Source Code

These source-code files are part of a reconstructed copy of Artemis 071, the first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Artemis 072 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes between the two versions. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021154-. Note that page numbers in the reconstructed code match those on the Artemis 072 printout, although the changed code would likely have changed page numbers for a real Artemis 071 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

060751,000002:                                                                                                  ## Copyright:   Public domain.
060752,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
060753,000004:                                                                                                  ## Purpose:     A section of Artemis revision 071.
060754,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
060755,000006:                                                                                                  ##              release of the flight software for the Command Module's
060756,000007:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
060757,000008:                                                                                                  ##              17. The code has been recreated from a copy of Artemis 072.
060758,000009:                                                                                                  ##              It has been adapted such that the resulting bugger words
060759,000010:                                                                                                  ##              exactly match those specified for Artemis 071 in NASA
060760,000011:                                                                                                  ##              drawing 2021154-, which gives relatively high confidence
060761,000012:                                                                                                  ##              that the reconstruction is correct.
060762,000013:                                                                                                  ## Reference:   1417
060763,000014:                                                                                                  ## Assembler:   yaYUL
060764,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060765,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060766,000017:                                                                                                  ## Mod history: 2019-08-14 MAS  Created from Artemis 072.
060767,000018: 

Page 1417

060769,000020:    4000                                           SETLOC   FFTAG3                                
060770,000021:    4000                                           BANK                                           
060771,000022: 
060772,000023:    5511  E3,1471                                  EBANK=   COMMAND                               
060773,000024: 
060774,000025:                                                                                                  #  FIXED-FIXED ROUTINES.
060775,000026: 
060776,000027:    5511                                           COUNT*   $$/IMODE                              
060777,000028:    5511           34772        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
060778,000029:    5512           54032                           TS       CDUX                                  
060779,000030:    5513           54033                           TS       CDUY                                  
060780,000031:    5514           54034                           TS       CDUZ                                  
060781,000032:    5515           00002                           TC       Q                                     
060782,000033: 
060783,000034:    5516     4760               SPSCODE            =        BIT9                                  
060784,000035: 

Page 1418

060786,000037:                                                                                                  #  IMU ZEROING ROUTINE.
060787,000038: 
060788,000039: 07,2000                                           SETLOC   MODESW                                
060789,000040: 07,2000                                           BANK                                           
060790,000041: 
060791,000042: 07,2627                                           COUNT*   $$/IMODE                              
060792,000043: 07,2627           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
060793,000044: 07,2630           41241                           CS       DSPTAB     +11D                       #  DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060794,000045: 07,2631           75004                           MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060795,000046: 07,2632           10000                           CCS      A                                     
060796,000047: 07,2633           12637                           TCF      IMUZEROA                              
060797,000048: 
060798,000049: 07,2634           05671                           TC       ALARM                                 #  IF SO.
060799,000050: 07,2635           00206                           OCT      00206                                 
060800,000051: 
060801,000052: 07,2636           13622                           TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
060802,000053: 
060803,000054: 07,2637           03616        IMUZEROA           TC       CAGETSTJ                              
060804,000055:                                                                                                  #  DO ALL THE WORK.
060805,000056: 07,2640           41334                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
060806,000057: 07,2641           74763                           MASK     NOIMUDAP                              
060807,000058: 07,2642           27334                           ADS      IMODES33                              
060808,000059: 07,2643           40000                           COM                                            
060809,000060: 07,2644           74764                           MASK     IMUZROBT                              
060810,000061: 07,2645           27334                           ADS      IMODES33                              
060811,000062: 
060812,000063: 07,2646           41333                           CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060813,000064: 07,2647           74765                           MASK     IMUFINHT                              
060814,000065: 07,2650           27333                           ADS      IMODES30                              
060815,000066: 07,2651           40000                           COM                                            
060816,000067: 07,2652           74766                           MASK     ICDUINHT                              
060817,000068: 07,2653           27333                           ADS      IMODES30                              
060818,000069: 
060819,000070: 07,2654           45004                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
060820,000071: 07,2655           00006                           EXTEND                                         #  COUNTER DISABLED.
060821,000072: 07,2656           03012                           WAND     CHAN12                                
060822,000073: 
060823,000074: 07,2657           03207                           TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
060824,000075: 
060825,000076: 07,2660           34764                           CAF      BIT5                                  
060826,000077: 07,2661           00006                           EXTEND                                         
060827,000078: 07,2662           05012                           WOR      CHAN12                                
060828,000079: 
060829,000080: 07,2663           05511                           TC       ZEROICDU                              
060830,000081: 07,2664           34763                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060831,000082: 07,2665           05223                           TC       TWIDDLE                               #  RECEIVE ITS PULSE TRAIN.
060832,000083: 07,2666  E3,1474                                  EBANK=   CDUIND                                
060833,000084: 07,2666           02677                           ADRES    IMUZERO2                              
060834,000085: 07,2667           41333                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
060835,000086: 07,2670           74760                           MASK     IMUOPBIT                              

Page 1419

060837,000088: 07,2671           10000                           CCS      A                                     
060838,000089: 07,2672           12675                           TCF      MODEEXIT                              
060839,000090: 
060840,000091: 07,2673           05671                           TC       ALARM                                 
060841,000092: 07,2674           00210                           OCT      210                                   
060842,000093: 
060843,000094: 07,2675           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
060844,000095: 07,2676           14651                           TCF      SWRETURN                              
060845,000096: 
060846,000097: 
060847,000098: 07,2677           03606        IMUZERO2           TC       CAGETEST                              
060848,000099: 07,2700           05511                           TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
060849,000100: 
060850,000101: 07,2701           44764                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
060851,000102: 07,2702           00006                           EXTEND                                         
060852,000103: 07,2703           03012                           WAND     CHAN12                                
060853,000104: 
060854,000105: 07,2704           35025                           CAF      7.9SEC                                #  WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS
060855,000106: 07,2705           05260                           TC       VARDELAY                              
060856,000107: 
060857,000108: 07,2706           03606        IMUZERO3           TC       CAGETEST                              
060858,000109: 07,2707           34765                           CA       IMUFINHT                              
060859,000110: 07,2710           64766                           AD       ICDUINHT                              
060860,000111: 07,2711           40000                           COM                                            
060861,000112: 07,2712           71333                           MASK     IMODES30                              
060862,000113: 07,2713           55333                           TS       IMODES30                              
060863,000114: 
060864,000115: 07,2714           34763                           CA       NOIMUDAP                              
060865,000116: 07,2715           64764                           AD       IMUZROBT                              
060866,000117: 07,2716           40000                           COM                                            
060867,000118: 07,2717           71334                           MASK     IMODES33                              #        BIT5 FOR GROUND
060868,000119: 07,2720           55334                           TS       IMODES33                              
060869,000120: 
060870,000121: 07,2721           04714                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
060871,000122: 07,2722           14706                           CADR     SETISSW                               #  PRESENT.
060872,000123: 
060873,000124: 07,2723           13563                           TCF      ENDIMU                                
060874,000125: 

Page 1420

060876,000127:                                                                                                  #  IMU COARSE ALIGN MODE.
060877,000128: 
060878,000129: 07,2724           00004        IMUCOARS           INHINT                                         
060879,000130: 07,2725           03616                           TC       CAGETSTJ                              
060880,000131: 07,2726           03070                           TC       SETCOARS                              
060881,000132: 
060882,000133: 07,2727           36211                           CAF      SIX                                   
060883,000134: 07,2730           05233                           TC       WAITLIST                              
060884,000135: 07,2731  E3,1474                                  EBANK=   CDUIND                                
060885,000136: 07,2731           02734 16063                     2CADR    COARS                                 
060886,000137: 
060887,000138: 07,2733           12675                           TCF      MODEEXIT                              
060888,000139: 
060889,000140: 07,2734           03606        COARS              TC       CAGETEST                              
060890,000141: 07,2735           34763                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
060891,000142: 07,2736           00006                           EXTEND                                         
060892,000143: 07,2737           05012                           WOR      CHAN12                                
060893,000144: 
060894,000145: 07,2740           34767                           CAF      TWO                                   #  SET CDU INDICATOR
060895,000146: 07,2741           55474        COARS1             TS       CDUIND                                
060896,000147: 
060897,000148: 07,2742           51474                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
060898,000149: 07,2743           31307                           CA       THETAD                                #    COMPLEMENT FORM
060899,000150: 07,2744           00006                           EXTEND                                         
060900,000151: 07,2745           51474                           INDEX    CDUIND                                
060901,000152: 07,2746           20032                           MSU      CDUX                                  
060902,000153: 07,2747           00006                           EXTEND                                         
060903,000154: 07,2750           74754                           MP       BIT13                                 #  SHIFT RIGHT 2
060904,000155: 07,2751           56001                           XCH      L                                     #  ROUND
060905,000156: 07,2752           60000                           DOUBLE                                         
060906,000157: 07,2753           54061                           TS       ITEMP1                                
060907,000158: 07,2754           12756                           TCF      +2                                    
060908,000159: 07,2755           26001                           ADS      L                                     
060909,000160: 
060910,000161: 07,2756           51474                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
060911,000162: 07,2757           23471                           LXCH     COMMAND                               
060912,000163: 07,2760           11474                           CCS      CDUIND                                
060913,000164: 07,2761           02741                           TC       COARS1                                
060914,000165: 
060915,000166: 07,2762           34767                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
060916,000167: 07,2763           05260                 -1        TC       VARDELAY                              
060917,000168: 07,2764           03606        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
060918,000169: 07,2765           54061                           TS       ITEMP1                                #  SETS TO +0.
060919,000170: 07,2766           34767                           CAF      TWO                                   #  SET CDU INDICATOR
060920,000171: 07,2767           55474                 +3        TS       CDUIND                                
060921,000172: 
060922,000173: 07,2770           51474                           INDEX    CDUIND                                
060923,000174: 07,2771           11471                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
060924,000175: 07,2772           02776                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED

Page 1421

060926,000177: 07,2773           03005                           TC       NEXTCDU    +1                         
060927,000178: 07,2774           03043                           TC       COMNEG                                
060928,000179: 07,2775           03005                           TC       NEXTCDU    +1                         
060929,000180: 
060930,000181: 07,2776           63663        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
060931,000182: 07,2777           00006                           EXTEND                                         #    MINUS ONE
060932,000183: 07,3000           63053                           BZMF     COMZERO                               
060933,000184: 07,3001           51474                           INDEX    CDUIND                                
060934,000185: 07,3002           55471                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
060935,000186: 07,3003           43664                           CS       -COMMAX-                              #    ALLOWED
060936,000187: 
060937,000188: 07,3004           24061        NEXTCDU            INCR     ITEMP1                                
060938,000189: 07,3005           64771                 +1        AD       NEG0                                  
060939,000190: 07,3006           51474                           INDEX    CDUIND                                
060940,000191: 07,3007           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
060941,000192: 
060942,000193: 07,3010           11474                           CCS      CDUIND                                
060943,000194: 07,3011           02767                           TC       COARS2     +3                         
060944,000195: 
060945,000196: 07,3012           10061                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
060946,000197: 07,3013           13057                           TCF      SENDPULS                              
060947,000198: 
060948,000199: 07,3014           05255                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
060949,000200: 07,3015           00226                           DEC      150        B-14                       
060950,000201: 
060951,000202: 07,3016           34767                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
060952,000203: 07,3017           54061        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060953,000204: 07,3020           50000                           INDEX    A                                     
060954,000205: 07,3021           30032                           CA       CDUX                                  
060955,000206: 07,3022           00006                           EXTEND                                         
060956,000207: 07,3023           50061                           INDEX    ITEMP1                                
060957,000208: 07,3024           21307                           MSU      THETAD                                
060958,000209: 07,3025           10000                           CCS      A                                     
060959,000210: 07,3026           13034                           TCF      COARSERR                              
060960,000211: 07,3027           13031                           TCF      CORSCHK2                              
060961,000212: 07,3030           13034                           TCF      COARSERR                              
060962,000213: 

Page 1422

060964,000215: 
060965,000216: 07,3031           10061        CORSCHK2           CCS      ITEMP1                                
060966,000217: 07,3032           13017                           TCF      CHKCORS                               
060967,000218: 07,3033           13563                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
060968,000219: 
060969,000220: 07,3034           63042        COARSERR           AD       COARSTOL                              #  2 DEGREES.
060970,000221: 07,3035           00006                           EXTEND                                         
060971,000222: 07,3036           63031                           BZMF     CORSCHK2                              
060972,000223: 
060973,000224: 
060974,000225: 07,3037           05671                           TC       ALARM                                 #  COARSE ALIGN ERROR.
060975,000226: 07,3040           00211                           OCT      211                                   
060976,000227: 
060977,000228: 07,3041           13625                           TCF      IMUBAD                                
060978,000229: 
060979,000230: 07,3042           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
060980,000231: 
060981,000232: 
060982,000233: 07,3043           63663        COMNEG             AD       -COMMAX                               
060983,000234: 07,3044           00006                           EXTEND                                         
060984,000235: 07,3045           63053                           BZMF     COMZERO                               
060985,000236: 07,3046           40000                           COM                                            
060986,000237: 07,3047           51474                           INDEX    CDUIND                                
060987,000238: 07,3050           55471                           TS       COMMAND                               
060988,000239: 07,3051           33664                           CA       -COMMAX-                              
060989,000240: 07,3052           03004                           TC       NEXTCDU                               
060990,000241: 
060991,000242: 07,3053           34772        COMZERO            CAF      ZERO                                  
060992,000243: 07,3054           51474                           INDEX    CDUIND                                
060993,000244: 07,3055           57471                           XCH      COMMAND                               
060994,000245: 07,3056           03004                           TC       NEXTCDU                               
060995,000246: 
060996,000247: 
060997,000248: 07,3057           37673        SENDPULS           CAF      13,14,15                              
060998,000249: 07,3060           00006                           EXTEND                                         
060999,000250: 07,3061           05014                           WOR      CHAN14                                
061000,000251: 07,3062           33665                           CAF      600MS                                 
061001,000252: 07,3063           12763                           TCF      COARS2     -1                         #  THEN TO VARDELAY
061002,000253: 
061003,000254: 07,3064           34763        CA+ECE             CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
061004,000255: 07,3065           00006                           EXTEND                                         
061005,000256: 07,3066           05012                           WOR      CHAN12                                
061006,000257: 07,3067           05314                           TC       TASKOVER                              
061007,000258: 

Page 1423

061009,000260: 07,3070           34765        SETCOARS           CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
061010,000261: 07,3071           00006                           EXTEND                                         
061011,000262: 07,3072           02012                           RAND     CHAN12                                
061012,000263: 07,3073           10000                           CCS      A                                     
061013,000264: 07,3074           00002                           TC       Q                                     
061014,000265: 
061015,000266: 07,3075           44763                           CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
061016,000267: 07,3076           00006                           EXTEND                                         
061017,000268: 07,3077           03012                           WAND     CHAN12                                
061018,000269: 
061019,000270: 07,3100           44757                           CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
061020,000271: 07,3101           00006                           EXTEND                                         
061021,000272: 07,3102           03014                           WAND     CHAN14                                
061022,000273: 07,3103           44772                           CS       ZERO                                  
061023,000274: 07,3104           54047                           TS       GYROCMD                               
061024,000275: 
061025,000276: 07,3105           34765                           CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
061026,000277: 07,3106           00006                           EXTEND                                         
061027,000278: 07,3107           05012                           WOR      CHAN12                                
061028,000279: 
061029,000280: 07,3110           41241                           CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
061030,000281: 07,3111           77664                           MASK     OCT40010                              
061031,000282: 07,3112           27241                           ADS      DSPTAB     +11D                       
061032,000283: 
061033,000284: 07,3113           41334                           CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
061034,000285: 07,3114           74763                           MASK     NOIMUDAP                              
061035,000286: 07,3115           27334                           ADS      IMODES33                              
061036,000287: 
061037,000288: 07,3116           41333                           CS       IMODES30                              #  DISABLE IMUFAIL
061038,000289: 07,3117           74765                           MASK     IMUFINHT                              
061039,000290: 07,3120           27333                           ADS      IMODES30                              
061040,000291: 
061041,000292: 07,3121           44764        RNDREFDR           CS       TRACKBIT                              #  KNOCK DOWN TRACK FLAG
061042,000293: 07,3122           70075                           MASK     FLAGWRD1                              
061043,000294: 07,3123           54075                           TS       FLAGWRD1                              
061044,000295: 
061045,000296: 07,3124           44752                           CS       DRFTBIT                               #  KNOCK DOWN DRIFT FLAG
061046,000297: 07,3125           70076                           MASK     FLAGWRD2                              
061047,000298: 07,3126           54076                           TS       FLAGWRD2                              
061048,000299: 
061049,000300: 07,3127           44754                           CS       REFSMBIT                              #  KNOCK DOWN REFSMMAT FLAG
061050,000301: 07,3130           70077                           MASK     FLAGWRD3                              
061051,000302: 07,3131           54077                           TS       FLAGWRD3                              
061052,000303: 
061053,000304: 07,3132           00002                           TC       Q                                     
061054,000305: 
061055,000306: 07,3133     7664               OCT40010           EQUALS   OT40010                               
061056,000307: 

Page 1424

061058,000309: 
061059,000310:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
061060,000311: 
061061,000312: 07,3133           00004        IMUFINE            INHINT                                         
061062,000313: 07,3134           03616                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
061063,000314: 
061064,000315: 07,3135           45001                           CS       BITS4-5                               #  RESET ZERO AND COARSE
061065,000316: 07,3136           00006                           EXTEND                                         
061066,000317: 07,3137           03012                           WAND     CHAN12                                
061067,000318: 
061068,000319: 07,3140           44763                           CS       NOIMUDAP                              #  INSURE DAP AUTO AND HOLD MODES ENABLED
061069,000320: 07,3141           71334                           MASK     IMODES33                              
061070,000321: 07,3142           55334                           TS       IMODES33                              
061071,000322: 
061072,000323: 07,3143           03207                           TC       NOATTOFF                              
061073,000324: 
061074,000325: 07,3144           34757                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
061075,000326: 07,3145           05223                           TC       TWIDDLE                               #  PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
061076,000327: 07,3146           03155                           ADRES    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
061077,000328: 07,3147           35017                           CAF      2SECS                                 
061078,000329: 07,3150           05223                           TC       TWIDDLE                               
061079,000330: 07,3151           03153                           ADRES    IMUFINED                              
061080,000331: 07,3152           12675                           TCF      MODEEXIT                              
061081,000332: 
061082,000333: 07,3153           03606        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
061083,000334: 07,3154           13563                           TCF      ENDIMU                                
061084,000335: 

Page 1425

061086,000337: 07,3155           03613        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FIAL UNLESS IMU BEING CAGED.
061087,000338: 07,3156           15314                           TCF      TASKOVER                              #  IT IS.
061088,000339: 
061089,000340: 07,3157           34765                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
061090,000341: 07,3160           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
061091,000342: 07,3161           02012                           RAND     CHAN12                                
061092,000343: 07,3162           10000                           CCS      A                                     
061093,000344: 07,3163           15314                           TCF      TASKOVER                              
061094,000345: 
061095,000346: 07,3164           41333                           CS       IMODES30                              #  RESET IMUFAIL.
061096,000347: 07,3165           74754                           MASK     IMUFLBIT                              
061097,000348: 07,3166           27333                           ADS      IMODES30                              
061098,000349: 07,3167           44765                           CS       IMUFINHT                              
061099,000350: 07,3170           71333        PFAILOK2           MASK     IMODES30                              
061100,000351: 07,3171           55333                           TS       IMODES30                              
061101,000352: 07,3172           04714                           TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
061102,000353: 07,3173           14706                           CADR     SETISSW                               #  THAT THE INHIBIT HAS BEEN REMOVED.
061103,000354: 07,3174           15314                           TCF      TASKOVER                              
061104,000355: 
061105,000356: 07,3175           03613        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
061106,000357: 07,3176           15314                           TCF      TASKOVER                              
061107,000358: 
061108,000359: 07,3177           41333                           CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
061109,000360: 07,3200           74757                           MASK     PIPAFLBT                              
061110,000361: 07,3201           27333                           ADS      IMODES30                              
061111,000362: 
061112,000363: 07,3202           41334                           CS       IMODES33                              
061113,000364: 07,3203           74754                           MASK     PIP2FLBT                              
061114,000365: 07,3204           27334                           ADS      IMODES33                              
061115,000366: 
061116,000367: 07,3205           44764                           CS       NOACCALM                              
061117,000368: 07,3206           13170                           TCF      PFAILOK2                              
061118,000369: 
061119,000370: 07,3207           47664        NOATTOFF           CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
061120,000371: 07,3210           71241                           MASK     DSPTAB     +11D                       
061121,000372: 07,3211           64752                           AD       BIT15                                 
061122,000373: 07,3212           55241                           TS       DSPTAB     +11D                       
061123,000374: 07,3213           00002                           TC       Q                                     
061124,000375: 

Page 1426

061126,000377: 
061127,000378:                                                                                                  #  ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061128,000379: 
061129,000380: 07,3214           44772        PIPUSE             CS       ZERO                                  
061130,000381: 07,3215           54037                           TS       PIPAX                                 
061131,000382: 07,3216           54040                           TS       PIPAY                                 
061132,000383: 07,3217           54041                           TS       PIPAZ                                 
061133,000384: 
061134,000385: 07,3220           03613        PIPUSE1            TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061135,000386: 07,3221           14651                           TCF      SWRETURN                              
061136,000387: 
061137,000388: 07,3222           00004                           INHINT                                         
061138,000389: 07,3223           44770                           CS       ACCFINHT                              #  IF PIPA FAILS FROM NOW ON (UNTIL
061139,000390: 07,3224           71333                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
061140,000391: 07,3225           55333                           TS       IMODES30                              
061141,000392: 
061142,000393: 07,3226           04714        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
061143,000394: 07,3227           14706                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
061144,000395: 
061145,000396: 07,3230           12675                           TCF      MODEEXIT                              
061146,000397: 
061147,000398: 07,3231           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
061148,000399: 07,3232           41333                           CS       IMODES30                              #  ISS WARNING.
061149,000400: 07,3233           74770                           MASK     ACCFINHT                              
061150,000401: 07,3234           27333                           ADS      IMODES30                              
061151,000402: 
061152,000403: 07,3235           74757                           MASK     PIPAFLBT                              #  IF PIP FAIL ON, DO PROG ALARM AND RESET
061153,000404: 07,3236           10000                           CCS      A                                     #  ISS WARNING.
061154,000405: 07,3237           12675                           TCF      MODEEXIT                              
061155,000406: 
061156,000407: 07,3240           05671                           TC       ALARM                                 
061157,000408: 07,3241           00212                           OCT      212                                   
061158,000409: 
061159,000410: 07,3242           00004                           INHINT                                         
061160,000411: 
061161,000412: 07,3243           13226                           TCF      PIPFREE2                              
061162,000413: 

Page 1427

061164,000415: 
061165,000416:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061166,000417:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061167,000418:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061168,000419: 
061169,000420: 07,3244           54161        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
061170,000421: 07,3245           03616                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
061171,000422: 
061172,000423: 07,3246           11324                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
061173,000424: 07,3247           03307                           TC       GYROBUSY                              #  SLEEP.
061174,000425: 
061175,000426: 07,3250           34763                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
061176,000427: 07,3251           00006                           EXTEND                                         
061177,000428: 07,3252           05014                           WOR      CHAN14                                
061178,000429: 
061179,000430: 07,3253           34766                           CAF      FOUR                                  
061180,000431: 07,3254           05233        GWAKE2             TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
061181,000432: 07,3255  E3,1474                                  EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
061182,000433: 07,3255           03324 16063                     2CADR    STRTGYRO                              
061183,000434: 
061184,000435: 07,3257           30161                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
061185,000436: 07,3260           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
061186,000437: 07,3261           56161                           XCH      MPAC       +5                         
061187,000438: 07,3262           55324                           TS       LGYRO                                 #  RESERVES GYROS.
061188,000439: 07,3263           74350                           MASK     LOW8                                  
061189,000440: 07,3264           54061                           TS       ITEMP1                                
061190,000441: 
061191,000442: 07,3265           34767                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
061192,000443: 07,3266           54157        GYROAGRE           TS       MPAC       +3                         
061193,000444: 07,3267           60000                           DOUBLE                                         
061194,000445: 07,3270           60061                           AD       ITEMP1                                
061195,000446: 07,3271           54160                           TS       MPAC       +4                         
061196,000447: 07,3272           00006                           EXTEND                                         
061197,000448: 07,3273           50000                           INDEX    A                                     
061198,000449: 07,3274           31401                           DCA      1400                                  
061199,000450: 07,3275           52155                           DXCH     MPAC                                  
061200,000451: 07,3276           07224                           TC       DPAGREE                               
061201,000452: 07,3277           52155                           DXCH     MPAC                                  
061202,000453: 07,3300           50160                           INDEX    MPAC       +4                         
061203,000454: 07,3301           53401                           DXCH     1400                                  
061204,000455: 
061205,000456: 07,3302           10157                           CCS      MPAC       +3                         
061206,000457: 07,3303           13266                           TCF      GYROAGRE                              
061207,000458: 
061208,000459: 07,3304           30161                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
061209,000460: 07,3305           54003                           TS       EBANK                                 
061210,000461: 07,3306           12675                           TCF      MODEEXIT                              
061211,000462: 

Page 1428

061213,000464: 
061214,000465:                                                                                                  #           ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
061215,000466: 
061216,000467: 07,3307           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
061217,000468: 07,3310           30134                           DCA      BUF2                                  
061218,000469: 07,3311           52155                           DXCH     MPAC                                  
061219,000470: 07,3312           33323        REGSLEEP           CAF      LGWAKE                                
061220,000471: 07,3313           15163                           TCF      JOBSLEEP                              
061221,000472: 
061222,000473: 07,3314           11324        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061223,000474: 07,3315           13312                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
061224,000475: 
061225,000476: 07,3316           00006                           EXTEND                                         
061226,000477: 07,3317           30155                           DCA      MPAC                                  
061227,000478: 07,3320           52134                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
061228,000479: 07,3321           34770                           CAF      ONE                                   
061229,000480: 07,3322           13254                           TCF      GWAKE2                                
061230,000481: 
061231,000482: 07,3323           17314        LGWAKE             CADR     GWAKE                                 
061232,000483: 

Page 1429

061234,000485: 
061235,000486:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
061236,000487: 
061237,000488: 07,3324           43560        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
061238,000489: 07,3325           00006                           EXTEND                                         
061239,000490: 07,3326           03014                           WAND     CHAN14                                
061240,000491: 
061241,000492: 07,3327           03575                           TC       CAGETSTG                              
061242,000493: 

Trailing period restored. — RSB 2017.

061244,000495: 07,3330           31324        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
061245,000496: 07,3331           00006                           EXTEND                                         
061246,000497: 07,3332           74765                           MP       BIT4                                  
061247,000498: 07,3333           50000                           INDEX    A                                     
061248,000499: 07,3334           13335                           TCF      +1                                    
061249,000500: 07,3335           03352                           TC       GSELECT                               #  =0. DO Y GYRO.
061250,000501: 07,3336           00202                           OCT      00202                                 
061251,000502: 
061252,000503: 07,3337           03352                           TC       GSELECT                               #  =1. DO Z GYRO.
061253,000504: 07,3340           00302                           OCT      00302                                 
061254,000505: 
061255,000506: 07,3341           03350                           TC       GSELECT    -2                         #  =2. DO X GYRO.
061256,000507: 07,3342           00100                           OCT      00100                                 
061257,000508: 
061258,000509: 07,3343           34772                           CAF      ZERO                                  #  =3. DONE
061259,000510: 07,3344           55324                           TS       LGYRO                                 
061260,000511: 07,3345           33323                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
061261,000512: 07,3346           05167                           TC       JOBWAKE                               
061262,000513: 
061263,000514: 07,3347           13153        NORESET            TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY
061264,000515: 

Page 1430

061266,000517: 

Trailing period restored. — RSB 2017.

061268,000519: 07,3350           44766                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
061269,000520: 07,3351           27324                           ADS      LGYRO                                 
061270,000521: 
061271,000522: 07,3352           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
061272,000523: 07,3353           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
061273,000524: 07,3354           54064                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
061274,000525: 07,3355           74774                           MASK     SEVEN                                 
061275,000526: 07,3356           64754                           AD       BIT13                                 
061276,000527: 07,3357           27324                           ADS      LGYRO                                 
061277,000528: 07,3360           54003                           TS       EBANK                                 
061278,000529: 07,3361           74350                           MASK     LOW8                                  
061279,000530: 07,3362           54061                           TS       ITEMP1                                
061280,000531: 
061281,000532: 07,3363           44774                           CS       SEVEN                                 
061282,000533: 07,3364           70064                           MASK     ITEMP4                                
061283,000534: 07,3365           54064                           TS       ITEMP4                                
061284,000535: 
061285,000536: 07,3366           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061286,000537: 07,3367           50061                           INDEX    ITEMP1                                
061287,000538: 07,3370           31401                           DCA      1400                                  
061288,000539: 07,3371           52071                           DXCH     RUPTREG1                              
061289,000540: 
061290,000541: 07,3372           10070                           CCS      RUPTREG1                              
061291,000542: 07,3373           13406                           TCF      MAJ+                                  
061292,000543: 07,3374           13376                           TCF      +2                                    
061293,000544: 07,3375           13541                           TCF      MAJ-                                  
061294,000545: 
061295,000546: 07,3376           10071                           CCS      RUPTREG2                              
061296,000547: 07,3377           13403                           TCF      MIN+                                  
061297,000548: 07,3400           13330                           TCF      STRTGYR2                              
061298,000549: 07,3401           13536                           TCF      MIN-                                  
061299,000550: 07,3402           13330                           TCF      STRTGYR2                              
061300,000551: 

Page 1431

061302,000553: 
061303,000554: 07,3403           63437        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
061304,000555: 07,3404           00006                           EXTEND                                         #  16 GYRO PULSES.
061305,000556: 07,3405           63330                           BZMF     STRTGYR2                              
061306,000557: 
061307,000558: 07,3406           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
061308,000559: 07,3407           33562                           DCA      GYROFRAC                              
061309,000560: 07,3410           20071                           DAS      RUPTREG1                              
061310,000561: 
061311,000562: 07,3411           30064                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
061312,000563: 07,3412           00006                           EXTEND                                         
061313,000564: 07,3413           05014                           WOR      CHAN14                                
061314,000565: 
061315,000566: 07,3414           36043                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061316,000567: 07,3415           70071                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
061317,000568: 07,3416           56071                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
061318,000569: 07,3417           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
061319,000570: 07,3420           74761                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
061320,000571: 07,3421           54062                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
061321,000572: 07,3422           30070                           CA       RUPTREG1                              
061322,000573: 07,3423           00006                           EXTEND                                         
061323,000574: 07,3424           74760                           MP       BIT9                                  
061324,000575: 07,3425           54070                           TS       RUPTREG1                              
061325,000576: 07,3426           30001                           CA       L                                     
061326,000577: 07,3427           00006                           EXTEND                                         
061327,000578: 07,3430           74753                           MP       BIT14                                 
061328,000579: 07,3431           26062                           ADS      ITEMP2                                #  INITIAL COMMAND.
061329,000580: 
061330,000581: 07,3432           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061331,000582: 07,3433           30071                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
061332,000583: 07,3434           67702                           AD       MINUS1                                
061333,000584: 07,3435           10000                           CCS      A                                     
061334,000585: 07,3436           13503                           TCF      LONGGYRO                              
061335,000586: 07,3437           77601        -GYROMIN           OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061336,000587: 07,3440           13444                           TCF      +4                                    
061337,000588: 
061338,000589: 07,3441           34753                           CAF      BIT14                                 
061339,000590: 07,3442           26062                           ADS      ITEMP2                                
061340,000591: 07,3443           34772                           CAF      ZERO                                  
061341,000592: 
061342,000593: 07,3444           50061                 +4        INDEX    ITEMP1                                
061343,000594: 07,3445           53401                           DXCH     1400                                  
061344,000595: 

Page 1432

061346,000597: 
061347,000598: 07,3446           30062                           CA       ITEMP2                                #  ENTIRE COMMAND.
061348,000599: 07,3447           54047        LASTSEG            TS       GYROCMD                               
061349,000600: 07,3450           03570                 +1        TC       COARSTST                              
061350,000601: 
061351,000602: 07,3451           30047                           CA       GYROCMD                               
061352,000603: 07,3452           00006                           EXTEND                                         
061353,000604: 07,3453           74757                           MP       BIT10                                 #  WAITLIST DT
061354,000605: 07,3454           66214                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
061355,000606: 07,3455           05223                           TC       TWIDDLE                               
061356,000607: 07,3456           03467                           ADRES    TWOPULSE                              
061357,000608: 07,3457           03463        EXITGYRO           TC       GYROEXIT                              
061358,000609: 07,3460           15314                           TCF      TASKOVER                              
061359,000610: 07,3461           34767        OUTPULSE           CA       BIT2                                  
061360,000611: 07,3462           54047                           TS       GYROCMD                               
061361,000612: 07,3463           34757        GYROEXIT           CAF      BIT10                                 
061362,000613: 07,3464           00006                           EXTEND                                         
061363,000614: 07,3465           05014                           WOR      CHAN14                                
061364,000615: 07,3466           00002                           TC       Q                                     
061365,000616: 07,3467           44760        TWOPULSE           CS       BIT9                                  
061366,000617: 07,3470           00006                           EXTEND                                         
061367,000618: 07,3471           03014                           WAND     CHAN14                                
061368,000619: 07,3472           03461                           TC       OUTPULSE                              
061369,000620: 07,3473           34770                           CA       BIT1                                  
061370,000621: 07,3474           05223                           TC       TWIDDLE                               
061371,000622: 07,3475           03324                           ADRES    STRTGYRO                              
061372,000623: 07,3476           34760                           CA       BIT9                                  
061373,000624: 07,3477           00006                           EXTEND                                         
061374,000625: 07,3500           05014                           WOR      CHAN14                                
061375,000626: 07,3501           03461                           TC       OUTPULSE                              
061376,000627: 07,3502           15314                           TCF      TASKOVER                              
061377,000628: 07,3503           50061        LONGGYRO           INDEX    ITEMP1                                
061378,000629: 07,3504           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF

Trailing period restored. — RSB 2017.

061380,000631: 07,3505           34753                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
061381,000632: 07,3506           60062                           AD       ITEMP2                                
061382,000633: 07,3507           54047                           TS       GYROCMD                               
061383,000634: 
061384,000635: 07,3510           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
061385,000636: 07,3511           74757                           MP       BIT10                                 #  ALMOST OUT.
061386,000637: 07,3512           67700                           AD       NEG3                                  
061387,000638: 07,3513           05223                           TC       TWIDDLE                               
061388,000639: 07,3514           03516                           ADRES    8192AUG                               
061389,000640: 07,3515           13457                           TCF      EXITGYRO                              
061390,000641: 
061391,000642: 07,3516           03570        8192AUG            TC       COARSTST                              
061392,000643: 
061393,000644: 07,3517           31324                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
061394,000645: 07,3520           54003                           TS       EBANK                                 
061395,000646: 07,3521           74350                           MASK     LOW8                                  
061396,000647: 07,3522           54061                           TS       ITEMP1                                

Page 1433

061398,000649: 07,3523           50061                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
061399,000650: 07,3524           11400                           CCS      1400                                  
061400,000651: 07,3525           13531                           TCF      AUG2                                  #  MORE TO COME.
061401,000652: 
061402,000653: 07,3526           34753                           CAF      BIT14                                 
061403,000654: 07,3527           26047                           ADS      GYROCMD                               
061404,000655: 07,3530           13450                           TCF      LASTSEG    +1                         
061405,000656: 
061406,000657: 07,3531           50061        AUG2               INDEX    ITEMP1                                
061407,000658: 07,3532           55400                           TS       1400                                  
061408,000659: 07,3533           34753                           CAF      BIT14                                 
061409,000660: 07,3534           26047                           ADS      GYROCMD                               
061410,000661: 07,3535           13510                           TCF      AUG3                                  #  COMPUTE DT.
061411,000662: 

Page 1434

061413,000664: 
061414,000665: 07,3536           63437        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
061415,000666: 07,3537           00006                           EXTEND                                         
061416,000667: 07,3540           63330                           BZMF     STRTGYR2                              
061417,000668: 
061418,000669: 07,3541           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
061419,000670: 07,3542           43562                           DCS      GYROFRAC                              
061420,000671: 07,3543           20071                           DAS      RUPTREG1                              
061421,000672: 
061422,000673: 07,3544           30064                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
061423,000674: 07,3545           64760                           AD       BIT9                                  
061424,000675: 07,3546           00006                           EXTEND                                         
061425,000676: 07,3547           05014                           WOR      CHAN14                                
061426,000677: 
061427,000678: 07,3550           40070                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
061428,000679: 07,3551           54070                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
061429,000680: 07,3552           40071                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
061430,000681: 07,3553           76043                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
061431,000682: 07,3554           40000                           COM                                            
061432,000683: 07,3555           56071                           XCH      RUPTREG2                              
061433,000684: 07,3556           40000                           COM                                            
061434,000685: 07,3557           13417                           TCF      GMERGE                                
061435,000686: 
061436,000687: 07,3560           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
061437,000688: 
061438,000689: 07,3561           00000 00034  GYROFRAC           2DEC     .215       B-21                       
061439,000690: 

Page 1435

061441,000692: 
061442,000693:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061443,000694: 
061444,000695: 07,3563           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
061445,000696: 07,3564           00011                           READ     DSALMOUT                              #  ISS WARNING IS ON.
061446,000697: 07,3565           74770                           MASK     BIT1                                  
061447,000698: 07,3566           67702                           AD       NEG1                                  
061448,000699: 07,3567           13626                           TCF      BADEND     +1                         
061449,000700: 07,3570           34765        COARSTST           CAF      BIT4                                  
061450,000701: 07,3571           00006                           EXTEND                                         
061451,000702: 07,3572           02012                           RAND     CHAN12                                
061452,000703: 07,3573           10000                           CCS      A                                     
061453,000704: 07,3574           13601                           TCF      DONTPULS                              
061454,000705: 
061455,000706: 07,3575           41333        CAGETSTG           CS       IMODES30                              
061456,000707: 07,3576           74763                           MASK     IMUNITBT                              
061457,000708: 07,3577           10000                           CCS      A                                     
061458,000709: 07,3600           00002                           TC       Q                                     
061459,000710: 
061460,000711: 07,3601           34772        DONTPULS           CAF      ZERO                                  
061461,000712: 07,3602           55324                           TS       LGYRO                                 
061462,000713: 
061463,000714: 07,3603           33323                           CAF      LGWAKE                                
061464,000715: 07,3604           05167                           TC       JOBWAKE                               
061465,000716: 
061466,000717: 07,3605           13625                           TCF      IMUBAD                                
061467,000718: 07,3606           34763        CAGETEST           CAF      IMUNITBT                              #  SUBROUTINE TO TERMINATE IMU MODE
061468,000719: 07,3607           71333                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
061469,000720: 07,3610           10000                           CCS      A                                     
061470,000721: 07,3611           13625                           TCF      IMUBAD                                #  DIRECTLY.
061471,000722: 07,3612           00002                           TC       Q                                     #  WITH C(A) = +0.
061472,000723: 
061473,000724: 07,3613           41333        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
061474,000725: 07,3614           74763                           MASK     IMUNITBT                              
061475,000726: 07,3615           15651                           TCF      INCRQCK                               
061476,000727: 07,3616           41333        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION
061477,000728: 07,3617           74763                           MASK     IMUNITBT                              #  IT IS FOUND THAT THE IMU IS BEING CAGED,
061478,000729: 07,3620           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
061479,000730: 07,3621           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
061480,000731: 
061481,000732: 07,3622           44772                 +4        CS       ZERO                                  #  TO SWRETURN
061482,000733: 07,3623           55335                           TS       IMUCADR                               
061483,000734: 07,3624           12675                           TCF      MODEEXIT                              
061484,000735: 
061485,000736: 07,3625  07,3625               IMUBAD             EQUALS   BADEND                                
061486,000737: 

Page 1436

061488,000739: 
061489,000740:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061490,000741:                                                                                                  #  OR AT BADEND FOR AN UNSUCCESSFUL ONE.
061491,000742: 
061492,000743: 07,3625           44772        BADEND             CS       ZERO                                  #  FOR FAILURE.
061493,000744: 07,3626           54072                 +1        TS       RUPTREG3                              #  -0 FAILURE -1 SUCCESS
061494,000745: 07,3627           11335                           CCS      MODECADR                              
061495,000746: 07,3630           13632                           TCF      +2                                    #  YES - WAKE IT UP.
061496,000747: 07,3631           13641                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
061497,000748: 
061498,000749: 07,3632           34772                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
061499,000750: 07,3633           57335                           XCH      MODECADR                              
061500,000751: 07,3634           05167                           TC       JOBWAKE                               
061501,000752: 
061502,000753: 07,3635           40072                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
061503,000754: 07,3636           50064                           INDEX    LOCCTR                                
061504,000755: 07,3637           26164                           ADS      LOC                                   
061505,000756: 
061506,000757: 07,3640           15314                           TCF      TASKOVER                              
061507,000758: 
061508,000759: 07,3641           30072        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
061509,000760: 07,3642           55335                           TS       MODECADR                              #  SUCCESSFUL.
061510,000761: 07,3643           15314                           TCF      TASKOVER                              
061511,000762: 

Page 1437

061513,000764: 
061514,000765:                                                                                                  #  GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061515,000766: 
061516,000767:                                                                                                  #  PROGRAM DESCRIPTION                                           DATE- 21 FEB 1967
061517,000768:                                                                                                  #                                                   LOG SECTION IMU MODE SWITCHING
061518,000769:                                                                                                  #  MOD BY- R.MELANSON TO ADD DOCUMENTATION                ASSEMBLY SUNDISK REV. 82
061519,000770: 
061520,000771:                                                                                                  #  FUNCTIONAL DESCRIPTION-
061521,000772:                                                                                                  #        TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061522,000773:                                                                                                  #        I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061523,000774:                                                                                                  #        MODECADR ARE MADE AND ACTED UPON.
061524,000775:                                                                                                  #        1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061525,000776:                                                                                                  #           SLEEP.
061526,000777:                                                                                                  #        2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061527,000778:                                                                                                  #           CALL AND RETURNS TO CALLING ROUTINE AT L+3
061528,000779:                                                                                                  #        3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061529,000780:                                                                                                  #           AND RETURNS TO CALLING ROUTINE AT L+2.
061530,000781:                                                                                                  #        4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061531,000782:                                                                                                  #           SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061532,000783:                                                                                                  #           RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061533,000784: 
061534,000785:                                                                                                  #  CALLING SEQUENCE-
061535,000786:                                                                                                  #        L       TC      BANKCALL
061536,000787:                                                                                                  #        L+1     CADR    IMUSTALL
061537,000788: 
061538,000789:                                                                                                  #  NORMAL-EXIT MODE-
061539,000790:                                                                                                  #        TCF JOBSLEEP    OR      TCF MODEXIT
061540,000791: 
061541,000792:                                                                                                  #  ALARM OR ABORT EXIT MODE-
061542,000793:                                                                                                  #        POODOO  21210
061543,000794: 
061544,000795:                                                                                                  #  OUTPUT-
061545,000796:                                                                                                  #        MODECADR= CADR  IF JOBSLEEP
061546,000797:                                                                                                  #        MODECADR=+0     IF I/O COMPLETE
061547,000798:                                                                                                  #        BUF2=L+3        IF I/O COMPLETE AND GOOD.
061548,000799:                                                                                                  #        BUF2=L+2        IF I/O COMPLETE BUT FAILED.
061549,000800: 
061550,000801:                                                                                                  #  ERASABLE INITIALIZATION-
061551,000802:                                                                                                  #        BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061552,000803:                                                                                                  #        BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061553,000804:                                                                                                  #        MODECADR CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS.
061554,000805: 
061555,000806: 
061556,000807: 07,3644           11335        IMUSTALL           CCS      MODECADR                              
061557,000808: 07,3645           13661                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
061558,000809: 07,3646           13656                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
061559,000810: 07,3647           13652                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
061560,000811: 
061561,000812: 07,3650           55335        MG2                TS       MODECADR                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
061562,000813: 07,3651           12675                           TCF      MODEEXIT                              #  RETURN TO CALLER.

Page 1438

061564,000815: 07,3652           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
061565,000816: 07,3653           13661                           TCF      MODABORT                              
061566,000817: 
061567,000818: 07,3654           24133                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND

Trailing "0." restored. — RSB 2017.

061569,000820: 07,3655           13650                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
061570,000821: 
061571,000822: 07,3656           04665        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
061572,000823: 07,3657           55335                           TS       MODECADR                              
061573,000824: 07,3660           15163                           TCF      JOBSLEEP                              
061574,000825: 
061575,000826: 07,3661           05726        MODABORT           TC       POODOO                                #  TWO PROGRAMS USING SAME DEVICE.
061576,000827: 07,3662           21210                           OCT      21210                                 
061577,000828: 

Page 1439

061579,000830: 
061580,000831:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
061581,000832: 
061582,000833: 07,3663     5775               BITS3&4            =        OCT14                                 
061583,000834: 07,3663     5004               BITS4&6            =        OCT50                                 
061584,000835: 07,3663     5001               BITS4-5            EQUALS   BITS4&5                               
061585,000836: 07,3663     4761               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
061586,000837: 07,3663           77500        -COMMAX            DEC      -191       B-14                       
061587,000838: 07,3664           77477        -COMMAX-           DEC      -192       B-14                       
061588,000839: 07,3665           00074        600MS              DEC      60         B-14                       
061589,000840: 07,3666  07,3133               IMUFIN20           =        IMUFINE                               
061590,000841: 

Page 1440

061592,000843: 
061593,000844:                                                                                                  #  PROGRAM DESCRIPTION
061594,000845:                                                                                                  #  IMU STATUS CHECK ROUTINE R02  (SUBROUTINE UTILITY)
061595,000846:                                                                                                  #  MOD NO - 1
061596,000847:                                                                                                  #  MOD BY - N.BRODEUR
061597,000848: 
061598,000849:                                                                                                  #  FUNCTIONAL DESCRIPTION
061599,000850:                                                                                                  #  TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061600,000851:                                                                                                  #  ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061601,000852:                                                                                                  #  PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061602,000853:                                                                                                  #  CMC. CALLED THROUGH BANKCALL
061603,000854: 
061604,000855:                                                                                                  #  CALLING SEQUENCE-
061605,000856:                                                                                                  #        L       TC      BANKCALL
061606,000857:                                                                                                  #        L+1     CADR    R02BOTH
061607,000858: 
061608,000859:                                                                                                  #  SUBROUTINES CALLED
061609,000860:                                                                                                  #        VARALARM
061610,000861:                                                                                                  #        FLAGUP
061611,000862: 
061612,000863:                                                                                                  #  NORMAL EXIT MODES
061613,000864:                                                                                                  #        AT L+2 OF CALLING SEQUENCE
061614,000865: 
061615,000866:                                                                                                  #  ALARM OR ABORT EXIT MODES
061616,000867:                                                                                                  #        GOTOPOOH, WITH ALARM
061617,000868: 
061618,000869:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
061619,000870:                                                                                                  #        NONE
061620,000871: 
061621,000872:                                                                                                  #  DEBRIS
061622,000873:                                                                                                  #        CENTRALS - A,Q,L
061623,000874: 
061624,000875: 01,2000                                           SETLOC   R02                                   
061625,000876: 01,2000                                           BANK                                           
061626,000877: 01,3731                                           COUNT*   $$/R02                                
061627,000878: 01,3731           34754        R02BOTH            CAF      REFSMBIT                              
061628,000879: 01,3732           70077                           MASK     FLAGWRD3                              
061629,000880: 01,3733           10000                           CCS      A                                     
061630,000881: 01,3734           03745                           TC       R02ZERO                               #  ZERO IMUS
061631,000882: 
061632,000883: 01,3735           31333                           CA       IMODES30                              
061633,000884: 01,3736           74760                           MASK     IMUOPBIT                              #  IS ISS INITIALIZED
061634,000885: 01,3737           00006                           EXTEND                                         
061635,000886: 01,3740           13742                           BZF      +2                                    
061636,000887: 01,3741           44765                           CS       BIT4                                  #  SEND IMU ALARM CODE 210
061637,000888: 01,3742           63750                           AD       OCT220                                #  SEND REFSMM ALARM
061638,000889: 01,3743           05770                           TC       VARALARM                              
061639,000890: 
061640,000891: 01,3744           04103                           TC       GOTOPOOH                              
061641,000892: 01,3745           05547        R02ZERO            TC       UPFLAG                                
061642,000893: 01,3746           00007                           ADRES    IMUSE                                 
061643,000894: 01,3747           14651                           TCF      SWRETURN                              
061644,000895: 01,3750           00220        OCT220             OCT      220                                   
061645,000896: 

Page 1441

061647,000898: 
061648,000899:                                                                                                  #  PROGRAM DESCRIPTION   P06     10FEB67
061649,000900: 
061650,000901:                                                                                                  #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061651,000902: 
061652,000903:                                                                                                  #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061653,000904:                                                                                                  #  HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061654,000905:                                                                                                  #  CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061655,000906: 
061656,000907:                                                                                                  #  CALLING SEQUENCE:
061657,000908:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY  V37E 06E.
061658,000909: 
061659,000910:                                                                                                  #  SUBROUTINES CALLED:
061660,000911:                                                                                                  #        GOPERF1
061661,000912:                                                                                                  #        BANKCALL
061662,000913:                                                                                                  #        FLAGDOWN
061663,000914: 

Page 1442

061665,000916:                                                                                                  #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061666,000917:                                                                                                  #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061667,000918:                                                                                                  #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061668,000919: 
061669,000920: 26,2000                                           SETLOC   P05P06                                
061670,000921: 26,2000                                           BANK                                           
061671,000922: 
061672,000923: 26,3654     1006                                  EBANK=   TIME2SAV                              
061673,000924: 26,3654                                           COUNT*   $$/P06                                
061674,000925: 
061675,000926: 26,3654           05547        P06                TC       UPFLAG                                #  SET NODOV37 BIT
061676,000927: 26,3655           00054                           ADRES    NODOFLAG                              
061677,000928: 
061678,000929: 26,3656           00004        PRESTAND           INHINT                                         
061679,000930: 26,3657           00006                           EXTEND                                         
061680,000931: 26,3660           30025                           DCA      TIME2                                 #  SNAPSHOT TIME1 TIME2
061681,000932: 26,3661           53007                           DXCH     TIME2SAV                              
061682,000933: 26,3662           03715                           TC       SCALPREP                              
061683,000934: 26,3663           03656                           TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
061684,000935: 26,3664           52155                           DXCH     MPAC                                  #  T1,T2 AND SCALER OK
061685,000936: 26,3665           53011                           DXCH     SCALSAVE                              #  STORE SCALER
061686,000937: 26,3666           00004                           INHINT                                         
061687,000938: 26,3667           04636                           TC       BANKCALL                              
061688,000939: 26,3670           17121                           CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
061689,000940: 
061690,000941: 26,3671           05561                           TC       DOWNFLAG                              
061691,000942: 26,3672           00007                           ADRES    IMUSE                                 #  IMUSE DOWN
061692,000943: 26,3673           05561                           TC       DOWNFLAG                              
061693,000944: 26,3674           00010                           ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
061694,000945: 
061695,000946: 26,3675           05561                           TC       DOWNFLAG                              
061696,000947: 26,3676           00176                           ADRES    UTFLAG                                
061697,000948: 26,3677           34756                           CAF      BIT11                                 
061698,000949: 26,3700           00006                           EXTEND                                         
061699,000950: 26,3701           05013                           WOR      CHAN13                                #  SET STANDBY ENABLE BIT
061700,000951: 
061701,000952: 26,3702           05402                           TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
061702,000953: 26,3703           07024                           OCT      07024                                 #        RECOVERS
061703,000954: 26,3704           20000                           OCT      20000                                 
061704,000955: 26,3705     1010                                  EBANK=   SCALSAVE                              
061705,000956: 26,3705           03735 54062                     2CADR    POSTAND                               
061706,000957: 
061707,000958: 26,3707           35011                           CAF      OCT62                                 
061708,000959: 26,3710           04636                           TC       BANKCALL                              
061709,000960: 26,3711           21067                           CADR     GOPERF1                               
061710,000961: 26,3712           13707                           TCF      -3                                    
061711,000962: 26,3713           13707                           TCF      -4                                    
061712,000963: 26,3714           13707                           TCF      -5                                    
061713,000964: 
061714,000965: 26,3715     5011               OCT62              EQUALS   .5SEC                                 #  DEC 50 = OCT 62
061715,000966: 

Page 1443

061717,000968:                                                                                                  #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
061718,000969:                                                                                                  #  T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061719,000970:                                                                                                  #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061720,000971:                                                                                                  #  DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061721,000972:                                                                                                  #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061722,000973:                                                                                                  #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061723,000974:                                                                                                  #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061724,000975:                                                                                                  #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061725,000976:                                                                                                  #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061726,000977:                                                                                                  #  DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061727,000978: 
061728,000979: 26,3715           00006        SCALPREP           EXTEND                                         
061729,000980: 26,3716           22156                           QXCH     MPAC       +2                         
061730,000981: 26,3717           04511                           TC       FINETIME   +1                         
061731,000982: 26,3720           00003                           RELINT                                         
061732,000983: 26,3721           52155                           DXCH     MPAC                                  

Trailing period restored. — RSB 2017.

061734,000985: 26,3722           34764                           CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
061735,000986: 26,3723           54001                           TS       L                                     
061736,000987: 26,3724           34772                           CA       ZERO                                  
061737,000988: 26,3725           20155                           DAS      MPAC                                  
061738,000989: 26,3726           44342                           CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061739,000990: 26,3727           70155                           MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
061740,000991: 26,3730           56155                           XCH      MPAC       +1                         
061741,000992: 26,3731           74342                           MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
061742,000993:                                                                                                  #  INTERVAL AFTER THE T1 INCREMENT
061743,000994:                                                                                                  #  (NOW = 00000, SINCE BIT 5 ADDED).
061744,000995: 26,3732           10000                           CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
061745,000996: 26,3733           24156                           INCR     MPAC       +2                         #  NO
061746,000997: 26,3734           00156                           TC       MPAC       +2                         #  YES
061747,000998: 
061748,000999:                                                                                                  #  POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061749,001000:                                                                                                  #  TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061750,001001:                                                                                                  #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061751,001002:                                                                                                  #  CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061752,001003:                                                                                                  #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061753,001004:                                                                                                  #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061754,001005: 
061755,001006: 26,3735                                           COUNT*   $$/P05                                
061756,001007: 
061757,001008: 26,3735           44756        POSTAND            CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
061758,001009: 26,3736           00006                           EXTEND                                         
061759,001010: 26,3737           03013                           WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
061760,001011: 26,3740           00004                 +3        INHINT                                         
061761,001012: 26,3741           34772                           CA       ZERO                                  
061762,001013: 26,3742           54001                           TS       L                                     
061763,001014: 26,3743           52025                           DXCH     TIME2                                 #  CLEAR TIME1 TIME2
061764,001015: 26,3744           03715                           TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
061765,001016: 26,3745           03740                           TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
061766,001017: 26,3746           00006                           EXTEND                                         #  T1,T2 AND SCALER OK
061767,001018: 26,3747           41011                           DCS      SCALSAVE                              

Page 1444

061769,001020: 26,3750           20155                           DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER
061770,001021: 26,3751           34757                           CAF      BIT10                                 #  MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061771,001022: 26,3752           07256                           TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1 TIME2.
061772,001023: 26,3753           07224                           TC       DPAGREE                               
061773,001024: 26,3754           10154                           CCS      MPAC                                  
061774,001025: 26,3755           03762                           TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
061775,001026: 26,3756           03762                           TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
061776,001027: 26,3757           03760                           TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061777,001028: 26,3760           34757                           CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
061778,001029: 26,3761           26154                           ADS      MPAC                                  
061779,001030: 26,3762           00006        POSTCOM            EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061780,001031: 26,3763           31007                           DCA      TIME2SAV                              #  PRESTANDBY TIME1 TIME2
061781,001032: 26,3764           20155                           DAS      MPAC                                  
061782,001033: 26,3765           07226                           TC       TPAGREE                               #  FORCE SIGN AGREEMENT
061783,001034: 26,3766           52155                           DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
061784,001035: 26,3767           20025                           DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
061785,001036: 26,3770           05561                           TC       DOWNFLAG                              #  CLEAR NODOFLAG
061786,001037: 26,3771           00054                           ADRES    NODOFLAG                              
061787,001038: 
061788,001039: 26,3772           04103        TCGOPOOH           TC       GOTOPOOH                              

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