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.

007356,000002:                                                                                                  ## Copyright:   Public domain.
007357,000003:                                                                                                  ## Filename:    T4RUPT_PROGRAM.agc
007358,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
007359,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
007360,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
007361,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
007362,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
007363,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
007364,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
007365,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
007366,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
007367,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
007368,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
007369,000015:                                                                                                  ## Reference:   pp. 161-195
007370,000016:                                                                                                  ## Assembler:   yaYUL
007371,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
007372,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
007373,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
007374,000020:                                                                                                  ##              2017-08-18 RSB  Transcribed.
007375,000021: 

Page 161

007377,000023: 12,2000                                           BANK     12                                    
007378,000024: 06,2000                                           SETLOC   T4RUP                                 
007379,000025: 06,2000                                           BANK                                           
007380,000026: 
007381,000027: 06,2000  E6,1414                                  EBANK=   M11                                   
007382,000028: 06,2000                                           COUNT*   $$/T4RPT                              
007383,000029: 06,2000           54016        T4RUPT             TS       BANKRUPT                              
007384,000030: 
007385,000031: 06,2001           00006                           EXTEND                                         
007386,000032: 06,2002           22012                           QXCH     QRUPT                                 
007387,000033: 
007388,000034: 06,2003           11310                           CCS      DSRUPTSW                              #  GOES 7(-1)0 AROUND AND AROUND
007389,000035: 06,2004           12010                           TCF      NORMT4     +1                         
007390,000036: 06,2005           12007                           TCF      NORMT4                                
007391,000037: 
007392,000038: 06,2006           12134                           TCF      QUIKDSP                               
007393,000039: 
007394,000040: 06,2007           34757        NORMT4             CAF      SEVEN                                 
007395,000041: 06,2010           54070                           TS       RUPTREG1                              
007396,000042: 06,2011           55310                           TS       DSRUPTSW                              
007397,000043: 
007398,000044:    4066                                           BLOCK    02                                    
007399,000045:    4000                                           SETLOC   FFTAG10                               
007400,000046:    4000                                           BANK                                           
007401,000047: 
007402,000048:    4066                                           COUNT*   $$/T4RPT                              
007403,000049:    4066     7741               100MRUPT           =        OCT37766                              #  (DEC 16374)
007404,000050:                                                                                                  #  RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007405,000051:                                                                                                  #  IN LOWER 5 BITS.
007406,000052:    4066           04025        RELTAB             OCT      04025                                 
007407,000053:    4067           10003                           OCT      10003                                 
007408,000054:    4070           14031                           OCT      14031                                 
007409,000055:    4071           20033                           OCT      20033                                 
007410,000056:    4072           24017                           OCT      24017                                 
007411,000057:    4073           30036                           OCT      30036                                 
007412,000058:    4074           34034                           OCT      34034                                 
007413,000059:    4075           40023                           OCT      40023                                 
007414,000060:    4076           44035                           OCT      44035                                 
007415,000061:    4077           50037                           OCT      50037                                 
007416,000062:    4100           54000                           OCT      54000                                 
007417,000063:    4101           60000        RELTAB11           OCT      60000                                 
007418,000064: 

Page 162

007420,000066:                                                                                                  #           SWITCHED-BANK PORTION.
007421,000067: 
007422,000068: 12,2000                                           BANK     12                                    
007423,000069: 06,2000                                           SETLOC   T4RUP                                 
007424,000070: 06,2000                                           BANK                                           
007425,000071: 
007426,000072: 06,2012                                           COUNT*   $$/T4RPT                              
007427,000073: 06,2012           11035        CDRVE              CCS      DSPTAB     +11D                       
007428,000074: 06,2013           02063                           TC       DSPOUT                                
007429,000075: 06,2014           02063                           TC       DSPOUT                                
007430,000076: 
007431,000077: 06,2015           57035                           XCH      DSPTAB     +11D                       
007432,000078: 06,2016           74356                           MASK     LOW11                                 
007433,000079: 06,2017           55035                           TS       DSPTAB     +11D                       
007434,000080: 06,2020           64101                           AD       RELTAB11                              
007435,000081: 06,2021           00006                           EXTEND                                         
007436,000082: 06,2022           01010                           WRITE    OUT0                                  
007437,000083: 06,2023           02071                           TC       HANG20                                
007438,000084: 

Page 163

007440,000086:                                                                                                  #  DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007441,000087: 
007442,000088: 06,2024           55015        DSPOUTSB           TS       NOUT                                  
007443,000089: 06,2025           44755                           CS       ZERO                                  
007444,000090: 06,2026           54073                           TS       DSRUPTEM                              #  SET TO -0 FOR 1ST PASS THRU DSPTAB
007445,000091: 06,2027           56775                           XCH      DSPCNT                                
007446,000092: 06,2030           64754                           AD       NEG0                                  #  TO PREVENT +0
007447,000093: 06,2031           54775                           TS       DSPCNT                                
007448,000094: 06,2032           50775        DSPSCAN            INDEX    DSPCNT                                
007449,000095: 06,2033           11022                           CCS      DSPTAB                                
007450,000096: 06,2034           10775                           CCS      DSPCNT                                #  IF DSPTAB ENTRY +, SKIP
007451,000097: 06,2035           12030                           TCF      DSPSCAN    -2                         #  IF DSPCNT +, TRY AGAIN
007452,000098: 06,2036           12047                           TCF      DSPLAY                                #  IF DSPTAB ENTRY -, DISPLAY
007453,000099: 06,2037           00012        TABLNTH            OCT      12                                    #  DEC 10   LENGTH OF DSPTAB
007454,000100: 06,2040           10073                           CCS      DSRUPTEM                              #  IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007455,000101: 06,2041           37764        120MRUPT           DEC      16372      B-14                       #  (DSPCNT = 0). +0 INTO NOUT.
007456,000102: 06,2042           55015                           TS       NOUT                                  
007457,000103: 06,2043           00002                           TC       Q                                     
007458,000104: 06,2044           54073                           TS       DSRUPTEM                              #  IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007459,000105: 06,2045           32037                           CAF      TABLNTH                               #  (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007460,000106: 06,2046           12031                           TCF      DSPSCAN    -1                         
007461,000107: 
007462,000108: 06,2047           64753        DSPLAY             AD       ONE                                   
007463,000109: 06,2050           50775                           INDEX    DSPCNT                                
007464,000110: 06,2051           55022                           TS       DSPTAB                                #  REPLACE POSITIVELY
007465,000111: 06,2052           74356                           MASK     LOW11                                 #  REMOVE BITS 12 TO 15
007466,000112: 06,2053           54073                           TS       DSRUPTEM                              
007467,000113: 06,2054           34350                           CAF      HI5                                   
007468,000114: 06,2055           50775                           INDEX    DSPCNT                                
007469,000115: 06,2056           74066                           MASK     RELTAB                                #  PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007470,000116: 06,2057           60073                           AD       DSRUPTEM                              
007471,000117: 06,2060           00006                           EXTEND                                         
007472,000118: 06,2061           01010                           WRITE    OUT0                                  
007473,000119: 
007474,000120: 06,2062           16751                           TCF      Q+1                                   
007475,000121: 
007476,000122: 06,2063           10101        DSPOUT             CCS      FLAGWRD5                              #  IS DSKY FLAG ON
007477,000123: 06,2064           34755                           CAF      ZERO                                  #  NO
007478,000124: 06,2065           12130                           TCF      NODSPOUT                              #  NO
007479,000125: 06,2066           11015                           CCS      NOUT                                  #  YES
007480,000126: 06,2067           02024                           TC       DSPOUTSB                              
007481,000127: 06,2070           12130                           TCF      NODSPOUT                              #  NO DISPLAY REQUESTS
007482,000128: 
007483,000129: 06,2071           42171        HANG20             CS       14,11,9                               
007484,000130: 06,2072           27310                           ADS      DSRUPTSW                              
007485,000131: 
007486,000132: 06,2073           37743                           CAF      20MRUPT                               
007487,000133: 
007488,000134: 06,2074           54027        SETTIME4           TS       TIME4                                 
007489,000135: 

Page 164

007491,000137:                                                                                                  #  THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007492,000138:                                                                                                  #  THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007493,000139: 
007494,000140:                                                                                                  #     IF PREV ON AND NOW ON    -   BYPASS
007495,000141:                                                                                                  #     IF PREV ON AND NOW OFF   -   UPDATE IMODES33
007496,000142:                                                                                                  #     IF PREV OFF AND NOW ON   -   UPDATE IMODES33 AND PROCESS VIA PINBALL
007497,000143:                                                                                                  #     IF PREV OFF AND NOW OFF  -   BYPASS
007498,000144: 
007499,000145:                                                                                                  #  THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007500,000146: 
007501,000147: 
007502,000148: 06,2075           31300        PROCEEDE           CA       IMODES33                              #  MONITIOR FOR PROCEED BUTTON
007503,000149: 06,2076           00006                           EXTEND                                         
007504,000150: 06,2077           06032                           RXOR     CHAN32                                
007505,000151: 06,2100           74736                           MASK     BIT14                                 
007506,000152: 06,2101           00006                           EXTEND                                         
007507,000153: 06,2102           12116                           BZF      T4JUMP                                #  NO CHANGE
007508,000154: 
007509,000155: 06,2103           23300                           LXCH     IMODES33                              
007510,000156: 06,2104           00006                           EXTEND                                         
007511,000157: 06,2105           06001                           RXOR     LCHAN                                 
007512,000158: 06,2106           55300                           TS       IMODES33                              #  UPDATE IMODES33
007513,000159: 06,2107           74736                           MASK     BIT14                                 
007514,000160: 06,2110           10000                           CCS      A                                     
007515,000161: 06,2111           12116                           TCF      T4JUMP                                #  WAS ON - NOW OFF
007516,000162: 
007517,000163: 06,2112           34355                           CAF      CHRPRIO                               #  WAS OFF - NOW ON
007518,000164: 06,2113           05072                           TC       NOVAC                                 
007519,000165: 06,2114     0776                                  EBANK=   DSPCOUNT                              
007520,000166: 06,2114           03503 60101                     2CADR    PROCKEY                               
007521,000167: 

Page 165

007523,000169:                                                                                                  #           JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007524,000170: 
007525,000171: 06,2116           50070        T4JUMP             INDEX    RUPTREG1                              
007526,000172: 06,2117           12120                           TCF      +1                                    
007527,000173: 
007528,000174: 06,2120           03164                           TC       RCSMONIT                              
007529,000175: 06,2121           13006                           TCF      RRAUTCHK                              
007530,000176: 06,2122           12172                           TCF      IMUMON                                
007531,000177: 06,2123           13140                           TCF      DAPT4S                                
007532,000178: 06,2124           03164                           TC       RCSMONIT                              
007533,000179: 06,2125           13006                           TCF      RRAUTCHK                              
007534,000180: 06,2126           12172                           TCF      IMUMON                                
007535,000181: 06,2127           13140                           TCF      DAPT4S                                
007536,000182: 
007537,000183: 06,2130     7743               20MRUPT            =        OCT37776                              #  (DEC 16382)
007538,000184: 

Page 166

007540,000186:                                                                                                  #           ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007541,000187: 
007542,000188: 06,2130           00006        NODSPOUT           EXTEND                                         
007543,000189: 06,2131           01010                           WRITE    OUT0                                  
007544,000190: 
007545,000191: 06,2132           32041                           CAF      120MRUPT                              # SET FOR NEXT CDRIVE
007546,000192: 06,2133           12074                           TCF      SETTIME4                              
007547,000193: 
007548,000194: 06,2134           34736        QUIKDSP            CAF      BIT14                                 
007549,000195: 06,2135           71310                           MASK     DSRUPTSW                              
007550,000196: 06,2136           00006                           EXTEND                                         
007551,000197: 06,2137           12165                           BZF      QUIKOFF                               #  WROTE LAST TIME, NOW TURN OFF RELAYS.
007552,000198: 
007553,000199: 06,2140           11015                           CCS      NOUT                                  
007554,000200: 06,2141           02024                           TC       DSPOUTSB                              
007555,000201: 06,2142           12152                           TCF      NODSPY                                #  NOUT=0 OR BAD RETURN FROM DSPOUTSB
007556,000202: 06,2143           44736                           CS       BIT14                                 #  GOOD RETURN (WE DISPLAYED SOMETHING)
007557,000203: 06,2144           27310        QUIKRUPT           ADS      DSRUPTSW                              
007558,000204: 
007559,000205: 06,2145           37743                           CAF      20MRUPT                               
007560,000206: 06,2146           54027                           TS       TIME4                                 
007561,000207: 
007562,000208: 06,2147           34743                           CAF      BIT9                                  
007563,000209: 06,2150           27310                           ADS      DSRUPTSW                              
007564,000210: 
007565,000211: 06,2151           05301                           TC       RESUME                                
007566,000212: 
007567,000213: 06,2152           00006        NODSPY             EXTEND                                         
007568,000214: 06,2153           01010                           WRITE    OUT0                                  
007569,000215: 
007570,000216: 06,2154           37743        SYNCT4             CAF      20MRUPT                               
007571,000217: 06,2155           26027                           ADS      TIME4                                 
007572,000218: 
007573,000219: 06,2156           34743                           CAF      BIT9                                  
007574,000220: 06,2157           27310                           ADS      DSRUPTSW                              
007575,000221: 
007576,000222: 06,2160           11310                           CCS      DSRUPTSW                              
007577,000223: 06,2161           05301                           TC       RESUME                                
007578,000224: 06,2162           37737        OCT37737           OCT      37737                                 
007579,000225: 06,2163           02154                           TC       SYNCT4                                
007580,000226: 06,2164           05301                           TC       RESUME                                
007581,000227: 
007582,000228: 06,2165           00006        QUIKOFF            EXTEND                                         
007583,000229: 06,2166           01010                           WRITE    OUT0                                  
007584,000230: 06,2167           34736                           CAF      BIT14                                 #  RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007585,000231: 06,2170           12144                           TCF      QUIKRUPT                              
007586,000232: 
007587,000233: 06,2171           22400        14,11,9            OCT      22400                                 
007588,000234: 

Page 167

007590,000236:                                                                                                  #  PROGRAM NAME:  IMUMON
007591,000237: 
007592,000238:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS ENTERED EVERY 480 MS.  IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007593,000239:                                                                                                  #  CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES.  THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007594,000240: 
007595,000241:                                                                                                  #           FUNCTION               BIT    SUBROUTINE CALLED
007596,000242:                                                                                                  #           --------               ---    -----------------
007597,000243:                                                                                                  #           TEMP IN LIMITS          15    TLIM
007598,000244:                                                                                                  #           ISS TURN-ON REQUEST     14    ITURNON
007599,000245:                                                                                                  #           IMU FAIL                13    IMUFAIL (SETISSW)
007600,000246:                                                                                                  #           IMU CDU FAIL            12    ICDUFAIL (SETISSW)
007601,000247:                                                                                                  #           IMU CAGE                11    IMUCAGE
007602,000248:                                                                                                  #           IMU OPERATE              9    IMUOP
007603,000249: 
007604,000250:                                                                                                  #           THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30.  ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007605,000251:                                                                                                  #  VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007606,000252: 
007607,000253:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS.
007608,000254: 
007609,000255:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007610,000256: 
007611,000257:                                                                                                  #  SUBROUTINES CALLED:  TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007612,000258: 
007613,000259:                                                                                                  #  ERASABLE INITIALIZATION:
007614,000260:                                                                                                  #           FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007615,000261:                                                                                                  #           RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007616,000262:                                                                                                  #                                       THIS LEAVES IMU FAIL BITS INTACT.
007617,000263: 
007618,000264:                                                                                                  #  ALARMS:  NONE.
007619,000265: 
007620,000266:                                                                                                  #  EXIT:  TNONTEST.
007621,000267: 
007622,000268:                                                                                                  #  OUTPUT:  UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007623,000269: 
007624,000270: 06,2172           31277        IMUMON             CA       IMODES30                              #  SEE IF THERE HAS BEEN A CHANGE IN THE
007625,000271: 06,2173           00006                           EXTEND                                         #  RELEVANT BITS OF CHAN 30.
007626,000272: 06,2174           06030                           RXOR     CHAN30                                
007627,000273: 06,2175           72761                           MASK     30RDMSK                               
007628,000274: 06,2176           00006                           EXTEND                                         
007629,000275: 06,2177           12227                           BZF      TNONTEST                              #  NO CHANGE IN STATUS.
007630,000276: 
007631,000277: 06,2200           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
007632,000278: 06,2201           23277                           LXCH     IMODES30                              #  UPDATE IMODES30.
007633,000279: 06,2202           00006                           EXTEND                                         
007634,000280: 06,2203           06001                           RXOR     LCHAN                                 
007635,000281: 06,2204           55277                           TS       IMODES30                              
007636,000282: 
007637,000283: 06,2205           44753                           CS       ONE                                   
007638,000284: 06,2206           56070                           XCH      RUPTREG1                              
007639,000285: 06,2207           00006                           EXTEND                                         
007640,000286: 

Page 168

007642,000288: 06,2210           62514                           BZMF     TLIM                                  #  CHANGE IN IMU TEMP.
007643,000289: 06,2211           12213                           TCF      NXTIFBIT                              #  BEGIN BIT SCAN.
007644,000290: 
007645,000291: 06,2212           64753                 -1        AD       ONE                                   #  (RE-ENTERS HERE FROM NXTIFAIL.)
007646,000292: 06,2213           24070        NXTIFBIT           INCR     RUPTREG1                              #  ADVANCE BIT POSITION NUMBER.
007647,000293: 06,2214           60000                 +1        DOUBLE                                         
007648,000294: 06,2215           54000                           TS       A                                     #  SKIP IF OVERFLOW.
007649,000295: 06,2216           12213                           TCF      NXTIFBIT                              #  LOOK FOR BIT.
007650,000296: 
007651,000297: 06,2217           56071                           XCH      RUPTREG2                              #  SAVE OVERFLOW-CORRECTED DATA.
007652,000298: 06,2220           50070                           INDEX    RUPTREG1                              #  SELECT NEW VALUE OF THIS BIT.
007653,000299: 06,2221           34736                           CAF      BIT14                                 
007654,000300: 06,2222           71277                           MASK     IMODES30                              
007655,000301: 06,2223           50070                           INDEX    RUPTREG1                              
007656,000302: 06,2224           02755                           TC       IFAILJMP                              
007657,000303: 
007658,000304: 06,2225           10071        NXTIFAIL           CCS      RUPTREG2                              #  PROCESS ANY ADDITIONAL CHANGES.
007659,000305: 06,2226           12212                           TCF      NXTIFBIT   -1                         
007660,000306: 

Page 169

007662,000308:                                                                                                  #  PROGRAM NAME:  TNONTEST.
007663,000309: 
007664,000310:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION.  ISS TURN-ON (CHANNEL 30 BIT 14)
007665,000311:                                                                                                  #  AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007666,000312:                                                                                                  #  AFTER EITHER ONE APPEARS.  THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007667,000313: 
007668,000314:                                                                                                  #           1)  ISS TURN-ON:  IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON.  NOMINALLY,
007669,000315:                                                                                                  #           BOTH ISS TURN-ON AND ISS OPERATE APPEAR.  THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007670,000316:                                                                                                  #           SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007671,000317: 
007672,000318:                                                                                                  #           2)  ICDU INITIALIZATION:  IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007673,000319:                                                                                                  #           A FRESH START WAS DONE WITH THE ISS IN OPERATE.  IN THIS CASE ONLY ISS OPERATE IS ON.  THE ICDU'S ARE
007674,000320:                                                                                                  #           ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION.  AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007675,000321:                                                                                                  #           A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007676,000322: 
007677,000323:                                                                                                  #           3)  RESTART WITH RESTARTABLE PROGRAM USING THE IMU:  IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007678,000324:                                                                                                  #           IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007679,000325: 
007680,000326:                                                                                                  #  IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES.  FOLLOWING THIS. TNONTEST IS
007681,000327:                                                                                                  #  ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS.  THE NEXT TIME IT FINDS BIT 8 = 1 AND
007682,000328:                                                                                                  #  PROCEEDS, SETTING BITS 8 AND 7 = 0.  AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007683,000329:                                                                                                  #  COARSE).  IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED.  AT THE END OF A 90 SECOND CAGE, BIT 2
007684,000330:                                                                                                  #  OF IMODES30 IS TESTED.  IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS.  IN THAT CASE, IF
007685,000331:                                                                                                  #  THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007686,000332:                                                                                                  #  WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN.  IF THE DELAY
007687,000333:                                                                                                  #  WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED.  A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007688,000334:                                                                                                  #  INHIBIT BIT IN 10.24 SECONDS.  IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007689,000335: 
007690,000336:                                                                                                  #  AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007691,000337:                                                                                                  #  ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007692,000338: 
007693,000339:                                                                                                  #  CALLING SEQUENCE:  T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007694,000340: 
007695,000341:                                                                                                  #  JOBS OR TASKS INITIATED:  1) ENDTNON, 90 SECONDS AFTER CAGING STARTED.  2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007696,000342:                                                                                                  #           3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED.  4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007697,000343:                                                                                                  #           STARTED.
007698,000344: 
007699,000345:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007700,000346: 
007701,000347:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON.
007702,000348: 
007703,000349:                                                                                                  #  ALARMS:  PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007704,000350: 
007705,000351:                                                                                                  #  EXIT:  ENDTNON EXITS TO C33TEST.  TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS:  MISSION PROGRAM
007706,000352:                                                                                                  #  WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007707,000353:                                                                                                  #  IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007708,000354: 
007709,000355:                                                                                                  #  OUTPUT:  ISS INITIALIZED.
007710,000356: 
007711,000357: 06,2227           41277        TNONTEST           CS       IMODES30                              #  AFTER PROCESSING ALL CHANGES, SEE IF IT
007712,000358: 

Page 170

007714,000360: 06,2230           74745                           MASK     BIT7                                  #  IS TIME TO ACT ON A TURN-ON SEQUENCE.
007715,000361: 06,2231           10000                           CCS      A                                     
007716,000362: 06,2232           12374                           TCF      C33TEST                               #  NO - EXAMINE CHANNEL 33.
007717,000363: 
007718,000364: 06,2233           34744                           CAF      BIT8                                  #  SEE IF FIRST SAMPLE OR SECOND.
007719,000365: 06,2234           71277                           MASK     IMODES30                              
007720,000366: 06,2235           10000                           CCS      A                                     
007721,000367: 06,2236           12242                           TCF      PROCTNON                              #  REACT AFTER SECOND SAMPLE.
007722,000368: 
007723,000369: 06,2237           34744                           CAF      BIT8                                  #  IF FIRST SAMPLE, SET BIT TO REACT NEXT
007724,000370: 06,2240           27277                           ADS      IMODES30                              #  TIME.
007725,000371: 06,2241           12374                           TCF      C33TEST                               
007726,000372: 
007727,000373:                                                                                                  #           PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007728,000374: 
007729,000375: 06,2242           42777        PROCTNON           CS       BITS7&8                               
007730,000376: 06,2243           71277                           MASK     IMODES30                              
007731,000377: 06,2244           55277                           TS       IMODES30                              
007732,000378: 06,2245           74736                           MASK     BIT14                                 #  SEE IF TURN-ON REQUEST.
007733,000379: 06,2246           10000                           CCS      A                                     
007734,000380: 06,2247           12347                           TCF      OPONLY                                #  OPERATE ON ONLY.
007735,000381: 
007736,000382: 06,2250           41277                           CS       IMODES30                              #  IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007737,000383: 06,2251           74743                           MASK     BIT9                                  #  OPERATE.
007738,000384: 06,2252           10000                           CCS      A                                     
007739,000385: 06,2253           12256                           TCF      +3                                    
007740,000386: 
007741,000387: 06,2254           05600                           TC       ALARM                                 #  ALARM IF NOT.
007742,000388: 06,2255           00213                           OCT      213                                   
007743,000389: 
007744,000390: 06,2256           02735                 +3        TC       CAGESUB                               
007745,000391: 06,2257           33005                           CAF      90SECS                                
007746,000392: 06,2260           05214                           TC       WAITLIST                              
007747,000393: 06,2261  E6,1414                                  EBANK=   M11                                   
007748,000394: 06,2261           02266 14106                     2CADR    ENDTNON                               
007749,000395: 
007750,000396: 06,2263           12374                           TCF      C33TEST                               
007751,000397: 
007752,000398: 06,2264           33005        RETNON             CAF      90SECS                                
007753,000399: 06,2265           05235                           TC       VARDELAY                              
007754,000400: 
007755,000401: 06,2266           44752        ENDTNON            CS       BIT2                                  #  RESET TURN-ON REQUEST FAIL BIT.
007756,000402: 06,2267           71277                           MASK     IMODES30                              
007757,000403: 06,2270           57277                           XCH      IMODES30                              
007758,000404: 06,2271           74752                           MASK     BIT2                                  #  IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007759,000405: 06,2272           00006                           EXTEND                                         
007760,000406: 06,2273           12306                           BZF      ENDTNON2                              
007761,000407: 
007762,000408: 06,2274           34736                           CAF      BIT14                                 #  IF IT WAS ON AND TURN-ON REQUEST NOW
007763,000409: 

Page 171

007765,000411: 06,2275           71277                           MASK     IMODES30                              #  PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007766,000412: 06,2276           00006                           EXTEND                                         
007767,000413: 06,2277           12264                           BZF      RETNON                                
007768,000414: 
007769,000415: 06,2300           40074                           CS       FLAGWRD0                              #  IF IT IS NOT ON NOW, SEE IF A PROG WAS
007770,000416: 06,2301           74744                           MASK     IMUSEBIT                              #  WAITING.
007771,000417: 06,2302           10000                           CCS      A                                     
007772,000418: 06,2303           15272                           TCF      TASKOVER                              
007773,000419: 06,2304           04635                           TC       POSTJUMP                              
007774,000420: 06,2305           17636                           CADR     IMUBAD                                #  UNSUCCESSFUL TURN-ON.
007775,000421: 
007776,000422: 06,2306           34735        ENDTNON2           CAF      BIT15                                 #  SEND ISS DELAY COMPLETE.
007777,000423: 06,2307           00006                           EXTEND                                         
007778,000424: 06,2310           05012                           WOR      CHAN12                                
007779,000425: 
007780,000426: 06,2311           04674                           TC       IBNKCALL                              #  TURN OFF NO ATT LAMP.
007781,000427: 06,2312           17233                           CADR     NOATTOFF                              
007782,000428: 
007783,000429: 06,2313           05470        UNZ2               TC       ZEROICDU                              
007784,000430: 
007785,000431: 06,2314           44763                           CS       BITS4&5                               #  REMOVE ZERO AND COARSE.
007786,000432: 06,2315           00006                           EXTEND                                         
007787,000433: 06,2316           03012                           WAND     CHAN12                                
007788,000434: 
007789,000435: 06,2317           34741                           CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007790,000436: 06,2320           05235                           TC       VARDELAY                              
007791,000437: 
007792,000438: 06,2321           42774        ISSUP              CS       OCT54                                 #  REMOVE CAGING, IMU FAIL INHIBIT, AND
007793,000439: 06,2322           71277                           MASK     IMODES30                              #  ICDUFAIL INHIBIT FLAGS.
007794,000440: 06,2323           55277                           TS       IMODES30                              
007795,000441: 
007796,000442: 06,2324           44746                           CS       BIT6                                  #  ENABLE DAP
007797,000443: 06,2325           71300                           MASK     IMODES33                              
007798,000444: 06,2326           55300                           TS       IMODES33                              
007799,000445: 
007800,000446: 06,2327           40076                           CS       FLAGWRD2                              #  TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007801,000447: 06,2330           74735                           MASK     DRFTBIT                               #  IMUCOMP SHOULD BE ALL SET UP(RESTART
007802,000448: 06,2331           00006                           EXTEND                                         #  WITH IMUSE DOWN).  IF OFF, SET DRIFTFLG
007803,000449: 06,2332           12336                           BZF      +4                                    #  AND 1/PIPADT TO GET FREEFALL IMUCOMP
007804,000450: 06,2333           26076                           ADS      FLAGWRD2                              #  GOING (FRESH START OR ISS TURN-ON).
007805,000451: 06,2334           30025                           CA       TIME1                                 
007806,000452: 06,2335           57074                           XCH      1/PIPADT                              #  CANNOT GET HERE IF RESTART WITH IMUSE UP
007807,000453: 
007808,000454: 06,2336           02703                           TC       SETISSW                               #  ISS WARNING MIGHT HAVE BEEN INHIBITED.
007809,000455: 
007810,000456: 06,2337           44735                           CS       BIT15                                 #  REMOVE IMU DELAY COMPLETE DISCRETE.
007811,000457: 06,2340           00006                           EXTEND                                         
007812,000458: 06,2341           03012                           WAND     CHAN12                                
007813,000459: 
007814,000460: 06,2342           35003                           CAF      4SECS                                 #  DONT ENABLE PROG ALARM ON PIP FAIL FOR

Page 172

007816,000462: 06,2343           05214                           TC       WAITLIST                              #  ANOTHER 4 SECS.
007817,000463: 06,2344  E3,1474                                  EBANK=   CDUIND                                
007818,000464: 06,2344           03221 16103                     2CADR    PFAILOK                               
007819,000465: 
007820,000466: 06,2346           15272                           TCF      TASKOVER                              
007821,000467: 
007822,000468: 06,2347           34750        OPONLY             CAF      BIT4                                  #  IF OPERATE ON ONLY, AND WE ARE IN COARSE
007823,000469: 06,2350           00006                           EXTEND                                         #  ALIGN, DONT ZERO THE CDUS BECAUSE WE
007824,000470: 06,2351           02012                           RAND     CHAN12                                #  MIGHT BE IN GIMBAL LOCK
007825,000471: 06,2352           10000                           CCS      A                                     
007826,000472: 06,2353           12374                           TCF      C33TEST                               
007827,000473: 
007828,000474: 06,2354           34744                           CAF      IMUSEBIT                              #  OTHERWISE, ZERO THE COUNTERS.
007829,000475: 06,2355           70074                           MASK     FLAGWRD0                              #  UNLESS SOMEONE IS USING THE IMU.
007830,000476: 06,2356           10000                           CCS      A                                     
007831,000477: 06,2357           12374                           TCF      C33TEST                               
007832,000478: 
007833,000479: 06,2360           02746                           TC       CAGESUB2                              #  SET TURNON FLAGS.
007834,000480: 
007835,000481: 06,2361           04674        ISSZERO            TC       IBNKCALL                              #  TURN OFF NO ATT LAMP
007836,000482: 06,2362           17233                           CADR     NOATTOFF                              #      IMU CAGE OFF ENTRY
007837,000483: 
007838,000484: 06,2363           34747                           CAF      BIT5                                  #  ISS CDU ZERO
007839,000485: 06,2364           00006                           EXTEND                                         
007840,000486: 06,2365           05012                           WOR      CHAN12                                
007841,000487: 
007842,000488: 06,2366           05470                           TC       ZEROICDU                              
007843,000489: 06,2367           34746                           CAF      BIT6                                  #  WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
007844,000490: 06,2370           05214                           TC       WAITLIST                              
007845,000491: 06,2371  E6,1414                                  EBANK=   M11                                   
007846,000492: 06,2371           02313 14106                     2CADR    UNZ2                                  
007847,000493: 
007848,000494: 06,2373           12374                           TCF      C33TEST                               
007849,000495: 

Page 173

007851,000497:                                                                                                  #  PROGRAM NAME:  C33TEST
007852,000498: 
007853,000499:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
007854,000500:                                                                                                  #  SUBROUTINE TO PROCESS A CHANGE.  IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
007855,000501:                                                                                                  #  CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS.  THE BITS
007856,000502:                                                                                                  #  PROCESSED AND THE SUBROUTINES CALLED ARE:
007857,000503: 
007858,000504:                                                                                                  #           BIT    FUNCTION                SUBROUTINE
007859,000505:                                                                                                  #           ---    --------                ----------
007860,000506:                                                                                                  #            13    PIPA FAIL               PIPFAIL
007861,000507:                                                                                                  #            12    DOWNLINK TOO FAST       DNTMFAST
007862,000508:                                                                                                  #            11    UPLINK TOO FAST         UPTMFAST
007863,000509: 
007864,000510:                                                                                                  #  UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
007865,000511: 
007866,000512:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER TNONTEST.
007867,000513: 
007868,000514:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007869,000515: 
007870,000516:                                                                                                  #  SUBROUTINES CALLED:  PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
007871,000517: 
007872,000518:                                                                                                  #  ERASABLE INITIALIZATION:  C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
007873,000519:                                                                                                  #  REAPPEAR IF THE CONDITIONS PERSIST.
007874,000520: 
007875,000521:                                                                                                  #  ALARMS:  NONE.
007876,000522: 
007877,000523:                                                                                                  #  EXIT:  GLOCKMON.
007878,000524: 
007879,000525:                                                                                                  #  OUTPUT:  UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
007880,000526: 
007881,000527: 06,2374           31300        C33TEST            CA       IMODES33                              #  SEE IF RELEVANT CHAN33 BITS HAVE
007882,000528: 06,2375           75026                           MASK     33RDMSK                               
007883,000529: 06,2376           54001                           TS       L                                     #  CHANGED.
007884,000530: 06,2377           35026                           CAF      33RDMSK                               
007885,000531: 06,2400           00006                           EXTEND                                         
007886,000532: 06,2401           03033                           WAND     CHAN33                                #  RESETS FLIP-FLOP INPUTS
007887,000533: 06,2402           00006                           EXTEND                                         
007888,000534: 06,2403           06001                           RXOR     LCHAN                                 
007889,000535: 06,2404           00006                           EXTEND                                         
007890,000536: 06,2405           12434                           BZF      GLOCKMON                              #  ON NO CHANGE.
007891,000537: 
007892,000538: 06,2406           54070                           TS       RUPTREG1                              #  SAVE BITS WHICH HAVE CHANGED.
007893,000539: 06,2407           23300                           LXCH     IMODES33                              
007894,000540: 06,2410           00006                           EXTEND                                         
007895,000541: 06,2411           06001                           RXOR     LCHAN                                 
007896,000542: 06,2412           55300                           TS       IMODES33                              #  UPDATED IMODES33.
007897,000543: 
007898,000544: 06,2413           34755                           CAF      ZERO                                  
007899,000545: 06,2414           56070                           XCH      RUPTREG1                              
007900,000546: 06,2415           60000                           DOUBLE                                         
007901,000547: 

Page 174

007903,000549: 06,2416           12421                           TCF      NXTIBT     +1                         #  SCAN FOR BIT CHANGES.
007904,000550: 
007905,000551: 06,2417           64753                 -1        AD       ONE                                   
007906,000552: 06,2420           24070        NXTIBT             INCR     RUPTREG1                              
007907,000553: 06,2421           60000                 +1        DOUBLE                                         
007908,000554: 06,2422           54000                           TS       A                                     #  (CODING IDENTICAL TO CHAN 30).
007909,000555: 06,2423           12420                           TCF      NXTIBT                                
007910,000556: 
007911,000557: 06,2424           56071                           XCH      RUPTREG2                              
007912,000558: 06,2425           50070                           INDEX    RUPTREG1                              #  GET NEW VALUE OF BIT WHICH CHANGED.
007913,000559: 06,2426           34737                           CAF      BIT13                                 
007914,000560: 06,2427           71300                           MASK     IMODES33                              
007915,000561: 06,2430           50070                           INDEX    RUPTREG1                              
007916,000562: 06,2431           02763                           TC       C33JMP                                
007917,000563: 
007918,000564: 06,2432           10071        NXTFL33            CCS      RUPTREG2                              #  PROCESS POSSIBLE ADDITIONAL CHANGES.
007919,000565: 06,2433           12417                           TCF      NXTIBT     -1                         
007920,000566: 

Page 175

007922,000568:                                                                                                  #  PROGRAM NAME:  GLOCKMON
007923,000569: 
007924,000570:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
007925,000571:                                                                                                  #  AND TAKES ACTION IF IT IS.  THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
007926,000572: 
007927,000573:                                                                                                  #           1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
007928,000574:                                                                                                  #           2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
007929,000575:                                                                                                  #           3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
007930,000576: 
007931,000577:                                                                                                  #  CALLING SEQUENCE:  EVERY 480 MILLISECONDS AFTER C33TEST.
007932,000578: 
007933,000579:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
007934,000580: 
007935,000581:                                                                                                  #  SUBROUTINES CALLED:  1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
007936,000582:                                                                                                  #                       2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
007937,000583: 
007938,000584:                                                                                                  #  ERASABLE INITIALIZATION:
007939,000585:                                                                                                  #           1) FRESH START OR RESTART WITH NO GROUPS ACTIVE:  C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
007940,000586:                                                                                                  #           2) RESTART WITH GROUPS ACTIVE:  SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
007941,000587:                                                                                                  #                                           PROCEEDS AS BEFORE.
007942,000588: 
007943,000589:                                                                                                  #  ALARMS:  1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
007944,000590:                                                                                                  #           2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
007945,000591:                                                                                                  #              SO ALREADY.
007946,000592: 
007947,000593: 06,2434           10034        GLOCKMON           CCS      CDUZ                                  
007948,000594: 06,2435           12441                           TCF      GLOCKCHK                              #  SEE IF MAGNITUDE OF MGA IS GREATER THAN
007949,000595: 06,2436           12465                           TCF      SETGLOCK                              #  70 DEGREES.
007950,000596: 06,2437           12441                           TCF      GLOCKCHK                              
007951,000597: 06,2440           12465                           TCF      SETGLOCK                              
007952,000598: 
007953,000599: 06,2441           62512        GLOCKCHK           AD       -70DEGS                               
007954,000600: 06,2442           00006                           EXTEND                                         
007955,000601: 06,2443           62464                           BZMF     SETGLOCK   -1                         #  NO LOCK.
007956,000602: 
007957,000603: 06,2444           62513                           AD       -15DEGS                               #  SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
007958,000604: 06,2445           00006                           EXTEND                                         
007959,000605: 06,2446           62462                           BZMF     NOGIMRUN                              
007960,000606: 
007961,000607: 06,2447           34750                           CAF      BIT4                                  #  IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
007962,000608: 06,2450           00006                           EXTEND                                         #  TO PREVENT GIMBAL RUNAWAY.
007963,000609: 06,2451           02012                           RAND     CHAN12                                
007964,000610: 06,2452           10000                           CCS      A                                     
007965,000611: 06,2453           12462                           TCF      NOGIMRUN                              
007966,000612: 
007967,000613: 06,2454           04674                           TC       IBNKCALL                              
007968,000614: 06,2455           17111                           CADR     SETCOARS                              
007969,000615: 
007970,000616: 06,2456           36254                           CAF      SIX                                   #  ENABLE ISS ERROR COUNTERS IN 60 MS
007971,000617: 06,2457           05214                           TC       WAITLIST                              
007972,000618: 

Page 176

007974,000620: 06,2460  E3,1474                                  EBANK=   CDUIND                                
007975,000621: 06,2460           03105 16103                     2CADR    CA+ECE                                
007976,000622: 
007977,000623: 06,2462           34746        NOGIMRUN           CAF      BIT6                                  #  TURN ON GIMBAL LOCK LAMP.
007978,000624: 06,2463           12465                           TCF      SETGLOCK                              
007979,000625: 
007980,000626: 06,2464           34755                 -1        CAF      ZERO                                  
007981,000627: 06,2465           61035        SETGLOCK           AD       DSPTAB     +11D                       #  SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
007982,000628: 06,2466           74746                           MASK     BIT6                                  #  AGREES WITH DESIRED STATE BY HALF ADDING
007983,000629: 06,2467           00006                           EXTEND                                         #  THE TWO.
007984,000630: 06,2470           15301                           BZF      GLOCKOK                               #  OK AS IS.
007985,000631: 
007986,000632: 06,2471           71035                           MASK     DSPTAB     +11D                       #  IF OFF, DONT TURN ON IF IMU BEING CAGED.
007987,000633: 06,2472           10000                           CCS      A                                     
007988,000634: 06,2473           12507                           TCF      GLAMPTST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
007989,000635: 
007990,000636: 06,2474           34746                           CAF      BIT6                                  
007991,000637: 06,2475           71277                           MASK     IMODES30                              
007992,000638: 06,2476           10000                           CCS      A                                     
007993,000639: 06,2477           15301                           TCF      GLOCKOK                               
007994,000640: 
007995,000641: 06,2500           41035        GLINVERT           CS       DSPTAB     +11D                       #  INVERT GIMBAL LOCK LAMP.
007996,000642: 06,2501           74746                           MASK     BIT6                                  
007997,000643: 06,2502           64735                           AD       BIT15                                 #  TO INDICATE CHANGE IN DSPTAB +11D.
007998,000644: 06,2503           57035                           XCH      DSPTAB     +11D                       
007999,000645: 06,2504           72162                           MASK     OCT37737                              
008000,000646: 06,2505           27035                           ADS      DSPTAB     +11D                       
008001,000647: 06,2506           15301                           TCF      GLOCKOK                               
008002,000648: 
008003,000649: 06,2507           02766        GLAMPTST           TC       LAMPTEST                              #  TURN OFF UNLESS LAMP TEST IN PROGRESS.
008004,000650: 06,2510           15301                           TCF      GLOCKOK                               
008005,000651: 06,2511           12500                           TCF      GLINVERT                              
008006,000652: 
008007,000653: 06,2512           63434        -70DEGS            DEC      -.38888                               #  -70 DEGREES SCALED IN HALF-REVOLUTIONS.
008008,000654: 06,2513           75252        -15DEGS            DEC      -.08333                               
008009,000655: 

Page 177

008011,000657:                                                                                                  #  PROGRAM NAME:  TLIM.
008012,000658: 
008013,000659:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
008014,000660:                                                                                                  #  THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30).  HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
008015,000661:                                                                                                  #  IS IN PROGRESS.
008016,000662: 
008017,000663:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
008018,000664: 
008019,000665:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008020,000666: 
008021,000667:                                                                                                  #  SUBROUTINES CALLED:  LAMPTEST.
008022,000668: 
008023,000669:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART TURN THE TEMP LAMP OFF.
008024,000670: 
008025,000671:                                                                                                  #  ALARMS:  TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
008026,000672: 
008027,000673:                                                                                                  #  EXIT:  NXTIFAIL.
008028,000674: 
008029,000675:                                                                                                  #  OUTPUT:  SERVICE OF TEMP LAMP.                                         IN A, EXCEPT FOR TLIM.
008030,000676: 
008031,000677: 06,2514           74733        TLIM               MASK     POSMAX                                #  REMOVE BIT FROM WORD OF CHANGES AND SET
008032,000678: 06,2515           54071                           TS       RUPTREG2                              #  DSKY TEMP LAMP ACCORDINGLY.
008033,000679: 
008034,000680: 06,2516           11277                           CCS      IMODES30                              
008035,000681: 06,2517           12525                           TCF      TEMPOK                                
008036,000682: 06,2520           12525                           TCF      TEMPOK                                
008037,000683: 
008038,000684: 06,2521           34750                           CAF      BIT4                                  #  TURN ON LAMP.
008039,000685: 06,2522           00006                           EXTEND                                         
008040,000686: 06,2523           05011                           WOR      DSALMOUT                              
008041,000687: 06,2524           12225                           TCF      NXTIFAIL                              
008042,000688: 
008043,000689: 06,2525           02766        TEMPOK             TC       LAMPTEST                              #  IF TEMP NOW OK, DONT TURN OFF LAMP IF
008044,000690: 06,2526           12225                           TCF      NXTIFAIL                              #  LAMP TEST IN PROGRESS.
008045,000691: 
008046,000692: 06,2527           44750                           CS       BIT4                                  
008047,000693: 06,2530           00006                           EXTEND                                         
008048,000694: 06,2531           03011                           WAND     DSALMOUT                              #  TURN OFF LAMP
008049,000695: 06,2532           12225                           TCF      NXTIFAIL                              
008050,000696: 

Page 178

008052,000698:                                                                                                  #  PROGRAM NAME:  ITURNON.
008053,000699: 
008054,000700:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
008055,000701:                                                                                                  #  REQUEST) IS DETECTED.  UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
008056,000702:                                                                                                  #  IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF.  IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO
008057,000703:                                                                                                  #  THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE.  IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
008058,000704:                                                                                                  #  15, IS CHECKED AND IF IT IS ON, ITURNON EXITS.  IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
008059,000705:                                                                                                  #  OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
008060,000706:                                                                                                  #           THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
008061,000707:                                                                                                  #  PROCESSING ANY CHANGES.  THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
008062,000708:                                                                                                  #  ENDS.
008063,000709: 
008064,000710:                                                                                                  #  CALLING SEQUENCE:  FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
008065,000711: 
008066,000712:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008067,000713: 
008068,000714:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
008069,000715: 
008070,000716:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
008071,000717:                                                                                                  #  AND BIT 14 OF IMODES30 TO 1.
008072,000718: 
008073,000719:                                                                                                  #  ALARMS:  PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
008074,000720: 
008075,000721:                                                                                                  #  EXIT:  NXTIFAIL.
008076,000722: 
008077,000723:                                                                                                  #  OUTPUT:  BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
008078,000724:                                                                                                  #  A FAILED TURN-ON SEQUENCE.
008079,000725: 
008080,000726: 06,2533           34752        ITURNON            CAF      BIT2                                  #  IF DELAY REQUEST HAS GONE OFF
008081,000727: 06,2534           71277                           MASK     IMODES30                              #  PREMATURELY, DO NOT PROCESS ANY CHANGES
008082,000728: 06,2535           10000                           CCS      A                                     #  UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
008083,000729: 06,2536           12225                           TCF      NXTIFAIL                              
008084,000730: 
008085,000731: 06,2537           34736                           CAF      BIT14                                 #  SEE IF JUST ON OR OFF.
008086,000732: 06,2540           71277                           MASK     IMODES30                              
008087,000733: 06,2541           00006                           EXTEND                                         
008088,000734: 06,2542           12556                           BZF      ITURNON2                              #  IF JUST ON.
008089,000735: 
008090,000736: 06,2543           34735                           CAF      BIT15                                 
008091,000737: 06,2544           00006                           EXTEND                                         #  SEE IF DELAY PRESENT DISCRETE HAS BEEN
008092,000738: 06,2545           02012                           RAND     CHAN12                                #  SENT. IF SO, ACTION COMPLETE
008093,000739: 06,2546           00006                           EXTEND                                         
008094,000740: 06,2547           12551                           BZF      +2                                    
008095,000741: 06,2550           12225                           TCF      NXTIFAIL                              
008096,000742: 
008097,000743: 06,2551           34752                           CAF      BIT2                                  #  IF NOT, SET BIT TO INDICATE REQUEST NOT
008098,000744: 06,2552           27277                           ADS      IMODES30                              #  PRESENT FOR FULL DURATION.
008099,000745: 06,2553           05600                           TC       ALARM                                 
008100,000746: 06,2554           00207                           OCT      207                                   
008101,000747: 06,2555           12225                           TCF      NXTIFAIL                              
008102,000748: 

Page 179

008104,000750: 06,2556           41277        ITURNON2           CS       IMODES30                              #  SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
008105,000751: 06,2557           74745                           MASK     BIT7                                  
008106,000752: 06,2560           27277                           ADS      IMODES30                              
008107,000753: 06,2561           32564                           CAF      RRINIT                                
008108,000754: 06,2562           54110                           TS       RADMODES                              
008109,000755: 06,2563           12225                           TCF      NXTIFAIL                              
008110,000756: 
008111,000757: 06,2564           00102        RRINIT             OCT      00102                                 
008112,000758: 

Page 180

008114,000760:                                                                                                  #  PROGRAM NAME:  IMUCAGE.
008115,000761: 
008116,000762:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11.  IF THE BIT
008117,000763:                                                                                                  #  CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
008118,000764:                                                                                                  #  ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS.  ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
008119,000765:                                                                                                  #  THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED.  NO ACTION OCCURS WHEN THE BUTTON IS
008120,000766:                                                                                                  #  RELEASED (INBIT CHANGES TO 1).
008121,000767: 
008122,000768:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN IMU CAGE BIT CHANGES.
008123,000769: 
008124,000770:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008125,000771: 
008126,000772:                                                                                                  #  SUBROUTINES CALLED:  CAGESUB.
008127,000773: 
008128,000774:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
008129,000775: 
008130,000776:                                                                                                  #  ALARMS:  NONE.
008131,000777: 
008132,000778:                                                                                                  #  EXIT:  NXTIFAIL.
008133,000779: 
008134,000780:                                                                                                  #  OUTPUT:  ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
008135,000781: 
008136,000782: 06,2565           10000        IMUCAGE            CCS      A                                     #  NO ACTION IF GOING OFF.
008137,000783: 06,2566           12361                           TCF      ISSZERO                               
008138,000784: 06,2567           43002                           CS       OCT77000                              #  TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
008139,000785: 06,2570           00006                           EXTEND                                         
008140,000786: 06,2571           03014                           WAND     CHAN14                                
008141,000787: 
008142,000788: 06,2572           42776                           CS       OCT272                                #  KNOCK DOWN DISPLAY INERTIAL DATA, IMU
008143,000789: 06,2573           00006                           EXTEND                                         #  ERROR COUNTER ENABLE, ZERO ICDU, COARSE
008144,000790: 06,2574           03012                           WAND     CHAN12                                #  ALIGN ENABLE, RR ERROR COUNTER ENABLE.
008145,000791: 
008146,000792: 06,2575           44745                           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
008147,000793: 06,2576           70101                           MASK     FLAGWRD5                              
008148,000794: 06,2577           54101                           TS       FLAGWRD5                              
008149,000795: 06,2600           44355                           CS       PRIO30                                #  TURN ENGINE OFF.
008150,000796: 06,2601           00006                           EXTEND                                         
008151,000797: 06,2602           02011                           RAND     DSALMOUT                              
008152,000798: 06,2603           64736                           AD       BIT14                                 
008153,000799: 06,2604           00006                           EXTEND                                         
008154,000800: 06,2605           01011                           WRITE    DSALMOUT                              #  FORCE BIT14=1, BIT13=0.
008155,000801: 
008156,000802: 06,2606           02743                           TC       CAGESUB1                              
008157,000803: 
008158,000804: 06,2607           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008159,000805: 06,2610           17142                           CADR     RNDREFDR                              
008160,000806: 
008161,000807: 06,2611           44755                           CS       ZERO                                  
008162,000808: 06,2612           54050                           TS       CDUXCMD                               
008163,000809: 06,2613           54051                           TS       CDUYCMD                               

Page 181

008165,000811: 06,2614           54052                           TS       CDUZCMD                               
008166,000812: 06,2615           54047                           TS       GYROCMD                               
008167,000813: 
008168,000814: 06,2616           43001                           CS       OCT740                                #  HAVING WAITED AT LEAST 27 MCT FROM
008169,000815: 06,2617           00006                           EXTEND                                         #  GYRO PULSE TRAIN TERMINATION, WE CAN
008170,000816: 06,2620           03014                           WAND     CHAN14                                #  DE-SELECT THE GYROS
008171,000817: 06,2621           12225                           TCF      NXTIFAIL                              
008172,000818: 

Page 182

008174,000820:                                                                                                  #  PROGRAM NAME:  IMUOP.
008175,000821: 
008176,000822:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
008177,000823:                                                                                                  #  IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
008178,000824:                                                                                                  #  INITIALIZATION VIA TNONTEST.  AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
008179,000825:                                                                                                  #  TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED.  WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
008180,000826:                                                                                                  #  TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS.  IF SO, PROGRAM ALARM 00214 IS ISSUED.
008181,000827: 
008182,000828:                                                                                                  #  CALLING SEQUENCE:  BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
008183,000829: 
008184,000830:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008185,000831: 
008186,000832:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF ISS IS TURNED OFF WHILE IN USE.
008187,000833: 
008188,000834:                                                                                                  #  ERASABLE INITIALIZATION:  ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
008189,000835:                                                                                                  #  LAMP IS ON, IN WHICH CASE IT IS SET TO 0.  THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
008190,000836: 
008191,000837:                                                                                                  #  ALARMS:  PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
008192,000838: 
008193,000839:                                                                                                  #  EXIT:  NXTIFAIL.
008194,000840: 
008195,000841:                                                                                                  #  OUTPUT:  ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
008196,000842: 
008197,000843: 06,2622           00006        IMUOP              EXTEND                                         
008198,000844: 06,2623           12643                           BZF      IMUOP2                                
008199,000845: 
008200,000846: 06,2624           41300                           CS       IMODES33                              #  DISABLE DAP
008201,000847: 06,2625           74746                           MASK     BIT6                                  
008202,000848: 06,2626           27300                           ADS      IMODES33                              
008203,000849: 
008204,000850: 06,2627           04674                           TC       IBNKCALL                              #  KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008205,000851: 06,2630           17142                           CADR     RNDREFDR                              
008206,000852: 
008207,000853: 06,2631           42777                           CS       BITS7&8                               #  KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
008208,000854: 06,2632           70074                           MASK     FLAGWRD0                              
008209,000855: 06,2633           56074                           XCH      FLAGWRD0                              #  IF GOING OFF, ALARM IF PROG USING IMU.
008210,000856: 06,2634           40000                           COM                                            
008211,000857: 06,2635           74744                           MASK     IMUSEFLG                              
008212,000858: 06,2636           10000                           CCS      A                                     
008213,000859: 06,2637           12225                           TCF      NXTIFAIL                              
008214,000860: 
008215,000861: 06,2640           05600                           TC       ALARM                                 
008216,000862: 06,2641           00214                           OCT      214                                   
008217,000863: 06,2642           12225                           TCF      NXTIFAIL                              
008218,000864: 
008219,000865: 06,2643           34752        IMUOP2             CAF      BIT2                                  #  SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008220,000866: 06,2644           71277                           MASK     IMODES30                              
008221,000867: 06,2645           10000                           CCS      A                                     
008222,000868: 06,2646           12225                           TCF      NXTIFAIL                              #  IF SO, DONT PROCESS UNTIL PRESENT 90
008223,000869: 06,2647           12556                           TCF      ITURNON2                              #  SECONDS EXPIRES.
008224,000870: 

Page 183

008226,000872:                                                                                                  #  PROGRAM NAME:  PIPFAIL
008227,000873: 
008228,000874:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL.  IT SETS BIT 10 OF
008229,000875:                                                                                                  #  IMODES30 TO AGREE.  IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING.  IF NOT,I.E., IMODES30
008230,000876:                                                                                                  #  BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008231,000877: 
008232,000878:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008233,000879: 
008234,000880:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008235,000881: 
008236,000882:                                                                                                  #  SUBROUTINES CALLED:  1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008237,000883: 
008238,000884:                                                                                                  #  ERASABLE INITIALIZATION:  SEE IMUMON FOR INITIALIZATION OF IMODES30.  THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008239,000885: 
008240,000886:                                                                                                  #  ALARMS:  PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008241,000887:                                                                                                  #  BEING INITIALIZED.
008242,000888: 
008243,000889:                                                                                                  #  EXIT:  NXTFL33.
008244,000890: 
008245,000891:                                                                                                  #  OUTPUT:  PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008246,000892: 
008247,000893: 06,2650           10000        PIPFAIL            CCS      A                                     #  SET BIT10 IN IMODES30 SO ALL ISS WARNING
008248,000894: 06,2651           34742                           CAF      BIT10                                 #  INFO IS IN ONE REGISTER.
008249,000895: 06,2652           57277                           XCH      IMODES30                              
008250,000896: 06,2653           73004                           MASK     -BIT10                                
008251,000897: 06,2654           27277                           ADS      IMODES30                              
008252,000898: 
008253,000899: 06,2655           02703                           TC       SETISSW                               
008254,000900: 
008255,000901: 06,2656           41277                           CS       IMODES30                              #  IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008256,000902: 06,2657           74753                           MASK     BIT1                                  #  A PROGRAM ALARM IF IMU OPERATING BUT NOT
008257,000903: 06,2660           10000                           CCS      A                                     #  CAGED OR BEING TURNED ON.
008258,000904: 06,2661           12432                           TCF      NXTFL33                               
008259,000905: 
008260,000906: 06,2662           31277                           CA       IMODES30                              
008261,000907: 06,2663           73000                           MASK     OCT1720                               
008262,000908: 06,2664           10000                           CCS      A                                     
008263,000909: 06,2665           12432                           TCF      NXTFL33                               #  ABOVE CONDITION NOT MET.
008264,000910: 
008265,000911: 06,2666           05600                           TC       ALARM                                 
008266,000912: 06,2667           00212                           OCT      212                                   
008267,000913: 06,2670           12432                           TCF      NXTFL33                               
008268,000914: 

Page 184

008270,000916:                                                                                                  #  PROGRAM NAMES:  DNTMFAST, UPTMFAST
008271,000917: 
008272,000918:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33.  IF A BIT CHANGES TO A
008273,000919:                                                                                                  #  0, A PROGRAM ALARM IS ISSUED.  THE ALARMS ARE:
008274,000920: 
008275,000921:                                                                                                  #           BIT    ALARM           CAUSE
008276,000922:                                                                                                  #           ---    -----           -----
008277,000923:                                                                                                  #            12    01105           DOWNLINK TOO FAST
008278,000924:                                                                                                  #            11    01106           UPLINK TOO FAST
008279,000925: 
008280,000926:                                                                                                  #  CALLING SEQUENCE:  BY C33TEST ON A BIT CHANGE.
008281,000927: 
008282,000928:                                                                                                  #  SUBROUTINES CALLED:  ALARM, IF A BIT CHANGES TO A 0.
008283,000929: 
008284,000930:                                                                                                  #  ERASABLE INITIALIZATION:  FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008285,000931: 
008286,000932:                                                                                                  #  ALARMS:  SEE FUNCTIONAL DESCRIPTION.
008287,000933: 
008288,000934:                                                                                                  #  EXIT:  NXTFL33.
008289,000935: 
008290,000936:                                                                                                  #  OUTPUT:  PROGRAM ALARM ON A BIT CHANGE TO 0.
008291,000937: 
008292,000938: 06,2671           10000        DNTMFAST           CCS      A                                     #  DO PROG ALARM IF TM TOO FAST.
008293,000939: 06,2672           12432                           TCF      NXTFL33                               
008294,000940: 
008295,000941: 06,2673           05600                           TC       ALARM                                 
008296,000942: 06,2674           01105                           OCT      1105                                  
008297,000943: 06,2675           12432                           TCF      NXTFL33                               
008298,000944: 
008299,000945: 06,2676           10000        UPTMFAST           CCS      A                                     #  SAME AS DNLINK TOO FAST WITH DIFFERENT
008300,000946: 06,2677           12432                           TCF      NXTFL33                               #  ALARM CODE.
008301,000947: 
008302,000948: 06,2700           05600                           TC       ALARM                                 
008303,000949: 06,2701           01106                           OCT      1106                                  
008304,000950: 06,2702           12432                           TCF      NXTFL33                               
008305,000951: 

Page 185

008307,000953:                                                                                                  #  PROGRAM NAME:  SETISSW
008308,000954: 
008309,000955:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008310,000956:                                                                                                  #  0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008311,000957:                                                                                                  #  3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL).  THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008312,000958:                                                                                                  #  PROGRESS.
008313,000959: 
008314,000960:                                                                                                  #  CALLING SEQUENCE:  CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL.  CALLED BY IFAILOK AND PFAILOK UPON
008315,000961:                                                                                                  #  REMOVAL OF THE FAIL INHIBITS.  CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES.  IT IS CALLED BY PIPUSE
008316,000962:                                                                                                  #  SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008317,000963:                                                                                                  #  AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008318,000964: 
008319,000965:                                                                                                  #  JOBS OR TASKS INITIATED:  NONE.
008320,000966: 
008321,000967:                                                                                                  #  SUBROUTINES CALLED:  NONE.
008322,000968: 
008323,000969:                                                                                                  #  ERASABLE INITIALIZATION:
008324,000970: 
008325,000971:                                                                                                  #           1) IMODES30 - SEE IMUMON.
008326,000972:                                                                                                  #           2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008327,000973: 
008328,000974:                                                                                                  #  ALARMS:  ISS WARNING.
008329,000975: 
008330,000976:                                                                                                  #  THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008331,000977:                                                                                                  #  PROGRAM ALARM 00777  PIPA FAIL
008332,000978:                                                                                                  #  PROGRAM ALARM 03777  ICDU FAIL
008333,000979:                                                                                                  #  PROGRAM ALARM 04777  ICDU , PIPA FAILS
008334,000980:                                                                                                  #  PROGRAM ALARM 07777  IMU FAIL
008335,000981:                                                                                                  #  PROGRAM ALARM 10777  IMU , PIPA FAILS
008336,000982:                                                                                                  #  PROGRAM ALARM 13777  IMU , ICDU FAILS
008337,000983:                                                                                                  #  PROGRAM ALARM 14777  IMU , ICDU, PIPA FAILS
008338,000984: 
008339,000985:                                                                                                  #  EXIT:  VIA Q.
008340,000986: 
008341,000987:                                                                                                  #  OUTPUT:  ISS WARNING LAMP SET PROPERLY.
008342,000988: 
008343,000989: 06,2703           34761        SETISSW            CAF      OCT15                                 #  SET ISS WARNING USING THE FAIL BITS IN
008344,000990: 06,2704           71277                           MASK     IMODES30                              #  BITS 13, 12, AND 10 OF IMODES30 AND THE
008345,000991: 06,2705           00006                           EXTEND                                         #  FAILURE INHIBIT BITS IN POSITIONS
008346,000992: 06,2706           74742                           MP       BIT10                                 #  4, 3, AND 1.
008347,000993: 06,2707           31277                           CA       IMODES30                              
008348,000994: 06,2710           00006                           EXTEND                                         
008349,000995: 06,2711           04001                           ROR      LCHAN                                 #  0 INDICATES FAILURE
008350,000996: 06,2712           40000                           COM                                            
008351,000997: 06,2713           75025                           MASK     OCT15000                              
008352,000998: 06,2714           10000                           CCS      A                                     
008353,000999: 06,2715           12726                           TCF      ISSWON                                #  FAILURE.
008354,001000: 
008355,001001: 06,2716           34753        ISSWOFF            CAF      BIT1                                  #  DONT TURN OFF ISS WARNING IF LAMP TEST
008356,001002: 06,2717           71300                           MASK     IMODES33                              #  IN PROGRESS.
008357,001003: 

Page 186

008359,001005: 06,2720           10000                           CCS      A                                     
008360,001006: 06,2721           00002                           TC       Q                                     
008361,001007: 
008362,001008: 06,2722           44753                           CS       BIT1                                  
008363,001009: 06,2723           00006                           EXTEND                                         
008364,001010: 06,2724           03011                           WAND     DSALMOUT                              
008365,001011: 06,2725           00002                           TC       Q                                     
008366,001012: 
008367,001013: 06,2726           00006        ISSWON             EXTEND                                         
008368,001014: 06,2727           22066                           QXCH     ITEMP6                                
008369,001015: 06,2730           05745                           TC       VARALARM                              #  TELL EVERYONE WHAT CAUSED THE ISSWARNING
008370,001016: 06,2731           34753                           CAF      BIT1                                  
008371,001017: 06,2732           00006                           EXTEND                                         
008372,001018: 06,2733           05011                           WOR      DSALMOUT                              
008373,001019: 06,2734           00066                           TC       ITEMP6                                
008374,001020: 
008375,001021: 06,2735           43003        CAGESUB            CS       BITS6&15                              #  SET OUTBITS AND INTERNAL FLAGS FOR
008376,001022: 06,2736           00006                           EXTEND                                         #  SYSTEM TURN-ON OR CAGE. DISABLE THE
008377,001023: 06,2737           03012                           WAND     CHAN12                                #  ERROR COUNTER AND REMOVE IMU DELAY COMP.
008378,001024: 06,2740           34763                           CAF      BITS4&5                               #  SEND ZERO AND COARSE.
008379,001025: 06,2741           00006                           EXTEND                                         
008380,001026: 06,2742           05012                           WOR      CHAN12                                
008381,001027: 
008382,001028: 06,2743           41035        CAGESUB1           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
008383,001029: 06,2744           72773                           MASK     OC40010                               
008384,001030: 06,2745           27035                           ADS      DSPTAB     +11D                       
008385,001031: 
008386,001032: 06,2746           41277        CAGESUB2           CS       IMODES30                              #  SET FLAGS TO INDICATE CAGING OR TURN-ON
008387,001033: 06,2747           72775                           MASK     OCT75                                 #      AND INHIBIT ALL ISS WARNING INFO
008388,001034: 06,2750           27277                           ADS      IMODES30                              
008389,001035: 
008390,001036: 06,2751           41300                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
008391,001037: 06,2752           74746                           MASK     BIT6                                  
008392,001038: 06,2753           27300                           ADS      IMODES33                              
008393,001039: 
008394,001040: 06,2754           00002                           TC       Q                                     
008395,001041: 
008396,001042: 06,2755  06,2703               IMUFAIL            EQUALS   SETISSW                               
008397,001043: 06,2755  06,2703               ICDUFAIL           EQUALS   SETISSW                               
008398,001044: 

Page 187

008400,001046:                                                                                                  #           JUMP TABLES AND CONSTANTS.
008401,001047: 
008402,001048: 06,2755           12533        IFAILJMP           TCF      ITURNON                               #  CHANNEL 30 DISPATCH.
008403,001049: 06,2756           12703                           TCF      IMUFAIL                               
008404,001050: 06,2757           12703                           TCF      ICDUFAIL                              
008405,001051: 06,2760           12565                           TCF      IMUCAGE                               
008406,001052: 06,2761           76400        30RDMSK            OCT      76400                                 #  (BIT 10 NOT SAMPLED HERE).
008407,001053: 06,2762           12622                           TCF      IMUOP                                 
008408,001054: 
008409,001055: 06,2763           12650        C33JMP             TCF      PIPFAIL                               #  CHANNEL 33 DISPATCH.
008410,001056: 06,2764           12671                           TCF      DNTMFAST                              
008411,001057: 06,2765           12676                           TCF      UPTMFAST                              
008412,001058: 
008413,001059:                                                                                                  #           SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008414,001060: 06,2766           41300        LAMPTEST           CS       IMODES33                              #  BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008415,001061: 06,2767           74753                           MASK     BIT1                                  #  PROGRESS.
008416,001062: 06,2770           10000                           CCS      A                                     
008417,001063: 06,2771           24002                           INCR     Q                                     
008418,001064: 06,2772           00002                           TC       Q                                     
008419,001065: 
008420,001066: 06,2773     5026               33RDMSK            EQUALS   PRIO16                                
008421,001067: 06,2773           40010        OC40010            OCT      40010                                 
008422,001068: 06,2774           00054        OCT54              OCT      54                                    
008423,001069: 06,2775           00075        OCT75              OCT      75                                    
008424,001070: 06,2776           00272        OCT272             OCT      00272                                 
008425,001071: 06,2777           00300        BITS7&8            OCT      300                                   
008426,001072: 06,3000           01720        OCT1720            OCT      1720                                  
008427,001073: 06,3001           00740        OCT740             OCT      00740                                 
008428,001074: 06,3002     5025               OCT15000           EQUALS   PRIO15                                
008429,001075: 06,3002           77000        OCT77000           OCT      77000                                 
008430,001076: 06,3003           40040        BITS6&15           OCT      40040                                 
008431,001077: 06,3004           76777        -BIT10             OCT      -1000                                 
008432,001078: 
008433,001079: 06,3005           21450        90SECS             DEC      9000       B-14                       
008434,001080: 06,3006     5752               120MS              =        OCT14                                 #  (DEC12)
008435,001081: 06,3006     5301               GLOCKOK            EQUALS   RESUME                                
008436,001082: 

Page 188

008438,001084:                                                                                                  #  PROGRAM NAME_  RRAUTCHK
008439,001085: 
008440,001086:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008441,001087:                                                                                                  #  RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008442,001088:                                                                                                  #  POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008443,001089:                                                                                                  #  PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008444,001090:                                                                                                  #  AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008445,001091:                                                                                                  #  IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008446,001092:                                                                                                  #  THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008447,001093:                                                                                                  #  IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008448,001094:                                                                                                  #  ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008449,001095:                                                                                                  #  IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008450,001096:                                                                                                  #  SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008451,001097:                                                                                                  #  RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008452,001098:                                                                                                  #  IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008453,001099: 
008454,001100:                                                                                                  #  CALLING SEQUENCE_
008455,001101:                                                                                                  #  T4RUPT EVERY 480 MILLISECONDS
008456,001102: 
008457,001103:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008458,001104:                                                                                                  #  RADMODES, STATE
008459,001105: 
008460,001106:                                                                                                  #  SUBROUTINES CALLED_
008461,001107:                                                                                                  #  WAITLIST
008462,001108: 
008463,001109:                                                                                                  #  JOBS OR TASKS INITIATED_
008464,001110:                                                                                                  #  RRTURNON
008465,001111: 
008466,001112:                                                                                                  #  ALARMS_  PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008467,001113:                                                                                                  #  USED
008468,001114: 
008469,001115:                                                                                                  #  EXIT_  RRCDUCHK, NORRGMON
008470,001116: 
008471,001117: 06,3006           30110        RRAUTCHK           CA       RADMODES                              #  SEE IF CHANGE IN RR AUTO MODE BIT.
008472,001118: 06,3007           00006                           EXTEND                                         
008473,001119: 06,3010           06033                           RXOR     CHAN33                                
008474,001120: 06,3011           74752                           MASK     AUTOMBIT                              
008475,001121: 06,3012           00006                           EXTEND                                         
008476,001122: 06,3013           13037                           BZF      RRCDUCHK                              
008477,001123: 
008478,001124: 06,3014           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008479,001125: 06,3015           00006                           EXTEND                                         
008480,001126: 06,3016           06001                           RXOR     LCHAN                                 
008481,001127: 06,3017           73033                           MASK     OCT05776                              #  CLR CONT. DES., REMODE, REPOS, CDUZERO,
008482,001128: 06,3020           54110                           TS       RADMODES                              #    AND TURNON BITS.
008483,001129: 06,3021           74752                           MASK     BIT2                                  #  SEE IF JUST ON.
008484,001130: 06,3022           10000                           CCS      A                                     
008485,001131: 06,3023           13034                           TCF      RRCDUCHK   -3                         #  OFF.  GO DISABLE RR CDU ERROR COUNTERS.
008486,001132: 06,3024           37675                           CA       OCT10001                              #  SET RRCDUZRO AND TURNON BITS.
008487,001133: 06,3025           26110                           ADS      RADMODES                              
008488,001134: 

Page 189

008490,001136: 06,3026           34753                           CAF      ONE                                   
008491,001137: 06,3027           05214                           TC       WAITLIST                              
008492,001138: 06,3030  E7,1456                                  EBANK=   LOSCOUNT                              
008493,001139: 06,3030           02053 52107                     2CADR    RRTURNON                              
008494,001140: 
008495,001141: 06,3032           13126                           TCF      NORRGMON                              
008496,001142: 
008497,001143: 06,3033           05776        OCT05776           OCT      5776                                  
008498,001144: 

Page 190

008500,001146:                                                                                                  #  PROGRAM NAME_ RRCDUCHK
008501,001147: 
008502,001148:                                                                                                  #  FUNCTIONAL DESCRIPTION_
008503,001149:                                                                                                  #  RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008504,001150:                                                                                                  #  RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008505,001151:                                                                                                  #  PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008506,001152:                                                                                                  #  (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008507,001153:                                                                                                  #  PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008508,001154:                                                                                                  #  (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008509,001155:                                                                                                  #  REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008510,001156:                                                                                                  #  THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008511,001157:                                                                                                  #  RRGIMON.
008512,001158: 
008513,001159:                                                                                                  #  CALLING SEQUENCE_
008514,001160:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008515,001161:                                                                                                  #  TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008516,001162: 
008517,001163:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED_
008518,001164:                                                                                                  #  RADMODES
008519,001165: 
008520,001166:                                                                                                  #  SUBROUTINES CALLED_
008521,001167:                                                                                                  #  SETTRKF
008522,001168: 
008523,001169:                                                                                                  #  JOBS OR TASKS INITIATED_
008524,001170:                                                                                                  #  NONE
008525,001171: 
008526,001172:                                                                                                  #  ALARMS_
008527,001173:                                                                                                  #  TRACKER FAIL
008528,001174:                                                                                                  #  PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008529,001175: 
008530,001176:                                                                                                  #  EXIT_
008531,001177:                                                                                                  #  RRGIMON, NORRGMON
008532,001178: 
008533,001179: 06,3034           44752                 -3        CS       BIT2                                  
008534,001180: 06,3035           00006                           EXTEND                                         
008535,001181: 06,3036           03012                           WAND     CHAN12                                #  AT TURNON, DISABLE CDU ERROR COUNTERS.
008536,001182: 
008537,001183: 06,3037           30110        RRCDUCHK           CA       RADMODES                              #  LAST SAMPLED BIT IN RADMODES.
008538,001184: 06,3040           00006                           EXTEND                                         
008539,001185: 06,3041           06030                           RXOR     CHAN30                                
008540,001186: 06,3042           74745                           MASK     RCDUFBIT                              
008541,001187: 06,3043           00006                           EXTEND                                         
008542,001188: 06,3044           13071                           BZF      RRGIMON                               
008543,001189: 
008544,001190: 06,3045           34752                           CAF      AUTOMBIT                              #  IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
008545,001191: 06,3046           70110                           MASK     RADMODES                              #  7 OF RADMODES. IF THIS WERE NOT DONE,
008546,001192: 06,3047           10000                           CCS      A                                     #  THE TRACKER FAIL MIGHT COME ON WHEN
008547,001193: 06,3050           13126                           TCF      NORRGMON                              #  JUST READING LR DATA.
008548,001194: 
008549,001195: 06,3051           34745                           CAF      RCDUFBIT                              #  SET BIT 7 OF RADMODES FOR SETTRKF.
008550,001196: 

Page 191

008552,001198: 06,3052           22110                           LXCH     RADMODES                              #  UPDATE RADMODES.
008553,001199: 06,3053           00006                           EXTEND                                         
008554,001200: 06,3054           06001                           RXOR     L                                     
008555,001201: 06,3055           54110                           TS       RADMODES                              
008556,001202: 
008557,001203: 06,3056           30110                           CA       RADMODES                              #  DID RR CDU FAIL
008558,001204: 06,3057           74615                           MASK     13,7,2                                #  CDU ZERO+ CDUFAIL+ RR AUTO
008559,001205: 06,3060           10000                           CCS      A                                     
008560,001206: 06,3061           13070                           TCF      TRKFLCDU                              #  NO
008561,001207: 06,3062           40074                           CS       FLAGWRD0                              #  RNDVFLG P20 OR P22 OPERATING
008562,001208: 06,3063           74745                           MASK     RNDVZBIT                              
008563,001209: 06,3064           10000                           CCS      A                                     
008564,001210: 06,3065           13070                           TCF      TRKFLCDU                              #  NO
008565,001211: 06,3066           05600                           TC       ALARM                                 #  YES
008566,001212: 06,3067           00515                           OCT      00515                                 
008567,001213: 06,3070           04564        TRKFLCDU           TC       SETTRKF                               #  UPDATE TRACKER FAIL LAMP ON DSKY.
008568,001214: 

Page 192

008570,001216:                                                                                                  #  PROGRAM NAME_  RRGIMON                                                  E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008571,001217: 
008572,001218:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 TTER IS INITIATED BY THIS MONITOR WHEN
008573,001219:                                                                                                  #  RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS      ED TO DRIVE THE GIMBALS TO T = 0 AND
008574,001220:                                                                                                  #  CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008575,001221:                                                                                                  #  NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008576,001222:                                                                                                  #  EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008577,001223:                                                                                                  #  IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008578,001224:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008579,001225:                                                                                                  #  TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008580,001226:                                                                                                  #  BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008581,001227:                                                                                                  #  (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008582,001228:                                                                                                  #  CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008583,001229: 
008584,001230:                                                                                                  #  CALLING SEQUENCE_
008585,001231:                                                                                                  #  EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008586,001232:                                                                                                  #  HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008587,001233:                                                                                                  #  THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008588,001234:                                                                                                  #  (RADMODES BIT 2).
008589,001235: 
008590,001236:                                                                                                  #  ERASABLE INITIALIZATION_  RADMODES
008591,001237: 
008592,001238:                                                                                                  #  SUBROUTINES CALLED_
008593,001239:                                                                                                  #  RRLIMCHK, WAITLIST
008594,001240: 
008595,001241:                                                                                                  #  JOBS OR TASKS INITIATED_
008596,001242:                                                                                                  #  DORREPOS
008597,001243: 
008598,001244:                                                                                                  #  ALARMS_
008599,001245:                                                                                                  #  NONE
008600,001246: 
008601,001247:                                                                                                  #  EXIT_
008602,001248:                                                                                                  #  NORRGMON
008603,001249: 
008604,001250: 06,3071           30101        RRGIMON            CAE      FLAGWRD5                              #  IS NO ANGLE MONITOR FLAG SET
008605,001251: 06,3072           74750                           MASK     NORRMBIT                              
008606,001252: 06,3073           10000                           CCS      A                                     
008607,001253: 06,3074           13126                           TCF      NORRGMON                              #  YES - SKIP LIMIT CHECK
008608,001254: 06,3075           40103                           CS       FLAGWRD7                              #  IS SERVICER RUNNING?
008609,001255: 06,3076           74747                           MASK     AVEGFBIT                              
008610,001256: 06,3077           10000                           CCS      A                                     
008611,001257: 06,3100           13105                           TCF      +5                                    #  NO.  DO R25
008612,001258: 06,3101           30102                           CA       FLAGWRD6                              #  YES.  IS MUNFLAG SET?
008613,001259: 06,3102           74744                           MASK     MUNFLBIT                              
008614,001260: 06,3103           10000                           CCS      A                                     
008615,001261: 06,3104           13126                           TCF      NORRGMON                              #  YES.  DON'T DO R25
008616,001262: 06,3105           33135                 +5        CAF      OCT32002                              #  INHIBIT BY REMODE,ZEROING,MONITOR.
008617,001263: 06,3106           70110                           MASK     RADMODES                              #  OR RR NOT IN AUTO.
008618,001264: 06,3107           10000                           CCS      A                                     
008619,001265: 06,3110           13126                           TCF      NORRGMON                              
008620,001266: 

Page 193

008622,001268: 06,3111           04523                           TC       RRLIMCHK                              #  SEE IF ANGLES IN LIMITS.
008623,001269: 06,3112           00035                           ADRES    CDUT                                  
008624,001270: 
008625,001271: 06,3113           13115                           TCF      MONREPOS                              
008626,001272: 
008627,001273: 06,3114           13126                           TCF      NORRGMON                              #  (ADDITIONAL CODING MAY GO HERE).
008628,001274: 
008629,001275: 06,3115           34741        MONREPOS           CAF      REPOSBIT                              #  SET FLAG TO SHOW REPOSITION IN PROGRESS.
008630,001276: 06,3116           26110                           ADS      RADMODES                              
008631,001277: 
008632,001278: 06,3117           43136                           CS       OCT20002                              #  DISABLE TRACKER AND ERROR COUNTER.
008633,001279: 06,3120           00006                           EXTEND                                         
008634,001280: 06,3121           03012                           WAND     CHAN12                                
008635,001281: 
008636,001282: 06,3122           34752                           CAF      TWO                                   
008637,001283: 06,3123           05214                           TC       WAITLIST                              
008638,001284: 06,3124  E7,1456                                  EBANK=   LOSCOUNT                              
008639,001285: 06,3124           02120 52107                     2CADR    DORREPOS                              
008640,001286: 
008641,001287: 06,3126           30110        NORRGMON           CA       RADMODES                              #  IF SELECT SWITCH IS NOT IN LGC, SEND RR
008642,001288: 06,3127           74752                           MASK     AUTOMBIT                              #    CDU ZERO BIT TO PREVENT MEMORY CYCLE
008643,001289: 06,3130           10000                           CCS      A                                     #    SNATCHING BY MANIC RR CDUS.  BIT2 OF
008644,001290: 06,3131           13132                           NOOP                                           #    RADMODES AGREES WITH BIT2 OF CHANNEL
008645,001291: 06,3132           00006                           EXTEND                                         #    33.  FOR THIS CODING, WHICH ASSUMES
008646,001292: 06,3133           05012                           WOR      CHAN12                                #    AUTOMBIT = BIT2, THANKS TO HUGH B-S.
008647,001293: 06,3134           13140                           TCF      ENDRRMON                              
008648,001294: 
008649,001295: 06,3135  06,3140               ENDRRMON           EQUALS   DAPT4S                                
008650,001296: 
008651,001297: 06,3135           32002        OCT32002           OCT      32002                                 
008652,001298: 06,3136           20002        OCT20002           OCT      20002                                 
008653,001299: 06,3137           02100        OCT02100           OCT      02100                                 #  P20,P22 MASK BITS
008654,001300: 

Page 194

008656,001302:                                                                                                  #  PROGRAM NAME:  GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008657,001303: 
008658,001304:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008659,001305: 
008660,001306:                                                                                                  #  MODIFIED:  7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008661,001307: 
008662,001308:                                                                                                  #  THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008663,001309:                                                                                                  #  FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN.  THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008664,001310:                                                                                                  #  AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008665,001311: 
008666,001312:                                                                                                  #  CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008667,001313:                                                                                                  #  DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008668,001314: 
008669,001315:                                                                                                  #  SUBROUTINES CALLED: SPSIN, SPCOS.
008670,001316: 
008671,001317:                                                                                                  #  NORMAL EXIT MODE:  TCF   RESUME
008672,001318: 
008673,001319:                                                                                                  #  ALARM AND ABORT MODES:  NONE.
008674,001320: 
008675,001321:                                                                                                  #  INPUT:  CDUX, CDUY, CDUZ.
008676,001322: 
008677,001323:                                                                                                  #  OUTPUT:  M11, M21, M31, M22, M32.
008678,001324: 
008679,001325:                                                                                                  #  AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
008680,001326: 
008681,001327:                                                                                                  #     *       *    SIN(MG)        0         1  *
008682,001328:                                                                                                  #     M   =   *    COS(MG)COS(OG) SIN(OG)   0  *
008683,001329:                                                                                                  #      GP     *   -COS(MG)SIN(OG) COS(OG)   0  *
008684,001330: 
008685,001331:                                                                                                  #     *       *  0    COS(OG)/COS(MG)        -SIN(OG)/COS(MG)         *
008686,001332:                                                                                                  #     M   =   *  0    SIN(OG)                 COS(OG)                 *
008687,001333:                                                                                                  #      PG     *  1   -SIN(MG)COS(OG)/COS(MG)  SIN(MG)SIN(OG)/COS(MG)  *
008688,001334: 
008689,001335: 06,3140  E6,1414                                  EBANK=   M11                                   
008690,001336: 06,3140  06,3140               DAPT4S             EQUALS   GPMATRIX                              
008691,001337:                                                                                                  #  T4RUPT DAP LOGIC:
008692,001338: 
008693,001339: 06,3140           30034        GPMATRIX           CAE      CDUZ                                  #  SINGLE ENTRY POINT
008694,001340: 06,3141           05033                           TC       SPSIN                                 #  SIN(CDUZ) = SIN(MG)
008695,001341: 06,3142           55414                           TS       M11                                   #  SCALED AT 1
008696,001342: 
008697,001343: 06,3143           30034                           CAE      CDUZ                                  
008698,001344: 06,3144           05032                           TC       SPCOS                                 #  COS(CDUZ) = COS(MG)
008699,001345: 06,3145           54061                           TS       COSMG                                 #  SCALED AT 1 (ONLY A FACTOR)
008700,001346: 
008701,001347: 06,3146           30032                           CAE      CDUX                                  
008702,001348: 06,3147           05033                           TC       SPSIN                                 #  SIN(CDUX) = SIN(OG)
008703,001349: 06,3150           55417                           TS       M22                                   #  SCALED AT 1 (ALSO IS MR22)
008704,001350: 
008705,001351: 06,3151           41417                           CS       M22                                   
008706,001352: 

Page 195

008708,001354: 06,3152           00006                           EXTEND                                         
008709,001355: 06,3153           70061                           MP       COSMG                                 #  -SIN(OG)COS(MG)
008710,001356: 06,3154           55416                           TS       M31                                   #  SCALED AT 1
008711,001357: 
008712,001358: 06,3155           30032                           CAE      CDUX                                  
008713,001359: 06,3156           05032                           TC       SPCOS                                 #  COS(CDUX) = COS(OG)
008714,001360: 06,3157           55420                           TS       M32                                   #  SCALED AT 1 (ALSO IS MR23)
008715,001361: 
008716,001362: 06,3160           00006                           EXTEND                                         
008717,001363: 06,3161           70061                           MP       COSMG                                 #  COS(OG)COS(MG)
008718,001364: 06,3162           55415                           TS       M21                                   #  SCALED AT 1
008719,001365: 
008720,001366: 06,3163           05301                           TC       RESUME                                
008721,001367: 
008722,001368: 06,3164     5301               ENDDAPT4           EQUALS   RESUME                                

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