Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
006320,000002: ## Copyright: Public domain.
006321,000003: ## Filename: T4RUPT_PROGRAM.agc
006322,000004: ## Purpose: An interrupt service routine for Luminary 1C, revision 131.
006323,000005: ## It is part of the source code for the Lunar Module's (LM)
006324,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
006325,000007: ## This file is intended to be a faithful transcription, except
006326,000008: ## that the code format has been changed to conform to the
006327,000009: ## requirements of the yaYUL assembler rather than the
006328,000010: ## original YUL assembler.
006329,000011: ## Reference: pp. 157-191
006330,000012: ## Contact: Ron Burkey <info@sandroid.org>.
006331,000013: ## Website: www.ibiblio.org/apollo/index.html
006332,000014: ## Mod history: 04/11/03 RSB. Began transcribing.
006333,000015: ## 05/05/03 RSB. Draft finished.
006334,000016: ## 05/14/05 RSB Corrected website reference above
006335,000017: ## 2010-10-25 JL Indentation fixes. Added missing p190 comment.
006336,000018: ## 2017-01-06 RSB Page numbers now agree with those on the
006337,000019: ## original harcopy, as opposed to the PDF page
006338,000020: ## numbers in 1701.pdf.
006339,000021: ## 2017-01-26 RSB Back-ported comment-text fixes found while
006340,000022: ## proofing corresponding Luminary 69 file.
006341,000023: ## 2017-01-28 RSB WTIH -> WITH.
006342,000024: ## 2017-02-08 RSB Comment-text fixes identified while proofing Artemis 72.
006343,000025: ## 2017-02-12 RSB Proofed comment text using octopus/ProoferComments.
006344,000026: ## 2017-02-28 RSB Fixed lingering typos.
006345,000027: ## 2017-03-03 RSB Fixed comment-text errors identified while proofing
006346,000028: ## Luminary 116.
006347,000029:
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Page 157 |
006349,000031: 12,2000 BANK 12
006350,000032: 06,2000 SETLOC T4RUP
006351,000033: 06,2000 BANK
006352,000034:
006353,000035: 06,2000 E6,1414 EBANK= M11
006354,000036: 06,2000 COUNT* $$/T4RPT
006355,000037: 06,2000 54016 T4RUPT TS BANKRUPT
006356,000038:
006357,000039: 06,2001 00006 EXTEND
006358,000040: 06,2002 22012 QXCH QRUPT
006359,000041:
006360,000042: 06,2003 11310 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
006361,000043: 06,2004 12010 TCF NORMT4 +1
006362,000044: 06,2005 12007 TCF NORMT4
006363,000045:
006364,000046: 06,2006 12134 TCF QUIKDSP
006365,000047:
006366,000048: 06,2007 34757 NORMT4 CAF SEVEN
006367,000049: 06,2010 54070 TS RUPTREG1
006368,000050: 06,2011 55310 TS DSRUPTSW
006369,000051:
006370,000052: 4066 BLOCK 02
006371,000053: 4000 SETLOC FFTAG10
006372,000054: 4000 BANK
006373,000055:
006374,000056: 4066 COUNT* $$/T4RPT
006375,000057: 4066 7732 100MRUPT = OCT37766 # (DEC 16374)
006376,000058:
006377,000059: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006378,000060: # IN LOWER 5 BITS.
006379,000061: 4066 04025 RELTAB OCT 04025
006380,000062: 4067 10003 OCT 10003
006381,000063: 4070 14031 OCT 14031
006382,000064: 4071 20033 OCT 20033
006383,000065: 4072 24017 OCT 24017
006384,000066: 4073 30036 OCT 30036
006385,000067: 4074 34034 OCT 34034
006386,000068: 4075 40023 OCT 40023
006387,000069: 4076 44035 OCT 44035
006388,000070: 4077 50037 OCT 50037
006389,000071: 4100 54000 OCT 54000
006390,000072: 4101 60000 RELTAB11 OCT 60000
006391,000073:
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Page 158 |
006393,000075: # SWITCHED-BANK PORTION.
006394,000076:
006395,000077: 12,2000 BANK 12
006396,000078: 06,2000 SETLOC T4RUP
006397,000079: 06,2000 BANK
006398,000080:
006399,000081: 06,2012 COUNT* $$/T4RPT
006400,000082: 06,2012 11035 CDRVE CCS DSPTAB +11D
006401,000083: 06,2013 02063 TC DSPOUT
006402,000084: 06,2014 02063 TC DSPOUT
006403,000085:
006404,000086: 06,2015 57035 XCH DSPTAB +11D
006405,000087: 06,2016 74356 MASK LOW11
006406,000088: 06,2017 55035 TS DSPTAB +11D
006407,000089: 06,2020 64101 AD RELTAB11
006408,000090: 06,2021 00006 EXTEND
006409,000091: 06,2022 01010 WRITE OUT0
006410,000092: 06,2023 02071 TC HANG20
006411,000093:
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Page 159 |
006413,000095: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006414,000096:
006415,000097: 06,2024 55015 DSPOUTSB TS NOUT
006416,000098: 06,2025 44755 CS ZERO
006417,000099: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
006418,000100: 06,2027 56775 XCH DSPCNT
006419,000101: 06,2030 64754 AD NEG0 # TO PREVENT +0
006420,000102: 06,2031 54775 TS DSPCNT
006421,000103: 06,2032 50775 DSPSCAN INDEX DSPCNT
006422,000104: 06,2033 11022 CCS DSPTAB
006423,000105: 06,2034 10775 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
006424,000106: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
006425,000107: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
006426,000108: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
006427,000109: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
006428,000110: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
006429,000111: 06,2042 55015 TS NOUT
006430,000112: 06,2043 00002 TC Q
006431,000113: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
006432,000114: 06,2045 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
006433,000115: 06,2046 12031 TCF DSPSCAN -1
006434,000116:
006435,000117: 06,2047 64753 DSPLAY AD ONE
006436,000118: 06,2050 50775 INDEX DSPCNT
006437,000119: 06,2051 55022 TS DSPTAB # REPLACE POSITIVELY
006438,000120: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
006439,000121: 06,2053 54073 TS DSRUPTEM
006440,000122: 06,2054 34350 CAF HI5
006441,000123: 06,2055 50775 INDEX DSPCNT
006442,000124: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006443,000125: 06,2057 60073 AD DSRUPTEM
006444,000126: 06,2060 00006 EXTEND
006445,000127: 06,2061 01010 WRITE OUT0
006446,000128:
006447,000129: 06,2062 16742 TCF Q+1
006448,000130:
006449,000131: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
006450,000132: 06,2064 34755 CAF ZERO # NO
006451,000133: 06,2065 12130 TCF NODSPOUT # NO
006452,000134: 06,2066 11015 CCS NOUT # YES
006453,000135: 06,2067 02024 TC DSPOUTSB
006454,000136: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
006455,000137:
006456,000138: 06,2071 42171 HANG20 CS 14,11,9
006457,000139: 06,2072 27310 ADS DSRUPTSW
006458,000140:
006459,000141: 06,2073 37734 CAF 20MRUPT
006460,000142:
006461,000143: 06,2074 54027 SETTIME4 TS TIME4
006462,000144:
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Page 160 |
006464,000146: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
006465,000147: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
006466,000148: # IF PREV ON AND NOW ON - BYPASS
006467,000149: # IF PREV ON AND NOW OFF - UPDATE IMODES33
006468,000150: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
006469,000151: # IF PREV OFF AND NOW OFF - BYPASS
006470,000152: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
006471,000153:
006472,000154: 06,2075 31300 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
006473,000155: 06,2076 00006 EXTEND
006474,000156: 06,2077 06032 RXOR CHAN32
006475,000157: 06,2100 74736 MASK BIT14
006476,000158: 06,2101 00006 EXTEND
006477,000159: 06,2102 12116 BZF T4JUMP # NO CHANGE
006478,000160:
006479,000161: 06,2103 23300 LXCH IMODES33
006480,000162: 06,2104 00006 EXTEND
006481,000163: 06,2105 06001 RXOR LCHAN
006482,000164: 06,2106 55300 TS IMODES33 # UPDATE IMODES33
006483,000165: 06,2107 74736 MASK BIT14
006484,000166: 06,2110 10000 CCS A
006485,000167: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
006486,000168:
006487,000169: 06,2112 34355 CAF CHRPRIO # WAS OFF - NOW ON
006488,000170: 06,2113 05072 TC NOVAC
006489,000171: 06,2114 0776 EBANK= DSPCOUNT
006490,000172: 06,2114 03506 60101 2CADR PROCKEY
006491,000173:
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Page 161 |
006493,000175: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
006494,000176:
006495,000177: 06,2116 50070 T4JUMP INDEX RUPTREG1
006496,000178: 06,2117 12120 TCF +1
006497,000179:
006498,000180: 06,2120 03164 TC RCSMONIT
006499,000181: 06,2121 13006 TCF RRAUTCHK
006500,000182: 06,2122 12172 TCF IMUMON
006501,000183: 06,2123 13140 TCF DAPT4S
006502,000184: 06,2124 03164 TC RCSMONIT
006503,000185: 06,2125 13006 TCF RRAUTCHK
006504,000186: 06,2126 12172 TCF IMUMON
006505,000187: 06,2127 13140 TCF DAPT4S
006506,000188:
006507,000189: 06,2130 7734 20MRUPT = OCT37776 # (DEC 16382)
006508,000190:
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Page 162 |
006510,000192: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
006511,000193:
006512,000194: 06,2130 00006 NODSPOUT EXTEND
006513,000195: 06,2131 01010 WRITE OUT0
006514,000196:
006515,000197: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
006516,000198: 06,2133 12074 TCF SETTIME4
006517,000199:
006518,000200: 06,2134 34736 QUIKDSP CAF BIT14
006519,000201: 06,2135 71310 MASK DSRUPTSW
006520,000202: 06,2136 00006 EXTEND
006521,000203: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
006522,000204:
006523,000205: 06,2140 11015 CCS NOUT
006524,000206: 06,2141 02024 TC DSPOUTSB
006525,000207: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
006526,000208: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
006527,000209: 06,2144 27310 QUIKRUPT ADS DSRUPTSW
006528,000210:
006529,000211: 06,2145 37734 CAF 20MRUPT
006530,000212: 06,2146 54027 TS TIME4
006531,000213:
006532,000214: 06,2147 34743 CAF BIT9
006533,000215: 06,2150 27310 ADS DSRUPTSW
006534,000216:
006535,000217: 06,2151 05270 TC RESUME
006536,000218:
006537,000219: 06,2152 00006 NODSPY EXTEND
006538,000220: 06,2153 01010 WRITE OUT0
006539,000221:
006540,000222: 06,2154 37734 SYNCT4 CAF 20MRUPT
006541,000223: 06,2155 26027 ADS TIME4
006542,000224:
006543,000225: 06,2156 34743 CAF BIT9
006544,000226: 06,2157 27310 ADS DSRUPTSW
006545,000227:
006546,000228: 06,2160 11310 CCS DSRUPTSW
006547,000229: 06,2161 05270 TC RESUME
006548,000230: 06,2162 37737 OCT37737 OCT 37737
006549,000231: 06,2163 02154 TC SYNCT4
006550,000232: 06,2164 05270 TC RESUME
006551,000233:
006552,000234: 06,2165 00006 QUIKOFF EXTEND
006553,000235: 06,2166 01010 WRITE OUT0
006554,000236: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
006555,000237: 06,2170 12144 TCF QUIKRUPT
006556,000238:
006557,000239: 06,2171 22400 14,11,9 OCT 22400
006558,000240:
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Page 163 |
006560,000242: # PROGRAM NAME: IMUMON
006561,000243:
006562,000244: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
006563,000245: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
006564,000246:
006565,000247: # FUNCTION BIT SUBROUTINE CALLED
006566,000248: # -------- --- -----------------
006567,000249: # TEMP IN LIMITS 15 TLIM
006568,000250: # ISS TURN-ON REQUEST 14 ITURNON
006569,000251: # IMU FAIL 13 IMUFAIL (SETISSW)
006570,000252: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
006571,000253: # IMU CAGE 11 IMUCAGE
006572,000254: # IMU OPERATE 9 IMUOP
006573,000255:
006574,000256: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
006575,000257: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
006576,000258:
006577,000259: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
006578,000260:
006579,000261: # JOBS OR TASKS INITIATED: NONE.
006580,000262:
006581,000263: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
006582,000264:
006583,000265: # ERASABLE INITIALIZATION:
006584,000266: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
006585,000267: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
006586,000268: # THIS LEAVES IMU FAIL BITS INTACT.
006587,000269:
006588,000270: # ALARMS: NONE.
006589,000271:
006590,000272: # EXIT: TNONTEST.
006591,000273:
006592,000274: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
006593,000275:
006594,000276: 06,2172 31277 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
006595,000277: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
006596,000278: 06,2174 06030 RXOR CHAN30
006597,000279: 06,2175 72761 MASK 30RDMSK
006598,000280: 06,2176 00006 EXTEND
006599,000281: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
006600,000282:
006601,000283: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006602,000284: 06,2201 23277 LXCH IMODES30 # UPDATE IMODES30.
006603,000285: 06,2202 00006 EXTEND
006604,000286: 06,2203 06001 RXOR LCHAN
006605,000287: 06,2204 55277 TS IMODES30
006606,000288:
006607,000289: 06,2205 44753 CS ONE
006608,000290: 06,2206 56070 XCH RUPTREG1
006609,000291: 06,2207 00006 EXTEND
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Page 164 |
006611,000293: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
006612,000294: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
006613,000295:
006614,000296: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
006615,000297: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
006616,000298: 06,2214 60000 +1 DOUBLE
006617,000299: 06,2215 54000 TS A # SKIP IF OVERFLOW.
006618,000300: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
006619,000301:
006620,000302: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
006621,000303: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
006622,000304: 06,2221 34736 CAF BIT14
006623,000305: 06,2222 71277 MASK IMODES30
006624,000306: 06,2223 50070 INDEX RUPTREG1
006625,000307: 06,2224 02755 TC IFAILJMP
006626,000308:
006627,000309: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
006628,000310: 06,2226 12212 TCF NXTIFBIT -1
006629,000311:
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Page 165 |
006631,000313: # PROGRAM NAME: TNONTEST.
006632,000314:
006633,000315: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
006634,000316: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
006635,000317: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
006636,000318:
006637,000319: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
006638,000320: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
006639,000321: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
006640,000322:
006641,000323: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
006642,000324: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
006643,000325: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
006644,000326: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
006645,000327:
006646,000328: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
006647,000329: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
006648,000330:
006649,000331: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
006650,000332: # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
006651,000333: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
006652,000334: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
006653,000335: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
006654,000336: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
006655,000337: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
006656,000338: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
006657,000339: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
006658,000340:
006659,000341: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
006660,000342: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
006661,000343:
006662,000344: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
006663,000345:
006664,000346: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
006665,000347: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
006666,000348: # STARTED.
006667,000349:
006668,000350: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
006669,000351:
006670,000352: # ERASABLE INITIALIZATION: SEE IMUMON.
006671,000353:
006672,000354: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
006673,000355:
006674,000356: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
006675,000357: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
006676,000358: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
006677,000359:
006678,000360: # OUTPUT: ISS INITIALIZED.
006679,000361:
006680,000362: 06,2227 41277 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
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Page 166 |
006682,000364: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
006683,000365: 06,2231 10000 CCS A
006684,000366: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
006685,000367:
006686,000368: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
006687,000369: 06,2234 71277 MASK IMODES30
006688,000370: 06,2235 10000 CCS A
006689,000371: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
006690,000372:
006691,000373: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
006692,000374: 06,2240 27277 ADS IMODES30 # TIME.
006693,000375: 06,2241 12374 TCF C33TEST
006694,000376:
006695,000377: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006696,000378:
006697,000379: 06,2242 42777 PROCTNON CS BITS7&8
006698,000380: 06,2243 71277 MASK IMODES30
006699,000381: 06,2244 55277 TS IMODES30
006700,000382: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
006701,000383: 06,2246 10000 CCS A
006702,000384: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
006703,000385:
006704,000386: 06,2250 41277 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
006705,000387: 06,2251 74743 MASK BIT9 # OPERATE.
006706,000388: 06,2252 10000 CCS A
006707,000389: 06,2253 12256 TCF +3
006708,000390:
006709,000391: 06,2254 05567 TC ALARM # ALARM IF NOT.
006710,000392: 06,2255 00213 OCT 213
006711,000393:
006712,000394: 06,2256 02735 +3 TC CAGESUB
006713,000395: 06,2257 33005 CAF 90SECS
006714,000396: 06,2260 05203 TC WAITLIST
006715,000397: 06,2261 E6,1414 EBANK= M11
006716,000398: 06,2261 02266 14106 2CADR ENDTNON
006717,000399:
006718,000400: 06,2263 12374 TCF C33TEST
006719,000401:
006720,000402: 06,2264 33005 RETNON CAF 90SECS
006721,000403: 06,2265 05224 TC VARDELAY
006722,000404:
006723,000405: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
006724,000406: 06,2267 71277 MASK IMODES30
006725,000407: 06,2270 57277 XCH IMODES30
006726,000408: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006727,000409: 06,2272 00006 EXTEND
006728,000410: 06,2273 12306 BZF ENDTNON2
006729,000411:
006730,000412: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
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006732,000414: 06,2275 71277 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006733,000415: 06,2276 00006 EXTEND
006734,000416: 06,2277 12264 BZF RETNON
006735,000417:
006736,000418: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
006737,000419: 06,2301 74744 MASK IMUSEBIT # WAITING.
006738,000420: 06,2302 10000 CCS A
006739,000421: 06,2303 15261 TCF TASKOVER
006740,000422: 06,2304 04635 TC POSTJUMP
006741,000423: 06,2305 17630 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
006742,000424:
006743,000425: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
006744,000426: 06,2307 00006 EXTEND
006745,000427: 06,2310 05012 WOR CHAN12
006746,000428:
006747,000429: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
006748,000430: 06,2312 17257 CADR NOATTOFF
006749,000431:
006750,000432: 06,2313 05457 UNZ2 TC ZEROICDU
006751,000433:
006752,000434: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
006753,000435: 06,2315 00006 EXTEND
006754,000436: 06,2316 03012 WAND CHAN12
006755,000437:
006756,000438: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
006757,000439: 06,2320 05224 TC VARDELAY
006758,000440:
006759,000441: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
006760,000442: 06,2322 71277 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
006761,000443: 06,2323 55277 TS IMODES30
006762,000444:
006763,000445: 06,2324 44746 CS BIT6 # ENABLE DAP
006764,000446:
006765,000447: 06,2325 71300 MASK IMODES33
006766,000448: 06,2326 55300 TS IMODES33
006767,000449:
006768,000450: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
006769,000451: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP (RESTART
006770,000452: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
006771,000453: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
006772,000454: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
006773,000455: 06,2334 30025 CA TIME1
006774,000456: 06,2335 57074 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
006775,000457:
006776,000458: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
006777,000459:
006778,000460: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
006779,000461: 06,2340 00006 EXTEND
006780,000462: 06,2341 03012 WAND CHAN12
006781,000463:
006782,000464: 06,2342 35003 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
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006784,000466: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS.
006785,000467: 06,2344 E3,1474 EBANK= CDUIND
006786,000468: 06,2344 03245 16103 2CADR PFAILOK
006787,000469:
006788,000470: 06,2346 15261 TCF TASKOVER
006789,000471:
006790,000472: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
006791,000473: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
006792,000474: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
006793,000475: 06,2352 10000 CCS A
006794,000476: 06,2353 12374 TCF C33TEST
006795,000477:
006796,000478: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
006797,000479: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
006798,000480: 06,2356 10000 CCS A
006799,000481: 06,2357 12374 TCF C33TEST
006800,000482:
006801,000483: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
006802,000484:
006803,000485: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
006804,000486: 06,2362 17257 CADR NOATTOFF # IMU CAGE OFF ENTRY
006805,000487:
006806,000488: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
006807,000489: 06,2364 00006 EXTEND
006808,000490: 06,2365 05012 WOR CHAN12
006809,000491:
006810,000492: 06,2366 05457 TC ZEROICDU
006811,000493: 06,2367 34746 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
006812,000494: 06,2370 05203 TC WAITLIST
006813,000495: 06,2371 E6,1414 EBANK= M11
006814,000496: 06,2371 02313 14106 2CADR UNZ2
006815,000497:
006816,000498: 06,2373 12374 TCF C33TEST
006817,000499:
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006819,000501: # PROGRAM NAME: C33TEST
006820,000502:
006821,000503: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
006822,000504: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
006823,000505: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
006824,000506: # PROCESSED AND THE SUBROUTINES CALLED ARE:
006825,000507: # BIT FUNCTION SUBROUTINE
006826,000508: # --- -------- ----------
006827,000509: # 13 PIPA FAIL PIPFAIL
006828,000510: # 12 DOWNLINK TOO FAST DNTMFAST
006829,000511: # 11 UPLINK TOO FAST UPTMFAST
006830,000512:
006831,000513: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
006832,000514:
006833,000515: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
006834,000516:
006835,000517: # JOBS OR TASKS INITIATED: NONE.
006836,000518:
006837,000519: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
006838,000520:
006839,000521: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
006840,000522: # REAPPEAR IF THE CONDITIONS PERSIST.
006841,000523:
006842,000524: # ALARMS: NONE.
006843,000525:
006844,000526: # EXIT: GLOCKMON.
006845,000527:
006846,000528: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
006847,000529:
006848,000530: 06,2374 31300 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
006849,000531: 06,2375 75026 MASK 33RDMSK
006850,000532: 06,2376 54001 TS L # CHANGED.
006851,000533: 06,2377 35026 CAF 33RDMSK
006852,000534: 06,2400 00006 EXTEND
006853,000535: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
006854,000536: 06,2402 00006 EXTEND
006855,000537: 06,2403 06001 RXOR LCHAN
006856,000538: 06,2404 00006 EXTEND
006857,000539: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
006858,000540:
006859,000541: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006860,000542: 06,2407 23300 LXCH IMODES33
006861,000543: 06,2410 00006 EXTEND
006862,000544: 06,2411 06001 RXOR LCHAN
006863,000545: 06,2412 55300 TS IMODES33 # UPDATED IMODES33.
006864,000546:
006865,000547: 06,2413 34755 CAF ZERO
006866,000548: 06,2414 56070 XCH RUPTREG1
006867,000549: 06,2415 60000 DOUBLE
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006869,000551: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
006870,000552:
006871,000553: 06,2417 64753 -1 AD ONE
006872,000554: 06,2420 24070 NXTIBT INCR RUPTREG1
006873,000555: 06,2421 60000 +1 DOUBLE
006874,000556: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
006875,000557: 06,2423 12420 TCF NXTIBT
006876,000558:
006877,000559: 06,2424 56071 XCH RUPTREG2
006878,000560: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
006879,000561: 06,2426 34737 CAF BIT13
006880,000562: 06,2427 71300 MASK IMODES33
006881,000563: 06,2430 50070 INDEX RUPTREG1
006882,000564: 06,2431 02763 TC C33JMP
006883,000565: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
006884,000566: 06,2433 12417 TCF NXTIBT -1
006885,000567:
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006887,000569: # PROGRAM NAME: GLOCKMON
006888,000570:
006889,000571: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006890,000572: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006891,000573:
006892,000574: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
006893,000575: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
006894,000576: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006895,000577:
006896,000578: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
006897,000579:
006898,000580: # JOBS OR TASKS INITIATED: NONE.
006899,000581:
006900,000582: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006901,000583: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006902,000584:
006903,000585: # ERASABLE INITIALIZATION:
006904,000586: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
006905,000587: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006906,000588: # PROCEEDS AS BEFORE.
006907,000589:
006908,000590: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006909,000591: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006910,000592: # SO ALREADY.
006911,000593:
006912,000594: 06,2434 10034 GLOCKMON CCS CDUZ
006913,000595: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
006914,000596: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
006915,000597: 06,2437 12441 TCF GLOCKCHK
006916,000598: 06,2440 12465 TCF SETGLOCK
006917,000599:
006918,000600: 06,2441 62512 GLOCKCHK AD -70DEGS
006919,000601: 06,2442 00006 EXTEND
006920,000602: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
006921,000603:
006922,000604: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
006923,000605: 06,2445 00006 EXTEND
006924,000606: 06,2446 62462 BZMF NOGIMRUN
006925,000607:
006926,000608: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006927,000609: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
006928,000610: 06,2451 02012 RAND CHAN12
006929,000611: 06,2452 10000 CCS A
006930,000612: 06,2453 12462 TCF NOGIMRUN
006931,000613:
006932,000614: 06,2454 04674 TC IBNKCALL
006933,000615: 06,2455 17135 CADR SETCOARS
006934,000616:
006935,000617: 06,2456 36245 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
006936,000618: 06,2457 05203 TC WAITLIST
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006938,000620: 06,2460 E3,1474 EBANK= CDUIND
006939,000621: 06,2460 03131 16103 2CADR CA+ECE
006940,000622:
006941,000623: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
006942,000624: 06,2463 12465 TCF SETGLOCK
006943,000625:
006944,000626: 06,2464 34755 -1 CAF ZERO
006945,000627: 06,2465 61035 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006946,000628: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
006947,000629: 06,2467 00006 EXTEND # THE TWO.
006948,000630: 06,2470 15270 BZF GLOCKOK # OK AS IS.
006949,000631:
006950,000632: 06,2471 71035 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
006951,000633: 06,2472 10000 CCS A
006952,000634: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006953,000635:
006954,000636: 06,2474 34746 CAF BIT6
006955,000637: 06,2475 71277 MASK IMODES30
006956,000638: 06,2476 10000 CCS A
006957,000639: 06,2477 15270 TCF GLOCKOK
006958,000640:
006959,000641: 06,2500 41035 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
006960,000642: 06,2501 74746 MASK BIT6
006961,000643: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
006962,000644: 06,2503 57035 XCH DSPTAB +11D
006963,000645: 06,2504 72162 MASK OCT37737
006964,000646: 06,2505 27035 ADS DSPTAB +11D
006965,000647: 06,2506 15270 TCF GLOCKOK
006966,000648:
006967,000649: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006968,000650: 06,2510 15270 TCF GLOCKOK
006969,000651: 06,2511 12500 TCF GLINVERT
006970,000652:
006971,000653: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006972,000654: 06,2513 75252 -15DEGS DEC -.08333
006973,000655:
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006975,000657: # PROGRAM NAME: TLIM.
006976,000658:
006977,000659: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006978,000660: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006979,000661: # IS IN PROGRESS.
006980,000662:
006981,000663: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
006982,000664:
006983,000665: # JOBS OR TASKS INITIATED: NONE.
006984,000666:
006985,000667: # SUBROUTINES CALLED: LAMPTEST.
006986,000668:
006987,000669: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
006988,000670:
006989,000671: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
006990,000672:
006991,000673: # EXIT: NXTIFAIL.
006992,000674:
006993,000675: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
006994,000676:
006995,000677: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
006996,000678: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
006997,000679:
006998,000680: 06,2516 11277 CCS IMODES30
006999,000681: 06,2517 12525 TCF TEMPOK
007000,000682: 06,2520 12525 TCF TEMPOK
007001,000683:
007002,000684: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
007003,000685: 06,2522 00006 EXTEND
007004,000686: 06,2523 05011 WOR DSALMOUT
007005,000687: 06,2524 12225 TCF NXTIFAIL
007006,000688:
007007,000689: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
007008,000690: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
007009,000691:
007010,000692: 06,2527 44750 CS BIT4
007011,000693: 06,2530 00006 EXTEND
007012,000694: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
007013,000695: 06,2532 12225 TCF NXTIFAIL
007014,000696:
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007016,000698: # PROGRAM NAME: ITURNON.
007017,000699:
007018,000700: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007019,000701: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007020,000702: # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
007021,000703: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007022,000704: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007023,000705: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007024,000706:
007025,000707: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007026,000708: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007027,000709: # ENDS.
007028,000710:
007029,000711: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007030,000712:
007031,000713: # JOBS OR TASKS INITIATED: NONE.
007032,000714:
007033,000715: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007034,000716:
007035,000717: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007036,000718: # AND BIT 14 OF IMODES30 TO 1.
007037,000719:
007038,000720: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007039,000721:
007040,000722: # EXIT: NXTIFAIL.
007041,000723:
007042,000724: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007043,000725: # A FAILED TURN-ON SEQUENCE.
007044,000726:
007045,000727: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
007046,000728: 06,2534 71277 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
007047,000729: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007048,000730: 06,2536 12225 TCF NXTIFAIL
007049,000731:
007050,000732: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
007051,000733: 06,2540 71277 MASK IMODES30
007052,000734: 06,2541 00006 EXTEND
007053,000735: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
007054,000736:
007055,000737: 06,2543 34735 CAF BIT15
007056,000738: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
007057,000739: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
007058,000740: 06,2546 00006 EXTEND
007059,000741: 06,2547 12551 BZF +2
007060,000742: 06,2550 12225 TCF NXTIFAIL
007061,000743:
007062,000744: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
007063,000745: 06,2552 27277 ADS IMODES30 # PRESENT FOR FULL DURATION.
007064,000746: 06,2553 05567 TC ALARM
007065,000747: 06,2554 00207 OCT 207
007066,000748: 06,2555 12225 TCF NXTIFAIL
007067,000749:
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007069,000751: 06,2556 41277 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007070,000752: 06,2557 74745 MASK BIT7
007071,000753: 06,2560 27277 ADS IMODES30
007072,000754: 06,2561 32564 CAF RRINIT
007073,000755: 06,2562 54110 TS RADMODES
007074,000756: 06,2563 12225 TCF NXTIFAIL
007075,000757:
007076,000758: 06,2564 00102 RRINIT OCT 00102
007077,000759:
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007079,000761: # PROGRAM NAME: IMUCAGE.
007080,000762:
007081,000763: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
007082,000764: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007083,000765: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007084,000766: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
007085,000767: # RELEASED (INBIT CHANGES TO 1).
007086,000768:
007087,000769: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
007088,000770:
007089,000771: # JOBS OR TASKS INITIATED: NONE.
007090,000772:
007091,000773: # SUBROUTINES CALLED: CAGESUB.
007092,000774:
007093,000775: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007094,000776:
007095,000777: # ALARMS: NONE.
007096,000778:
007097,000779: # EXIT: NXTIFAIL.
007098,000780:
007099,000781: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007100,000782:
007101,000783: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
007102,000784: 06,2566 12361 TCF ISSZERO
007103,000785: 06,2567 43002 CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
007104,000786: 06,2570 00006 EXTEND
007105,000787: 06,2571 03014 WAND CHAN14
007106,000788:
007107,000789: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007108,000790: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007109,000791: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007110,000792:
007111,000793: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
007112,000794: 06,2576 70101 MASK FLAGWRD5
007113,000795: 06,2577 54101 TS FLAGWRD5
007114,000796: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
007115,000797: 06,2601 00006 EXTEND
007116,000798: 06,2602 02011 RAND DSALMOUT
007117,000799: 06,2603 64736 AD BIT14
007118,000800: 06,2604 00006 EXTEND
007119,000801: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
007120,000802:
007121,000803: 06,2606 02743 TC CAGESUB1
007122,000804:
007123,000805: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007124,000806: 06,2610 17166 CADR RNDREFDR
007125,000807:
007126,000808: 06,2611 44755 CS ZERO
007127,000809: 06,2612 54050 TS CDUXCMD
007128,000810: 06,2613 54051 TS CDUYCMD
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007130,000812: 06,2614 54052 TS CDUZCMD
007131,000813: 06,2615 54047 TS GYROCMD
007132,000814:
007133,000815: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
007134,000816: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
007135,000817: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
007136,000818: 06,2621 12225 TCF NXTIFAIL
007137,000819:
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007139,000821: # PROGRAM NAME: IMUOP.
007140,000822:
007141,000823: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007142,000824: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007143,000825: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007144,000826: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007145,000827: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
007146,000828:
007147,000829: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007148,000830:
007149,000831: # JOBS OR TASKS INITIATED: NONE.
007150,000832: #
007151,000833: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007152,000834:
007153,000835: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007154,000836: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007155,000837:
007156,000838: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007157,000839:
007158,000840: # EXIT: NXTIFAIL.
007159,000841:
007160,000842: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007161,000843:
007162,000844: 06,2622 00006 IMUOP EXTEND
007163,000845: 06,2623 12643 BZF IMUOP2
007164,000846:
007165,000847: 06,2624 41300 CS IMODES33 # DISABLE DAP
007166,000848: 06,2625 74746 MASK BIT6
007167,000849: 06,2626 27300 ADS IMODES33
007168,000850:
007169,000851: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007170,000852: 06,2630 17166 CADR RNDREFDR
007171,000853:
007172,000854: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007173,000855: 06,2632 70074 MASK FLAGWRD0
007174,000856: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
007175,000857: 06,2634 40000 COM
007176,000858: 06,2635 74744 MASK IMUSEFLG
007177,000859: 06,2636 10000 CCS A
007178,000860: 06,2637 12225 TCF NXTIFAIL
007179,000861:
007180,000862: 06,2640 05567 TC ALARM
007181,000863: 06,2641 00214 OCT 214
007182,000864: 06,2642 12225 TCF NXTIFAIL
007183,000865:
007184,000866: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007185,000867: 06,2644 71277 MASK IMODES30
007186,000868: 06,2645 10000 CCS A
007187,000869: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
007188,000870: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
007189,000871:
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007191,000873: # PROGRAM NAME: PIPFAIL
007192,000874:
007193,000875: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
007194,000876: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
007195,000877: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
007196,000878:
007197,000879: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007198,000880:
007199,000881: # JOBS OR TASKS INITIATED: NONE.
007200,000882:
007201,000883: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
007202,000884:
007203,000885: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
007204,000886:
007205,000887: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007206,000888: # BEING INITIALIZED.
007207,000889:
007208,000890: # EXIT: NXTFL33.
007209,000891:
007210,000892: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007211,000893:
007212,000894: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
007213,000895: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
007214,000896: 06,2652 57277 XCH IMODES30
007215,000897: 06,2653 73004 MASK -BIT10
007216,000898: 06,2654 27277 ADS IMODES30
007217,000899:
007218,000900: 06,2655 02703 TC SETISSW
007219,000901:
007220,000902: 06,2656 41277 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
007221,000903: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
007222,000904: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
007223,000905: 06,2661 12432 TCF NXTFL33
007224,000906:
007225,000907: 06,2662 31277 CA IMODES30
007226,000908: 06,2663 73000 MASK OCT1720
007227,000909: 06,2664 10000 CCS A
007228,000910: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
007229,000911:
007230,000912: 06,2666 05567 TC ALARM
007231,000913: 06,2667 00212 OCT 212
007232,000914: 06,2670 12432 TCF NXTFL33
007233,000915:
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007235,000917: # PROGRAM NAMES: DNTMFAST, UPTMFAST
007236,000918:
007237,000919: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
007238,000920: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
007239,000921:
007240,000922: # BIT ALARM CAUSE
007241,000923: # --- ----- -----
007242,000924: # 12 01105 DOWNLINK TOO FAST
007243,000925: # 11 01106 UPLINK TOO FAST
007244,000926:
007245,000927: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
007246,000928:
007247,000929: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
007248,000930:
007249,000931: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007250,000932:
007251,000933: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
007252,000934:
007253,000935: # EXIT: NXTFL33.
007254,000936:
007255,000937: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
007256,000938:
007257,000939: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
007258,000940: 06,2672 12432 TCF NXTFL33
007259,000941:
007260,000942: 06,2673 05567 TC ALARM
007261,000943: 06,2674 01105 OCT 1105
007262,000944: 06,2675 12432 TCF NXTFL33
007263,000945:
007264,000946: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
007265,000947: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
007266,000948:
007267,000949: 06,2700 05567 TC ALARM
007268,000950: 06,2701 01106 OCT 1106
007269,000951: 06,2702 12432 TCF NXTFL33
007270,000952:
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007272,000954: # PROGRAM NAME: SETISSW
007273,000955:
007274,000956: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007275,000957: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007276,000958: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007277,000959: # PROGRESS.
007278,000960:
007279,000961: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
007280,000962: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
007281,000963: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007282,000964: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007283,000965:
007284,000966: # JOBS OR TASKS INITIATED: NONE.
007285,000967:
007286,000968: # SUBROUTINES CALLED: NONE.
007287,000969:
007288,000970: # ERASABLE INITIALIZATION:
007289,000971:
007290,000972: # 1) IMODES30 - SEE IMUMON.
007291,000973: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007292,000974:
007293,000975: # ALARMS: ISS WARNING.
007294,000976:
007295,000977: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007296,000978: # PROGRAM ALARM 00777 PIPA FAIL
007297,000979: # PROGRAM ALARM 03777 ICDU FAIL
007298,000980: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
007299,000981: # PROGRAM ALARM 07777 IMU FAIL
007300,000982: # PROGRAM ALARM 10777 IMU , PIPA FAILS
007301,000983: # PROGRAM ALARM 13777 IMU , ICDU FAILS
007302,000984: # PROGRAM ALARM 14777 IMU , ICDU, PIPA FAILS
007303,000985:
007304,000986: # EXIT: VIA Q.
007305,000987:
007306,000988: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
007307,000989:
007308,000990: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
007309,000991: 06,2704 71277 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
007310,000992: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
007311,000993: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
007312,000994: 06,2707 31277 CA IMODES30
007313,000995: 06,2710 00006 EXTEND
007314,000996: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
007315,000997: 06,2712 40000 COM
007316,000998: 06,2713 75025 MASK OCT15000
007317,000999: 06,2714 10000 CCS A
007318,001000: 06,2715 12726 TCF ISSWON # FAILURE.
007319,001001:
007320,001002: 06,2716 34753 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
007321,001003: 06,2717 71300 MASK IMODES33 # IN PROGRESS.
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007323,001005: 06,2720 10000 CCS A
007324,001006: 06,2721 00002 TC Q
007325,001007:
007326,001008: 06,2722 44753 CS BIT1
007327,001009: 06,2723 00006 EXTEND
007328,001010: 06,2724 03011 WAND DSALMOUT
007329,001011: 06,2725 00002 TC Q
007330,001012:
007331,001013: 06,2726 00006 ISSWON EXTEND
007332,001014: 06,2727 22066 QXCH ITEMP6
007333,001015: 06,2730 05734 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
007334,001016: 06,2731 34753 CAF BIT1
007335,001017: 06,2732 00006 EXTEND
007336,001018: 06,2733 05011 WOR DSALMOUT
007337,001019: 06,2734 00066 TC ITEMP6
007338,001020:
007339,001021: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
007340,001022: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
007341,001023: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
007342,001024: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
007343,001025: 06,2741 00006 EXTEND
007344,001026: 06,2742 05012 WOR CHAN12
007345,001027:
007346,001028: 06,2743 41035 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
007347,001029: 06,2744 72773 MASK OC40010
007348,001030: 06,2745 27035 ADS DSPTAB +11D
007349,001031:
007350,001032: 06,2746 41277 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
007351,001033: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
007352,001034: 06,2750 27277 ADS IMODES30
007353,001035:
007354,001036: 06,2751 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
007355,001037: 06,2752 74746 MASK BIT6
007356,001038: 06,2753 27300 ADS IMODES33
007357,001039:
007358,001040: 06,2754 00002 TC Q
007359,001041:
007360,001042: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
007361,001043: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
007362,001044:
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007364,001046: # JUMP TABLES AND CONSTANTS.
007365,001047:
007366,001048: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
007367,001049: 06,2756 12703 TCF IMUFAIL
007368,001050: 06,2757 12703 TCF ICDUFAIL
007369,001051: 06,2760 12565 TCF IMUCAGE
007370,001052: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
007371,001053: 06,2762 12622 TCF IMUOP
007372,001054:
007373,001055: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
007374,001056: 06,2764 12671 TCF DNTMFAST
007375,001057: 06,2765 12676 TCF UPTMFAST
007376,001058:
007377,001059: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007378,001060:
007379,001061: 06,2766 41300 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007380,001062: 06,2767 74753 MASK BIT1 # PROGRESS.
007381,001063: 06,2770 10000 CCS A
007382,001064: 06,2771 24002 INCR Q
007383,001065: 06,2772 00002 TC Q
007384,001066:
007385,001067: 06,2773 5026 33RDMSK EQUALS PRIO16
007386,001068: 06,2773 40010 OC40010 OCT 40010
007387,001069: 06,2774 00054 OCT54 OCT 54
007388,001070: 06,2775 00075 OCT75 OCT 75
007389,001071: 06,2776 00272 OCT272 OCT 00272
007390,001072: 06,2777 00300 BITS7&8 OCT 300
007391,001073: 06,3000 01720 OCT1720 OCT 1720
007392,001074: 06,3001 00740 OCT740 OCT 00740
007393,001075: 06,3002 5025 OCT15000 EQUALS PRIO15
007394,001076: 06,3002 77000 OCT77000 OCT 77000
007395,001077: 06,3003 40040 BITS6&15 OCT 40040
007396,001078: 06,3004 76777 -BIT10 OCT -1000
007397,001079:
007398,001080: 06,3005 21450 90SECS DEC 9000 B-14
007399,001081: 06,3006 5741 120MS = OCT14 # (DEC12)
007400,001082: 06,3006 5270 GLOCKOK EQUALS RESUME
007401,001083:
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007403,001085: # PROGRAM NAME_ RRAUTCHK
007404,001086:
007405,001087: # FUNCTIONAL DESCRIPTION_
007406,001088: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
007407,001089: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
007408,001090: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
007409,001091: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
007410,001092: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
007411,001093: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
007412,001094: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
007413,001095: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
007414,001096: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
007415,001097: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007416,001098: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
007417,001099: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007418,001100:
007419,001101: # CALLING SEQUENCE_
007420,001102: # T4RUPT EVERY 480 MILLISECONDS
007421,001103:
007422,001104: # ERASABLE INITIALIZATION REQUIRED_
007423,001105: # RADMODES, STATE
007424,001106:
007425,001107: # SUBROUTINES CALLED_
007426,001108: # WAITLIST
007427,001109:
007428,001110: # JOBS OR TASKS INITIATED_
007429,001111: # RRTURNON
007430,001112:
007431,001113: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
007432,001114: # USED
007433,001115:
007434,001116: # EXIT_ RRCDUCHK, NORRGMON
007435,001117:
007436,001118: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
007437,001119: 06,3007 00006 EXTEND
007438,001120: 06,3010 06033 RXOR CHAN33
007439,001121: 06,3011 74752 MASK AUTOMBIT
007440,001122: 06,3012 00006 EXTEND
007441,001123: 06,3013 13037 BZF RRCDUCHK
007442,001124:
007443,001125: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
007444,001126: 06,3015 00006 EXTEND
007445,001127: 06,3016 06001 RXOR LCHAN
007446,001128: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
007447,001129: 06,3020 54110 TS RADMODES # AND TURNON BITS.
007448,001130: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
007449,001131: 06,3022 10000 CCS A
007450,001132: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
007451,001133: 06,3024 37666 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
007452,001134: 06,3025 26110 ADS RADMODES
007453,001135:
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007455,001137: 06,3026 34753 CAF ONE
007456,001138: 06,3027 05203 TC WAITLIST
007457,001139: 06,3030 E7,1456 EBANK= LOSCOUNT
007458,001140: 06,3030 02073 52107 2CADR RRTURNON
007459,001141:
007460,001142: 06,3032 13126 TCF NORRGMON
007461,001143:
007462,001144: 06,3033 05776 OCT05776 OCT 5776
007463,001145:
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007465,001147: # PROGRAM NAME_ RRCDUCHK
007466,001148:
007467,001149: # FUNCTIONAL DESCRIPTION_
007468,001150: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
007469,001151: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
007470,001152: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
007471,001153: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
007472,001154: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
007473,001155: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
007474,001156: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
007475,001157: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
007476,001158: # RRGIMON.
007477,001159:
007478,001160: # CALLING SEQUENCE_
007479,001161: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
007480,001162: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
007481,001163:
007482,001164: # ERASABLE INITIALIZATION REQUIRED_
007483,001165: # RADMODES
007484,001166:
007485,001167: # SUBROUTINES CALLED_
007486,001168: # SETTRKF
007487,001169:
007488,001170: # JOBS OR TASKS INITIATED_
007489,001171: # NONE
007490,001172:
007491,001173: # ALARMS_
007492,001174: # TRACKER FAIL
007493,001175: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
007494,001176:
007495,001177: # EXIT_
007496,001178: # RRGIMON, NORRGMON
007497,001179:
007498,001180: 06,3034 44752 -3 CS BIT2
007499,001181: 06,3035 00006 EXTEND
007500,001182: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
007501,001183:
007502,001184: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
007503,001185: 06,3040 00006 EXTEND
007504,001186: 06,3041 06030 RXOR CHAN30
007505,001187: 06,3042 74745 MASK RCDUFBIT
007506,001188: 06,3043 00006 EXTEND
007507,001189: 06,3044 13071 BZF RRGIMON
007508,001190:
007509,001191: 06,3045 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
007510,001192: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
007511,001193: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
007512,001194: 06,3050 13126 TCF NORRGMON # JUST READING LR DATA.
007513,001195:
007514,001196: 06,3051 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
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007516,001198: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
007517,001199: 06,3053 00006 EXTEND
007518,001200: 06,3054 06001 RXOR L
007519,001201: 06,3055 54110 TS RADMODES
007520,001202:
007521,001203: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
007522,001204: 06,3057 74615 MASK 13,7,2 # CDU ZERO+ CDUFAIL+ RR AUTO
007523,001205: 06,3060 10000 CCS A
007524,001206: 06,3061 13070 TCF TRKFLCDU # NO
007525,001207: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
007526,001208: 06,3063 74745 MASK RNDVZBIT
007527,001209: 06,3064 10000 CCS A
007528,001210: 06,3065 13070 TCF TRKFLCDU # NO
007529,001211: 06,3066 05567 TC ALARM # YES
007530,001212: 06,3067 00515 OCT 00515
007531,001213: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
007532,001214:
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007534,001216: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
007535,001217:
007536,001218: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
007537,001219: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
007538,001220: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
007539,001221: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
007540,001222: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
007541,001223: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
007542,001224: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
007543,001225: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
007544,001226: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
007545,001227: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
007546,001228: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
007547,001229:
007548,001230: # CALLING SEQUENCE_
007549,001231: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
007550,001232: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
007551,001233: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
007552,001234: # (RADMODES BIT 2).
007553,001235:
007554,001236: # ERASABLE INITIALIZATION_ RADMODES
007555,001237:
007556,001238: # SUBROUTINES CALLED_
007557,001239: # RRLIMCHK, WAITLIST
007558,001240:
007559,001241: # JOBS OR TASKS INITIATED_
007560,001242: # DORREPOS
007561,001243:
007562,001244: # ALARMS_
007563,001245: # NONE
007564,001246:
007565,001247: # EXIT_
007566,001248: # NORRGMON
007567,001249:
007568,001250: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
007569,001251: 06,3072 74750 MASK NORRMBIT
007570,001252: 06,3073 10000 CCS A
007571,001253: 06,3074 13126 TCF NORRGMON # YES - SKIP LIMIT CHECK
007572,001254: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
007573,001255: 06,3076 74747 MASK AVEGFBIT
007574,001256: 06,3077 10000 CCS A
007575,001257: 06,3100 13105 TCF +5 # NO. DO R25
007576,001258: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
007577,001259: 06,3102 74744 MASK MUNFLBIT
007578,001260: 06,3103 10000 CCS A
007579,001261: 06,3104 13126 TCF NORRGMON # YES. DON'T DO R25
007580,001262: 06,3105 33135 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR.
007581,001263: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
007582,001264: 06,3107 10000 CCS A
007583,001265: 06,3110 13126 TCF NORRGMON
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007585,001267: 06,3111 04523 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
007586,001268: 06,3112 00035 ADRES CDUT
007587,001269:
007588,001270: 06,3113 13115 TCF MONREPOS
007589,001271:
007590,001272: 06,3114 13126 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
007591,001273:
007592,001274: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
007593,001275: 06,3116 26110 ADS RADMODES
007594,001276:
007595,001277: 06,3117 43136 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
007596,001278: 06,3120 00006 EXTEND
007597,001279: 06,3121 03012 WAND CHAN12
007598,001280:
007599,001281: 06,3122 34752 CAF TWO
007600,001282: 06,3123 05203 TC WAITLIST
007601,001283: 06,3124 E7,1456 EBANK= LOSCOUNT
007602,001284: 06,3124 02140 52107 2CADR DORREPOS
007603,001285:
007604,001286: 06,3126 30110 NORRGMON CA RADMODES # IF SELECT SWITCH IS NOT IN LGC, SEND RR
007605,001287: 06,3127 74752 MASK AUTOMBIT # CDU ZERO BIT TO PREVENT MEMORY CYCLE
007606,001288: 06,3130 10000 CCS A # SNATCHING BY MANIC RR CDUS. BIT2 OF
007607,001289: 06,3131 13132 NOOP # RADMODES AGREES WITH BIT2 OF CHANNEL
007608,001290: 06,3132 00006 EXTEND # 33. FOR THIS CODING, WHICH ASSUMES
007609,001291: 06,3133 05012 WOR CHAN12 # AUTOMBIT = BIT2, THANKS TO HUGH B-S.
007610,001292: 06,3134 13140 TCF ENDRRMON
007611,001293:
007612,001294: 06,3135 06,3140 ENDRRMON EQUALS DAPT4S
007613,001295:
007614,001296: 06,3135 32002 OCT32002 OCT 32002
007615,001297: 06,3136 20002 OCT20002 OCT 20002
007616,001298: 06,3137 02100 OCT02100 OCT 02100 # P20, P22 MASK BITS
007617,001299:
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007619,001301: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
007620,001302:
007621,001303: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007622,001304:
007623,001305: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
007624,001306:
007625,001307: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
007626,001308: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
007627,001309: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
007628,001310:
007629,001311: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
007630,001312: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
007631,001313:
007632,001314: # SUBROUTINES CALLED: SPSIN, SPCOS.
007633,001315:
007634,001316: # NORMAL EXIT MODE: TCF RESUME
007635,001317:
007636,001318: # ALARM AND ABORT MODES: NONE.
007637,001319:
007638,001320: # INPUT: CDUX, CDUY, CDUZ.
007639,001321:
007640,001322: # OUTPUT: M11, M21, M31, M22, M32.
007641,001323:
007642,001324: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
007643,001325:
007644,001326: # * * SIN(MG) 0 1 *
007645,001327: # M = * COS(MG)COS(OG) SIN(OG) 0 *
007646,001328: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
007647,001329:
007648,001330: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
007649,001331: # M = * 0 SIN(OG) COS(OG) *
007650,001332: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
007651,001333:
007652,001334: 06,3140 E6,1414 EBANK= M11
007653,001335: 06,3140 06,3140 DAPT4S EQUALS GPMATRIX
007654,001336:
007655,001337: # T4RUPT DAP LOGIC:
007656,001338:
007657,001339: 06,3140 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
007658,001340: 06,3141 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
007659,001341: 06,3142 55414 TS M11 # SCALED AT 1
007660,001342:
007661,001343: 06,3143 30034 CAE CDUZ
007662,001344: 06,3144 05032 TC SPCOS # COS(CDUZ) = COS(MG)
007663,001345: 06,3145 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
007664,001346:
007665,001347: 06,3146 30032 CAE CDUX
007666,001348: 06,3147 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
007667,001349: 06,3150 55417 TS M22 # SCALED AT 1 (ALSO IS MR22)
007668,001350:
007669,001351: 06,3151 41417 CS M22
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007671,001353: 06,3152 00006 EXTEND
007672,001354: 06,3153 70061 MP COSMG # -SIN(OG)COS(MG)
007673,001355: 06,3154 55416 TS M31 # SCALED AT 1
007674,001356:
007675,001357: 06,3155 30032 CAE CDUX
007676,001358: 06,3156 05032 TC SPCOS # COS(CDUX) = COS(OG)
007677,001359: 06,3157 55420 TS M32 # SCALED AT 1 (ALSO IS MR23)
007678,001360:
007679,001361: 06,3160 00006 EXTEND
007680,001362: 06,3161 70061 MP COSMG # COS(OG)COS(MG)
007681,001363: 06,3162 55415 TS M21 # SCALED AT 1
007682,001364:
007683,001365: 06,3163 05270 TC RESUME
007684,001366:
007685,001367: 06,3164 5270 ENDDAPT4 EQUALS RESUME
007686,001368:
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc