Source Code

   YAYUL: ASSEMBLE REVISION 6 OF PROGRAM BOREALIS       BY MSTEWART JUN. 28,2017
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.

006661,000002:                                                                                                  ## Copyright:   Public domain.
006662,000003:                                                                                                  ## Filename:    IMU_MODE_SWITCHING_ROUTINES.agc
006663,000004:                                                                                                  ## Purpose:     This program is designed to extensively test the Apollo Guidance Computer
006664,000005:                                                                                                  ##              (specifically the LM instantiation of it). It is built on top of a heavily
006665,000006:                                                                                                  ##              stripped-down Aurora 12, with all code ostensibly added by the DAP Group
006666,000007:                                                                                                  ##              removed. Instead Borealis expands upon the tests provided by Aurora,
006667,000008:                                                                                                  ##              including corrected tests from Retread 44 and tests from Ron Burkey's
006668,000009:                                                                                                  ##              Validation.
006669,000010:                                                                                                  ## Assembler:   yaYUL
006670,000011:                                                                                                  ## Contact:     Mike Stewart <mastewar1@gmail.com>.
006671,000012:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
006672,000013:                                                                                                  ## Mod history: 2016-12-20 MAS  Created from Aurora 12 (with much DAP stuff removed).
006673,000014:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
006674,000015: 
006675,000016:    4747                                           SETLOC   ENDT4FF                               
006676,000017:    4747  E3,1451                                  EBANK=   COMMAND                               
006677,000018: 
006678,000019:                                                                                                  #  FIXED-FIXED ROUTINES.
006679,000020:    4747           37675        ZEROICDU           CAF      ZERO                                  #  ZERO ICDU COUNTERS.
006680,000021:    4750           54032                           TS       CDUX                                  
006681,000022:    4751           54033                           TS       CDUY                                  
006682,000023:    4752           54034                           TS       CDUZ                                  
006683,000024:    4753           00002                           TC       Q                                     
006684,000025: 
006685,000026:    4754           00454        3SECS              DEC      300        B-14                       
006686,000027: 
006687,000028:    4755                        ENDIMODF           EQUALS                                         
006688,000029: 
006689,000030:                                                                                                  #  IMU ZEROING ROUTINE.
006690,000031: 
006691,000032: 13,2000                                           BANK     13                                    
006692,000033: 
006693,000034: 13,2000           00004        IMUZERO            INHINT                                         #  ROUTINE TO ZERO ICDUS.
006694,000035: 13,2001           47662                           CS       IMUSEFLG                              #  SET INDICATION THAT A MISSION OR TEST
006695,000036: 13,2002           70061                           MASK     STATE                                 #  PROGRAM IS USING THE IMU.
006696,000037: 13,2003           67662                           AD       IMUSEFLG                              
006697,000038: 13,2004           54061                           TS       STATE                                 
006698,000039: 
006699,000040: 13,2005           02650                           TC       CAGETSTQ                              #  IF IMU COMING UP, TURN-ON PROGRAM WILL
006700,000041: 13,2006           12033                           TCF      MODEEXIT                              #  DO ALL THE WORK.
006701,000042: 
006702,000043: 13,2007           42743                           CS       BITS3&4                               #  INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
006703,000044: 13,2010           70367                           MASK     IMODES30                              #  JUST CAME OUT OF COARSE ALIGN).
006704,000045: 13,2011           62743                           AD       BITS3&4                               
006705,000046: 13,2012           54367                           TS       IMODES30                              
006706,000047: 
006707,000048: 13,2013           42744                           CS       BITS4&6                               #  SEND ZERO ENCODE WITH COARSE AND ERROR
006708,000049: 13,2014           00006                           EXTEND                                         #  COUNTER DISABLED.
006709,000050: 13,2015           03012                           WAND     12                                    
006710,000051: 
006711,000052: 13,2016           37665                           CAF      BIT5                                  
006712,000053: 13,2017           00006                           EXTEND                                         
006713,000054: 13,2020           05012                           WOR      12                                    
006714,000055: 
006715,000056: 13,2021           37664                           CAF      BIT6                                  #  WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
006716,000057: 13,2022           04517                           TC       WAITLIST                              #  RECEIVE ITS PULSE TRAIN.
006717,000058: 13,2023           02035 26003                     2CADR    IMUZERO2                              
006718,000059: 
006719,000060: 13,2025           40367                           CS       IMODES30                              #  SEE IF IMU OPERATING AND ALARM IF NOT.
006720,000061: 13,2026           77661                           MASK     BIT9                                  
006721,000062: 13,2027           10000                           CCS      A                                     
006722,000063: 13,2030           12033                           TCF      MODEEXIT                              
006723,000064: 
006724,000065: 13,2031           05405                           TC       ALARM                                 
006725,000066: 13,2032           00210                           OCT      210                                   
006726,000067: 
006727,000068: 13,2033           00003        MODEEXIT           RELINT                                         #  GENERAL MODE-SWITCHING EXIT.
006728,000069: 13,2034           14100                           TCF      SWRETURN                              
006729,000070: 
006730,000071: 13,2035           02650        IMUZERO2           TC       CAGETSTQ                              #  POSSIBLY SWITCH TO TURN-ON PROGRAM.
006731,000072: 13,2036           14563                           TCF      TASKOVER                              
006732,000073: 
006733,000074: 13,2037           04747                           TC       ZEROICDU                              #  ZERO COUNTERS.
006734,000075: 13,2040           47665                           CS       BIT5                                  #  REMOVE ZERO DISCRETE.
006735,000076: 13,2041           00006                           EXTEND                                         
006736,000077: 13,2042           03012                           WAND     12                                    
006737,000078: 
006738,000079: 13,2043           34754                           CAF      3SECSM                                #  WAIT FOR COUNTERS TO SYNCRONIZE.
006739,000080: 13,2044           04540                           TC       VARDELAY                              
006740,000081: 
006741,000082: 13,2045           02650        IMUZERO3           TC       CAGETSTQ                              
006742,000083: 13,2046           14563                           TCF      TASKOVER                              
006743,000084: 
006744,000085: 13,2047           42743                           CS       BITS3&4                               #  REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
006745,000086: 13,2050           70367                           MASK     IMODES30                              
006746,000087: 13,2051           54367                           TS       IMODES30                              
006747,000088: 
006748,000089: 13,2052           04174                           TC       IBNKCALL                              #  SET ISS WARNING IF EITHER OF ABOVE ARE
006749,000090: 13,2053           25356                           CADR     SETISSW                               #  PRESENT.
006750,000091: 
006751,000092: 13,2054           12633                           TCF      ENDIMU                                
006752,000093: 
006753,000094:                                                                                                  #  IMU COARSE ALIGN MODE.
006754,000095: 
006755,000096: 13,2055           37666        IMUCOARS           CAF      BIT4                                  #  SEND COARSE ALIGN ENABLE DISCRETE
006756,000097: 13,2056           00004                           INHINT                                         
006757,000098: 13,2057           00006                           EXTEND                                         
006758,000099: 13,2060           05012                           WOR      CHAN12                                
006759,000100: 
006760,000101: 13,2061           47666                           CS       BIT4                                  #  INHIBIT IMU FAIL.
006761,000102: 13,2062           70367                           MASK     IMODES30                              
006762,000103: 13,2063           67666                           AD       BIT4                                  
006763,000104: 13,2064           54367                           TS       IMODES30                              
006764,000105: 
006765,000106: 13,2065           36173                           CAF      SIX                                   
006766,000107: 13,2066           04517                           TC       WAITLIST                              
006767,000108: 13,2067           02072 26003                     2CADR    COARS                                 
006768,000109: 
006769,000110: 13,2071           12033                           TCF      MODEEXIT                              
006770,000111: 
006771,000112: 13,2072           02643        COARS              TC       CAGETEST                              
006772,000113: 13,2073           37664                           CAF      BIT6                                  #  ENABLE ALL THREE ISS CDU ERROR COUNTERS
006773,000114: 13,2074           00006                           EXTEND                                         
006774,000115: 13,2075           05012                           WOR      CHAN12                                
006775,000116: 
006776,000117: 13,2076           37670                           CAF      TWO                                   #  SET CDU INDICATOR
006777,000118: 13,2077           55454        COARS1             TS       CDUIND                                
006778,000119: 
006779,000120: 13,2100           51454                           INDEX    CDUIND                                #  COMPUTE THETAD - THETAA IN 1:S
006780,000121: 13,2101           30400                           CA       THETAD                                #    COMPLEMENT FORM
006781,000122: 13,2102           00006                           EXTEND                                         
006782,000123: 13,2103           51454                           INDEX    CDUIND                                
006783,000124: 13,2104           20032                           MSU      CDUX                                  
006784,000125: 13,2105           00006                           EXTEND                                         
006785,000126: 13,2106           77655                           MP       BIT13                                 #  SHIFT RIGHT 2
006786,000127: 13,2107           56001                           XCH      L                                     #  ROUND
006787,000128: 13,2110           60000                           DOUBLE                                         
006788,000129: 13,2111           54065                           TS       ITEMP1                                
006789,000130: 13,2112           12114                           TCF      +2                                    
006790,000131: 13,2113           26001                           ADS      L                                     
006791,000132: 
006792,000133: 13,2114           51454                           INDEX    CDUIND                                #  DIFFERENCE TO BE COMPUTED
006793,000134: 13,2115           23451                           LXCH     COMMAND                               
006794,000135: 13,2116           11454                           CCS      CDUIND                                
006795,000136: 13,2117           02077                           TC       COARS1                                
006796,000137: 
006797,000138: 13,2120           37670                           CAF      TWO                                   #  MINIMUM OF 4 MS WAIT
006798,000139: 13,2121           04540                           TC       VARDELAY                              
006799,000140: 
006800,000141: 13,2122           02643        COARS2             TC       CAGETEST                              #  DONT CONTINUE IF CAGED.
006801,000142: 13,2123           54065                           TS       ITEMP1                                #  SETS TO +0.
006802,000143: 13,2124           37670                           CAF      TWO                                   #  SET CDU INDICATOR
006803,000144: 13,2125           55454                 +3        TS       CDUIND                                
006804,000145: 
006805,000146: 13,2126           51454                           INDEX    CDUIND                                
006806,000147: 13,2127           11451                           CCS      COMMAND                               #  NUMBER OF PULSES REQUIRED
006807,000148: 13,2130           02134                           TC       COMPOS                                #  GREATER THAN MAX ALLOWED
006808,000149: 13,2131           02143                           TC       NEXTCDU    +1                         
006809,000150: 13,2132           02206                           TC       COMNEG                                
006810,000151: 13,2133           02143                           TC       NEXTCDU    +1                         
006811,000152: 
006812,000153: 13,2134           62747        COMPOS             AD       -COMMAX                               #  COMMAX = MAX NUMBER OF PULSES ALLOWED
006813,000154: 13,2135           00006                           EXTEND                                         #    MINUS ONE
006814,000155: 13,2136           62216                           BZMF     COMZERO                               
006815,000156: 13,2137           51454                           INDEX    CDUIND                                
006816,000157: 13,2140           55451                           TS       COMMAND                               #  REDUCE COMMAND BY MAX NUMBER OF PULSES
006817,000158: 13,2141           42750                           CS       -COMMAX-                              #    ALLOWED
006818,000159: 
006819,000160: 13,2142           24065        NEXTCDU            INCR     ITEMP1                                
006820,000161: 13,2143           51454                           INDEX    CDUIND                                
006821,000162: 13,2144           54050                           TS       CDUXCMD                               #  SET UP COMMAND REGISTER.
006822,000163: 
006823,000164: 13,2145           11454                           CCS      CDUIND                                
006824,000165: 13,2146           02125                           TC       COARS2     +3                         
006825,000166: 
006826,000167: 13,2147           10065                           CCS      ITEMP1                                #  SEE IF ANY PULSES TO GO OUT.
006827,000168: 13,2150           12222                           TCF      SENDPULS                              
006828,000169: 
006829,000170: 13,2151           04535                           TC       FIXDELAY                              #  WAIT FOR GIMBALS TO SETTLE.
006830,000171: 13,2152           00226                           DEC      150        B-14                       
006831,000172: 
006832,000173: 13,2153           37670                           CAF      TWO                                   #  AT END OF COMMAND, CHECK TO SEE THAT
006833,000174: 13,2154           54065        CHKCORS            TS       ITEMP1                                #  GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
006834,000175: 13,2155           50000                           INDEX    A                                     
006835,000176: 13,2156           30032                           CA       CDUX                                  
006836,000177: 13,2157           00006                           EXTEND                                         
006837,000178: 13,2160           50065                           INDEX    ITEMP1                                
006838,000179: 13,2161           20400                           MSU      THETAD                                
006839,000180: 13,2162           10000                           CCS      A                                     
006840,000181: 13,2163           12177                           TCF      COARSERR                              
006841,000182: 13,2164           12166                           TCF      CORSCHK2                              
006842,000183: 13,2165           12177                           TCF      COARSERR                              
006843,000184: 
006844,000185: 13,2166           10065        CORSCHK2           CCS      ITEMP1                                
006845,000186: 13,2167           12154                           TCF      CHKCORS                               
006846,000187: 13,2170           55451                           TS       GCOMP                                 #  ZERO GYRO COMPENSATION REGISTERS IN
006847,000188: 13,2171           55452                           TS       GCOMP      +1                         #  PREPARATION FOR COMPENSATION.
006848,000189: 13,2172           55453                           TS       GCOMP      +2                         
006849,000190: 13,2173           55454                           TS       GCOMP      +3                         
006850,000191: 13,2174           55455                           TS       GCOMP      +4                         
006851,000192: 13,2175           55456                           TS       GCOMP      +5                         
006852,000193: 
006853,000194: 13,2176           12633                           TCF      ENDIMU                                #  END OF COARSE ALIGNMENT.
006854,000195: 
006855,000196: 13,2177           62205        COARSERR           AD       COARSTOL                              #  2 DEGREES.
006856,000197: 13,2200           00006                           EXTEND                                         
006857,000198: 13,2201           62166                           BZMF     CORSCHK2                              
006858,000199: 
006859,000200: 13,2202           05405                           TC       ALARM                                 #  COARSE ALIGN ERROR.
006860,000201: 13,2203           00211                           OCT      211                                   
006861,000202: 
006862,000203: 13,2204           12641                           TCF      IMUBAD                                
006863,000204: 
006864,000205: 13,2205           77511        COARSTOL           DEC      -.01111                               #  2 DEGREES SCALED AT HALF-REVOLUTIONS.
006865,000206: 
006866,000207: 13,2206           62747        COMNEG             AD       -COMMAX                               
006867,000208: 13,2207           00006                           EXTEND                                         
006868,000209: 13,2210           62216                           BZMF     COMZERO                               
006869,000210: 13,2211           40000                           COM                                            
006870,000211: 13,2212           51454                           INDEX    CDUIND                                
006871,000212: 13,2213           55451                           TS       COMMAND                               
006872,000213: 13,2214           32750                           CA       -COMMAX-                              
006873,000214: 13,2215           02142                           TC       NEXTCDU                               
006874,000215: 
006875,000216: 13,2216           37675        COMZERO            CAF      ZERO                                  
006876,000217: 13,2217           51454                           INDEX    CDUIND                                
006877,000218: 13,2220           57451                           XCH      COMMAND                               
006878,000219: 13,2221           02142                           TC       NEXTCDU                               
006879,000220: 
006880,000221: 13,2222           32746        SENDPULS           CAF      13,14,15                              
006881,000222: 13,2223           00006                           EXTEND                                         
006882,000223: 13,2224           05014                           WOR      CHAN14                                
006883,000224: 13,2225           32751                           CAF      600MS                                 
006884,000225: 13,2226           12121                           TCF      COARS2     -1                         #  AND THEN TO VARDELAY.
006885,000226: 
006886,000227:                                                                                                  #  IMU FINE ALIGN MODE SWITCH.
006887,000228: 
006888,000229: 13,2227           00004        IMUFINE            INHINT                                         
006889,000230: 13,2230           02655                           TC       CAGETSTJ                              #  SEE IF IMU BEING CAGED.
006890,000231: 
006891,000232: 13,2231           42745                           CS       BITS4-6                               #  RESET ZERO, COARSE, AND ECTR ENABLE.
006892,000233: 13,2232           00006                           EXTEND                                         
006893,000234: 13,2233           03012                           WAND     12                                    
006894,000235: 
006895,000236: 13,2234           37660                           CAF      BIT10                                 #  IMU FAIL WAS INHIBITED DURING THE
006896,000237: 13,2235           04517                           TC       WAITLIST                              #  PRESUMABLY PRECEDING COARSE ALIGN.  LEAVE
006897,000238: 13,2236           02247 26003                     2CADR    IFAILOK                               #  IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
006898,000239: 
006899,000240: 13,2240           32752                           CAF      90SEC                                 #  GYRO RE-CENTERING TIME.
006900,000241: 13,2241           04517                           TC       WAITLIST                              
006901,000242: 13,2242           02245 26003                     2CADR    IMUFINED                              
006902,000243: 
006903,000244: 13,2244           12033                           TCF      MODEEXIT                              
006904,000245: 
006905,000246: 13,2245           02643        IMUFINED           TC       CAGETEST                              #  SEE THAT NO ONE HAS CAGED THE IMU.
006906,000247: 13,2246           12633                           TCF      ENDIMU                                
006907,000248: 
006908,000249: 13,2247           02650        IFAILOK            TC       CAGETSTQ                              #  ENABLE IMU FAIL UNLESS IMU BEING CAGED.
006909,000250: 13,2250           14563                           TCF      TASKOVER                              #  IT IS.
006910,000251: 
006911,000252: 13,2251           37666                           CAF      BIT4                                  #  DONT RESET IMU FAIL INHIBIT IF SOMEONE
006912,000253: 13,2252           00006                           EXTEND                                         #  HAS GONE INTO COARSE ALIGN.
006913,000254: 13,2253           02012                           RAND     12                                    
006914,000255: 13,2254           10000                           CCS      A                                     
006915,000256: 13,2255           14563                           TCF      TASKOVER                              
006916,000257: 
006917,000258: 13,2256           47666                           CS       BIT4                                  
006918,000259: 13,2257           70367        PFAILOK2           MASK     IMODES30                              
006919,000260: 13,2260           54367                           TS       IMODES30                              
006920,000261: 13,2261           14563                           TCF      TASKOVER                              
006921,000262: 
006922,000263: 13,2262           02650        PFAILOK            TC       CAGETSTQ                              #  ENABLE PIP FAIL PROG ALARM.
006923,000264: 13,2263           14563                           TCF      TASKOVER                              
006924,000265: 
006925,000266: 13,2264           47665                           CS       BIT5                                  
006926,000267: 13,2265           12257                           TCF      PFAILOK2                              
006927,000268: 
006928,000269:                                                                                                  #  ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
006929,000270: 
006930,000271: 13,2266           02650        PIPUSE             TC       CAGETSTQ                              #  DONT ENABLE PIPA FAIL IF IMU BEING CAGED
006931,000272: 13,2267           14100                           TCF      SWRETURN                              
006932,000273: 
006933,000274: 13,2270           00004                           INHINT                                         
006934,000275: 13,2271           37675                           CAF      ZERO                                  #  ZERO COUNTERS.
006935,000276: 13,2272           54037                           TS       PIPAX                                 
006936,000277: 13,2273           54040                           TS       PIPAY                                 
006937,000278: 13,2274           54041                           TS       PIPAZ                                 
006938,000279: 
006939,000280: 13,2275           47671                           CS       BIT1                                  #  IF PIPA FAILS FROM NOW ON (UNTIL
006940,000281: 13,2276           70367                           MASK     IMODES30                              #  PIPFREE), LIGHT ISS WARNING.
006941,000282: 13,2277           54367                           TS       IMODES30                              
006942,000283: 
006943,000284: 13,2300           04174        PIPFREE2           TC       IBNKCALL                              #  ISS WARNING MIGHT COME ON NOW.
006944,000285: 13,2301           25356                           CADR     SETISSW                               #  (OR GO OFF ON PIPFREE).
006945,000286: 
006946,000287: 13,2302           12033                           TCF      MODEEXIT                              
006947,000288: 
006948,000289: 13,2303           00004        PIPFREE            INHINT                                         #  PROGRAM DONE WITH PIPAS. DONT LIGHT
006949,000290: 13,2304           47671                           CS       BIT1                                  #  ISS WARNING.
006950,000291: 13,2305           70367                           MASK     IMODES30                              
006951,000292: 13,2306           67671                           AD       BIT1                                  
006952,000293: 13,2307           54367                           TS       IMODES30                              
006953,000294: 
006954,000295: 13,2310           77660                           MASK     BIT10                                 #  IF PIP FAIL ON, DO PROG ALSRM AND RESET
006955,000296: 13,2311           10000                           CCS      A                                     #  ISS WARNING.
006956,000297: 13,2312           12033                           TCF      MODEEXIT                              
006957,000298: 
006958,000299: 13,2313           05405                           TC       ALARM                                 
006959,000300: 13,2314           00212                           OCT      212                                   
006960,000301: 
006961,000302: 13,2315           00004                           INHINT                                         
006962,000303: 
006963,000304: 13,2316           12300                           TCF      PIPFREE2                              
006964,000305: 
006965,000306:                                                                                                  #           THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
006966,000307:                                                                                                  #  BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
006967,000308:                                                                                                  #  UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
006968,000309: 
006969,000310: 13,2317  E3,1400                                  EBANK=   1400                                  #  VARIABLE, ACTUALLY.
006970,000311: 
006971,000312: 13,2317           54145        IMUPULSE           TS       MPAC       +5                         #  SAVE ARRIVING ECADR.
006972,000313: 13,2320           02655                           TC       CAGETSTJ                              #  DONT PROCEED IF IMU BEING CAGED.
006973,000314: 
006974,000315: 13,2321           10357                           CCS      LGYRO                                 #  SEE IF GYROS BUSY.
006975,000316: 13,2322           02364                           TC       GYROBUSY                              #  SLEEP.
006976,000317: 
006977,000318: 13,2323           54142                           TS       MPAC       +2                         
006978,000319: 13,2324           37664                           CAF      BIT6                                  #  ENABLE THE POWER SUPPLY.
006979,000320: 13,2325           00006                           EXTEND                                         
006980,000321: 13,2326           05014                           WOR      14                                    
006981,000322: 
006982,000323: 13,2327           37667                           CAF      FOUR                                  
006983,000324: 13,2330           00004        GWAKE2             INHINT                                         #  (IF A JOB WAS PUT TO SLEEP, THE POWER
006984,000325: 13,2331           04517                           TC       WAITLIST                              #  SUPPLY IS LEFT ON BY THE WAKING JOB).
006985,000326: 13,2332           02402 26003                     2CADR    STRTGYRO                              
006986,000327: 
006987,000328: 13,2334           30145                           CA       MPAC       +5                         #  SET UP EBANK, SAVING CALLER'S EBANK FOR
006988,000329: 13,2335           56003                           XCH      EBANK                                 #  RESTORATION ON RETURN.
006989,000330: 13,2336           56145                           XCH      MPAC       +5                         
006990,000331: 13,2337           54357                           TS       LGYRO                                 #  RESERVES GYROS.
006991,000332: 13,2340           75227                           MASK     LOW8                                  
006992,000333: 13,2341           54065                           TS       ITEMP1                                
006993,000334: 
006994,000335: 13,2342           37670                           CAF      TWO                                   #  FORCE SIGN AGREEMENT ON INPUTS.
006995,000336: 13,2343           54143        GYROAGRE           TS       MPAC       +3                         
006996,000337: 13,2344           60000                           DOUBLE                                         
006997,000338: 13,2345           60065                           AD       ITEMP1                                
006998,000339: 13,2346           54144                           TS       MPAC       +4                         
006999,000340: 13,2347           00006                           EXTEND                                         
007000,000341: 13,2350           50000                           INDEX    A                                     
007001,000342: 13,2351           31401                           DCA      1400                                  
007002,000343: 13,2352           52141                           DXCH     MPAC                                  
007003,000344: 13,2353           07234                           TC       TPAGREE                               
007004,000345: 13,2354           52141                           DXCH     MPAC                                  
007005,000346: 13,2355           50144                           INDEX    MPAC       +4                         
007006,000347: 13,2356           53401                           DXCH     1400                                  
007007,000348: 
007008,000349: 13,2357           10143                           CCS      MPAC       +3                         
007009,000350: 13,2360           12343                           TCF      GYROAGRE                              
007010,000351: 
007011,000352: 13,2361           30145                           CA       MPAC       +5                         #  RESTORE CALLER'S EBANK.
007012,000353: 13,2362           54003                           TS       EBANK                                 
007013,000354: 13,2363           12033                           TCF      MODEEXIT                              
007014,000355: 
007015,000356:                                                                                                  #  ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
007016,000357: 
007017,000358: 13,2364           00006        GYROBUSY           EXTEND                                         #  SAVE RETURN 2FCADR.
007018,000359: 13,2365           30120                           DCA      BUF2                                  
007019,000360: 13,2366           52141                           DXCH     MPAC                                  
007020,000361: 13,2367           32401        REGSLEEP           CAF      LGWAKE                                
007021,000362: 13,2370           14400                           TCF      JOBSLEEP                              
007022,000363: 
007023,000364: 13,2371           10357        GWAKE              CCS      LGYRO                                 #  WHEN AWAKENED, SEE IF GYROS STILL BUSY.
007024,000365: 13,2372           12367                           TCF      REGSLEEP                              #  IF SO, SLEEP SOME MORE.
007025,000366: 
007026,000367: 13,2373           54142                           TS       MPAC       +2                         
007027,000368: 13,2374           00006                           EXTEND                                         
007028,000369: 13,2375           30141                           DCA      MPAC                                  
007029,000370: 13,2376           52120                           DXCH     BUF2                                  #  RESTORE SWRETURN INFO.
007030,000371: 13,2377           37671                           CAF      ONE                                   
007031,000372: 13,2400           12330                           TCF      GWAKE2                                
007032,000373: 
007033,000374: 13,2401           26371        LGWAKE             CADR     GWAKE                                 
007034,000375: 
007035,000376:                                                                                                  #  GYRO-TORQUING WAITLIST TASKS.
007036,000377: 
007037,000378: 13,2402           42630        STRTGYRO           CS       GDESELCT                              #  DE-SELECT LAST GYRO.
007038,000379: 13,2403           00006                           EXTEND                                         
007039,000380: 13,2404           03014                           WAND     14                                    
007040,000381: 
007041,000382: 13,2405           02643                           TC       CAGETEST                              
007042,000383: 
007043,000384: 13,2406           30357        STRTGYR2           CA       LGYRO                                 #  JUMP ON PHASE COUNTER IN BITS 13-14.
007044,000385: 13,2407           00006                           EXTEND                                         
007045,000386: 13,2410           77666                           MP       BIT4                                  
007046,000387: 13,2411           50000                           INDEX    A                                     
007047,000388: 13,2412           12413                           TCF      +1                                    
007048,000389: 13,2413           02442                           TC       GSELECT                               #  =0. DO Y GYRO.
007049,000390: 13,2414           00202                           OCT      00202                                 
007050,000391: 
007051,000392: 13,2415           02442                           TC       GSELECT                               #  =1. DO Z GYRO.
007052,000393: 13,2416           00302                           OCT      00302                                 
007053,000394: 
007054,000395: 13,2417           02440                           TC       GSELECT    -2                         #  =2. DO X GYRO.
007055,000396: 13,2420           00100                           OCT      00100                                 
007056,000397: 
007057,000398: 13,2421           37675                           CAF      ZERO                                  #  =3. DONE
007058,000399: 13,2422           54357                           TS       LGYRO                                 
007059,000400: 13,2423           32401                           CAF      LGWAKE                                #  WAKE A POSSIBLE SLEEPING JOB.
007060,000401: 13,2424           04404                           TC       JOBWAKE                               
007061,000402: 
007062,000403: 13,2425           37670                           CAF      BIT2                                  #  DONT RESET POWER SUPPLY IF BIT SET
007063,000404: 13,2426           70370                           MASK     IMODES33                              #  (ONLY DURING GYRO TORQUE SCALE FACTOR
007064,000405: 13,2427           10000                           CCS      A                                     #  TEST).
007065,000406: 13,2430           12437                           TCF      NORESET                               
007066,000407: 
007067,000408: 13,2431           10071                           CCS      LOCCTR                                #  IF A JOB WAS AWAKENED, DONT RESET GYRO
007068,000409: 13,2432           12437                           TCF      NORESET                               #  ENABLE.
007069,000410: 
007070,000411: 13,2433           12437                           TCF      NORESET                               
007071,000412: 
007072,000413: 13,2434           47664                           CS       BIT6                                  #  IF NO JOB AWAKENED, RESET GYRO ENABLE.
007073,000414: 13,2435           00006                           EXTEND                                         
007074,000415: 13,2436           03014                           WAND     14                                    
007075,000416: 
007076,000417: 13,2437           12245        NORESET            TCF      IMUFINED                              
007077,000418: 
007078,000419: 13,2440           47667                 -2        CS       FOUR                                  #  SPECIAL ENTRY TO REGRESS LGYRO FOR X.
007079,000420: 13,2441           26357                           ADS      LGYRO                                 
007080,000421: 
007081,000422: 13,2442           50002        GSELECT            INDEX    Q                                     #  SELECT GYRO.
007082,000423: 13,2443           30000                           CAF      0                                     #  PACKED WORD CONTAINS GYRO SELECT BITS
007083,000424: 13,2444           54071                           TS       ITEMP4                                #  AND INCREMENT TO LGYRO.
007084,000425: 13,2445           77673                           MASK     SEVEN                                 
007085,000426: 13,2446           67655                           AD       BIT13                                 
007086,000427: 13,2447           26357                           ADS      LGYRO                                 
007087,000428: 13,2450           54003                           TS       EBANK                                 
007088,000429: 13,2451           75227                           MASK     LOW8                                  
007089,000430: 13,2452           54065                           TS       ITEMP1                                
007090,000431: 
007091,000432: 13,2453           47673                           CS       SEVEN                                 
007092,000433: 13,2454           70071                           MASK     ITEMP4                                
007093,000434: 13,2455           54071                           TS       ITEMP4                                
007094,000435: 
007095,000436: 13,2456           00006                           EXTEND                                         #  MOVE DP COMMAND TO RUPTREGS FOR TESTING.
007096,000437: 13,2457           50065                           INDEX    ITEMP1                                
007097,000438: 13,2460           31401                           DCA      1400                                  
007098,000439: 13,2461           52075                           DXCH     RUPTREG1                              
007099,000440: 
007100,000441: 13,2462           10074                           CCS      RUPTREG1                              
007101,000442: 13,2463           12476                           TCF      MAJ+                                  
007102,000443: 13,2464           12466                           TCF      +2                                    
007103,000444: 13,2465           12611                           TCF      MAJ-                                  
007104,000445: 
007105,000446: 13,2466           10075                           CCS      RUPTREG2                              
007106,000447: 13,2467           12473                           TCF      MIN+                                  
007107,000448: 13,2470           12406                           TCF      STRTGYR2                              
007108,000449: 13,2471           12606                           TCF      MIN-                                  
007109,000450: 13,2472           12406                           TCF      STRTGYR2                              
007110,000451: 
007111,000452: 13,2473           62527        MIN+               AD       -GYROMIN                              #  SMALL POSITIVE COMMAND. SEE IF AT LEAST
007112,000453: 13,2474           00006                           EXTEND                                         #  16 GYRO PULSES.
007113,000454: 13,2475           62406                           BZMF     STRTGYR2                              
007114,000455: 
007115,000456: 13,2476           00006        MAJ+               EXTEND                                         #  DEFINITE POSITIVE OUTPUT.
007116,000457: 13,2477           32632                           DCA      GYROFRAC                              
007117,000458: 13,2500           20075                           DAS      RUPTREG1                              
007118,000459: 
007119,000460: 13,2501           30071                           CA       ITEMP4                                #  SELECT POSITIVE TORQUING FOR THIS GYRO.
007120,000461: 13,2502           00006                           EXTEND                                         
007121,000462: 13,2503           05014                           WOR      14                                    
007122,000463: 
007123,000464: 13,2504           36025                           CAF      LOW7                                  #  LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
007124,000465: 13,2505           70075                           MASK     RUPTREG2                              #  TO INITIAL COMMAND IN MAJOR PART OF LONG
007125,000466: 13,2506           56075                           XCH      RUPTREG2                              #  TERM STORAGE AND TRUNCATED FRACTION
007126,000467: 13,2507           00006        GMERGE             EXTEND                                         #  IN MINOR PART. THE MAJOR PART WILL BE
007127,000468: 13,2510           77662                           MP       BIT8                                  #  COUNTED DOWN TO ZERO IN THE COURSE OF
007128,000469: 13,2511           54066                           TS       ITEMP2                                #  PUTTING OUT THE ENTIRE COMMAND.
007129,000470: 13,2512           30074                           CA       RUPTREG1                              
007130,000471: 13,2513           00006                           EXTEND                                         
007131,000472: 13,2514           77661                           MP       BIT9                                  
007132,000473: 13,2515           54074                           TS       RUPTREG1                              
007133,000474: 13,2516           30001                           CA       L                                     
007134,000475: 13,2517           00006                           EXTEND                                         
007135,000476: 13,2520           77654                           MP       BIT14                                 
007136,000477: 13,2521           26066                           ADS      ITEMP2                                #  INITIAL COMMAND.
007137,000478: 
007138,000479: 13,2522           00006                           EXTEND                                         #  SEE IF MORE THAN ONE PULSE TRAIN NEEDED
007139,000480: 13,2523           30075                           DCA      RUPTREG1                              #  (MORE THAN 16383 PULSES).
007140,000481: 13,2524           67677                           AD       MINUS1                                
007141,000482: 13,2525           10000                           CCS      A                                     
007142,000483: 13,2526           12552                           TCF      LONGGYRO                              
007143,000484: 13,2527           77600        -GYROMIN           OCT      -177                                  #  MAY BE ADJUSTED TO SPECIFY MINIMUM CMD.
007144,000485: 
007145,000486: 13,2530           12534                           TCF      +4                                    
007146,000487: 
007147,000488: 13,2531           37654                           CAF      BIT14                                 
007148,000489: 13,2532           26066                           ADS      ITEMP2                                
007149,000490: 13,2533           37675                           CAF      ZERO                                  
007150,000491: 
007151,000492: 13,2534           50065                 +4        INDEX    ITEMP1                                
007152,000493: 13,2535           53401                           DXCH     1400                                  
007153,000494: 13,2536           30066                           CA       ITEMP2                                #  ENTIRE COMMAND.
007154,000495: 13,2537           54047        LASTSEG            TS       GYROCMD                               
007155,000496: 13,2540           00006                           EXTEND                                         
007156,000497: 13,2541           77660                           MP       BIT10                                 #  WAITLIST DT
007157,000498: 13,2542           66176                           AD       THREE                                 #  TRUNCATION AND PHASE UNCERTAINTIES.
007158,000499: 13,2543           04517                           TC       WAITLIST                              
007159,000500: 13,2544           02402 26003                     2CADR    STRTGYRO                              
007160,000501: 
007161,000502: 13,2546           37660        GYROEXIT           CAF      BIT10                                 #  TURN ON GYRO ACTIVITY TO START TRAIN.
007162,000503: 13,2547           00006                           EXTEND                                         
007163,000504: 13,2550           05014                           WOR      14                                    
007164,000505: 13,2551           14563                           TCF      TASKOVER                              
007165,000506: 
007166,000507: 13,2552           50065        LONGGYRO           INDEX    ITEMP1                                
007167,000508: 13,2553           53401                           DXCH     1400                                  #  INITIAL COMMAND OUT PLUS N AUGMENTS OF
007168,000509: 13,2554           37654                           CAF      BIT14                                 #  8192. INITIAL COMMAND IS AT LEAST 8192.
007169,000510: 13,2555           60066                           AD       ITEMP2                                
007170,000511: 13,2556           54047                           TS       GYROCMD                               
007171,000512: 
007172,000513: 13,2557           00006        AUG3               EXTEND                                         #  GET WAITLIST DT TO TIME WHEN TRAIN IS
007173,000514: 13,2560           77660                           MP       BIT10                                 #  ALMOST OUT.
007174,000515: 13,2561           67702                           AD       NEG3                                  
007175,000516: 13,2562           04517                           TC       WAITLIST                              
007176,000517: 13,2563           02566 26003                     2CADR    8192AUG                               
007177,000518: 
007178,000519: 13,2565           12546                           TCF      GYROEXIT                              
007179,000520: 
007180,000521: 13,2566           02643        8192AUG            TC       CAGETEST                              
007181,000522: 
007182,000523: 13,2567           30357                           CA       LGYRO                                 #  ADD 8192 PULSES TO GYROCMD
007183,000524: 13,2570           54003                           TS       EBANK                                 
007184,000525: 13,2571           75227                           MASK     LOW8                                  
007185,000526: 13,2572           54065                           TS       ITEMP1                                
007186,000527: 
007187,000528: 13,2573           50065                           INDEX    ITEMP1                                #  SEE IF THIS IS THE LAST AUG.
007188,000529: 13,2574           11400                           CCS      1400                                  
007189,000530: 13,2575           12601                           TCF      AUG2                                  #  MORE TO COME.
007190,000531: 
007191,000532: 13,2576           37654                           CAF      BIT14                                 
007192,000533: 13,2577           26047                           ADS      GYROCMD                               
007193,000534: 13,2600           12540                           TCF      LASTSEG    +1                         
007194,000535: 
007195,000536: 13,2601           50065        AUG2               INDEX    ITEMP1                                
007196,000537: 13,2602           55400                           TS       1400                                  
007197,000538: 13,2603           37654                           CAF      BIT14                                 
007198,000539: 13,2604           26047                           ADS      GYROCMD                               
007199,000540: 13,2605           12557                           TCF      AUG3                                  #  COMPUTE DT.
007200,000541: 
007201,000542: 13,2606           62527        MIN-               AD       -GYROMIN                              #  POSSIBLE NEGATIVE OUTPUT.
007202,000543: 13,2607           00006                           EXTEND                                         
007203,000544: 13,2610           62406                           BZMF     STRTGYR2                              
007204,000545: 
007205,000546: 13,2611           00006        MAJ-               EXTEND                                         #  DEFINITE NEGATIVE OUTPUT.
007206,000547: 13,2612           42632                           DCS      GYROFRAC                              
007207,000548: 13,2613           20075                           DAS      RUPTREG1                              
007208,000549: 
007209,000550: 13,2614           30071                           CA       ITEMP4                                #  SELECT NEGATIVE TORQUING FOR THIS GYRO.
007210,000551: 13,2615           67661                           AD       BIT9                                  
007211,000552: 13,2616           00006                           EXTEND                                         
007212,000553: 13,2617           05014                           WOR      14                                    
007213,000554: 
007214,000555: 13,2620           40074                           CS       RUPTREG1                              #  SET UP RUPTREGS TO FALL INTO GMERGE.
007215,000556: 13,2621           54074                           TS       RUPTREG1                              #  ALL NUMBERS PUT INTO GYROCMD ARE
007216,000557: 13,2622           40075                           CS       RUPTREG2                              #  POSITIVE - BIT9 OF CHAN 14 DETERMINES
007217,000558: 13,2623           76025                           MASK     LOW7                                  #  THE SIGN OF THE COMMAND.
007218,000559: 13,2624           40000                           COM                                            
007219,000560: 13,2625           56075                           XCH      RUPTREG2                              
007220,000561: 13,2626           40000                           COM                                            
007221,000562: 13,2627           12507                           TCF      GMERGE                                
007222,000563: 
007223,000564: 13,2630           01700        GDESELCT           OCT      1700                                  #  TURN OFF SELECT AND ACTIVITY BITS.
007224,000565: 
007225,000566: 13,2631           00000 00034  GYROFRAC           2DEC     .215       B-21                       
007226,000567: 
007227,000568:                                                                                                  #  IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
007228,000569: 
007229,000570: 13,2633           00006        ENDIMU             EXTEND                                         #  MODE IS BAD IF CAGE HAS OCCURED OR IF
007230,000571: 13,2634           00011                           READ     11                                    #  ISS WARNING IS ON.
007231,000572: 13,2635           77671                           MASK     BIT1                                  
007232,000573: 13,2636           10000                           CCS      A                                     
007233,000574: 13,2637           12641                           TCF      IMUBAD                                
007234,000575: 
007235,000576: 13,2640           12667        IMUGOOD            TCF      GOODEND                               #  WITH C(A) = 0.
007236,000577: 
007237,000578: 13,2641           37675        IMUBAD             CAF      ZERO                                  
007238,000579: 13,2642           12664                           TCF      BADEND                                
007239,000580: 
007240,000581: 13,2643           37664        CAGETEST           CAF      BIT6                                  #  SUBROUTINE TO TERMINATE IMU MODE
007241,000582: 13,2644           70367                           MASK     IMODES30                              #  SWITCH IF IMU HAS BEEN CAGED.
007242,000583: 13,2645           10000                           CCS      A                                     
007243,000584: 13,2646           12641                           TCF      IMUBAD                                #  DIRECTLY.
007244,000585: 13,2647           00002                           TC       Q                                     #  WITH C(A) = +0.
007245,000586: 
007246,000587: 13,2650           40367        CAGETSTQ           CS       IMODES30                              #  SKIP IF IMU NOT BEING CAGED.
007247,000588: 13,2651           77664                           MASK     BIT6                                  
007248,000589: 13,2652           10000                           CCS      A                                     
007249,000590: 13,2653           24002                           INCR     Q                                     
007250,000591: 13,2654           00002                           TC       Q                                     
007251,000592: 
007252,000593: 13,2655           40367        CAGETSTJ           CS       IMODES30                              #  IF DURING MODE SWITCH INITIALIZATION 
007253,000594: 13,2656           77664                           MASK     BIT6                                  #  IT IS FOUND THAT THE IMU IS BEING CAGED,
007254,000595: 13,2657           10000                           CCS      A                                     #  SET IMUCADR TO -0 TO INDICATE OPERATION
007255,000596: 13,2660           00002                           TC       Q                                     #  COMPLETE BUT FAILED. RETURN IMMEDIATELY
007256,000597: 
007257,000598: 13,2661           47675                           CS       ZERO                                  #  TO SWRETURN.
007258,000599: 13,2662           54371                           TS       IMUCADR                               
007259,000600: 13,2663           12033                           TCF      MODEEXIT                              
007260,000601: 
007261,000602:                                                                                                  #           GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
007262,000603:                                                                                                  #  OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR AOT, AND 2 FOR RADARS.
007263,000604: 
007264,000605: 13,2664           54075        BADEND             TS       RUPTREG2                              #  DEVICE INDEX.
007265,000606: 13,2665           47675                           CS       ZERO                                  #  FOR FAILURE.
007266,000607: 13,2666           12671                           TCF      GOODEND    +2                         
007267,000608: 
007268,000609: 13,2667           54075        GOODEND            TS       RUPTREG2                              
007269,000610: 13,2670           47671                           CS       ONE                                   #  FOR SUCCESS.
007270,000611: 
007271,000612: 13,2671           54076                           TS       RUPTREG3                              
007272,000613: 13,2672           50075                           INDEX    RUPTREG2                              #  SEE IF USING PROGRAM ASLEEP.
007273,000614: 13,2673           10371                           CCS      MODECADR                              
007274,000615: 13,2674           12676                           TCF      +2                                    #  YES - WAKE IT UP.
007275,000616: 13,2675           12706                           TCF      ENDMODE                               #  IF 0, PROGRAM NOT IN YET.
007276,000617: 
007277,000618: 13,2676           37675                           CAF      ZERO                                  #  WAKE SLEEPING PROGRAM.
007278,000619: 13,2677           50075                           INDEX    RUPTREG2                              
007279,000620: 13,2700           56371                           XCH      MODECADR                              
007280,000621: 13,2701           04404                           TC       JOBWAKE                               
007281,000622: 
007282,000623: 13,2702           40076                           CS       RUPTREG3                              #  ADVANCE LOC IF SUCCESSFUL.
007283,000624: 13,2703           50071                           INDEX    LOCCTR                                
007284,000625: 13,2704           26150                           ADS      LOC                                   
007285,000626: 
007286,000627: 13,2705           14563                           TCF      TASKOVER                              
007287,000628: 
007288,000629: 13,2706           30076        ENDMODE            CA       RUPTREG3                              #  -0 INDICATES OPERATION COMPLETE BUT
007289,000630: 13,2707           50075                           INDEX    RUPTREG2                              #  UNSUCCESSFUL - -1 INDICATES COMPLETE AND
007290,000631: 13,2710           54371                           TS       MODECADR                              #  SUCCESSFUL.
007291,000632: 13,2711           14563                           TCF      TASKOVER                              
007292,000633: 
007293,000634:                                                                                                  #  GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
007294,000635: 
007295,000636: 13,2712           37670        RADSTALL           CAF      TWO                                   #  RR AND LR STALL.
007296,000637: 13,2713           12717                           TCF      STALL                                 
007297,000638: 
007298,000639: 13,2714           37671        AOTSTALL           CAF      ONE                                   #  AOT.
007299,000640: 13,2715           02717                           TC       STALL                                 
007300,000641: 
007301,000642: 13,2716  13,2714               OPTSTALL           EQUALS   AOTSTALL                              
007302,000643: 
007303,000644: 13,2716  13,2712               LOTSTALL           EQUALS   RADSTALL                              
007304,000645: 13,2716           37675        IMUSTALL           CAF      ZERO                                  #  IMU.
007305,000646: 
007306,000647: 13,2717           00004        STALL              INHINT                                         
007307,000648: 13,2720           54075                           TS       RUPTREG2                              #  SAVE DEVICE INDEX.
007308,000649: 13,2721           50000                           INDEX    A                                     #  SEE IF OPERATION COMPLETE.
007309,000650: 13,2722           10371                           CCS      MODECADR                              
007310,000651: 13,2723           12741                           TCF      MODABORT                              #  ALLOWABLE STATES ARE +0, -1, AND -0.
007311,000652: 13,2724           12735                           TCF      MODESLP                               #  OPERATION INCOMPLETE.
007312,000653: 13,2725           12731                           TCF      MODEGOOD                              #  COMPLETE AND GOOD IF = -1.
007313,000654: 
007314,000655: 13,2726           50075        MG2                INDEX    RUPTREG2                              #  COMPLETE AND FAILED IF -0. RESET TO +0.
007315,000656: 13,2727           54371                           TS       MODECADR                              #  RETURN TO CALLER.
007316,000657: 13,2730           12033                           TCF      MODEEXIT                              
007317,000658: 
007318,000659: 13,2731           10000        MODEGOOD           CCS      A                                     #  MAKE SURE INITIAL STATE -1.
007319,000660: 13,2732           12741                           TCF      MODABORT                              
007320,000661: 
007321,000662: 13,2733           24117                           INCR     BUF2                                  #  IF SO, INCREMENT RETURN ADDRESS AND
007322,000663: 13,2734           12726                           TCF      MG2                                   #  RETURN IMMEDIATELY, SETTING CADR = +0.
007323,000664: 
007324,000665: 13,2735           04114        MODESLP            TC       MAKECADR                              #  CALL FROM SWITCHABLE FIXED ONLY.
007325,000666: 13,2736           50075                           INDEX    RUPTREG2                              
007326,000667: 13,2737           54371                           TS       MODECADR                              
007327,000668: 13,2740           14400                           TCF      JOBSLEEP                              
007328,000669: 
007329,000670: 13,2741           05440        MODABORT           TC       ABORT                                 #  TWO PROGRAMS USING SAME DEVICE.
007330,000671: 13,2742           01210                           OCT      1210                                  
007331,000672: 
007332,000673:                                                                                                  #  CONSTANTS FOR MODE SWITCHING ROUTINES
007333,000674: 
007334,000675: 13,2743           00014        BITS3&4            OCT      14                                    
007335,000676: 13,2744           00050        BITS4&6            OCT      00050                                 
007336,000677: 13,2745           00070        BITS4-6            OCT      00070                                 
007337,000678: 13,2746     7662               IMUSEFLG           EQUALS   BIT8                                  #  INTERPRETER SWITCH 7.
007338,000679: 13,2746           70000        13,14,15           OCT      70000                                 
007339,000680: 
007340,000681: 13,2747           77500        -COMMAX            DEC      -191       B-14                       
007341,000682: 13,2750           77477        -COMMAX-           DEC      -192       B-14                       
007342,000683: 13,2751           00074        600MS              DEC      60         B-14                       
007343,000684: 13,2752     4754               3SECSM             EQUALS   3SECS                                 
007344,000685: 13,2752           21450        90SEC              DEC      9000       B-14                       
007345,000686: 
007346,000687: 13,2753                        ENDIMODS           EQUALS                                         

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