Source Code

   YAYUL: ASSEMBLE REVISION 5 OF PROGRAM BOREALIS       BY MSTEWART MAR. 27,2017
This is a modern AGC system self-test program, though based on the Apollo-era AURORA 12 program, and was not written by the original AGC developers, but rather by Mike Stewart. All of the original AURORA 12 DAP code added by the DAP Group has been removed, and extensive new system test code has been added in its place. This allows more in-depth testing of CPU behavior, both in AGC software simulations and hardware simulations.

006576,000002:                                                                                                  ## Copyright:   Public domain.
006577,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
006578,000004:                                                                                                  ## Purpose:     This program is designed to extensively test the Apollo Guidance Computer
006579,000005:                                                                                                  ##              (specifically the LM instantiation of it). It is built on top of a heavily
006580,000006:                                                                                                  ##              stripped-down Aurora 12, with all code ostensibly added by the DAP Group
006581,000007:                                                                                                  ##              removed. Instead Borealis expands upon the tests provided by Aurora,
006582,000008:                                                                                                  ##              including corrected tests from Retread 44 and tests from Ron Burkey's
006583,000009:                                                                                                  ##              Validation.
006584,000010:                                                                                                  ## Assembler:   yaYUL
006585,000011:                                                                                                  ## Contact:     Mike Stewart <mastewar1@gmail.com>.
006586,000012:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
006587,000013:                                                                                                  ## Mod history: 2016-12-20 MAS  Created from Aurora 12 (with much DAP stuff removed).
006588,000014:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
006589,000015: 
006590,000016:    4747                                           SETLOC   ENDT4FF                               
006591,000017:    4747  E3,1451                                  EBANK=   COMMAND                               
006592,000018: 
006593,000019:                                                                                                  #  FIXED-FIXED ROUTINES.
006594,000020:    4747           37665        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
006595,000021:    4750           54032                           TS       CDUX                                  
006596,000022:    4751           54033                           TS       CDUY                                  
006597,000023:    4752           54034                           TS       CDUZ                                  
006598,000024:    4753           00002                           TC       Q                                     
006599,000025: 
006600,000026:    4754           00454        3SECS              DEC      300        B-14                       
006601,000027: 
006602,000028:    4755                        ENDIMODF           EQUALS                                         
006603,000029: 
006604,000030:                                                                                                  #  IMU ZEROING ROUTINE.
006605,000031: 
006606,000032: 13,2000                                           BANK     13                                    
006607,000033: 
006608,000034: 13,2000           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
006609,000035: 13,2001           47650                           CS       IMUSEFLG                              #  SET INDICATION THAT A MISSION OR TEST
006610,000036: 13,2002           70061                           MASK     STATE                                 #  PROGRAM IS USING THE IMU.
006611,000037: 13,2003           67650                           AD       IMUSEFLG                              
006612,000038: 13,2004           54061                           TS       STATE                                 
006613,000039: 
006614,000040: 13,2005           02650                           TC       CAGETSTQ                              #  IF IMU COMING UP, TURN-ON PROGRAM WILL
006615,000041: 13,2006           12033                           TCF      MODEEXIT                              #  DO ALL THE WORK.
006616,000042: 
006617,000043: 13,2007           42743                           CS       BITS3&4                               #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
006618,000044: 13,2010           70367                           MASK     IMODES30                              #  JUST CAME OUT OF COARSE ALIGN).
006619,000045: 13,2011           62743                           AD       BITS3&4                               
006620,000046: 13,2012           54367                           TS       IMODES30                              
006621,000047: 
006622,000048: 13,2013           42744                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
006623,000049: 13,2014           00006                           EXTEND                                         #  COUNTER DISABLED.
006624,000050: 13,2015           03012                           WAND     12                                    
006625,000051: 
006626,000052: 13,2016           37653                           CAF      BIT5                                  
006627,000053: 13,2017           00006                           EXTEND                                         
006628,000054: 13,2020           05012                           WOR      12                                    
006629,000055: 
006630,000056: 13,2021           37652                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
006631,000057: 13,2022           04517                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
006632,000058: 13,2023           02035 26003                     2CADR    IMUZERO2                              
006633,000059: 
006634,000060: 13,2025           40367                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
006635,000061: 13,2026           77647                           MASK     BIT9                                  
006636,000062: 13,2027           10000                           CCS      A                                     
006637,000063: 13,2030           12033                           TCF      MODEEXIT                              
006638,000064: 
006639,000065: 13,2031           05405                           TC       ALARM                                 
006640,000066: 13,2032           00210                           OCT      210                                   
006641,000067: 
006642,000068: 13,2033           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
006643,000069: 13,2034           14100                           TCF      SWRETURN                              
006644,000070: 
006645,000071: 13,2035           02650        IMUZERO2           TC       CAGETSTQ                              #  POSSIBLY SWITCH TO TURN-ON PROGRAM.
006646,000072: 13,2036           14563                           TCF      TASKOVER                              
006647,000073: 
006648,000074: 13,2037           04747                           TC       ZEROICDU                              #  ZERO COUNTERS.
006649,000075: 13,2040           47653                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
006650,000076: 13,2041           00006                           EXTEND                                         
006651,000077: 13,2042           03012                           WAND     12                                    
006652,000078: 
006653,000079: 13,2043           34754                           CAF      3SECSM                                #  WAIT FOR COUNTERS TO SYNCRONIZE.
006654,000080: 13,2044           04540                           TC       VARDELAY                              
006655,000081: 
006656,000082: 13,2045           02650        IMUZERO3           TC       CAGETSTQ                              
006657,000083: 13,2046           14563                           TCF      TASKOVER                              
006658,000084: 
006659,000085: 13,2047           42743                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
006660,000086: 13,2050           70367                           MASK     IMODES30                              
006661,000087: 13,2051           54367                           TS       IMODES30                              
006662,000088: 
006663,000089: 13,2052           04174                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
006664,000090: 13,2053           25356                           CADR     SETISSW                               #  PRESENT.
006665,000091: 
006666,000092: 13,2054           12633                           TCF      ENDIMU                                
006667,000093: 
006668,000094:                                                                                                  #  IMU COARSE ALIGN MODE.
006669,000095: 
006670,000096: 13,2055           37654        IMUCOARS           CAF      BIT4                                  #  SEND COARSE ALIGN ENABLE DISCRETE
006671,000097: 13,2056           00004                           INHINT                                         
006672,000098: 13,2057           00006                           EXTEND                                         
006673,000099: 13,2060           05012                           WOR      CHAN12                                
006674,000100: 
006675,000101: 13,2061           47654                           CS       BIT4                                  #  INHIBIT IMU FAIL.
006676,000102: 13,2062           70367                           MASK     IMODES30                              
006677,000103: 13,2063           67654                           AD       BIT4                                  
006678,000104: 13,2064           54367                           TS       IMODES30                              
006679,000105: 
006680,000106: 13,2065           36162                           CAF      SIX                                   
006681,000107: 13,2066           04517                           TC       WAITLIST                              
006682,000108: 13,2067           02072 26003                     2CADR    COARS                                 
006683,000109: 
006684,000110: 13,2071           12033                           TCF      MODEEXIT                              
006685,000111: 
006686,000112: 13,2072           02643        COARS              TC       CAGETEST                              
006687,000113: 13,2073           37652                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
006688,000114: 13,2074           00006                           EXTEND                                         
006689,000115: 13,2075           05012                           WOR      CHAN12                                
006690,000116: 
006691,000117: 13,2076           37656                           CAF      TWO                                   #  SET CDU INDICATOR
006692,000118: 13,2077           55454        COARS1             TS       CDUIND                                
006693,000119: 
006694,000120: 13,2100           51454                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
006695,000121: 13,2101           30400                           CA       THETAD                                #    COMPLEMENT FORM
006696,000122: 13,2102           00006                           EXTEND                                         
006697,000123: 13,2103           51454                           INDEX    CDUIND                                
006698,000124: 13,2104           20032                           MSU      CDUX                                  
006699,000125: 13,2105           00006                           EXTEND                                         
006700,000126: 13,2106           77643                           MP       BIT13                                 #  SHIFT RIGHT 2
006701,000127: 13,2107           56001                           XCH      L                                     #  ROUND
006702,000128: 13,2110           60000                           DOUBLE                                         
006703,000129: 13,2111           54065                           TS       ITEMP1                                
006704,000130: 13,2112           12114                           TCF      +2                                    
006705,000131: 13,2113           26001                           ADS      L                                     
006706,000132: 
006707,000133: 13,2114           51454                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
006708,000134: 13,2115           23451                           LXCH     COMMAND                               
006709,000135: 13,2116           11454                           CCS      CDUIND                                
006710,000136: 13,2117           02077                           TC       COARS1                                
006711,000137: 
006712,000138: 13,2120           37656                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
006713,000139: 13,2121           04540                           TC       VARDELAY                              
006714,000140: 
006715,000141: 13,2122           02643        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
006716,000142: 13,2123           54065                           TS       ITEMP1                                #  SETS TO +0.
006717,000143: 13,2124           37656                           CAF      TWO                                   #  SET CDU INDICATOR
006718,000144: 13,2125           55454                 +3        TS       CDUIND                                
006719,000145: 
006720,000146: 13,2126           51454                           INDEX    CDUIND                                
006721,000147: 13,2127           11451                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
006722,000148: 13,2130           02134                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
006723,000149: 13,2131           02143                           TC       NEXTCDU    +1                         
006724,000150: 13,2132           02206                           TC       COMNEG                                
006725,000151: 13,2133           02143                           TC       NEXTCDU    +1                         
006726,000152: 
006727,000153: 13,2134           62747        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
006728,000154: 13,2135           00006                           EXTEND                                         #    MINUS ONE
006729,000155: 13,2136           62216                           BZMF     COMZERO                               
006730,000156: 13,2137           51454                           INDEX    CDUIND                                
006731,000157: 13,2140           55451                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
006732,000158: 13,2141           42750                           CS       -COMMAX-                              #    ALLOWED
006733,000159: 
006734,000160: 13,2142           24065        NEXTCDU            INCR     ITEMP1                                
006735,000161: 13,2143           51454                           INDEX    CDUIND                                
006736,000162: 13,2144           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
006737,000163: 
006738,000164: 13,2145           11454                           CCS      CDUIND                                
006739,000165: 13,2146           02125                           TC       COARS2     +3                         
006740,000166: 
006741,000167: 13,2147           10065                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
006742,000168: 13,2150           12222                           TCF      SENDPULS                              
006743,000169: 
006744,000170: 13,2151           04535                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
006745,000171: 13,2152           00226                           DEC      150        B-14                       
006746,000172: 
006747,000173: 13,2153           37656                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
006748,000174: 13,2154           54065        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
006749,000175: 13,2155           50000                           INDEX    A                                     
006750,000176: 13,2156           30032                           CA       CDUX                                  
006751,000177: 13,2157           00006                           EXTEND                                         
006752,000178: 13,2160           50065                           INDEX    ITEMP1                                
006753,000179: 13,2161           20400                           MSU      THETAD                                
006754,000180: 13,2162           10000                           CCS      A                                     
006755,000181: 13,2163           12177                           TCF      COARSERR                              
006756,000182: 13,2164           12166                           TCF      CORSCHK2                              
006757,000183: 13,2165           12177                           TCF      COARSERR                              
006758,000184: 
006759,000185: 13,2166           10065        CORSCHK2           CCS      ITEMP1                                
006760,000186: 13,2167           12154                           TCF      CHKCORS                               
006761,000187: 13,2170           55451                           TS       GCOMP                                 #  ZERO GYRO COMPENSATION REGISTERS IN
006762,000188: 13,2171           55452                           TS       GCOMP      +1                         #  PREPARATION FOR COMPENSATION.
006763,000189: 13,2172           55453                           TS       GCOMP      +2                         
006764,000190: 13,2173           55454                           TS       GCOMP      +3                         
006765,000191: 13,2174           55455                           TS       GCOMP      +4                         
006766,000192: 13,2175           55456                           TS       GCOMP      +5                         
006767,000193: 
006768,000194: 13,2176           12633                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
006769,000195: 
006770,000196: 13,2177           62205        COARSERR           AD       COARSTOL                              #  2 DEGREES.
006771,000197: 13,2200           00006                           EXTEND                                         
006772,000198: 13,2201           62166                           BZMF     CORSCHK2                              
006773,000199: 
006774,000200: 13,2202           05405                           TC       ALARM                                 #  COARSE ALIGN ERROR.
006775,000201: 13,2203           00211                           OCT      211                                   
006776,000202: 
006777,000203: 13,2204           12641                           TCF      IMUBAD                                
006778,000204: 
006779,000205: 13,2205           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS.
006780,000206: 
006781,000207: 13,2206           62747        COMNEG             AD       -COMMAX                               
006782,000208: 13,2207           00006                           EXTEND                                         
006783,000209: 13,2210           62216                           BZMF     COMZERO                               
006784,000210: 13,2211           40000                           COM                                            
006785,000211: 13,2212           51454                           INDEX    CDUIND                                
006786,000212: 13,2213           55451                           TS       COMMAND                               
006787,000213: 13,2214           32750                           CA       -COMMAX-                              
006788,000214: 13,2215           02142                           TC       NEXTCDU                               
006789,000215: 
006790,000216: 13,2216           37665        COMZERO            CAF      ZERO                                  
006791,000217: 13,2217           51454                           INDEX    CDUIND                                
006792,000218: 13,2220           57451                           XCH      COMMAND                               
006793,000219: 13,2221           02142                           TC       NEXTCDU                               
006794,000220: 
006795,000221: 13,2222           32746        SENDPULS           CAF      13,14,15                              
006796,000222: 13,2223           00006                           EXTEND                                         
006797,000223: 13,2224           05014                           WOR      CHAN14                                
006798,000224: 13,2225           32751                           CAF      600MS                                 
006799,000225: 13,2226           12121                           TCF      COARS2     -1                         #  AND THEN TO VARDELAY.
006800,000226: 
006801,000227:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
006802,000228: 
006803,000229: 13,2227           00004        IMUFINE            INHINT                                         
006804,000230: 13,2230           02655                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
006805,000231: 
006806,000232: 13,2231           42745                           CS       BITS4-6                               #  RESET ZERO, COARSE, AND ECTR ENABLE.
006807,000233: 13,2232           00006                           EXTEND                                         
006808,000234: 13,2233           03012                           WAND     12                                    
006809,000235: 
006810,000236: 13,2234           37646                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
006811,000237: 13,2235           04517                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN.  LEAVE
006812,000238: 13,2236           02247 26003                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
006813,000239: 
006814,000240: 13,2240           32752                           CAF      90SEC                                 #  GYRO RE-CENTERING TIME.
006815,000241: 13,2241           04517                           TC       WAITLIST                              
006816,000242: 13,2242           02245 26003                     2CADR    IMUFINED                              
006817,000243: 
006818,000244: 13,2244           12033                           TCF      MODEEXIT                              
006819,000245: 
006820,000246: 13,2245           02643        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
006821,000247: 13,2246           12633                           TCF      ENDIMU                                
006822,000248: 
006823,000249: 13,2247           02650        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FAIL UNLESS IMU BEING CAGED.
006824,000250: 13,2250           14563                           TCF      TASKOVER                              #  IT IS.
006825,000251: 
006826,000252: 13,2251           37654                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
006827,000253: 13,2252           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
006828,000254: 13,2253           02012                           RAND     12                                    
006829,000255: 13,2254           10000                           CCS      A                                     
006830,000256: 13,2255           14563                           TCF      TASKOVER                              
006831,000257: 
006832,000258: 13,2256           47654                           CS       BIT4                                  
006833,000259: 13,2257           70367        PFAILOK2           MASK     IMODES30                              
006834,000260: 13,2260           54367                           TS       IMODES30                              
006835,000261: 13,2261           14563                           TCF      TASKOVER                              
006836,000262: 
006837,000263: 13,2262           02650        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
006838,000264: 13,2263           14563                           TCF      TASKOVER                              
006839,000265: 
006840,000266: 13,2264           47653                           CS       BIT5                                  
006841,000267: 13,2265           12257                           TCF      PFAILOK2                              
006842,000268: 
006843,000269:                                                                                                  #  ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
006844,000270: 
006845,000271: 13,2266           02650        PIPUSE             TC       CAGETSTQ                              #  DONT ENABLE PIPA FAIL IF IMU BEING CAGED
006846,000272: 13,2267           14100                           TCF      SWRETURN                              
006847,000273: 
006848,000274: 13,2270           00004                           INHINT                                         
006849,000275: 13,2271           37665                           CAF      ZERO                                  #  ZERO COUNTERS.
006850,000276: 13,2272           54037                           TS       PIPAX                                 
006851,000277: 13,2273           54040                           TS       PIPAY                                 
006852,000278: 13,2274           54041                           TS       PIPAZ                                 
006853,000279: 
006854,000280: 13,2275           47657                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
006855,000281: 13,2276           70367                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
006856,000282: 13,2277           54367                           TS       IMODES30                              
006857,000283: 
006858,000284: 13,2300           04174        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
006859,000285: 13,2301           25356                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
006860,000286: 
006861,000287: 13,2302           12033                           TCF      MODEEXIT                              
006862,000288: 
006863,000289: 13,2303           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
006864,000290: 13,2304           47657                           CS       BIT1                                  #  ISS WARNING.
006865,000291: 13,2305           70367                           MASK     IMODES30                              
006866,000292: 13,2306           67657                           AD       BIT1                                  
006867,000293: 13,2307           54367                           TS       IMODES30                              
006868,000294: 
006869,000295: 13,2310           77646                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
006870,000296: 13,2311           10000                           CCS      A                                     #  ISS WARNING.
006871,000297: 13,2312           12033                           TCF      MODEEXIT                              
006872,000298: 
006873,000299: 13,2313           05405                           TC       ALARM                                 
006874,000300: 13,2314           00212                           OCT      212                                   
006875,000301: 
006876,000302: 13,2315           00004                           INHINT                                         
006877,000303: 
006878,000304: 13,2316           12300                           TCF      PIPFREE2                              
006879,000305: 
006880,000306:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
006881,000307:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
006882,000308:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
006883,000309: 
006884,000310: 13,2317  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
006885,000311: 
006886,000312: 13,2317           54145        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
006887,000313: 13,2320           02655                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
006888,000314: 
006889,000315: 13,2321           10357                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
006890,000316: 13,2322           02364                           TC       GYROBUSY                              #  SLEEP.
006891,000317: 
006892,000318: 13,2323           54142                           TS       MPAC       +2                         
006893,000319: 13,2324           37652                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
006894,000320: 13,2325           00006                           EXTEND                                         
006895,000321: 13,2326           05014                           WOR      14                                    
006896,000322: 
006897,000323: 13,2327           37655                           CAF      FOUR                                  
006898,000324: 13,2330           00004        GWAKE2             INHINT                                         #  (IF A JOB WAS PUT TO SLEEP, THE POWER
006899,000325: 13,2331           04517                           TC       WAITLIST                              #  SUPPLY IS LEFT ON BY THE WAKING JOB).
006900,000326: 13,2332           02402 26003                     2CADR    STRTGYRO                              
006901,000327: 
006902,000328: 13,2334           30145                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
006903,000329: 13,2335           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
006904,000330: 13,2336           56145                           XCH      MPAC       +5                         
006905,000331: 13,2337           54357                           TS       LGYRO                                 #  RESERVES GYROS.
006906,000332: 13,2340           75227                           MASK     LOW8                                  
006907,000333: 13,2341           54065                           TS       ITEMP1                                
006908,000334: 
006909,000335: 13,2342           37656                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
006910,000336: 13,2343           54143        GYROAGRE           TS       MPAC       +3                         
006911,000337: 13,2344           60000                           DOUBLE                                         
006912,000338: 13,2345           60065                           AD       ITEMP1                                
006913,000339: 13,2346           54144                           TS       MPAC       +4                         
006914,000340: 13,2347           00006                           EXTEND                                         
006915,000341: 13,2350           50000                           INDEX    A                                     
006916,000342: 13,2351           31401                           DCA      1400                                  
006917,000343: 13,2352           52141                           DXCH     MPAC                                  
006918,000344: 13,2353           07235                           TC       TPAGREE                               
006919,000345: 13,2354           52141                           DXCH     MPAC                                  
006920,000346: 13,2355           50144                           INDEX    MPAC       +4                         
006921,000347: 13,2356           53401                           DXCH     1400                                  
006922,000348: 
006923,000349: 13,2357           10143                           CCS      MPAC       +3                         
006924,000350: 13,2360           12343                           TCF      GYROAGRE                              
006925,000351: 
006926,000352: 13,2361           30145                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
006927,000353: 13,2362           54003                           TS       EBANK                                 
006928,000354: 13,2363           12033                           TCF      MODEEXIT                              
006929,000355: 
006930,000356:                                                                                                  #  ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
006931,000357: 
006932,000358: 13,2364           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
006933,000359: 13,2365           30120                           DCA      BUF2                                  
006934,000360: 13,2366           52141                           DXCH     MPAC                                  
006935,000361: 13,2367           32401        REGSLEEP           CAF      LGWAKE                                
006936,000362: 13,2370           14377                           TCF      JOBSLEEP                              
006937,000363: 
006938,000364: 13,2371           10357        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
006939,000365: 13,2372           12367                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
006940,000366: 
006941,000367: 13,2373           54142                           TS       MPAC       +2                         
006942,000368: 13,2374           00006                           EXTEND                                         
006943,000369: 13,2375           30141                           DCA      MPAC                                  
006944,000370: 13,2376           52120                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
006945,000371: 13,2377           37657                           CAF      ONE                                   
006946,000372: 13,2400           12330                           TCF      GWAKE2                                
006947,000373: 
006948,000374: 13,2401           26371        LGWAKE             CADR     GWAKE                                 
006949,000375: 
006950,000376:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
006951,000377: 
006952,000378: 13,2402           42630        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
006953,000379: 13,2403           00006                           EXTEND                                         
006954,000380: 13,2404           03014                           WAND     14                                    
006955,000381: 
006956,000382: 13,2405           02643                           TC       CAGETEST                              
006957,000383: 
006958,000384: 13,2406           30357        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
006959,000385: 13,2407           00006                           EXTEND                                         
006960,000386: 13,2410           77654                           MP       BIT4                                  
006961,000387: 13,2411           50000                           INDEX    A                                     
006962,000388: 13,2412           12413                           TCF      +1                                    
006963,000389: 13,2413           02442                           TC       GSELECT                               #  =0. DO Y GYRO.
006964,000390: 13,2414           00202                           OCT      00202                                 
006965,000391: 
006966,000392: 13,2415           02442                           TC       GSELECT                               #  =1. DO Z GYRO.
006967,000393: 13,2416           00302                           OCT      00302                                 
006968,000394: 
006969,000395: 13,2417           02440                           TC       GSELECT    -2                         #  =2. DO X GYRO.
006970,000396: 13,2420           00100                           OCT      00100                                 
006971,000397: 
006972,000398: 13,2421           37665                           CAF      ZERO                                  #  =3. DONE
006973,000399: 13,2422           54357                           TS       LGYRO                                 
006974,000400: 13,2423           32401                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
006975,000401: 13,2424           04403                           TC       JOBWAKE                               
006976,000402: 
006977,000403: 13,2425           37656                           CAF      BIT2                                  #  DONT RESET POWER SUPPLY IF BIT SET
006978,000404: 13,2426           70370                           MASK     IMODES33                              #  (ONLY DURING GYRO TORQUE SCALE FACTOR
006979,000405: 13,2427           10000                           CCS      A                                     #  TEST).
006980,000406: 13,2430           12437                           TCF      NORESET                               
006981,000407: 
006982,000408: 13,2431           10071                           CCS      LOCCTR                                #  IF A JOB WAS AWAKENED, DONT RESET GYRO
006983,000409: 13,2432           12437                           TCF      NORESET                               #  ENABLE.
006984,000410: 
006985,000411: 13,2433           12437                           TCF      NORESET                               
006986,000412: 
006987,000413: 13,2434           47652                           CS       BIT6                                  #  IF NO JOB AWAKENED, RESET GYRO ENABLE.
006988,000414: 13,2435           00006                           EXTEND                                         
006989,000415: 13,2436           03014                           WAND     14                                    
006990,000416: 
006991,000417: 13,2437           12245        NORESET            TCF      IMUFINED                              
006992,000418: 
006993,000419: 13,2440           47655                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
006994,000420: 13,2441           26357                           ADS      LGYRO                                 
006995,000421: 
006996,000422: 13,2442           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
006997,000423: 13,2443           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
006998,000424: 13,2444           54071                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
006999,000425: 13,2445           77663                           MASK     SEVEN                                 
007000,000426: 13,2446           67643                           AD       BIT13                                 
007001,000427: 13,2447           26357                           ADS      LGYRO                                 
007002,000428: 13,2450           54003                           TS       EBANK                                 
007003,000429: 13,2451           75227                           MASK     LOW8                                  
007004,000430: 13,2452           54065                           TS       ITEMP1                                
007005,000431: 
007006,000432: 13,2453           47663                           CS       SEVEN                                 
007007,000433: 13,2454           70071                           MASK     ITEMP4                                
007008,000434: 13,2455           54071                           TS       ITEMP4                                
007009,000435: 
007010,000436: 13,2456           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
007011,000437: 13,2457           50065                           INDEX    ITEMP1                                
007012,000438: 13,2460           31401                           DCA      1400                                  
007013,000439: 13,2461           52075                           DXCH     RUPTREG1                              
007014,000440: 
007015,000441: 13,2462           10074                           CCS      RUPTREG1                              
007016,000442: 13,2463           12476                           TCF      MAJ+                                  
007017,000443: 13,2464           12466                           TCF      +2                                    
007018,000444: 13,2465           12611                           TCF      MAJ-                                  
007019,000445: 
007020,000446: 13,2466           10075                           CCS      RUPTREG2                              
007021,000447: 13,2467           12473                           TCF      MIN+                                  
007022,000448: 13,2470           12406                           TCF      STRTGYR2                              
007023,000449: 13,2471           12606                           TCF      MIN-                                  
007024,000450: 13,2472           12406                           TCF      STRTGYR2                              
007025,000451: 
007026,000452: 13,2473           62527        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
007027,000453: 13,2474           00006                           EXTEND                                         #  16 GYRO PULSES.
007028,000454: 13,2475           62406                           BZMF     STRTGYR2                              
007029,000455: 
007030,000456: 13,2476           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
007031,000457: 13,2477           32632                           DCA      GYROFRAC                              
007032,000458: 13,2500           20075                           DAS      RUPTREG1                              
007033,000459: 
007034,000460: 13,2501           30071                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
007035,000461: 13,2502           00006                           EXTEND                                         
007036,000462: 13,2503           05014                           WOR      14                                    
007037,000463: 
007038,000464: 13,2504           36027                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
007039,000465: 13,2505           70075                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
007040,000466: 13,2506           56075                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
007041,000467: 13,2507           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
007042,000468: 13,2510           77650                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
007043,000469: 13,2511           54066                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
007044,000470: 13,2512           30074                           CA       RUPTREG1                              
007045,000471: 13,2513           00006                           EXTEND                                         
007046,000472: 13,2514           77647                           MP       BIT9                                  
007047,000473: 13,2515           54074                           TS       RUPTREG1                              
007048,000474: 13,2516           30001                           CA       L                                     
007049,000475: 13,2517           00006                           EXTEND                                         
007050,000476: 13,2520           77642                           MP       BIT14                                 
007051,000477: 13,2521           26066                           ADS      ITEMP2                                #  INITIAL COMMAND.
007052,000478: 
007053,000479: 13,2522           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
007054,000480: 13,2523           30075                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
007055,000481: 13,2524           67667                           AD       MINUS1                                
007056,000482: 13,2525           10000                           CCS      A                                     
007057,000483: 13,2526           12552                           TCF      LONGGYRO                              
007058,000484: 13,2527           77600        -GYROMIN           OCT      -177                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD.
007059,000485: 
007060,000486: 13,2530           12534                           TCF      +4                                    
007061,000487: 
007062,000488: 13,2531           37642                           CAF      BIT14                                 
007063,000489: 13,2532           26066                           ADS      ITEMP2                                
007064,000490: 13,2533           37665                           CAF      ZERO                                  
007065,000491: 
007066,000492: 13,2534           50065                 +4        INDEX    ITEMP1                                
007067,000493: 13,2535           53401                           DXCH     1400                                  
007068,000494: 13,2536           30066                           CA       ITEMP2                                #  ENTIRE COMMAND.
007069,000495: 13,2537           54047        LASTSEG            TS       GYROCMD                               
007070,000496: 13,2540           00006                           EXTEND                                         
007071,000497: 13,2541           77646                           MP       BIT10                                 #  WAITLIST DT
007072,000498: 13,2542           66165                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
007073,000499: 13,2543           04517                           TC       WAITLIST                              
007074,000500: 13,2544           02402 26003                     2CADR    STRTGYRO                              
007075,000501: 
007076,000502: 13,2546           37646        GYROEXIT           CAF      BIT10                                 #  TURN ON GYRO ACTIVITY TO START TRAIN.
007077,000503: 13,2547           00006                           EXTEND                                         
007078,000504: 13,2550           05014                           WOR      14                                    
007079,000505: 13,2551           14563                           TCF      TASKOVER                              
007080,000506: 
007081,000507: 13,2552           50065        LONGGYRO           INDEX    ITEMP1                                
007082,000508: 13,2553           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
007083,000509: 13,2554           37642                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
007084,000510: 13,2555           60066                           AD       ITEMP2                                
007085,000511: 13,2556           54047                           TS       GYROCMD                               
007086,000512: 
007087,000513: 13,2557           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
007088,000514: 13,2560           77646                           MP       BIT10                                 #  ALMOST OUT.
007089,000515: 13,2561           67671                           AD       NEG3                                  
007090,000516: 13,2562           04517                           TC       WAITLIST                              
007091,000517: 13,2563           02566 26003                     2CADR    8192AUG                               
007092,000518: 
007093,000519: 13,2565           12546                           TCF      GYROEXIT                              
007094,000520: 
007095,000521: 13,2566           02643        8192AUG            TC       CAGETEST                              
007096,000522: 
007097,000523: 13,2567           30357                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
007098,000524: 13,2570           54003                           TS       EBANK                                 
007099,000525: 13,2571           75227                           MASK     LOW8                                  
007100,000526: 13,2572           54065                           TS       ITEMP1                                
007101,000527: 
007102,000528: 13,2573           50065                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
007103,000529: 13,2574           11400                           CCS      1400                                  
007104,000530: 13,2575           12601                           TCF      AUG2                                  #  MORE TO COME.
007105,000531: 
007106,000532: 13,2576           37642                           CAF      BIT14                                 
007107,000533: 13,2577           26047                           ADS      GYROCMD                               
007108,000534: 13,2600           12540                           TCF      LASTSEG    +1                         
007109,000535: 
007110,000536: 13,2601           50065        AUG2               INDEX    ITEMP1                                
007111,000537: 13,2602           55400                           TS       1400                                  
007112,000538: 13,2603           37642                           CAF      BIT14                                 
007113,000539: 13,2604           26047                           ADS      GYROCMD                               
007114,000540: 13,2605           12557                           TCF      AUG3                                  #  COMPUTE DT.
007115,000541: 
007116,000542: 13,2606           62527        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
007117,000543: 13,2607           00006                           EXTEND                                         
007118,000544: 13,2610           62406                           BZMF     STRTGYR2                              
007119,000545: 
007120,000546: 13,2611           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
007121,000547: 13,2612           42632                           DCS      GYROFRAC                              
007122,000548: 13,2613           20075                           DAS      RUPTREG1                              
007123,000549: 
007124,000550: 13,2614           30071                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
007125,000551: 13,2615           67647                           AD       BIT9                                  
007126,000552: 13,2616           00006                           EXTEND                                         
007127,000553: 13,2617           05014                           WOR      14                                    
007128,000554: 
007129,000555: 13,2620           40074                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
007130,000556: 13,2621           54074                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
007131,000557: 13,2622           40075                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
007132,000558: 13,2623           76027                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
007133,000559: 13,2624           40000                           COM                                            
007134,000560: 13,2625           56075                           XCH      RUPTREG2                              
007135,000561: 13,2626           40000                           COM                                            
007136,000562: 13,2627           12507                           TCF      GMERGE                                
007137,000563: 
007138,000564: 13,2630           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
007139,000565: 
007140,000566: 13,2631           00000 00034  GYROFRAC           2DEC     .215       B-21                       
007141,000567: 
007142,000568:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
007143,000569: 
007144,000570: 13,2633           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
007145,000571: 13,2634           00011                           READ     11                                    #  ISS WARNING IS ON.
007146,000572: 13,2635           77657                           MASK     BIT1                                  
007147,000573: 13,2636           10000                           CCS      A                                     
007148,000574: 13,2637           12641                           TCF      IMUBAD                                
007149,000575: 
007150,000576: 13,2640           12667        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
007151,000577: 
007152,000578: 13,2641           37665        IMUBAD             CAF      ZERO                                  
007153,000579: 13,2642           12664                           TCF      BADEND                                
007154,000580: 
007155,000581: 13,2643           37652        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
007156,000582: 13,2644           70367                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
007157,000583: 13,2645           10000                           CCS      A                                     
007158,000584: 13,2646           12641                           TCF      IMUBAD                                #  DIRECTLY.
007159,000585: 13,2647           00002                           TC       Q                                     #  WITH C(A) = +0.
007160,000586: 
007161,000587: 13,2650           40367        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
007162,000588: 13,2651           77652                           MASK     BIT6                                  
007163,000589: 13,2652           10000                           CCS      A                                     
007164,000590: 13,2653           24002                           INCR     Q                                     
007165,000591: 13,2654           00002                           TC       Q                                     
007166,000592: 
007167,000593: 13,2655           40367        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION 
007168,000594: 13,2656           77652                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
007169,000595: 13,2657           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
007170,000596: 13,2660           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
007171,000597: 
007172,000598: 13,2661           47665                           CS       ZERO                                  #  TO SWRETURN.
007173,000599: 13,2662           54371                           TS       IMUCADR                               
007174,000600: 13,2663           12033                           TCF      MODEEXIT                              
007175,000601: 
007176,000602:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
007177,000603:                                                                                                  #  OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR AOT, AND 2 FOR RADARS.
007178,000604: 
007179,000605: 13,2664           54075        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
007180,000606: 13,2665           47665                           CS       ZERO                                  #  FOR FAILURE.
007181,000607: 13,2666           12671                           TCF      GOODEND    +2                         
007182,000608: 
007183,000609: 13,2667           54075        GOODEND            TS       RUPTREG2                              
007184,000610: 13,2670           47657                           CS       ONE                                   #  FOR SUCCESS.
007185,000611: 
007186,000612: 13,2671           54076                           TS       RUPTREG3                              
007187,000613: 13,2672           50075                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
007188,000614: 13,2673           10371                           CCS      MODECADR                              
007189,000615: 13,2674           12676                           TCF      +2                                    #  YES - WAKE IT UP.
007190,000616: 13,2675           12706                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
007191,000617: 
007192,000618: 13,2676           37665                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
007193,000619: 13,2677           50075                           INDEX    RUPTREG2                              
007194,000620: 13,2700           56371                           XCH      MODECADR                              
007195,000621: 13,2701           04403                           TC       JOBWAKE                               
007196,000622: 
007197,000623: 13,2702           40076                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
007198,000624: 13,2703           50071                           INDEX    LOCCTR                                
007199,000625: 13,2704           26150                           ADS      LOC                                   
007200,000626: 
007201,000627: 13,2705           14563                           TCF      TASKOVER                              
007202,000628: 
007203,000629: 13,2706           30076        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
007204,000630: 13,2707           50075                           INDEX    RUPTREG2                              #  UNSUCCESSFUL - -1 INDICATES COMPLETE AND
007205,000631: 13,2710           54371                           TS       MODECADR                              #  SUCCESSFUL.
007206,000632: 13,2711           14563                           TCF      TASKOVER                              
007207,000633: 
007208,000634:                                                                                                  #  GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
007209,000635: 
007210,000636: 13,2712           37656        RADSTALL           CAF      TWO                                   #  RR AND LR STALL.
007211,000637: 13,2713           12717                           TCF      STALL                                 
007212,000638: 
007213,000639: 13,2714           37657        AOTSTALL           CAF      ONE                                   #  AOT.
007214,000640: 13,2715           02717                           TC       STALL                                 
007215,000641: 
007216,000642: 13,2716  13,2714               OPTSTALL           EQUALS   AOTSTALL                              
007217,000643: 
007218,000644: 13,2716  13,2712               LOTSTALL           EQUALS   RADSTALL                              
007219,000645: 13,2716           37665        IMUSTALL           CAF      ZERO                                  #  IMU.
007220,000646: 
007221,000647: 13,2717           00004        STALL              INHINT                                         
007222,000648: 13,2720           54075                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
007223,000649: 13,2721           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
007224,000650: 13,2722           10371                           CCS      MODECADR                              
007225,000651: 13,2723           12741                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
007226,000652: 13,2724           12735                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
007227,000653: 13,2725           12731                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
007228,000654: 
007229,000655: 13,2726           50075        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
007230,000656: 13,2727           54371                           TS       MODECADR                              #  RETURN TO CALLER.
007231,000657: 13,2730           12033                           TCF      MODEEXIT                              
007232,000658: 
007233,000659: 13,2731           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
007234,000660: 13,2732           12741                           TCF      MODABORT                              
007235,000661: 
007236,000662: 13,2733           24117                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
007237,000663: 13,2734           12726                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
007238,000664: 
007239,000665: 13,2735           04114        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
007240,000666: 13,2736           50075                           INDEX    RUPTREG2                              
007241,000667: 13,2737           54371                           TS       MODECADR                              
007242,000668: 13,2740           14377                           TCF      JOBSLEEP                              
007243,000669: 
007244,000670: 13,2741           05440        MODABORT           TC       ABORT                                 #  TWO PROGRAMS USING SAME DEVICE.
007245,000671: 13,2742           01210                           OCT      1210                                  
007246,000672: 
007247,000673:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
007248,000674: 
007249,000675: 13,2743           00014        BITS3&4            OCT      14                                    
007250,000676: 13,2744           00050        BITS4&6            OCT      00050                                 
007251,000677: 13,2745           00070        BITS4-6            OCT      00070                                 
007252,000678: 13,2746     7650               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
007253,000679: 13,2746           70000        13,14,15           OCT      70000                                 
007254,000680: 
007255,000681: 13,2747           77500        -COMMAX            DEC      -191       B-14                       
007256,000682: 13,2750           77477        -COMMAX-           DEC      -192       B-14                       
007257,000683: 13,2751           00074        600MS              DEC      60         B-14                       
007258,000684: 13,2752     4754               3SECSM             EQUALS   3SECS                                 
007259,000685: 13,2752           21450        90SEC              DEC      9000       B-14                       
007260,000686: 
007261,000687: 13,2753                        ENDIMODS           EQUALS                                         

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