Merge pull request #175 from mgnoonan/master
Typos pp. 1309-37. IMU_MODE_SWITCHING_ROUTINES.agc
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@ -56,7 +56,7 @@ SPSCODE = BIT9
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COUNT* $$/IMODE
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IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
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CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
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CS DSPTAB +11D # DON'T ZERO CDUS IF IMU IN GIMBAL LOCK AND
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MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
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CCS A
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TCF IMUZEROA
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@ -403,7 +403,7 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
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MASK BIT1
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ADS IMODES30
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MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
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MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
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CCS A # ISS WARNING.
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TCF MODEEXIT
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@ -415,9 +415,9 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
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TCF PIPFREE2
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# Page 1319
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# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE REGISTERS
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# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
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# BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
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# UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT THE INPUT COMMAND REGISTERS.
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# UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
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EBANK= 1400 # VARIABLE, ACTUALLY.
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@ -514,7 +514,7 @@ STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
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CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
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TC JOBWAKE
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NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
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NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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# Page 1322
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-2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
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ADS LGYRO
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@ -673,7 +673,7 @@ MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
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GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
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GYROFRAC 2DEC .215 B-21
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GYROFRAC 2DEC .215 B -21
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# Page 1327
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# IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
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@ -701,8 +701,8 @@ CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
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INCR Q
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TC Q
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CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
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MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
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CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
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MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
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CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
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TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
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@ -712,7 +712,7 @@ CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
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# Page 1328
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# GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
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# OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
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# OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
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BADEND TS RUPTREG2 # DEVICE INDEX.
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CS ZERO # FOR FAILURE.
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@ -749,53 +749,49 @@ ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
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# Page 1329
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# GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
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#
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# PROGRAM DESCRIPTION DATE -- 21 FEB 1967
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# PROGRAM DESCRIPTION DATE- 21 FEB 1967
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# LOG SECTION IMU MODE SWITCHING
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# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
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# MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
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#
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# FUNCTIONAL DESCRIPTION --
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# FUNCTIONAL DESCRIPTION-
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# TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
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# I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES
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# MODEECADR ARE MADE AND ACTED UPON.
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# 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
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# I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
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# MODECADR ARE MADE AND ACTED UPON.
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# 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
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# SLEEP.
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# 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
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# CALL AND RETURNS TO CALLING ROUTINE AT L+3.
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# CALL AND RETURNS TO CALLING ROUTINE AT L+3
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# 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
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# AND RETURNS TO CALLING ROUTINE AT L+2.
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# 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
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# SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
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# RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
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#
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# CALLING SEQUENCE --
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# CALLING SEQUENCE-
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# L TC BANKCALL
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# L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
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# AOTSTALL, OR ATTSTALL)
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# L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
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# AOTSTALL,OR ATTSTALL)
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#
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# NORMAL-EXIT MODE --
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# NORMAL-EXIT MODE-
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# TCF JOBSLEEP OR TCF MODEXIT
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#
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# ALARM OR ABORT EXIT MODE --
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# ALARM OR ABORT EXIT MODE-
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# TC ABORT
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#
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# OUTPUT --
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# MODECADR=CADR IF JOBSLEEP
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# OUTPUT-
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# MODECADR= CADR IF JOBSLEEP
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# MODECADR=+0 IF I/O COMPLETE
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# BUF2=L+3 IF I/O COMPLETE AND GOOD.
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# BUF2=L+2 IF I/O COMPLETE BUT FAILED.
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#
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# ERASABLE INITIALIZATION --
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# ERASABLE INITIALIZATION-
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# BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
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# BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
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# MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
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#
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# DEBRIS --
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# DEBRIS-
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# RUPTREG2 AND CALLING ROUTINE MODECADR.
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## [WORKAROUND] OH 2009
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SBANK= LOWSUPER
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## [WORKAROUND]
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AOTSTALL CAF ONE # AOT.
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TC STALL
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@ -815,7 +811,7 @@ STALL INHINT
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TCF MODESLP # OPERATION INCOMPLETE.
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TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
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MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
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MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
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TS MODECADR # RETURN TO CALLER.
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TCF MODEEXIT
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@ -823,7 +819,7 @@ MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
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TCF MODABORT
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INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
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TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
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TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
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MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
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INDEX RUPTREG2
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@ -849,7 +845,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
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EXTEND
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BZF +3
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TC P00DOO # NO
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TC POODOO # NO
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OCT 1210 # 2 TRYING TO USE SAME DEVICE
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+3 EXTEND
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@ -862,7 +858,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
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CA PRIORITY
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MASK PRIO37
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TS ATTPRIO # SAVE USER'S PRIO
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TS ATTPRIO # SAVE USERS PRIO
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CAF KALEBCON # SET EBANK FOR KALCMAN3
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TS EBANK
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@ -873,34 +869,33 @@ KALEBCON ECADR BCDU
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# Page 1332
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# PROGRAM DESCRIPTION
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# IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
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# MOD NO -- 1
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# MOD BY -- N.BRODEUR
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#
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# MOD NO - 1
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# MOD BY - N.BRODEUR
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# FUNCTIONAL DESCRIPTION
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#
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# TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
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# ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
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# PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
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# CMC. CALLED THROUGH BANKCALL
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# CALLING SEQUENCE-
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#
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# CALLING SEQUENCE --
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# L TC BANKCALL
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# L+1 CADR R02BOTH
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#
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# SUBROUTINES CALLED
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#
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# VARALARM
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# FLAGUP
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#
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# NORMAL EXIT MODES
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#
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# AT L+2 OF CALLING SEQUENCE
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#
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# ALARM OR ABORT EXIT MODES
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# GOTOP00H, WITH ALARM
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#
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# GOTOPOOH, WITH ALARM
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# ERASABLE INITIALIZATION REQUIRED
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# NONE
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#
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# NONE
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# DEBRIS
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# CENTRALS -- A,Q,L
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#
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# CENTRALS-A,Q,L
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BANK 34
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SETLOC R02
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@ -920,7 +915,7 @@ R02BOTH CAF REFSMBIT
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AD OCT220 # SEND REFSMM ALARM
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TC VARALARM
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TC GOTOP00H
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TC GOTOPOOH
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R02ZERO TC UPFLAG
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# Page 1333
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@ -929,7 +924,7 @@ R02ZERO TC UPFLAG
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OCT220 OCT 220
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# Page 1334
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# PROGRAM DESCRIPTION: P06 10 FEB 67
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# PROGRAM DESCRIPTION P06 10FEB67
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#
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# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
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#
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@ -946,7 +941,7 @@ OCT220 OCT 220
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# FLAGDOWN
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#
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# Page 1335
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# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
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# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
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# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
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# BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
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@ -961,7 +956,7 @@ P06 TC UPFLAG # SET NODOV37 BIT
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PRESTAND INHINT
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EXTEND
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DCA TIME2 # SNAPSHOT TIME1 TIME2
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DCA TIME2 # SNAPSHOT TIME1TIME2
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DXCH TIME2SAV
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TC SCALPREP
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TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
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@ -1002,7 +997,7 @@ OCT62 EQUALS .5SEC # DEC 50 = OCT 62
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# DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
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# THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
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# 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
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# T1.0 ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
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# T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
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# ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
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# BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
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# DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
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@ -1026,7 +1021,7 @@ SCALPREP EXTEND
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INCR MPAC +2 # NO
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TC MPAC +2 # YES
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# POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
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# POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
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# TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
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# INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
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# CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
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@ -1035,21 +1030,21 @@ SCALPREP EXTEND
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COUNT* $$/P05
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POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
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POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
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EXTEND
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WAND CHAN13 # CLEAR STANDBY ENABLE BIT
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INHINT
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CA ZERO
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TS L
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DXCH TIME2 # CLEAR TIME1 TIME2
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DXCH TIME2 # CLEAR TIME1TIME2
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TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
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TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
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EXTEND # T1,T2 AND SCALER OK
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DCS SCALSAVE
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DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
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DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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# Page 1337
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CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
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TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
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CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
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TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2.
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CAF ZERO
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TS MPAC +2 # NEEDED FOR TP AGREE
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TC TPAGREE # MAKE DP DIFF AGREE
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@ -1060,7 +1055,7 @@ POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
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CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
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ADS MPAC
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POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
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DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
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DCA TIME2SAV # PRESTANDBY TIME1TIME2
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DAS MPAC
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TC TPAGREE # FORCE SIGN AGREEMENT
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DXCH MPAC # UPDATED VALUE FOR T1,T2.
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@ -1068,5 +1063,5 @@ POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
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TC DOWNFLAG # CLEAR NODOFLAG
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ADRES NODOFLAG
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TC GOTOP00H
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TC GOTOPOOH
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