Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

058557,000002:                                                                                                 #  Copyright:    Public domain.
058558,000003:                                                                                                 #  Filename:      IMU_MODE_SWITCHING_ROUTINES.agc
058559,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
058560,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
058561,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
058562,000007:                                                                                                 #  Assembler:    yaYUL
058563,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
058564,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
058565,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
058566,000011:                                                                                                 #  Mod history:  2011-04-17 JL    Adapted from corresponding Colossus 249 file.
058567,000012: 
058568,000013:                                                                                                 # # Page 1384
058569,000014:    5410                                          BLOCK    02                                    
058570,000015:    4000                                          SETLOC   FFTAG3                                
058571,000016:    4000                                          BANK                                           
058572,000017: 
058573,000018:    5410  E3,1471                                 EBANK=   COMMAND                               
058574,000019: 
058575,000020:                                                                                                 #           FIXED-FIXED ROUTINES.
058576,000021: 
058577,000022:    5410                                          COUNT    02/IMODE                              
058578,000023: 
058579,000024:    5410           34714        ZEROICDU          CAF      ZERO                                  #  ZERO ICDU COUNTERS.
058580,000025:    5411           54032                          TS       CDUX                                  
058581,000026:    5412           54033                          TS       CDUY                                  
058582,000027:    5413           54034                          TS       CDUZ                                  
058583,000028:    5414           00002                          TC       Q                                     
058584,000029: 
058585,000030:    5415     4702               SPSCODE           =        BIT9                                  
058586,000031: 
058587,000032:                                                                                                 # # Page 1385
058588,000033:                                                                                                 #  IMU ZEROING ROUTINES
058589,000034: 
058590,000035: 11,3721                                          BANK     11                                    
058591,000036: 07,2000                                          SETLOC   MODESW                                
058592,000037: 07,2000                                          BANK                                           
058593,000038: 
058594,000039: 07,2516                                          COUNT    07/IMODE                              
058595,000040: 
058596,000041: 07,2516           00004        IMUZERO           INHINT                                         #  ROUTINE TO ZERO ICDUS.
058597,000042: 07,2517           41036                          CS       DSPTAB     +11D                       #  DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
058598,000043: 07,2520           74726                          MASK     BITS4&6                               #  COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
058599,000044: 07,2521           10000                          CCS      A                                     
058600,000045: 07,2522           12526                          TCF      IMUZEROA                              
058601,000046: 
058602,000047: 07,2523           05537                          TC       ALARM                                 #  IF SO.
058603,000048: 07,2524           00206                          OCT      00206                                 
058604,000049: 
058605,000050: 07,2525           13461                          TCF      CAGETSTJ   +4                         #  IMMEDIATE FAILURE.
058606,000051: 
058607,000052: 07,2526           03455        IMUZEROA          TC       CAGETSTJ                              
058608,000053:                                                                                                 #                                  DO ALL THE WORK.
058609,000054: 07,2527           41321                          CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
058610,000055: 07,2530           74730                          MASK     SUPER011                              #      BIT5 FOR GROUND
058611,000056: 07,2531           27321                          ADS      IMODES33                              
058612,000057: 
058613,000058: 07,2532           41320                          CS       IMODES30                              #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
058614,000059: 07,2533           75660                          MASK     BITS3&4                               #  JUST CAME OUT OF COARSE ALIGN).
058615,000060: 07,2534           27320                          ADS      IMODES30                              
058616,000061: 
058617,000062: 07,2535           44726                          CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
058618,000063: 07,2536           00006                          EXTEND                                         #  COUNTER DISABLED.
058619,000064: 07,2537           03012                          WAND     CHAN12                                
058620,000065: 
058621,000066: 07,2540           03070                          TC       NOATTOFF                              #  TURN OFF NO ATT LAMP.
058622,000067: 
058623,000068: 07,2541           34706                          CAF      BIT5                                  
058624,000069: 07,2542           00006                          EXTEND                                         
058625,000070: 07,2543           05012                          WOR      CHAN12                                
058626,000071: 
058627,000072: 07,2544           05410                          TC       ZEROICDU                              
058628,000073: 07,2545           34705                          CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
058629,000074: 07,2546           05140                          TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
058630,000075: 07,2547  E3,1474                                 EBANK=   CDUIND                                
058631,000076: 07,2547           02561 16063                    2CADR    IMUZERO2                              
058632,000077: 
058633,000078: 07,2551           41320                          CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
058634,000079: 07,2552           74702                          MASK     BIT9                                  
058635,000080: 07,2553           10000                          CCS      A                                     
058636,000081: 07,2554           12557                          TCF      MODEEXIT                              
058637,000082:                                                                                                 # # Page 1386
058638,000083: 07,2555           05537                          TC       ALARM                                 
058639,000084: 07,2556           00210                          OCT      210                                   
058640,000085: 
058641,000086: 07,2557           00003        MODEEXIT          RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
058642,000087: 07,2560           14570                          TCF      SWRETURN                              
058643,000088: 
058644,000089: 
058645,000090: 07,2561           03455        IMUZERO2          TC       CAGETSTJ                              #  POSSIBLY SWITCH TO TURN-ON PROGRAM
058646,000091: 07,2562           05410                          TC       ZEROICDU                              #  ZERO CDUX, CDUY, CDUZ
058647,000092: 
058648,000093: 07,2563           44706                          CS       BIT5                                  #  REMOVE ZERO DISCRETE.
058649,000094: 07,2564           00006                          EXTEND                                         
058650,000095: 07,2565           03012                          WAND     CHAN12                                
058651,000096: 
058652,000097: 07,2566           34700                          CAF      BIT11                                 #  WAIT 10 SECS FOR CTRS TO FIND GIMBALS
058653,000098: 07,2567           05161                          TC       VARDELAY                              
058654,000099: 
058655,000100: 07,2570           03455        IMUZERO3          TC       CAGETSTJ                              
058656,000101: 07,2571           45660                          CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
058657,000102: 07,2572           71320                          MASK     IMODES30                              
058658,000103: 07,2573           55320                          TS       IMODES30                              
058659,000104: 
058660,000105: 07,2574           44730                          CS       SUPER011                              #  ENABLE DAP AUTO AND HOLD MODES
058661,000106: 07,2575           71321                          MASK     IMODES33                              #      BIT5 FOR GROUND
058662,000107: 07,2576           55321                          TS       IMODES33                              
058663,000108: 
058664,000109: 07,2577           04633                          TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
058665,000110: 07,2600           14665                          CADR     SETISSW                               #  PRESENT.
058666,000111: 
058667,000112: 07,2601           13433                          TCF      ENDIMU                                
058668,000113: 
058669,000114:                                                                                                 # # Page 1387
058670,000115:                                                                                                 #           IMU COARSE ALIGN MODE.
058671,000116: 
058672,000117: 07,2602           00004        IMUCOARS          INHINT                                         
058673,000118: 07,2603           03455                          TC       CAGETSTJ                              
058674,000119: 07,2604           02746                          TC       SETCOARS                              
058675,000120: 
058676,000121: 07,2605           36211                          CAF      SIX                                   
058677,000122: 07,2606           05140                          TC       WAITLIST                              
058678,000123: 07,2607  E3,1474                                 EBANK=   CDUIND                                
058679,000124: 07,2607           02612 16063                    2CADR    COARS                                 
058680,000125: 
058681,000126: 07,2611           12557                          TCF      MODEEXIT                              
058682,000127: 
058683,000128: 07,2612           03443        COARS             TC       CAGETEST                              
058684,000129: 07,2613           34705                          CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
058685,000130: 07,2614           00006                          EXTEND                                         
058686,000131: 07,2615           05012                          WOR      CHAN12                                
058687,000132: 
058688,000133: 07,2616           34711                          CAF      TWO                                   #  SET CDU INDICATOR
058689,000134: 07,2617           55474        COARS1            TS       CDUIND                                
058690,000135: 
058691,000136: 07,2620           51474                          INDEX    CDUIND                                #  COMPUTE THETAD -- THETAA IN 1:S
058692,000137: 07,2621           31155                          CA       THETAD                                #    COMPLEMENT FORM
058693,000138: 07,2622           00006                          EXTEND                                         
058694,000139: 07,2623           51474                          INDEX    CDUIND                                
058695,000140: 07,2624           20032                          MSU      CDUX                                  
058696,000141: 07,2625           00006                          EXTEND                                         
058697,000142: 07,2626           74676                          MP       BIT13                                 #  SHIFT RIGHT 2
058698,000143: 07,2627           56001                          XCH      L                                     #  ROUND
058699,000144: 07,2630           60000                          DOUBLE                                         
058700,000145: 07,2631           54061                          TS       ITEMP1                                
058701,000146: 07,2632           12634                          TCF      +2                                    
058702,000147: 07,2633           26001                          ADS      L                                     
058703,000148: 
058704,000149: 07,2634           51474                          INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
058705,000150: 07,2635           23471                          LXCH     COMMAND                               
058706,000151: 07,2636           11474                          CCS      CDUIND                                
058707,000152: 07,2637           02617                          TC       COARS1                                
058708,000153: 
058709,000154: 07,2640           34711                          CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
058710,000155: 07,2641           05161                          TC       VARDELAY                              
058711,000156: 
058712,000157:                                                                                                 # # Page 1388
058713,000158: 07,2642           03443        COARS2            TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
058714,000159: 07,2643           54061                          TS       ITEMP1                                #  SET TO +0.
058715,000160: 07,2644           34711                          CAF      TWO                                   #  SET CDU INDICATOR
058716,000161: 07,2645           55474                 +3       TS       CDUIND                                
058717,000162: 
058718,000163: 07,2646           51474                          INDEX    CDUIND                                
058719,000164: 07,2647           11471                          CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
058720,000165: 07,2650           02654                          TC       COMPOS                                #  GREATER THAN MAX ALLOWED
058721,000166: 07,2651           02663                          TC       NEXTCDU    +1                         
058722,000167: 07,2652           02721                          TC       COMNEG                                
058723,000168: 07,2653           02663                          TC       NEXTCDU    +1                         
058724,000169: 
058725,000170: 07,2654           63544        COMPOS            AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
058726,000171: 07,2655           00006                          EXTEND                                         #    MINUS ONE
058727,000172: 07,2656           62731                          BZMF     COMZERO                               
058728,000173: 07,2657           51474                          INDEX    CDUIND                                
058729,000174: 07,2660           55471                          TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
058730,000175: 07,2661           43545                          CS       -COMMAX-                              #    ALLOWED
058731,000176: 
058732,000177: 07,2662           24061        NEXTCDU           INCR     ITEMP1                                
058733,000178: 07,2663           64713                          AD       NEG0                                  
058734,000179: 07,2664           51474                          INDEX    CDUIND                                
058735,000180: 07,2665           54050                          TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
058736,000181: 
058737,000182: 07,2666           11474                          CCS      CDUIND                                
058738,000183: 07,2667           02645                          TC       COARS2     +3                         
058739,000184: 
058740,000185: 07,2670           10061                          CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
058741,000186: 07,2671           12735                          TCF      SENDPULS                              
058742,000187: 
058743,000188: 07,2672           05156                          TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
058744,000189: 07,2673           00226                          DEC      150        B-14                       
058745,000190: 
058746,000191: 
058747,000192: 07,2674           34711                          CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
058748,000193: 07,2675           54061        CHKCORS           TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
058749,000194: 07,2676           50000                          INDEX    A                                     
058750,000195: 07,2677           30032                          CA       CDUX                                  
058751,000196: 07,2700           00006                          EXTEND                                         
058752,000197: 07,2701           50061                          INDEX    ITEMP1                                
058753,000198: 07,2702           21155                          MSU      THETAD                                
058754,000199: 07,2703           10000                          CCS      A                                     
058755,000200: 07,2704           12712                          TCF      COARSERR                              
058756,000201: 07,2705           12707                          TCF      CORSCHK2                              
058757,000202: 07,2706           12712                          TCF      COARSERR                              
058758,000203: 
058759,000204:                                                                                                 # # Page 1389
058760,000205: 07,2707           10061        CORSCHK2          CCS      ITEMP1                                
058761,000206: 07,2710           12675                          TCF      CHKCORS                               
058762,000207: 07,2711           13433                          TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
058763,000208: 
058764,000209: 07,2712           62720        COARSERR          AD       COARSTOL                              #  2 DEGREES.
058765,000210: 07,2713           00006                          EXTEND                                         
058766,000211: 07,2714           62707                          BZMF     CORSCHK2                              
058767,000212: 
058768,000213: 07,2715           05537                          TC       ALARM                                 #  COARSE ALIGN ERROR.
058769,000214: 07,2716           00211                          OCT      211                                   
058770,000215: 
058771,000216: 07,2717           13441                          TCF      IMUBAD                                
058772,000217: 
058773,000218: 07,2720           77511        COARSTOL          DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS
058774,000219: 
058775,000220: 
058776,000221: 07,2721           63544        COMNEG            AD       -COMMAX                               
058777,000222: 07,2722           00006                          EXTEND                                         
058778,000223: 07,2723           62731                          BZMF     COMZERO                               
058779,000224: 07,2724           40000                          COM                                            
058780,000225: 07,2725           51474                          INDEX    CDUIND                                
058781,000226: 07,2726           55471                          TS       COMMAND                               
058782,000227: 07,2727           33545                          CA       -COMMAX-                              
058783,000228: 07,2730           02662                          TC       NEXTCDU                               
058784,000229: 
058785,000230: 07,2731           34714        COMZERO           CAF      ZERO                                  
058786,000231: 07,2732           51474                          INDEX    CDUIND                                
058787,000232: 07,2733           57471                          XCH      COMMAND                               
058788,000233: 07,2734           02662                          TC       NEXTCDU                               
058789,000234: 
058790,000235: 07,2735           37707        SENDPULS          CAF      13,14,15                              
058791,000236: 07,2736           00006                          EXTEND                                         
058792,000237: 07,2737           05014                          WOR      CHAN14                                
058793,000238: 07,2740           33546                          CAF      600MS                                 
058794,000239: 07,2741           12641                          TCF      COARS2     -1                         #  THEN TO VARDELAY
058795,000240: 
058796,000241: 07,2742           34705        CA+ECE            CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
058797,000242: 07,2743           00006                          EXTEND                                         
058798,000243: 07,2744           05012                          WOR      CHAN12                                
058799,000244: 07,2745           05213                          TC       TASKOVER                              
058800,000245: 
058801,000246:                                                                                                 # # Page 1390
058802,000247: 07,2746           34707        SETCOARS          CAF      BIT4                                  #  BYPASS IF ALREADY IN COARSE ALIGN
058803,000248: 07,2747           00006                          EXTEND                                         
058804,000249: 07,2750           02012                          RAND     CHAN12                                
058805,000250: 07,2751           10000                          CCS      A                                     
058806,000251: 07,2752           00002                          TC       Q                                     
058807,000252: 
058808,000253: 07,2753           44705                          CS       BIT6                                  #  CLEAR ISS ERROR COUNTERS
058809,000254: 07,2754           00006                          EXTEND                                         
058810,000255: 07,2755           03012                          WAND     CHAN12                                
058811,000256: 
058812,000257: 07,2756           44701                          CS       BIT10                                 #  KNOCK DOWN GYRO ACTIVITY
058813,000258: 07,2757           00006                          EXTEND                                         
058814,000259: 07,2760           03014                          WAND     CHAN14                                
058815,000260: 07,2761           44714                          CS       ZERO                                  
058816,000261: 07,2762           54047                          TS       GYROCMD                               
058817,000262: 
058818,000263: 07,2763           34707                          CAF      BIT4                                  #  PUT ISS IN COARSE ALIGN
058819,000264: 07,2764           00006                          EXTEND                                         
058820,000265: 07,2765           05012                          WOR      CHAN12                                
058821,000266: 
058822,000267: 07,2766           41036                          CS       DSPTAB     +11D                       #  TURN ON NO ATT LAMP
058823,000268: 07,2767           73011                          MASK     OCT40010                              
058824,000269: 07,2770           27036                          ADS      DSPTAB     +11D                       
058825,000270: 
058826,000271: 07,2771           41321                          CS       IMODES33                              #  DISABLE DAP AUTO AND HOLD MODES
058827,000272: 07,2772           74705                          MASK     BIT6                                  
058828,000273: 07,2773           27321                          ADS      IMODES33                              
058829,000274: 
058830,000275: 07,2774           41320                          CS       IMODES30                              #  DISABLE IMUFAIL
058831,000276: 07,2775           74707                          MASK     BIT4                                  
058832,000277: 07,2776           27320                          ADS      IMODES30                              
058833,000278: 
058834,000279: 07,2777           44706        RNDREFDR          CS       BIT5                                  #  KNOCK DOWN TRACK FLAG
058835,000280: 07,3000           70075                          MASK     FLAGWRD1                              
058836,000281: 07,3001           54075                          TS       FLAGWRD1                              
058837,000282: 
058838,000283: 07,3002           44674                          CS       BIT15                                 #  KNOCK DOWN DRIFT FLAG
058839,000284: 07,3003           70076                          MASK     FLAGWRD2                              
058840,000285: 07,3004           54076                          TS       FLAGWRD2                              
058841,000286: 
058842,000287: 07,3005           44676                          CS       BIT13                                 #  KNOCK DOWN REFSMMAT FLAG
058843,000288: 07,3006           70077                          MASK     FLAGWRD3                              
058844,000289: 07,3007           54077                          TS       FLAGWRD3                              
058845,000290: 
058846,000291: 07,3010           00002                          TC       Q                                     
058847,000292: 
058848,000293: 07,3011           40010        OCT40010          OCT      40010                                 
058849,000294: 
058850,000295:                                                                                                 # # Page 1391
058851,000296:                                                                                                 #           IMU FINE ALIGN MODE SWITCH.
058852,000297: 
058853,000298: 07,3012           00004        IMUFINE           INHINT                                         
058854,000299: 07,3013           03455                          TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
058855,000300: 
058856,000301: 07,3014           43543                          CS       BITS4-5                               #  RESET ZERO AND COARSE
058857,000302: 07,3015           00006                          EXTEND                                         
058858,000303: 07,3016           03012                          WAND     CHAN12                                
058859,000304: 
058860,000305: 07,3017           44705                          CS       BIT6                                  #  INSURE DAP AUTO AND HOLD MODES ENABLED
058861,000306: 07,3020           71321                          MASK     IMODES33                              
058862,000307: 07,3021           55321                          TS       IMODES33                              
058863,000308: 
058864,000309: 07,3022           03070                          TC       NOATTOFF                              
058865,000310: 
058866,000311: 07,3023           34701                          CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
058867,000312: 07,3024           05140                          TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
058868,000313: 07,3025  E3,1474                                 EBANK=   CDUIND                                
058869,000314: 07,3025           03036 16063                    2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
058870,000315: 
058871,000316: 07,3027           34735                          CAF      2SECS                                 
058872,000317: 07,3030           05140                          TC       WAITLIST                              
058873,000318: 07,3031  E3,1474                                 EBANK=   CDUIND                                
058874,000319: 07,3031           03034 16063                    2CADR    IMUFINED                              
058875,000320: 
058876,000321: 07,3033           12557                          TCF      MODEEXIT                              
058877,000322: 
058878,000323: 07,3034           03443        IMUFINED          TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
058879,000324: 07,3035           13433                          TCF      ENDIMU                                
058880,000325: 
058881,000326:                                                                                                 # # Page 1392
058882,000327: 07,3036           03450        IFAILOK           TC       CAGETSTQ                              #  ENABLE IMU FAIL UNLESS IMU BEING CAGED.
058883,000328: 07,3037           15213                          TCF      TASKOVER                              #  IT IS.
058884,000329: 
058885,000330: 07,3040           34707                          CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
058886,000331: 07,3041           00006                          EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
058887,000332: 07,3042           02012                          RAND     CHAN12                                
058888,000333: 07,3043           10000                          CCS      A                                     
058889,000334: 07,3044           15213                          TCF      TASKOVER                              
058890,000335: 
058891,000336: 07,3045           41320                          CS       IMODES30                              #  RESET IMUFAIL.
058892,000337: 07,3046           74676                          MASK     BIT13                                 
058893,000338: 07,3047           27320                          ADS      IMODES30                              
058894,000339: 07,3050           44707                          CS       BIT4                                  
058895,000340: 07,3051           71320        PFAILOK2          MASK     IMODES30                              
058896,000341: 07,3052           55320                          TS       IMODES30                              
058897,000342: 07,3053           04633                          TC       IBNKCALL                              #  THE ISS WARNING LIGHT MAY COME ON NOW
058898,000343: 07,3054           14665                          CADR     SETISSW                               #  THAT THE INHIBIT WAS BEEN REMOVED.
058899,000344: 07,3055           15213                          TCF      TASKOVER                              
058900,000345: 
058901,000346: 07,3056           03450        PFAILOK           TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
058902,000347: 07,3057           15213                          TCF      TASKOVER                              
058903,000348: 
058904,000349: 07,3060           41320                          CS       IMODES30                              #  RESET IMU AND PIPA FAIL BITS.
058905,000350: 07,3061           74701                          MASK     BIT10                                 
058906,000351: 07,3062           27320                          ADS      IMODES30                              
058907,000352: 
058908,000353: 07,3063           41321                          CS       IMODES33                              
058909,000354: 07,3064           74676                          MASK     BIT13                                 
058910,000355: 07,3065           27321                          ADS      IMODES33                              
058911,000356: 
058912,000357: 07,3066           44706                          CS       BIT5                                  
058913,000358: 07,3067           13051                          TCF      PFAILOK2                              
058914,000359: 
058915,000360: 07,3070           43011        NOATTOFF          CS       OCT40010                              #  SUBROUTINE TO TURN OFF NO ATT LAMP.
058916,000361: 07,3071           71036                          MASK     DSPTAB     +11D                       
058917,000362: 07,3072           64674                          AD       BIT15                                 
058918,000363: 07,3073           55036                          TS       DSPTAB     +11D                       
058919,000364: 07,3074           00002                          TC       Q                                     
058920,000365: 
058921,000366:                                                                                                 # # Page 1393
058922,000367:                                                                                                 #           ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
058923,000368: 
058924,000369: 07,3075           44714        PIPUSE            CS       ZERO                                  
058925,000370: 07,3076           54037                          TS       PIPAX                                 
058926,000371: 07,3077           54040                          TS       PIPAY                                 
058927,000372: 07,3100           54041                          TS       PIPAZ                                 
058928,000373: 
058929,000374: 07,3101           03450        PIPUSE1           TC       CAGETSTQ                              #  DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
058930,000375: 07,3102           14570                          TCF      SWRETURN                              
058931,000376: 
058932,000377: 07,3103           00004                          INHINT                                         
058933,000378: 07,3104           44712                          CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
058934,000379: 07,3105           71320                          MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
058935,000380: 07,3106           55320                          TS       IMODES30                              
058936,000381: 
058937,000382: 07,3107           04633        PIPFREE2          TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
058938,000383: 07,3110           14665                          CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
058939,000384: 
058940,000385: 07,3111           12557                          TCF      MODEEXIT                              
058941,000386: 
058942,000387: 07,3112           00004        PIPFREE           INHINT                                         #  PROGRAM DONE WITH PIPAS.  DONT LIGHT
058943,000388: 07,3113           41320                          CS       IMODES30                              #  ISS WARNING.
058944,000389: 07,3114           74712                          MASK     BIT1                                  
058945,000390: 07,3115           27320                          ADS      IMODES30                              
058946,000391: 
058947,000392: 07,3116           74701                          MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
058948,000393: 07,3117           10000                          CCS      A                                     #  ISS WARNING.
058949,000394: 07,3120           12557                          TCF      MODEEXIT                              
058950,000395: 
058951,000396: 07,3121           05537                          TC       ALARM                                 
058952,000397: 07,3122           00212                          OCT      212                                   
058953,000398: 
058954,000399: 07,3123           00004                          INHINT                                         
058955,000400: 
058956,000401: 07,3124           13107                          TCF      PIPFREE2                              
058957,000402: 
058958,000403:                                                                                                 # # Page 1394
058959,000404:                                                                                                 #           THE FOLLOWING ROUTINE TORQUES THE IRICS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
058960,000405:                                                                                                 #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
058961,000406:                                                                                                 #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
058962,000407: 
058963,000408: 07,3125  E3,1400                                 EBANK=   1400                                  #  VARIABLE, ACTUALLY.
058964,000409: 
058965,000410: 07,3125           54161        IMUPULSE          TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
058966,000411: 07,3126           03455                          TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
058967,000412: 
058968,000413: 07,3127           11304                          CCS      LGYRO                                 #  SEE IF GYROS BUSY.
058969,000414: 07,3130           03171                          TC       GYROBUSY                              #  SLEEP.
058970,000415: 
058971,000416: 07,3131           54156                          TS       MPAC       +2                         
058972,000417: 07,3132           34705                          CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
058973,000418: 07,3133           00006                          EXTEND                                         
058974,000419: 07,3134           05014                          WOR      CHAN14                                
058975,000420: 
058976,000421: 07,3135           34710                          CAF      FOUR                                  
058977,000422: 07,3136           05140        GWAKE2            TC       WAITLIST                              #  (IF A JOB WAS PUT TO SLEEP, THE POWER
058978,000423: 07,3137  E3,1474                                 EBANK=   CDUIND                                #  SUPPLY IS LEFT ON BY THE WAKING JOB).
058979,000424: 07,3137           03207 16063                    2CADR    STRTGYRO                              
058980,000425: 
058981,000426: 07,3141           30161                          CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
058982,000427: 07,3142           56003                          XCH      EBANK                                 #  RESTORATION ON RETURN.
058983,000428: 07,3143           56161                          XCH      MPAC       +5                         
058984,000429: 07,3144           55304                          TS       LGYRO                                 #  RESERVES GYROS.
058985,000430: 07,3145           74373                          MASK     LOW8                                  
058986,000431: 07,3146           54061                          TS       ITEMP1                                
058987,000432: 
058988,000433: 07,3147           34711                          CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
058989,000434: 07,3150           54157        GYROAGRE          TS       MPAC       +3                         
058990,000435: 07,3151           60000                          DOUBLE                                         
058991,000436: 07,3152           60061                          AD       ITEMP1                                
058992,000437: 07,3153           54160                          TS       MPAC       +4                         
058993,000438: 07,3154           00006                          EXTEND                                         
058994,000439: 07,3155           50000                          INDEX    A                                     
058995,000440: 07,3156           31401                          DCA      1400                                  
058996,000441: 07,3157           52155                          DXCH     MPAC                                  
058997,000442: 07,3160           07226                          TC       TPAGREE                               
058998,000443: 07,3161           52155                          DXCH     MPAC                                  
058999,000444: 07,3162           50160                          INDEX    MPAC       +4                         
059000,000445: 07,3163           53401                          DXCH     1400                                  
059001,000446: 
059002,000447: 07,3164           10157                          CCS      MPAC       +3                         
059003,000448: 07,3165           13150                          TCF      GYROAGRE                              
059004,000449: 
059005,000450: 07,3166           30161                          CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
059006,000451: 07,3167           54003                          TS       EBANK                                 
059007,000452: 07,3170           12557                          TCF      MODEEXIT                              
059008,000453:                                                                                                 # # Page 1395
059009,000454:                                                                                                 #           ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
059010,000455: 
059011,000456: 07,3171           00006        GYROBUSY          EXTEND                                         #  SAVE RETURN 2FCADR.
059012,000457: 07,3172           30134                          DCA      BUF2                                  
059013,000458: 07,3173           52155                          DXCH     MPAC                                  
059014,000459: 07,3174           33206        REGSLEEP          CAF      LGWAKE                                
059015,000460: 07,3175           15070                          TCF      JOBSLEEP                              
059016,000461: 
059017,000462: 07,3176           11304        GWAKE             CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
059018,000463: 07,3177           13174                          TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
059019,000464: 
059020,000465: 07,3200           54156                          TS       MPAC       +2                         
059021,000466: 07,3201           00006                          EXTEND                                         
059022,000467: 07,3202           30155                          DCA      MPAC                                  
059023,000468: 07,3203           52134                          DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
059024,000469: 07,3204           34712                          CAF      ONE                                   
059025,000470: 07,3205           13136                          TCF      GWAKE2                                
059026,000471: 
059027,000472: 07,3206           17176        LGWAKE            CADR     GWAKE                                 
059028,000473: 
059029,000474:                                                                                                 # # Page 1396
059030,000475:                                                                                                 #           GYRO-TORQUING WAITLIST TASKS.
059031,000476: 
059032,000477: 07,3207           43430        STRTGYRO          CS       GDESELCT                              #  DE-SELECT LAST GYRO.
059033,000478: 07,3210           00006                          EXTEND                                         
059034,000479: 07,3211           03014                          WAND     CHAN14                                
059035,000480: 
059036,000481: 07,3212           03443                          TC       CAGETEST                              
059037,000482: 
059038,000483: 07,3213           31304        STRTGYR2          CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
059039,000484: 07,3214           00006                          EXTEND                                         
059040,000485: 07,3215           74707                          MP       BIT4                                  
059041,000486: 07,3216           50000                          INDEX    A                                     
059042,000487: 07,3217           13220                          TCF      +1                                    
059043,000488: 07,3220           03235                          TC       GSELECT                               #  =0. DO Y GYRO.
059044,000489: 07,3221           00202                          OCT      00202                                 
059045,000490: 
059046,000491: 07,3222           03235                          TC       GSELECT                               #  =1. DO Z GYRO.
059047,000492: 07,3223           00302                          OCT      00302                                 
059048,000493: 
059049,000494: 07,3224           03233                          TC       GSELECT    -2                         #  =2. DO X GYRO.
059050,000495: 07,3225           00100                          OCT      00100                                 
059051,000496: 
059052,000497: 07,3226           34714                          CAF      ZERO                                  #  =3. DONE
059053,000498: 07,3227           55304                          TS       LGYRO                                 
059054,000499: 07,3230           33206                          CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
059055,000500: 07,3231           05074                          TC       JOBWAKE                               
059056,000501: 
059057,000502: 07,3232           13034        NORESET           TCF      IMUFINED                              #  DO NOT RESET POWER SUPPLY
059058,000503: 
059059,000504:                                                                                                 # # Page 1397
059060,000505: 07,3233           44710                 -2       CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
059061,000506: 07,3234           27304                          ADS      LGYRO                                 
059062,000507: 
059063,000508: 07,3235           50002        GSELECT           INDEX    Q                                     #  SELECT GYRO.
059064,000509: 07,3236           30000                          CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
059065,000510: 07,3237           54064                          TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
059066,000511: 07,3240           74716                          MASK     SEVEN                                 
059067,000512: 07,3241           64676                          AD       BIT13                                 
059068,000513: 07,3242           27304                          ADS      LGYRO                                 
059069,000514: 07,3243           54003                          TS       EBANK                                 
059070,000515: 07,3244           74373                          MASK     LOW8                                  
059071,000516: 07,3245           54061                          TS       ITEMP1                                
059072,000517: 
059073,000518: 07,3246           44716                          CS       SEVEN                                 
059074,000519: 07,3247           70064                          MASK     ITEMP4                                
059075,000520: 07,3250           54064                          TS       ITEMP4                                
059076,000521: 
059077,000522: 07,3251           00006                          EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
059078,000523: 07,3252           50061                          INDEX    ITEMP1                                
059079,000524: 07,3253           31401                          DCA      1400                                  
059080,000525: 07,3254           52071                          DXCH     RUPTREG1                              
059081,000526: 
059082,000527: 07,3255           10070                          CCS      RUPTREG1                              
059083,000528: 07,3256           13271                          TCF      MAJ+                                  
059084,000529: 07,3257           13261                          TCF      +2                                    
059085,000530: 07,3260           13411                          TCF      MAJ-                                  
059086,000531: 
059087,000532: 07,3261           10071                          CCS      RUPTREG2                              
059088,000533: 07,3262           13266                          TCF      MIN+                                  
059089,000534: 07,3263           13213                          TCF      STRTGYR2                              
059090,000535: 07,3264           13406                          TCF      MIN-                                  
059091,000536: 07,3265           13213                          TCF      STRTGYR2                              
059092,000537: 
059093,000538:                                                                                                 # # Page 1398
059094,000539: 07,3266           63322        MIN+              AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
059095,000540: 07,3267           00006                          EXTEND                                         #  16 GYRO PULSES.
059096,000541: 07,3270           63213                          BZMF     STRTGYR2                              
059097,000542: 
059098,000543: 07,3271           00006        MAJ+              EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
059099,000544: 07,3272           33432                          DCA      GYROFRAC                              
059100,000545: 07,3273           20071                          DAS      RUPTREG1                              
059101,000546: 
059102,000547: 07,3274           30064                          CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
059103,000548: 07,3275           00006                          EXTEND                                         
059104,000549: 07,3276           05014                          WOR      CHAN14                                
059105,000550: 
059106,000551: 07,3277           36043                          CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
059107,000552: 07,3300           70071                          MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
059108,000553: 07,3301           56071                          XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
059109,000554: 07,3302           00006        GMERGE            EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
059110,000555: 07,3303           74703                          MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
059111,000556: 07,3304           54062                          TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
059112,000557: 07,3305           30070                          CA       RUPTREG1                              
059113,000558: 07,3306           00006                          EXTEND                                         
059114,000559: 07,3307           74702                          MP       BIT9                                  
059115,000560: 07,3310           54070                          TS       RUPTREG1                              
059116,000561: 07,3311           30001                          CA       L                                     
059117,000562: 07,3312           00006                          EXTEND                                         
059118,000563: 07,3313           74675                          MP       BIT14                                 
059119,000564: 07,3314           26062                          ADS      ITEMP2                                #  INITIAL COMMAND.
059120,000565: 
059121,000566: 07,3315           00006                          EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
059122,000567: 07,3316           30071                          DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
059123,000568: 07,3317           67716                          AD       MINUS1                                
059124,000569: 07,3320           10000                          CCS      A                                     
059125,000570: 07,3321           13345                          TCF      LONGGYRO                              
059126,000571: 07,3322           77601        -GYROMIN          OCT      -176                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
059127,000572: 07,3323           13327                          TCF      +4                                    
059128,000573: 
059129,000574: 07,3324           34675                          CAF      BIT14                                 
059130,000575: 07,3325           26062                          ADS      ITEMP2                                
059131,000576: 07,3326           34714                          CAF      ZERO                                  
059132,000577: 
059133,000578: 07,3327           50061                 +4       INDEX    ITEMP1                                
059134,000579: 07,3330           53401                          DXCH     1400                                  
059135,000580: 
059136,000581:                                                                                                 # # Page 1399
059137,000582: 07,3331           30062                          CA       ITEMP2                                #  ENTIRE COMMAND.
059138,000583: 07,3332           54047        LASTSEG           TS       GYROCMD                               
059139,000584: 07,3333           00006                          EXTEND                                         
059140,000585: 07,3334           74701                          MP       BIT10                                 #  WAITLIST DT
059141,000586: 07,3335           66214                          AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
059142,000587: 07,3336           05140                          TC       WAITLIST                              
059143,000588: 07,3337  E3,1474                                 EBANK=   CDUIND                                
059144,000589: 07,3337           03207 16063                    2CADR    STRTGYRO                              
059145,000590: 
059146,000591: 07,3341           34701        GYROEXIT          CAF      BIT10                                 
059147,000592: 07,3342           00006                          EXTEND                                         
059148,000593: 07,3343           05014                          WOR      CHAN14                                
059149,000594: 07,3344           15213                          TCF      TASKOVER                              
059150,000595: 
059151,000596: 07,3345           50061        LONGGYRO          INDEX    ITEMP1                                
059152,000597: 07,3346           53401                          DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
059153,000598: 07,3347           34675                          CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
059154,000599: 07,3350           60062                          AD       ITEMP2                                
059155,000600: 07,3351           54047                          TS       GYROCMD                               
059156,000601: 
059157,000602: 07,3352           00006        AUG3              EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
059158,000603: 07,3353           74701                          MP       BIT10                                 #  ALMOST OUT.
059159,000604: 07,3354           67714                          AD       NEG3                                  
059160,000605: 07,3355           05140                          TC       WAITLIST                              
059161,000606: 07,3356  E3,1474                                 EBANK=   CDUIND                                
059162,000607: 07,3356           03361 16063                    2CADR    8192AUG                               
059163,000608: 07,3360           13341                          TCF      GYROEXIT                              
059164,000609: 
059165,000610: 07,3361           03443        8192AUG           TC       CAGETEST                              
059166,000611: 
059167,000612: 07,3362           34707                          CAF      BIT4                                  
059168,000613: 07,3363           00006                          EXTEND                                         
059169,000614: 07,3364           02012                          RAND     CHAN12                                
059170,000615: 07,3365           10000                          CCS      A                                     
059171,000616: 07,3366           13441                          TCF      IMUBAD                                
059172,000617: 07,3367           31304                          CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
059173,000618: 07,3370           54003                          TS       EBANK                                 
059174,000619: 07,3371           74373                          MASK     LOW8                                  
059175,000620: 07,3372           54061                          TS       ITEMP1                                
059176,000621: 
059177,000622: 07,3373           50061                          INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
059178,000623: 07,3374           11400                          CCS      1400                                  
059179,000624: 07,3375           13401                          TCF      AUG2                                  #  MORE TO COME.
059180,000625: 
059181,000626: 07,3376           34675                          CAF      BIT14                                 
059182,000627: 07,3377           26047                          ADS      GYROCMD                               
059183,000628: 07,3400           13333                          TCF      LASTSEG    +1                         
059184,000629: 
059185,000630:                                                                                                 # # Page 1400
059186,000631: 07,3401           50061        AUG2              INDEX    ITEMP1                                
059187,000632: 07,3402           55400                          TS       1400                                  
059188,000633: 07,3403           34675                          CAF      BIT14                                 
059189,000634: 07,3404           26047                          ADS      GYROCMD                               
059190,000635: 07,3405           13352                          TCF      AUG3                                  #  COMPUTE DT.
059191,000636: 
059192,000637:                                                                                                 # # Page 1401
059193,000638: 07,3406           63322        MIN-              AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
059194,000639: 07,3407           00006                          EXTEND                                         
059195,000640: 07,3410           63213                          BZMF     STRTGYR2                              
059196,000641: 
059197,000642: 07,3411           00006        MAJ-              EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
059198,000643: 07,3412           43432                          DCS      GYROFRAC                              
059199,000644: 07,3413           20071                          DAS      RUPTREG1                              
059200,000645: 
059201,000646: 07,3414           30064                          CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
059202,000647: 07,3415           64702                          AD       BIT9                                  
059203,000648: 07,3416           00006                          EXTEND                                         
059204,000649: 07,3417           05014                          WOR      CHAN14                                
059205,000650: 
059206,000651: 07,3420           40070                          CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
059207,000652: 07,3421           54070                          TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
059208,000653: 07,3422           40071                          CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
059209,000654: 07,3423           76043                          MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
059210,000655: 07,3424           40000                          COM                                            
059211,000656: 07,3425           56071                          XCH      RUPTREG2                              
059212,000657: 07,3426           40000                          COM                                            
059213,000658: 07,3427           13302                          TCF      GMERGE                                
059214,000659: 
059215,000660: 07,3430           01700        GDESELCT          OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
059216,000661: 
059217,000662: 07,3431           00000 00034  GYROFRAC          2DEC     .215       B          -21             
059218,000663: 
059219,000664:                                                                                                 # # Page 1402
059220,000665:                                                                                                 #           IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
059221,000666: 
059222,000667: 07,3433           00006        ENDIMU            EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURRED OR IF
059223,000668: 07,3434           00011                          READ     DSALMOUT                              #  ISS WARNING IS ON.
059224,000669: 07,3435           74712                          MASK     BIT1                                  
059225,000670: 07,3436           10000                          CCS      A                                     
059226,000671: 07,3437           13441                          TCF      IMUBAD                                
059227,000672: 
059228,000673: 07,3440           13467        IMUGOOD           TCF      GOODEND                               #  WITH C(A) = 0.
059229,000674: 
059230,000675: 07,3441           34714        IMUBAD            CAF      ZERO                                  
059231,000676: 07,3442           13464                          TCF      BADEND                                
059232,000677: 
059233,000678: 07,3443           34705        CAGETEST          CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
059234,000679: 07,3444           71320                          MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
059235,000680: 07,3445           10000                          CCS      A                                     
059236,000681: 07,3446           13441                          TCF      IMUBAD                                #  DIRECTLY.
059237,000682: 07,3447           00002                          TC       Q                                     #  WITH C(A) = +0.
059238,000683: 
059239,000684: 07,3450           41320        CAGETSTQ          CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
059240,000685: 07,3451           74705                          MASK     BIT6                                  
059241,000686: 07,3452           10000                          CCS      A                                     
059242,000687: 07,3453           24002                          INCR     Q                                     
059243,000688: 07,3454           00002                          TC       Q                                     
059244,000689: 
059245,000690: 07,3455           41320        CAGETSTJ          CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION.
059246,000691: 07,3456           74705                          MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED.
059247,000692: 07,3457           10000                          CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
059248,000693: 07,3460           00002                          TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
059249,000694: 
059250,000695: 07,3461           44714                          CS       ZERO                                  #  TO SWRETURN.
059251,000696: 07,3462           55322                          TS       IMUCADR                               
059252,000697: 07,3463           12557                          TCF      MODEEXIT                              
059253,000698: 
059254,000699:                                                                                                 # # Page 1403
059255,000700:                                                                                                 #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
059256,000701:                                                                                                 #  OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
059257,000702: 
059258,000703: 07,3464           54071        BADEND            TS       RUPTREG2                              #  DEVICE INDEX.
059259,000704: 07,3465           44714                          CS       ZERO                                  #  FOR FAILURE.
059260,000705: 07,3466           13471                          TCF      GOODEND    +2                         
059261,000706: 
059262,000707: 07,3467           54071        GOODEND           TS       RUPTREG2                              
059263,000708: 07,3470           44712                          CS       ONE                                   #  FOR SUCCESS.
059264,000709: 
059265,000710: 07,3471           54072                          TS       RUPTREG3                              
059266,000711: 07,3472           50071                          INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
059267,000712: 07,3473           11322                          CCS      MODECADR                              
059268,000713: 07,3474           13476                          TCF      +2                                    #  YES - WAKE IT UP.
059269,000714: 07,3475           13506                          TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
059270,000715: 
059271,000716: 07,3476           34714                          CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
059272,000717: 07,3477           50071                          INDEX    RUPTREG2                              
059273,000718: 07,3500           57322                          XCH      MODECADR                              
059274,000719: 07,3501           05074                          TC       JOBWAKE                               
059275,000720: 
059276,000721: 07,3502           40072                          CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
059277,000722: 07,3503           50064                          INDEX    LOCCTR                                
059278,000723: 07,3504           26164                          ADS      LOC                                   
059279,000724: 
059280,000725: 07,3505           15213                          TCF      TASKOVER                              
059281,000726: 
059282,000727: 07,3506           30072        ENDMODE           CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
059283,000728: 07,3507           50071                          INDEX    RUPTREG2                              #  UNSUCCESSFUL - -1 INDICATES COMPLETE AND
059284,000729: 07,3510           55322                          TS       MODECADR                              #  SUCCESSFUL.
059285,000730: 07,3511           15213                          TCF      TASKOVER                              
059286,000731: 
059287,000732:                                                                                                 # # Page 1404
059288,000733:                                                                                                 #           GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
059289,000734: 
059290,000735:                                                                                                 #  PROGRAM DESCRIPTION                                    DATE- 21 FEB 1967
059291,000736:                                                                                                 #                                            LOG SECTION IMU MODE SWITCHING
059292,000737:                                                                                                 #  MOD BY- R.MELANSON TO ADD DOCUMENTATION       ASSEMBLY SUNDISK  REV.  82
059293,000738: 
059294,000739:                                                                                                 #  FUNCTIONAL DESCRIPTION-
059295,000740:                                                                                                 #    TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
059296,000741:                                                                                                 #    I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
059297,000742:                                                                                                 #    MODEECADR ARE MADE AND ACTED UPON.
059298,000743:                                                                                                 #      1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
059299,000744:                                                                                                 #         SLEEP.
059300,000745:                                                                                                 #      2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
059301,000746:                                                                                                 #         CALL AND RETURNS TO CALLING ROUTINE AT L+3
059302,000747:                                                                                                 #      3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
059303,000748:                                                                                                 #         AND RETURNS TO CALLING ROUTINE AT L+2.
059304,000749:                                                                                                 #      4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
059305,000750:                                                                                                 #         SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
059306,000751:                                                                                                 #         RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
059307,000752: 
059308,000753:                                                                                                 #   CALLING SEQUENCE-
059309,000754:                                                                                                 #    L   TC   BANKCALL
059310,000755:                                                                                                 #    L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
059311,000756:                                                                                                 #              AOTSTALL,OR ATTSTALL)
059312,000757: 
059313,000758:                                                                                                 #   NORMAL-EXIT MODE-
059314,000759:                                                                                                 #    TCF   JOBSLEEP OR TCF  MODEXIT
059315,000760: 
059316,000761:                                                                                                 #  ALARM OR ABORT EXIT MODE-
059317,000762:                                                                                                 #    TC   ABORT
059318,000763: 
059319,000764:                                                                                                 #  OUTPUT-
059320,000765:                                                                                                 #    MODECADR= CADR  IF JOBSLEEP
059321,000766:                                                                                                 #    MODECADR=+0     IF I/O COMPLETE
059322,000767:                                                                                                 #    BUF2=L+3        IF I/O COMPLETE AND GOOD.
059323,000768:                                                                                                 #    BUF2=L+2        IF I/O COMPLETE BUT FAILED.
059324,000769: 
059325,000770:                                                                                                 #  ERASABLE INITIALIZATION-
059326,000771:                                                                                                 #    BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
059327,000772:                                                                                                 #    BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
059328,000773:                                                                                                 #    MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
059329,000774: 
059330,000775:                                                                                                 #  DEBRIS-
059331,000776:                                                                                                 #    RUPTREG2 AND CALLING ROUTINE MODECADR.
059332,000777: 
059333,000778: 07,3512           34712        AOTSTALL          CAF      ONE                                   #  AOT.
059334,000779: 07,3513           03517                          TC       STALL                                 
059335,000780: 
059336,000781: 07,3514           34711        RADSTALL          CAF      TWO                                   
059337,000782: 07,3515           13517                          TCF      STALL                                 
059338,000783:                                                                                                 # # Page 1405
059339,000784: 07,3516  07,3512               OPTSTALL          EQUALS   AOTSTALL                              
059340,000785: 
059341,000786: 07,3516           34714        IMUSTALL          CAF      ZERO                                  #  IMU.
059342,000787: 
059343,000788: 07,3517           00004        STALL             INHINT                                         
059344,000789: 07,3520           54071                          TS       RUPTREG2                              #  SAVE DEVICE INDEX.
059345,000790: 07,3521           50000                          INDEX    A                                     #  SEE IF OPERATION COMPLETE.
059346,000791: 07,3522           11322                          CCS      MODECADR                              
059347,000792: 07,3523           13541                          TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
059348,000793: 07,3524           13535                          TCF      MODESLP                               #  OPERATION INCOMPLETE.
059349,000794: 07,3525           13531                          TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
059350,000795: 
059351,000796: 07,3526           50071        MG2               INDEX    RUPTREG2                              #  COMPLETE FAILED IF -0. RESET TO +0.
059352,000797: 07,3527           55322                          TS       MODECADR                              #  RETURN TO CALLER.
059353,000798: 07,3530           12557                          TCF      MODEEXIT                              
059354,000799: 
059355,000800: 07,3531           10000        MODEGOOD          CCS      A                                     #  MAKE SURE INITIAL STATE -1.
059356,000801: 07,3532           13541                          TCF      MODABORT                              
059357,000802: 
059358,000803: 07,3533           24133                          INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
059359,000804: 07,3534           13526                          TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
059360,000805: 
059361,000806: 07,3535           04604        MODESLP           TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
059362,000807: 07,3536           50071                          INDEX    RUPTREG2                              
059363,000808: 07,3537           55322                          TS       MODECADR                              
059364,000809: 07,3540           15070                          TCF      JOBSLEEP                              
059365,000810: 
059366,000811: 07,3541           05622        MODABORT          TC       POODOO                                #  TWO PROGRAMS USING THE SAME DEVICE.
059367,000812: 07,3542           01210                          OCT      1210                                  
059368,000813: 
059369,000814:                                                                                                 # # Page 1406
059370,000815:                                                                                                 #           CONSTANTS FOR MODE SWITCHING ROUTINES
059371,000816: 
059372,000817: 07,3543     5660               BITS3&4           =        OCT14                                 
059373,000818: 07,3543     4726               BITS4&6           =        OCT50                                 
059374,000819: 07,3543           00030        BITS4-5           OCT      00030                                 
059375,000820: 07,3544     4703               IMUSEFLG          EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
059376,000821: 07,3544           77500        -COMMAX           DEC      -191       B-14                       
059377,000822: 07,3545           77477        -COMMAX-          DEC      -192       B-14                       
059378,000823: 07,3546           00074        600MS             DEC      60         B-14                       
059379,000824: 07,3547  07,3012               IMUFIN20          =        IMUFINE                               
059380,000825: 07,3547           31325        GOMANUR           CA       ATTCADR                               #  IS KALCMANU FREE
059381,000826: 07,3550           00006                          EXTEND                                         
059382,000827: 07,3551           13554                          BZF      +3                                    
059383,000828: 
059384,000829: 07,3552           05622                          TC       POODOO                                #  NO
059385,000830: 07,3553           01210                          OCT      1210                                  #  2 TRYING TO USE SAME DEVICE
059386,000831: 
059387,000832: 07,3554           00006        +3                EXTEND                                         
059388,000833: 07,3555           30134                          DCA      BUF2                                  
059389,000834: 07,3556           53326                          DXCH     ATTCADR                               #  SAVE FINAL RETURN FOR KALCMAN3
059390,000835: 
059391,000836: 07,3557           30006                          CA       BBANK                                 
059392,000837: 07,3560           74716                          MASK     SEVEN                                 
059393,000838: 07,3561           27326                          ADS      ATTCADR    +1                         
059394,000839: 
059395,000840: 07,3562           30167                          CA       PRIORITY                              
059396,000841: 07,3563           77674                          MASK     PRIO37                                
059397,000842: 07,3564           55327                          TS       ATTPRIO                               #  SAVE USERS PRIO
059398,000843: 
059399,000844: 07,3565           33571                          CAF      KALEBCON                              #  SET EBANK FOR KALCMAN3
059400,000845: 07,3566           54003                          TS       EBANK                                 
059401,000846: 07,3567           04574                          TC       POSTJUMP                              
059402,000847: 07,3570           44000                          CADR     KALCMAN3                              
059403,000848: 07,3571           03261        KALEBCON          ECADR    BCDU                                  
059404,000849: 
059405,000850:                                                                                                 # # Page 1407
059406,000851:                                                                                                 #  PROGRAM DESCRIPTION
059407,000852:                                                                                                 #  IMU STATUS CHECK ROUTINE R02  (SUBROUTINE UTILITY)
059408,000853:                                                                                                 #  MOD NO - 1
059409,000854:                                                                                                 #  MOD BY - N.BRODEUR
059410,000855:                                                                                                 #  FUNCTIONAL DESCRIPTION
059411,000856: 
059412,000857:                                                                                                 #  TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
059413,000858:                                                                                                 #  ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
059414,000859:                                                                                                 #  PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
059415,000860:                                                                                                 #  CMC. CALLED THROUGH BANKCALL
059416,000861:                                                                                                 #  CALLING SEQUENCE-
059417,000862: 
059418,000863:                                                                                                 #  L        TC     BANKCALL
059419,000864:                                                                                                 #  L+1      CADR   R02BOTH
059420,000865:                                                                                                 #  SUBROUTINES CALLED
059421,000866: 
059422,000867:                                                                                                 #        VARALARM
059423,000868:                                                                                                 #        FLAGUP
059424,000869:                                                                                                 #  NORMAL EXIT MODES
059425,000870: 
059426,000871:                                                                                                 #  AT L+2 OF CALLING SEQUENCE
059427,000872:                                                                                                 #  ALARM OR ABORT EXIT MODES
059428,000873:                                                                                                 #        GOTOPOOH, WITH ALARM
059429,000874:                                                                                                 #  ERASABLE INITIALIZATION REQUIRED
059430,000875: 
059431,000876:                                                                                                 #  NONE
059432,000877:                                                                                                 #  DEBRIS
059433,000878: 
059434,000879:                                                                                                 #  CENTRALS-A,Q,L
059435,000880: 34,3777                                          BANK     34                                    
059436,000881: 07,2000                                          SETLOC   R02                                   
059437,000882: 07,2000                                          BANK                                           
059438,000883: 07,3572                                          COUNT    04/R02                                #  COUNT*
059439,000884: 
059440,000885: 07,3572           00063        DEC51             DEC      51         B-14                       
059441,000886: 07,3573           34676        R02BOTH           CAF      BIT13                                 
059442,000887: 07,3574           70077                          MASK     STATE      +3                         #  REFSMFLG
059443,000888: 07,3575           10000                          CCS      A                                     
059444,000889: 07,3576           03607                          TC       R02ZERO                               #  ZERO IMUS
059445,000890: 
059446,000891: 07,3577           31320                          CA       IMODES30                              
059447,000892: 07,3600           74702                          MASK     BIT9                                  #  IS ISS INITIALIZED
059448,000893: 07,3601           00006                          EXTEND                                         
059449,000894: 07,3602           13604                          BZF      +2                                    
059450,000895: 07,3603           44707                          CS       BIT4                                  #  SEND IMU ALARM CODE 210
059451,000896: 07,3604           63612                          AD       OCT220                                #  SEND REFSMM ALARM
059452,000897: 07,3605           05653                          TC       VARALARM                              
059453,000898: 
059454,000899: 07,3606           04106                          TC       GOTOPOOH                              
059455,000900: 
059456,000901:                                                                                                 # # Page 1408
059457,000902: 07,3607           05435        R02ZERO           TC       UPFLAG                                
059458,000903: 07,3610           00007                          ADRES    IMUSE                                 
059459,000904: 07,3611           14570                          TCF      SWRETURN                              
059460,000905: 07,3612           00220        OCT220            OCT      220                                   
059461,000906: 
059462,000907:                                                                                                 # # Page 1409
059463,000908:                                                                                                 #  PROGRAM DESCRIPTION   P06   10FEB67
059464,000909: 
059465,000910:                                                                                                 #  TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
059466,000911: 
059467,000912:                                                                                                 #  THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
059468,000913:                                                                                                 #  HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
059469,000914:                                                                                                 #  CMC  STANDBY ON THE MAIN AND LEB DISKYS IS ON.
059470,000915: 
059471,000916:                                                                                                 #  CALLING SEQUENCE:
059472,000917:                                                                                                 #           ASTRONAUT REQUEST THROUGH DSKY     V37E 06E.
059473,000918: 
059474,000919:                                                                                                 #  SUBROUTINES CALLED:
059475,000920:                                                                                                 #           GOPERF1
059476,000921:                                                                                                 #           BANKCALL
059477,000922:                                                                                                 #           FLAGDOWN
059478,000923: 
059479,000924:                                                                                                 # # Page 1410
059480,000925:                                                                                                 #  PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
059481,000926:                                                                                                 #  THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
059482,000927:                                                                                                 #  BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
059483,000928: 
059484,000929: 26,2000                                          SETLOC   P05P06                                
059485,000930: 26,2000                                          BANK                                           
059486,000931: 
059487,000932: 26,3655     1150                                 EBANK=   TIME2SAV                              
059488,000933: 26,3655                                          COUNT*   $$/P06                                
059489,000934: 
059490,000935: 26,3655           05435        P06               TC       UPFLAG                                #  SET NODOV37 BIT
059491,000936: 26,3656           00054                          ADRES    NODOFLAG                              
059492,000937: 
059493,000938: 26,3657           00004        PRESTAND          INHINT                                         
059494,000939: 26,3660           00006                          EXTEND                                         
059495,000940: 26,3661           30025                          DCA      TIME2                                 #  SNAPSHOT TIME1TIME2
059496,000941: 26,3662           53151                          DXCH     TIME2SAV                              
059497,000942: 26,3663           03714                          TC       SCALPREP                              
059498,000943: 26,3664           03657                          TC       PRESTAND                              #  T1,T2,SCALER NOT COMPATIBLE
059499,000944: 26,3665           52155                          DXCH     MPAC                                  #  T1,T2 AND SCALER OK
059500,000945: 26,3666           53153                          DXCH     SCALSAVE                              #  STORE SCALER
059501,000946: 26,3667           00004                          INHINT                                         
059502,000947: 26,3670           04555                          TC       BANKCALL                              
059503,000948: 26,3671           16777                          CADR     RNDREFDR                              #  REFSMM, DRIFT, TRACK FLAGS DOWN
059504,000949: 
059505,000950: 26,3672           05447                          TC       DOWNFLAG                              
059506,000951: 26,3673           00007                          ADRES    IMUSE                                 #  IMUSE DOWN
059507,000952: 26,3674           05447                          TC       DOWNFLAG                              
059508,000953: 26,3675           00010                          ADRES    RNDVZFLG                              #  RNDVZFLG DOWN
059509,000954: 
059510,000955: 26,3676           34700                          CAF      BIT11                                 
059511,000956: 26,3677           00006                          EXTEND                                         
059512,000957: 26,3700           05013                          WOR      CHAN13                                #  SET STANDBY ENABLE BIT
059513,000958: 
059514,000959: 26,3701           05301                          TC       PHASCHNG                              #  SET RESTART TO POSTAND WHEN STANDBY
059515,000960: 26,3702           07024                          OCT      07024                                 #    RECOVERS
059516,000961: 26,3703           20000                          OCT      20000                                 
059517,000962: 26,3704     1152                                 EBANK=   SCALSAVE                              
059518,000963: 26,3704           03734 54062                    2CADR    POSTAND                               
059519,000964: 26,3706           34731                          CAF      OCT62                                 
059520,000965: 26,3707           04555                          TC       BANKCALL                              
059521,000966: 26,3710           20751                          CADR     GOPERF1                               
059522,000967: 26,3711           13706                          TCF      -3                                    
059523,000968: 26,3712           13706                          TCF      -4                                    
059524,000969: 26,3713           13706                          TCF      -5                                    
059525,000970: 
059526,000971: 26,3714     4731               OCT62             EQUALS   .5SEC                                 #  DEC 50 = OCT 62
059527,000972: 
059528,000973:                                                                                                 #  THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
059529,000974:                                                                                                 # # Page 1411
059530,000975:                                                                                                 #  T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
059531,000976:                                                                                                 #  DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
059532,000977:                                                                                                 #  DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
059533,000978:                                                                                                 #  THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
059534,000979:                                                                                                 #  10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
059535,000980:                                                                                                 #  T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
059536,000981:                                                                                                 #  ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
059537,000982:                                                                                                 #  BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
059538,000983:                                                                                                 #  DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
059539,000984: 
059540,000985: 26,3714           00006        SCALPREP          EXTEND                                         
059541,000986: 26,3715           22156                          QXCH     MPAC       +2                         
059542,000987: 26,3716           04527                          TC       FINETIME   +1                         
059543,000988: 26,3717           00003                          RELINT                                         
059544,000989: 26,3720           52155                          DXCH     MPAC                                  
059545,000990: 26,3721           34706                          CA       BIT5                                  #  ADD 5 MS TO THE SCALER READING.
059546,000991: 26,3722           54001                          TS       L                                     
059547,000992: 26,3723           34714                          CA       ZERO                                  
059548,000993: 26,3724           20155                          DAS      MPAC                                  
059549,000994: 26,3725           44362                          CS       LOW5                                  #  SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
059550,000995: 26,3726           70155                          MASK     MPAC       +1                         #  AND STORE RESULTS IN MPAC,+1.
059551,000996: 26,3727           56155                          XCH      MPAC       +1                         
059552,000997: 26,3730           74362                          MASK     LOW5                                  #  TEST LOW 5 BITS OF SCALER FOR THE FIRST
059553,000998:                                                                                                 #                                           INTERVAL AFTER THE T1 INCREMENT
059554,000999:                                                                                                 #                                           (NOW = 00000, SINCE BIT 5 ADDED).
059555,001000: 26,3731           10000                          CCS      A                                     #  IS IT 1ST INTERVAL AFTER T1 INCREMENT
059556,001001: 26,3732           24156                          INCR     MPAC       +2                         #  NO
059557,001002: 26,3733           00156                          TC       MPAC       +2                         #  YES
059558,001003: 
059559,001004:                                                                                                 #  POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
059560,001005:                                                                                                 #  TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
059561,001006:                                                                                                 #  INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
059562,001007:                                                                                                 #  CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
059563,001008:                                                                                                 #  VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
059564,001009:                                                                                                 #  TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
059565,001010: 
059566,001011: 26,3734                                          COUNT*   $$/P05                                
059567,001012: 
059568,001013: 26,3734           44700        POSTAND           CS       BIT11                                 #  RECOVER TIME AFTER STANDBY.
059569,001014: 26,3735           00006                          EXTEND                                         
059570,001015: 26,3736           03013                          WAND     CHAN13                                #  CLEAR STANDBY ENABLE BIT
059571,001016: 26,3737           00004                          INHINT                                         
059572,001017: 26,3740           34714                          CA       ZERO                                  
059573,001018: 26,3741           54001                          TS       L                                     
059574,001019: 26,3742           52025                          DXCH     TIME2                                 #  CLEAR TIME1TIME2
059575,001020: 26,3743           03714                          TC       SCALPREP                              #  STORE SCALER IN MPAC, MPAC+1
059576,001021: 26,3744           03737                          TC       POSTAND    +3                         #  T1,T2,SCALER NOT COMPATIBLE
059577,001022: 26,3745           00006                          EXTEND                                         #  T1,T2 AND SCALER OK
059578,001023: 26,3746           41153                          DCS      SCALSAVE                              
059579,001024: 26,3747           20155                          DAS      MPAC                                  #  FORM DP DIFFERENCE OF POSTSTANDBY SCALER
059580,001025:                                                                                                 # # Page 1412
059581,001026: 26,3750           34701                          CAF      BIT10                                 #  MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
059582,001027: 26,3751           07256                          TC       SHORTMP                               #  5 TO ALIGN BITS WITH TIME1 TIME2.
059583,001028: 26,3752           34714                          CAF      ZERO                                  
059584,001029: 26,3753           54156                          TS       MPAC       +2                         #  NEEDED FOR TP AGREE
059585,001030: 26,3754           07226                          TC       TPAGREE                               #  MAKE DP DIFF AGREE
059586,001031: 26,3755           10154                          CCS      MPAC                                  
059587,001032: 26,3756           03763                          TC       POSTCOM                               #  IF DP DIFF NET +, NO SCALER OVERFLOW
059588,001033: 26,3757           03763                          TC       POSTCOM                               #  BETWEEN PRE AND POST STANDBY.
059589,001034: 26,3760           03761                          TC       +1                                    #  IF DP DIFF NET -, SCALER OVERFLOWED. ADD
059590,001035: 26,3761           34701                          CAF      BIT10                                 #  BIT 10 TO HIGH DIFF TO CORRECT.
059591,001036: 26,3762           26154                          ADS      MPAC                                  
059592,001037: 26,3763           00006        POSTCOM           EXTEND                                         #  C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
059593,001038: 26,3764           31151                          DCA      TIME2SAV                              #  PRESTANDBY TIME1TIME2
059594,001039: 26,3765           20155                          DAS      MPAC                                  
059595,001040: 26,3766           07226                          TC       TPAGREE                               #  FORCE SIGN AGREEMENT
059596,001041: 26,3767           52155                          DXCH     MPAC                                  #  UPDATED VALUE FOR T1,T2.
059597,001042: 26,3770           20025                          DAS      TIME2                                 #  LOAD UPDATED VALUE INTO T1,T2, WITH
059598,001043: 26,3771           05447                          TC       DOWNFLAG                              #  CLEAR NODOFLAG
059599,001044: 26,3772           00054                          ADRES    NODOFLAG                              
059600,001045: 
059601,001046: 26,3773           04106                          TC       GOTOPOOH                              

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