 
057264,000370: 07,3231           44747                           CS       BIT5                                  
057265,000371: 07,3232           13214                           TCF      PFAILOK2                              
057266,000372: 
057267,000373: 07,3233           43154        NOATTOFF           CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
057268,000374: 07,3234           71035                           MASK     DSPTAB     +11D                       
057269,000375: 07,3235           64735                           AD       BIT15                                 
057270,000376: 07,3236           55035                           TS       DSPTAB     +11D                       
057271,000377: 07,3237           00002                           TC       Q                                     
057272,000378: 

Page 1307

057274,000380:                                                                                                  #           ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
057275,000381: 
057276,000382: 07,3240           44755        PIPUSE             CS       ZERO                                  
057277,000383: 07,3241           54037                           TS       PIPAX                                 
057278,000384: 07,3242           54040                           TS       PIPAY                                 
057279,000385: 07,3243           54041                           TS       PIPAZ                                 
057280,000386: 
057281,000387: 07,3244           03645        PIPUSE1            TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
057282,000388: 07,3245           14631                           TCF      SWRETURN                              
057283,000389: 
057284,000390: 07,3246           00004                           INHINT                                         
057285,000391: 07,3247           44753                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
057286,000392: 07,3250           71277                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
057287,000393: 07,3251           55277                           TS       IMODES30                              
057288,000394: 
057289,000395: 07,3252           04674        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
057290,000396: 07,3253           14703                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
057291,000397: 
057292,000398: 07,3254           12722                           TCF      MODEEXIT                              
057293,000399: 
057294,000400: 07,3255           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
057295,000401: 07,3256           41277                           CS       IMODES30                              #  ISS WARNING.
057296,000402: 07,3257           74753                           MASK     BIT1                                  
057297,000403: 07,3260           27277                           ADS      IMODES30                              
057298,000404: 
057299,000405: 07,3261           74742                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
057300,000406: 07,3262           10000                           CCS      A                                     #  ISS WARNING.
057301,000407: 07,3263           12722                           TCF      MODEEXIT                              
057302,000408: 
057303,000409: 07,3264           05600                           TC       ALARM                                 
057304,000410: 07,3265           00212                           OCT      212                                   
057305,000411: 
057306,000412: 07,3266           00004                           INHINT                                         
057307,000413: 
057308,000414: 07,3267           13252                           TCF      PIPFREE2                              
057309,000415: 

Page 1308

057311,000417:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
057312,000418:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
057313,000419:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
057314,000420: 
057315,000421: 07,3270  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
057316,000422: 
057317,000423: 07,3270           54161        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
057318,000424: 07,3271           03652                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
057319,000425: 
057320,000426: 07,3272           11311                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
057321,000427: 07,3273           03334                           TC       GYROBUSY                              #  SLEEP.
057322,000428: 
057323,000429: 07,3274           54156                           TS       MPAC       +2                         
057324,000430: 07,3275           34746                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
057325,000431: 07,3276           00006                           EXTEND                                         
057326,000432: 07,3277           05014                           WOR      CHAN14                                
057327,000433: 
057328,000434: 07,3300           34751                           CAF      FOUR                                  
057329,000435: 07,3301           05214        GWAKE2             TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
057330,000436: 07,3302  E3,1474                                  EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
057331,000437: 07,3302           03352 16103                     2CADR    STRTGYRO                              
057332,000438: 
057333,000439: 
057334,000440: 07,3304           30161                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
057335,000441: 07,3305           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
057336,000442: 07,3306           56161                           XCH      MPAC       +5                         
057337,000443: 07,3307           55311                           TS       LGYRO                                 #  RESERVES GYROS.
057338,000444: 07,3310           74357                           MASK     LOW8                                  
057339,000445: 07,3311           54061                           TS       ITEMP1                                
057340,000446: 
057341,000447: 07,3312           34752                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
057342,000448: 07,3313           54157        GYROAGRE           TS       MPAC       +3                         
057343,000449: 07,3314           60000                           DOUBLE                                         
057344,000450: 07,3315           60061                           AD       ITEMP1                                
057345,000451: 07,3316           54160                           TS       MPAC       +4                         
057346,000452: 07,3317           00006                           EXTEND                                         
057347,000453: 07,3320           50000                           INDEX    A                                     
057348,000454: 07,3321           31401                           DCA      1400                                  
057349,000455: 07,3322           52155                           DXCH     MPAC                                  
057350,000456: 07,3323           07271                           TC       TPAGREE                               
057351,000457: 07,3324           52155                           DXCH     MPAC                                  
057352,000458: 07,3325           50160                           INDEX    MPAC       +4                         
057353,000459: 07,3326           53401                           DXCH     1400                                  
057354,000460: 
057355,000461: 07,3327           10157                           CCS      MPAC       +3                         
057356,000462: 07,3330           13313                           TCF      GYROAGRE                              
057357,000463: 
057358,000464: 07,3331           30161                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
057359,000465: 07,3332           54003                           TS       EBANK                                 
057360,000466: 07,3333           12722                           TCF      MODEEXIT                              
057361,000467: 

Page 1309

057363,000469:                                                                                                  #           ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
057364,000470: 
057365,000471: 07,3334           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
057366,000472: 07,3335           30134                           DCA      BUF2                                  
057367,000473: 07,3336           52155                           DXCH     MPAC                                  
057368,000474: 07,3337           33351        REGSLEEP           CAF      LGWAKE                                
057369,000475: 07,3340           15133                           TCF      JOBSLEEP                              
057370,000476: 
057371,000477: 07,3341           11311        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
057372,000478: 07,3342           13337                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
057373,000479: 
057374,000480: 07,3343           54156                           TS       MPAC       +2                         
057375,000481: 07,3344           00006                           EXTEND                                         
057376,000482: 07,3345           30155                           DCA      MPAC                                  
057377,000483: 07,3346           52134                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
057378,000484: 07,3347           34753                           CAF      ONE                                   
057379,000485: 07,3350           13301                           TCF      GWAKE2                                
057380,000486: 
057381,000487: 07,3351           17341        LGWAKE             CADR     GWAKE                                 
057382,000488: 

Page 1310

057384,000490:                                                                                                  #           GYRO-TORQUING WAITLIST TASKS.
057385,000491: 
057386,000492: 07,3352           43610        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
057387,000493: 07,3353           00006                           EXTEND                                         
057388,000494: 07,3354           03014                           WAND     CHAN14                                
057389,000495: 
057390,000496: 07,3355           03626                           TC       CAGETSTG                              
057391,000497: 
057392,000498: 07,3356           31311        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
057393,000499: 07,3357           00006                           EXTEND                                         
057394,000500: 07,3360           74750                           MP       BIT4                                  
057395,000501: 07,3361           50000                           INDEX    A                                     
057396,000502: 07,3362           13363                           TCF      +1                                    
057397,000503: 07,3363           03400                           TC       GSELECT                               #  =0. DO Y GYRO.
057398,000504: 07,3364           00202                           OCT      00202                                 
057399,000505: 
057400,000506: 07,3365           03400                           TC       GSELECT                               #  =1. DO Z GYRO.
057401,000507: 07,3366           00302                           OCT      00302                                 
057402,000508: 
057403,000509: 07,3367           03376                           TC       GSELECT    -2                         #  =2. DO X GYRO.
057404,000510: 07,3370           00100                           OCT      00100                                 
057405,000511: 
057406,000512: 07,3371           34755                           CAF      ZERO                                  #  =3. DONE
057407,000513: 07,3372           55311                           TS       LGYRO                                 
057408,000514: 07,3373           33351                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
057409,000515: 07,3374           05137                           TC       JOBWAKE                               
057410,000516: 
057411,000517: 07,3375           13177        NORESET            TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY
057412,000518: 

Page 1311

057414,000520: 07,3376           44751                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
057415,000521: 07,3377           27311                           ADS      LGYRO                                 
057416,000522: 
057417,000523: 07,3400           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
057418,000524: 07,3401           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
057419,000525: 07,3402           54064                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
057420,000526: 07,3403           74757                           MASK     SEVEN                                 
057421,000527: 07,3404           64737                           AD       BIT13                                 
057422,000528: 07,3405           27311                           ADS      LGYRO                                 
057423,000529: 07,3406           54003                           TS       EBANK                                 
057424,000530: 07,3407           74357                           MASK     LOW8                                  
057425,000531: 07,3410           54061                           TS       ITEMP1                                
057426,000532: 
057427,000533: 07,3411           44757                           CS       SEVEN                                 
057428,000534: 07,3412           70064                           MASK     ITEMP4                                
057429,000535: 07,3413           54064                           TS       ITEMP4                                
057430,000536: 
057431,000537: 07,3414           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
057432,000538: 07,3415           50061                           INDEX    ITEMP1                                
057433,000539: 07,3416           31401                           DCA      1400                                  
057434,000540: 07,3417           52071                           DXCH     RUPTREG1                              
057435,000541: 
057436,000542: 07,3420           10070                           CCS      RUPTREG1                              
057437,000543: 07,3421           13434                           TCF      MAJ+                                  
057438,000544: 07,3422           13424                           TCF      +2                                    
057439,000545: 07,3423           13571                           TCF      MAJ-                                  
057440,000546: 
057441,000547: 07,3424           10071                           CCS      RUPTREG2                              
057442,000548: 07,3425           13431                           TCF      MIN+                                  
057443,000549: 07,3426           13356                           TCF      STRTGYR2                              
057444,000550: 07,3427           13566                           TCF      MIN-                                  
057445,000551: 07,3430           13356                           TCF      STRTGYR2                              
057446,000552: 

Page 1312

057448,000554: 07,3431           63465        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
057449,000555: 07,3432           00006                           EXTEND                                         #  16 GYRO PULSES.
057450,000556: 07,3433           63356                           BZMF     STRTGYR2                              
057451,000557: 
057452,000558: 07,3434           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
057453,000559: 07,3435           33612                           DCA      GYROFRAC                              
057454,000560: 07,3436           20071                           DAS      RUPTREG1                              
057455,000561: 
057456,000562: 07,3437           30064                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
057457,000563: 07,3440           00006                           EXTEND                                         
057458,000564: 07,3441           05014                           WOR      CHAN14                                
057459,000565: 
057460,000566: 07,3442           36106                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
057461,000567: 07,3443           70071                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
057462,000568: 07,3444           56071                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
057463,000569: 07,3445           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
057464,000570: 07,3446           74744                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
057465,000571: 07,3447           54062                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
057466,000572: 07,3450           30070                           CA       RUPTREG1                              
057467,000573: 07,3451           00006                           EXTEND                                         
057468,000574: 07,3452           74743                           MP       BIT9                                  
057469,000575: 07,3453           54070                           TS       RUPTREG1                              
057470,000576: 07,3454           30001                           CA       L                                     
057471,000577: 07,3455           00006                           EXTEND                                         
057472,000578: 07,3456           74736                           MP       BIT14                                 
057473,000579: 07,3457           26062                           ADS      ITEMP2                                #  INITIAL COMMAND.
057474,000580: 
057475,000581: 07,3460           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
057476,000582: 07,3461           30071                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
057477,000583: 07,3462           67761                           AD       MINUS1                                
057478,000584: 07,3463           10000                           CCS      A                                     
057479,000585: 07,3464           13532                           TCF      LONGGYRO                              
057480,000586: 07,3465           77601        -GYROMIN           OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
057481,000587: 07,3466           13472                           TCF      +4                                    
057482,000588: 
057483,000589: 07,3467           34736                           CAF      BIT14                                 
057484,000590: 07,3470           26062                           ADS      ITEMP2                                
057485,000591: 07,3471           34755                           CAF      ZERO                                  
057486,000592: 
057487,000593: 07,3472           50061                 +4        INDEX    ITEMP1                                
057488,000594: 07,3473           53401                           DXCH     1400                                  

Page 1313

057490,000596: 07,3474           30062                           CA       ITEMP2                                #  ENTIRE COMMAND.
057491,000597: 07,3475           54047        LASTSEG            TS       GYROCMD                               
057492,000598: 07,3476           03621                           TC       COARSTST                              
057493,000599: 
057494,000600: 07,3477           30047                           CA       GYROCMD                               
057495,000601: 07,3500           00006                           EXTEND                                         
057496,000602: 07,3501           74742                           MP       BIT10                                 #  WAITLIST DT
057497,000603: 07,3502           66257                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
057498,000604: 07,3503           05214                           TC       WAITLIST                              
057499,000605: 07,3504  E3,1474                                  EBANK=   CDUIND                                
057500,000606: 07,3504           03516 16103                     2CADR    TWOPULSE                              
057501,000607: 
057502,000608: 07,3506           03512        EXITGYRO           TC       GYROEXIT                              
057503,000609: 07,3507           15272                           TCF      TASKOVER                              
057504,000610: 07,3510           34752        OUTPULSE           CA       BIT2                                  
057505,000611: 07,3511           54047                           TS       GYROCMD                               
057506,000612: 07,3512           34742        GYROEXIT           CAF      BIT10                                 
057507,000613: 07,3513           00006                           EXTEND                                         
057508,000614: 07,3514           05014                           WOR      CHAN14                                
057509,000615: 07,3515           00002                           TC       Q                                     
057510,000616: 07,3516           44743        TWOPULSE           CS       BIT9                                  
057511,000617: 07,3517           00006                           EXTEND                                         
057512,000618: 07,3520           03014                           WAND     CHAN14                                
057513,000619: 07,3521           03510                           TC       OUTPULSE                              
057514,000620: 07,3522           34753                           CA       BIT1                                  
057515,000621: 07,3523           05204                           TC       TWIDDLE                               
057516,000622: 07,3524           03352                           ADRES    STRTGYRO                              
057517,000623: 07,3525           34743                           CA       BIT9                                  
057518,000624: 07,3526           00006                           EXTEND                                         
057519,000625: 07,3527           05014                           WOR      CHAN14                                
057520,000626: 07,3530           03510                           TC       OUTPULSE                              
057521,000627: 07,3531           15272                           TCF      TASKOVER                              
057522,000628: 07,3532           50061        LONGGYRO           INDEX    ITEMP1                                
057523,000629: 07,3533           53401                           DXCH     1400                                  
057524,000630: 07,3534           34736                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
057525,000631: 07,3535           60062                           AD       ITEMP2                                
057526,000632: 07,3536           54047                           TS       GYROCMD                               
057527,000633: 
057528,000634: 07,3537           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
057529,000635: 07,3540           74742                           MP       BIT10                                 #  ALMOST OUT.
057530,000636: 07,3541           67757                           AD       NEG3                                  
057531,000637: 07,3542           05214                           TC       WAITLIST                              
057532,000638: 07,3543  E3,1474                                  EBANK=   CDUIND                                
057533,000639: 07,3543           03546 16103                     2CADR    8192AUG                               
057534,000640: 
057535,000641: 07,3545           13506                           TCF      EXITGYRO                              
057536,000642: 07,3546           03621        8192AUG            TC       COARSTST                              
057537,000643: 
057538,000644: 07,3547           31311                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
057539,000645: 07,3550           54003                           TS       EBANK                                 

Page 1314

057541,000647: 07,3551           74357                           MASK     LOW8                                  
057542,000648: 07,3552           54061                           TS       ITEMP1                                
057543,000649: 
057544,000650: 07,3553           50061                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
057545,000651: 07,3554           11400                           CCS      1400                                  
057546,000652: 07,3555           13561                           TCF      AUG2                                  #  MORE TO COME.
057547,000653: 
057548,000654: 07,3556           34736                           CAF      BIT14                                 
057549,000655: 07,3557           26047                           ADS      GYROCMD                               
057550,000656: 07,3560           13476                           TCF      LASTSEG    +1                         
057551,000657: 
057552,000658: 07,3561           50061        AUG2               INDEX    ITEMP1                                
057553,000659: 07,3562           55400                           TS       1400                                  
057554,000660: 07,3563           34736                           CAF      BIT14                                 
057555,000661: 07,3564           26047                           ADS      GYROCMD                               
057556,000662: 07,3565           13537                           TCF      AUG3                                  #  COMPUTE DT.
057557,000663: 

Page 1315

057559,000665: 07,3566           63465        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
057560,000666: 07,3567           00006                           EXTEND                                         
057561,000667: 07,3570           63356                           BZMF     STRTGYR2                              
057562,000668: 
057563,000669: 07,3571           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
057564,000670: 07,3572           43612                           DCS      GYROFRAC                              
057565,000671: 07,3573           20071                           DAS      RUPTREG1                              
057566,000672: 
057567,000673: 07,3574           30064                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
057568,000674: 07,3575           64743                           AD       BIT9                                  
057569,000675: 07,3576           00006                           EXTEND                                         
057570,000676: 07,3577           05014                           WOR      CHAN14                                
057571,000677: 
057572,000678: 07,3600           40070                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
057573,000679: 07,3601           54070                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
057574,000680: 07,3602           40071                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
057575,000681: 07,3603           76106                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
057576,000682: 07,3604           40000                           COM                                            
057577,000683: 07,3605           56071                           XCH      RUPTREG2                              
057578,000684: 07,3606           40000                           COM                                            
057579,000685: 07,3607           13445                           TCF      GMERGE                                
057580,000686: 
057581,000687: 07,3610           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
057582,000688: 
057583,000689: 07,3611           00000 00034  GYROFRAC           2DEC     .215       B-21                       
057584,000690: 

Page 1316

057586,000692:                                                                                                  #           IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
057587,000693: 
057588,000694: 07,3613           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
057589,000695: 07,3614           00011                           READ     DSALMOUT                              #  ISS WARNING IS ON.
057590,000696: 07,3615           74753                           MASK     BIT1                                  
057591,000697: 07,3616           10000                           CCS      A                                     
057592,000698: 07,3617           13636                           TCF      IMUBAD                                
057593,000699: 
057594,000700: 07,3620           13664        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
057595,000701: 
057596,000702: 07,3621           34750        COARSTST           CAF      BIT4                                  
057597,000703: 07,3622           00006                           EXTEND                                         
057598,000704: 07,3623           02012                           RAND     CHAN12                                
057599,000705: 07,3624           10000                           CCS      A                                     
057600,000706: 07,3625           13632                           TCF      DONTPULS                              
057601,000707: 
057602,000708: 07,3626           41277        CAGETSTG           CS       IMODES30                              
057603,000709: 07,3627           74746                           MASK     BIT6                                  
057604,000710: 07,3630           10000                           CCS      A                                     
057605,000711: 07,3631           00002                           TC       Q                                     
057606,000712: 
057607,000713: 07,3632           34755        DONTPULS           CAF      ZERO                                  
057608,000714: 07,3633           55311                           TS       LGYRO                                 
057609,000715: 
057610,000716: 07,3634           33351                           CAF      LGWAKE                                
057611,000717: 07,3635           05137                           TC       JOBWAKE                               
057612,000718: 
057613,000719: 07,3636           34755        IMUBAD             CAF      ZERO                                  
057614,000720: 07,3637           13661                           TCF      BADEND                                
057615,000721: 
057616,000722: 07,3640           34746        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
057617,000723: 07,3641           71277                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
057618,000724: 07,3642           10000                           CCS      A                                     
057619,000725: 07,3643           13636                           TCF      IMUBAD                                #  DIRECTLY.
057620,000726: 07,3644           00002                           TC       Q                                     #  WITH C(A) = +0.
057621,000727: 
057622,000728: 07,3645           41277        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
057623,000729: 07,3646           74746                           MASK     BIT6                                  
057624,000730: 07,3647           10000                           CCS      A                                     
057625,000731: 07,3650           24002                           INCR     Q                                     
057626,000732: 07,3651           00002                           TC       Q                                     
057627,000733: 
057628,000734: 07,3652           41277        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION
057629,000735: 07,3653           74746                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
057630,000736: 07,3654           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
057631,000737: 07,3655           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
057632,000738: 
057633,000739: 07,3656           44755                           CS       ZERO                                  #  TO SWRETURN.
057634,000740: 07,3657           55301                           TS       IMUCADR                               
057635,000741: 07,3660           12722                           TCF      MODEEXIT                              
057636,000742: 

Page 1317

057638,000744:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
057639,000745:                                                                                                  #  OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
057640,000746: 
057641,000747: 07,3661           54071        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
057642,000748: 07,3662           44755                           CS       ZERO                                  #  FOR FAILURE.
057643,000749: 07,3663           13666                           TCF      GOODEND    +2                         
057644,000750: 
057645,000751: 07,3664           54071        GOODEND            TS       RUPTREG2                              
057646,000752: 07,3665           44753                           CS       ONE                                   #  FOR SUCCESS.
057647,000753: 
057648,000754: 07,3666           54072                           TS       RUPTREG3                              
057649,000755: 07,3667           50071                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
057650,000756: 07,3670           11301                           CCS      MODECADR                              
057651,000757: 07,3671           13675                           TCF      +4                                    #  YES - WAKE IT UP.
057652,000758: 07,3672           13705                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
057653,000759: 
057654,000760: 07,3673           00006                           EXTEND                                         
057655,000761: 07,3674           13706                           BZF      ENDMODE    +1                         #  BZF = TCF IF MODECADR = -0.
057656,000762: 
057657,000763: 07,3675           34755                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
057658,000764: 07,3676           50071                           INDEX    RUPTREG2                              
057659,000765: 07,3677           57301                           XCH      MODECADR                              
057660,000766: 07,3700           05137                           TC       JOBWAKE                               
057661,000767: 
057662,000768: 07,3701           40072                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
057663,000769: 07,3702           50064                           INDEX    LOCCTR                                
057664,000770: 07,3703           26164                           ADS      LOC                                   
057665,000771: 
057666,000772: 07,3704           15272                           TCF      TASKOVER                              
057667,000773: 
057668,000774: 07,3705           30072        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
057669,000775: 07,3706           50071                 +1        INDEX    RUPTREG2                              #  UNSUCCESSFUL: -1 INDICATES COMPLETE AND
057670,000776: 07,3707           55301                           TS       MODECADR                              #  SUCCESSFUL.
057671,000777: 07,3710           15272                           TCF      TASKOVER                              
057672,000778: 

Page 1318

057674,000780:                                                                                                  #           GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
057675,000781: 
057676,000782:                                                                                                  #  PROGRAM DESCRIPTION                                    DATE- 21 FEB 1967
057677,000783:                                                                                                  #                                            LOG SECTION IMU MODE SWITCHING
057678,000784:                                                                                                  #  MOD BY- R.MELANSON TO ADD DOCUMENTATION       ASSEMBLY SUNDISK  REV.  82
057679,000785: 
057680,000786:                                                                                                  #  FUNCTIONAL DESCRIPTION-
057681,000787:                                                                                                  #    TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
057682,000788:                                                                                                  #    I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
057683,000789:                                                                                                  #    MODECADR ARE MADE AND ACTED UPON.
057684,000790:                                                                                                  #      1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
057685,000791:                                                                                                  #         SLEEP.
057686,000792:                                                                                                  #      2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
057687,000793:                                                                                                  #         CALL AND RETURNS TO CALLING ROUTINE AT L+3
057688,000794:                                                                                                  #      3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
057689,000795:                                                                                                  #         AND RETURNS TO CALLING ROUTINE AT L+2.
057690,000796:                                                                                                  #      4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
057691,000797:                                                                                                  #         SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
057692,000798:                                                                                                  #         RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
057693,000799: 
057694,000800:                                                                                                  #   CALLING SEQUENCE-
057695,000801:                                                                                                  #    L   TC   BANKCALL
057696,000802:                                                                                                  #    L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
057697,000803:                                                                                                  #              AOTSTALL,OR ATTSTALL)
057698,000804: 
057699,000805:                                                                                                  #   NORMAL-EXIT MODE-
057700,000806:                                                                                                  #    TCF   JOBSLEEP OR TCF  MODEXIT
057701,000807: 
057702,000808:                                                                                                  #  ALARM OR ABORT EXIT MODE-
057703,000809:                                                                                                  #    TC   ABORT
057704,000810: 
057705,000811:                                                                                                  #  OUTPUT-
057706,000812:                                                                                                  #    MODECADR= CADR IF JOBSLEEP
057707,000813:                                                                                                  #    MODECADR=+0    IF I/O COMPLETE
057708,000814:                                                                                                  #    BUF2=L+3       IF I/O COMPLETE AND GOOD.
057709,000815:                                                                                                  #    BUF2=L+2 IF I/O COMPLETE BUT FAILED.
057710,000816: 
057711,000817:                                                                                                  #  ERASABLE INITIALIZATION-
057712,000818:                                                                                                  #    BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
057713,000819:                                                                                                  #    BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
057714,000820:                                                                                                  #    MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR  CADR RETURN ADDRESS.
057715,000821: 
057716,000822:                                                                                                  #  DEBRIS-
057717,000823:                                                                                                  #    RUPTREG2 AND CALLING ROUTINE MODECADR.
057718,000824: 
057719,000825: 07,3711           34753        AOTSTALL           CAF      ONE                                   #  AOT.
057720,000826: 07,3712           03716                           TC       STALL                                 
057721,000827: 
057722,000828: 07,3713           34752        RADSTALL           CAF      TWO                                   
057723,000829: 07,3714           13716                           TCF      STALL                                 
057724,000830: 

Page 1319

057726,000832: 07,3715  07,3711               OPTSTALL           EQUALS   AOTSTALL                              
057727,000833: 
057728,000834: 07,3715           34755        IMUSTALL           CAF      ZERO                                  #  IMU.
057729,000835: 
057730,000836: 07,3716           00004        STALL              INHINT                                         
057731,000837: 07,3717           54071                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
057732,000838: 07,3720           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
057733,000839: 07,3721           11301                           CCS      MODECADR                              
057734,000840: 07,3722           13740                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
057735,000841: 07,3723           13734                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
057736,000842: 07,3724           13730                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
057737,000843: 
057738,000844: 07,3725           50071        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
057739,000845: 07,3726           55301                           TS       MODECADR                              #  RETURN TO CALLER.
057740,000846: 07,3727           12722                           TCF      MODEEXIT                              
057741,000847: 
057742,000848: 07,3730           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
057743,000849: 07,3731           13740                           TCF      MODABORT                              
057744,000850: 
057745,000851: 07,3732           24133                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
057746,000852: 07,3733           13725                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
057747,000853: 
057748,000854: 07,3734           04645        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
057749,000855: 07,3735           50071                           INDEX    RUPTREG2                              
057750,000856: 07,3736           55301                           TS       MODECADR                              
057751,000857: 07,3737           15133                           TCF      JOBSLEEP                              
057752,000858: 
057753,000859: 07,3740           52134        MODABORT           DXCH     BUF2                                  
057754,000860: 07,3741           05717                           TC       BAILOUT1                              #  TWO PROGRAMS USING THE SAME DEVICE.
057755,000861: 07,3742           31210                           OCT      31210                                 
057756,000862: 

Page 1320

057758,000864:                                                                                                  #           CONSTANTS FOR MODE SWITCHING ROUTINES
057759,000865: 
057760,000866: 07,3743     5752               BITS3&4            =        OCT14                                 
057761,000867: 07,3743     4771               BITS4&6            =        OCT50                                 
057762,000868: 07,3743           00030        BITS4-5            OCT      00030                                 
057763,000869: 07,3744     4744               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
057764,000870: 07,3744           77500        -COMMAX            DEC      -191       B-14                       
057765,000871: 07,3745           77477        -COMMAX-           DEC      -192       B-14                       
057766,000872: 07,3746           00074        600MS              DEC      60         B-14                       
057767,000873: 07,3747  07,3155               IMUFIN20           =        IMUFINE                               
057768,000874: 07,3747           31304        GOMANUR            CA       ATTCADR                               #  IS KALCMANU FREE
057769,000875: 07,3750           00006                           EXTEND                                         
057770,000876: 07,3751           13753                           BZF      +2                                    
057771,000877: 07,3752           03740                           TC       MODABORT                              #  BAILOUT
057772,000878: 07,3753           00006                 +2        EXTEND                                         
057773,000879: 07,3754           30134                           DCA      BUF2                                  
057774,000880: 07,3755           53305                           DXCH     ATTCADR                               #  SAVE FINAL RETURN FOR KALCMAN3
057775,000881: 
057776,000882: 07,3756           30006                           CA       BBANK                                 
057777,000883: 07,3757           74757                           MASK     SEVEN                                 
057778,000884: 07,3760           27305                           ADS      ATTCADR    +1                         
057779,000885: 
057780,000886: 07,3761           30167                           CA       PRIORITY                              
057781,000887: 07,3762           77737                           MASK     PRIO37                                
057782,000888: 07,3763           55306                           TS       ATTPRIO                               #  SAVE USERS PRIO
057783,000889: 
057784,000890: 07,3764           33770                           CAF      KALEBCON                              #  SET EBANK FOR KALCMAN3
057785,000891: 07,3765           54003                           TS       EBANK                                 
057786,000892: 07,3766           04635                           TC       POSTJUMP                              
057787,000893: 07,3767           44004                           CADR     KALCMAN3                              
057788,000894: 07,3770           03275        KALEBCON           ECADR    BCDU                                  
057789,000895: 

Page 1321

057791,000897:                                                                                                  #  PROGRAM DESCRIPTION
057792,000898:                                                                                                  #  IMU STATUS CHECK ROUTINE R02  (SUBROUTINE UTILITY)
057793,000899:                                                                                                  #  MOD NO - 1
057794,000900:                                                                                                  #  MOD BY - N.BRODEUR
057795,000901:                                                                                                  #  FUNCTIONAL DESCRIPTION
057796,000902: 
057797,000903:                                                                                                  #  TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
057798,000904:                                                                                                  #  ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
057799,000905:                                                                                                  #  PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
057800,000906:                                                                                                  #  CMC. CALLED THROUGH BANKCALL
057801,000907:                                                                                                  #  CALLING SEQUENCE-
057802,000908: 
057803,000909:                                                                                                  #  L        TC     BANKCALL
057804,000910:                                                                                                  #  L+1      CADR   R02BOTH
057805,000911:                                                                                                  #  SUBROUTINES CALLED
057806,000912: 
057807,000913:                                                                                                  #        VARALARM
057808,000914:                                                                                                  #        FLAGUP
057809,000915:                                                                                                  #  NORMAL EXIT MODES
057810,000916: 
057811,000917:                                                                                                  #  AT L+2 OF CALLING SEQUENCE
057812,000918:                                                                                                  #  ALARM OR ABORT EXIT MODES
057813,000919:                                                                                                  #        GOTOPOOH, WITH ALARM
057814,000920:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
057815,000921: 
057816,000922:                                                                                                  #  NONE
057817,000923:                                                                                                  #  DEBRIS
057818,000924: 
057819,000925:                                                                                                  #  CENTRALS-A,Q,L
057820,000926: 34,3774                                           BANK     34                                    
057821,000927: 04,2000                                           SETLOC   R02                                   
057822,000928: 04,2000                                           BANK                                           
057823,000929: 04,3240                                           COUNT*   $$/R02                                
057824,000930: 04,3240           00063        DEC51              DEC      51         B-14                       
057825,000931: 04,3241           34737        R02BOTH            CAF      REFSMBIT                              
057826,000932: 04,3242           70077                           MASK     FLAGWRD3                              
057827,000933: 04,3243           10000                           CCS      A                                     
057828,000934: 04,3244           03255                           TC       R02ZERO                               #  ZERO IMUS
057829,000935: 
057830,000936: 04,3245           31277                           CA       IMODES30                              
057831,000937: 04,3246           74743                           MASK     BIT9                                  #  IS ISS INITIALIZED
057832,000938: 04,3247           00006                           EXTEND                                         
057833,000939: 04,3250           13252                           BZF      +2                                    
057834,000940: 04,3251           44750                           CS       BIT4                                  #  SEND IMU ALARM CODE 210
057835,000941: 04,3252           63260                           AD       OCT220                                #  SEND REFSMM ALARM
057836,000942: 04,3253           05745                           TC       VARALARM                              
057837,000943: 
057838,000944: 04,3254           06001                           TC       GOTOPOOH                              
057839,000945: 
057840,000946: 04,3255           05515        R02ZERO            TC       UPFLAG                                

Page 1322

057842,000948: 04,3256           00007                           ADRES    IMUSE                                 
057843,000949: 04,3257           14631                           TCF      SWRETURN                              
057844,000950: 04,3260           00220        OCT220             OCT      220                                   
057845,000951: 

Page 1323

057847,000953:                                                                                                  #  PROGRAM DESCRIPTION   P06   10FEB67
057848,000954: 
057849,000955:                                                                                                  #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
057850,000956: 
057851,000957:                                                                                                  #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
057852,000958:                                                                                                  #  HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
057853,000959:                                                                                                  #  CMC  STANDBY ON THE MAIN AND LEB DISKYS IS ON.
057854,000960: 
057855,000961:                                                                                                  #  CALLING SEQUENCE:
057856,000962:                                                                                                  #           ASTRONAUT REQUEST THROUGH DSKY     V37E 06E.
057857,000963: 
057858,000964:                                                                                                  #  SUBROUTINES CALLED:
057859,000965:                                                                                                  #           GOPERF1
057860,000966:                                                                                                  #           BANKCALL
057861,000967:                                                                                                  #           FLAGDOWN
057862,000968: 

Page 1324

057864,000970:                                                                                                  #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
057865,000971:                                                                                                  #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
057866,000972:                                                                                                  #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
057867,000973: 
057868,000974: 37,2000                                           SETLOC   P05P06                                
057869,000975: 37,2000                                           BANK                                           
057870,000976: 
057871,000977: 37,3654     0314                                  EBANK=   TIME2SAV                              
057872,000978: 37,3654                                           COUNT*   $$/P06                                
057873,000979: 
057874,000980: 37,3654           05515        P06                TC       UPFLAG                                #  SET NODOV37 BIT
057875,000981: 37,3655           00054                           ADRES    NODOFLAG                              
057876,000982: 
057877,000983: 37,3656           00004        PRESTAND           INHINT                                         
057878,000984: 37,3657           00006                           EXTEND                                         
057879,000985: 37,3660           30025                           DCA      TIME2                                 #  SNAPSHOT TIME1TIME2
057880,000986: 37,3661           52315                           DXCH     TIME2SAV                              
057881,000987: 37,3662           03713                           TC       SCALPREP                              
057882,000988: 37,3663           03656                           TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
057883,000989: 37,3664           52155                           DXCH     MPAC                                  #  T1,T2 AND SCALER OK
057884,000990: 37,3665           52317                           DXCH     SCALSAVE                              #  STORE SCALER
057885,000991: 37,3666           00004                           INHINT                                         
057886,000992: 37,3667           04616                           TC       BANKCALL                              
057887,000993: 37,3670           17142                           CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
057888,000994: 
057889,000995: 37,3671           05527                           TC       DOWNFLAG                              
057890,000996: 37,3672           00007                           ADRES    IMUSE                                 #  IMUSE DOWN
057891,000997: 37,3673           05527                           TC       DOWNFLAG                              
057892,000998: 37,3674           00010                           ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
057893,000999: 
057894,001000: 37,3675           34741                           CAF      BIT11                                 
057895,001001: 37,3676           00006                           EXTEND                                         
057896,001002: 37,3677           05013                           WOR      CHAN13                                #  SET STANDBY ENABLE BIT
057897,001003: 
057898,001004: 37,3700           05364                           TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
057899,001005: 37,3701           07024                           OCT      07024                                 #    RECOVERS
057900,001006: 37,3702           20000                           OCT      20000                                 
057901,001007: 37,3703     0316                                  EBANK=   SCALSAVE                              
057902,001008: 37,3703           03733 76060                     2CADR    POSTAND                               
057903,001009: 
057904,001010: 37,3705           34774                           CAF      OCT62                                 
057905,001011: 37,3706           04616                           TC       BANKCALL                              
057906,001012: 37,3707           20624                           CADR     GOPERF1                               
057907,001013: 37,3710           13705                           TCF      -3                                    
057908,001014: 37,3711           13705                           TCF      -4                                    
057909,001015: 37,3712           13705                           TCF      -5                                    
057910,001016: 
057911,001017: 37,3713     4774               OCT62              EQUALS   .5SEC                                 #  DEC 50 = OCT 62
057912,001018: 
057913,001019:                                                                                                  #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A

Page 1325

057915,001021:                                                                                                  #  T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
057916,001022:                                                                                                  #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
057917,001023:                                                                                                  #  DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
057918,001024:                                                                                                  #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
057919,001025:                                                                                                  #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
057920,001026:                                                                                                  #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
057921,001027:                                                                                                  #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
057922,001028:                                                                                                  #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
057923,001029:                                                                                                  #  DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
057924,001030: 
057925,001031: 37,3713           00006        SCALPREP           EXTEND                                         
057926,001032: 37,3714           22156                           QXCH     MPAC       +2                         
057927,001033: 37,3715           04103                           TC       FINETIME   +1                         
057928,001034: 37,3716           00003                           RELINT                                         
057929,001035: 37,3717           52155                           DXCH     MPAC                                  
057930,001036: 37,3720           34747                           CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
057931,001037: 37,3721           54001                           TS       L                                     
057932,001038: 37,3722           34755                           CA       ZERO                                  
057933,001039: 37,3723           20155                           DAS      MPAC                                  
057934,001040: 37,3724           44346                           CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
057935,001041: 37,3725           70155                           MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
057936,001042: 37,3726           56155                           XCH      MPAC       +1                         
057937,001043: 37,3727           74346                           MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
057938,001044:                                                                                                  #  INTERVAL AFTER THE T1 INCREMENT
057939,001045:                                                                                                  #  (NOW = 00000, SINCE BIT 5 ADDED).
057940,001046: 37,3730           10000                           CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
057941,001047: 37,3731           24156                           INCR     MPAC       +2                         #  NO
057942,001048: 37,3732           00156                           TC       MPAC       +2                         #  YES
057943,001049: 
057944,001050:                                                                                                  #  POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
057945,001051:                                                                                                  #  TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
057946,001052:                                                                                                  #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
057947,001053:                                                                                                  #  CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
057948,001054:                                                                                                  #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
057949,001055:                                                                                                  #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
057950,001056: 
057951,001057: 37,3733                                           COUNT*   $$/P05                                
057952,001058: 
057953,001059: 37,3733           44741        POSTAND            CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
057954,001060: 37,3734           00006                           EXTEND                                         
057955,001061: 37,3735           03013                           WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
057956,001062: 37,3736           00004                           INHINT                                         
057957,001063: 37,3737           34755                           CA       ZERO                                  
057958,001064: 37,3740           54001                           TS       L                                     
057959,001065: 37,3741           52025                           DXCH     TIME2                                 #  CLEAR TIME1TIME2
057960,001066: 37,3742           03713                           TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
057961,001067: 37,3743           03736                           TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
057962,001068: 37,3744           00006                           EXTEND                                         #  T1,T2 AND SCALER OK
057963,001069: 37,3745           40317                           DCS      SCALSAVE                              
057964,001070: 37,3746           20155                           DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER

Page 1326

057966,001072: 37,3747           34742                           CAF      BIT10                                 #  MINUS PRESTANDBY SCALER AND SHIFT RIGHT
057967,001073: 37,3750           07321                           TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1TIME2.
057968,001074: 37,3751           34755                           CAF      ZERO                                  
057969,001075: 37,3752           54156                           TS       MPAC       +2                         #  NEEDED FOR TP AGREE
057970,001076: 37,3753           07271                           TC       TPAGREE                               #  MAKE DP DIFF AGREE
057971,001077: 37,3754           10154                           CCS      MPAC                                  
057972,001078: 37,3755           03762                           TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
057973,001079: 37,3756           03762                           TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
057974,001080: 37,3757           03760                           TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED. ADD
057975,001081: 37,3760           34742                           CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
057976,001082: 37,3761           26154                           ADS      MPAC                                  
057977,001083: 37,3762           00006        POSTCOM            EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
057978,001084: 37,3763           30315                           DCA      TIME2SAV                              #  PRESTANDBY TIME1TIME2
057979,001085: 37,3764           20155                           DAS      MPAC                                  
057980,001086: 37,3765           07271                           TC       TPAGREE                               #  FORCE SIGN AGREEMENT
057981,001087: 37,3766           52155                           DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
057982,001088: 37,3767           20025                           DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
057983,001089: 37,3770           05527                           TC       DOWNFLAG                              #  CLEAR NODOFLAG
057984,001090: 37,3771           00054                           ADRES    NODOFLAG                              
057985,001091: 
057986,001092: 37,3772           06001                           TC       GOTOPOOH                              

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