Source Code

These source-code files are part of a reconstructed copy of Comanche 51, the initial release (though not the final mission release) of the Apollo 11 Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final release was Comanche 55. The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 51, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 55, whose original source code is available. Comanche 55 source code was then modified by undoing changes known to have been made between revisions 51 and 55. The most-significant steps involved reverting changes related to the R-2 lunar potential model, the details of which were known from the previous, separate, independent reconstruction of the Apollo 10 Lunar Module software Luminary 69/2. The now-reconstructed Comanche 51 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code match those on the Comanche 55 or Luminary 69 printouts, although the source code would likely have different page numbers in a contemporary Comanche 51 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 55. Here's a guide to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is a short writeup about the reconstruction process in our software repository that may be helpful in understanding it from a different perspective. There's also a handy table that lists what the number of memory-words should be for each routine in Comanche 51, which could make a nice double-check; however, we've not performed that double-check ourselves.

Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

043700,000002:                                                                                                  ## Copyright:   Public domain.
043701,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
043702,000004:                                                                                                  ## Purpose:     A section of Comanche revision 051.
043703,000005:                                                                                                  ##              It is part of the reconstructed source code for the
043704,000006:                                                                                                  ##              original release of the flight software for the Command
043705,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
043706,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
043707,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
043708,000010:                                                                                                  ##              exactly match those specified for Comanche 51 in NASA drawing
043709,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
043710,000012:                                                                                                  ##              reconstruction is correct.
043711,000013:                                                                                                  ## Reference:   pp. 1002-1024
043712,000014:                                                                                                  ## Assembler:   yaYUL
043713,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
043714,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043715,000017:                                                                                                  ## Mod history: 2019-07-30 MAS  Created from Comanche 55.
043716,000018: 

Page 1002

043718,000020:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043719,000021: 
043720,000022:                                                                                                  #  START OF T5 INTERRUPT PROGRAM
043721,000023: 
043722,000024: 20,3612                                           BANK     20                                    
043723,000025: 21,2000                                           SETLOC   DAPS3                                 
043724,000026: 21,2000                                           BANK                                           
043725,000027: 
043726,000028: 21,2105                                           COUNT    21/DAPRC                              
043727,000029: 
043728,000030: 21,2105  E6,1510                                  EBANK=   KMPAC                                 
043729,000031: 21,2105           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
043730,000032: 21,2106           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
043731,000033: 21,2107           00006                           EXTEND                                         
043732,000034: 21,2110           62112                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
043733,000035: 21,2111           12114                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
043734,000036: 21,2112           45017                           CS       ONE                                   
043735,000037: 21,2113           55465                           TS       T5PHASE                               
043736,000038: 21,2114           00006                           EXTEND                                         
043737,000039: 21,2115           32121                           DCA      RCSLOC                                
043738,000040: 21,2116           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
043739,000041: 21,2117           12123                           TCF      RCSATT     +1                         
043740,000042: 21,2120  E6,1510                                  EBANK=   KMPAC                                 
043741,000043: 21,2120           02122 42066  RCSLOC             2CADR    RCSATT                                
043742,000044: 
043743,000045: 21,2122           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
043744,000046: 21,2123           00006                           EXTEND                                         #  SAVE Q
043745,000047: 21,2124           22012                           QXCH     QRUPT                                 
043746,000048: 21,2125           35001                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043747,000049: 21,2126           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043748,000050: 21,2127           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
043749,000051: 21,2130           00006                           EXTEND                                         
043750,000052: 21,2131           12160                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
043751,000053:                                                                                                  #  GO TO SETT5
043752,000054: 
043753,000055: 21,2132           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043754,000056: 21,2133           75002                           MASK     BIT14                                 
043755,000057: 21,2134           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
043756,000058: 21,2135           34777                           CAF      POSMAX                                
043757,000059: 21,2136           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
043758,000060: 21,2137           35021                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
043759,000061: 21,2140           55567                           TS       ERRORX                                
043760,000062: 21,2141           55570                           TS       ERRORY                                
043761,000063: 21,2142           55571                           TS       ERRORZ                                
043762,000064: 21,2143           35002                           CAF      BIT14                                 
043763,000065: 21,2144           00006                           EXTEND                                         
043764,000066: 21,2145           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
043765,000067: 21,2146           00006                           EXTEND                                         

Page 1003

043767,000069: 21,2147           12160                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
043768,000070: 
043769,000071: 21,2150           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
043770,000072: 21,2151           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
043771,000073: 21,2152           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
043772,000074: 
043773,000075: 21,2153           02632                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043774,000076: 
043775,000077: 21,2154           12350                           TCF      KMATRIX                               
043776,000078: 21,2155           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
043777,000079: 21,2156           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
043778,000080: 21,2157           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
043779,000081: 21,2160                        CHAN5              EQUALS   5                                     
043780,000082: 21,2160                        CHAN6              EQUALS   6                                     
043781,000083: 21,2160     7671               PRIO34A            =        PRIO34                                
043782,000084: 
043783,000085:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
043784,000086: 
043785,000087:                                                                                                  #  BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 
043786,000088:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043787,000089:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
043788,000090:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043789,000091:                                                                                                  #  VARIABLES AT TURN ON.
043790,000092: 
043791,000093:                                                                                                  #  THE CODING OF T5PHASE IS...
043792,000094: 
043793,000095:                                                                                                  #                + = INITIALIZE T5 RCS-CSM AUTOPILOT
043794,000096:                                                                                                  #     T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043795,000097:                                                                                                  #                - = RESTART DAP
043796,000098:                                                                                                  #               -0 = PHASE1 OF THE T5 PROGRAM
043797,000099: 
043798,000100: 21,2160           11465        SETT5              CCS      T5PHASE                               
043799,000101: 21,2161           12544                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
043800,000102: 21,2162           12661                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
043801,000103: 21,2163           12546                           TCF      REDAP                                 #  RESTART AUTOPILOT
043802,000104: 
043803,000105: 21,2164           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
043804,000106: 21,2165           30030                           CA       TIME5                                 
043805,000107: 21,2166           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
043806,000108: 21,2167           32156                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
043807,000109: 21,2170           54030                           TS       TIME5                                 #  OF PROGRAM
043808,000110: 

Page 1004

043810,000112:                                                                                                  #  IMU STATUS CHECK
043811,000113: 
043812,000114: 21,2171           41321                           CS       IMODES33                              #  CHECK IMU STATUS
043813,000115: 21,2172           75012                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
043814,000116: 21,2173           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
043815,000117: 21,2174           12210                           TCF      RATEFILT                              
043816,000118: 21,2175           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
043817,000119: 21,2176           75002                           MASK     BIT14                                 #  INITIALIZED
043818,000120: 21,2177           27501                           ADS      RCSFLAGS                              
043819,000121: 21,2200           35002                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
043820,000122: 21,2201           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
043821,000123:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
043822,000124:                                                                                                  #  ATTITUDE HOLD
043823,000125: 21,2202           00006                           EXTEND                                         
043824,000126: 21,2203           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
043825,000127: 21,2204           00006                           EXTEND                                         
043826,000128: 21,2205           12417                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
043827,000129: 21,2206           12534                           TCF      REINIT                                #  .....TILT...............................
043828,000130: 21,2207           00030        BITS4,5            OCT      30                                    
043829,000131: 
043830,000132: 21,2210           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
043831,000133: 21,2211           75002                           MASK     BIT14                                 
043832,000134: 21,2212           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
043833,000135: 21,2213           12215                           BZF      +2                                    
043834,000136: 21,2214           12350                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
043835,000137: 
043836,000138:                                                                                                  #        RATE FILTER     TIMING = 7.72 MS
043837,000139: 
043838,000140:                                                                                                  #  RATE FILTER EQUATIONS
043839,000141: 
043840,000142: 
043841,000143:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043842,000144:                                                                                                  #                                            -1
043843,000145: 
043844,000146:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
043845,000147:                                                                                                  #             -1
043846,000148:                                                                                                  #         -       *     -     -
043847,000149:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
043848,000150:                                                                                                  #                                -1
043849,000151: 
043850,000152: 21,2215           35016                           CAF      TWO                                   
043851,000153: 21,2216           55506        DRHOLOOP           TS       SPNDX                                 
043852,000154: 21,2217           60000                           DOUBLE                                         
043853,000155: 21,2220           55507                           TS       DPNDX                                 
043854,000156: 21,2221           51507                           INDEX    DPNDX                                 
043855,000157: 21,2222           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
043856,000158: 21,2223           00006                           EXTEND                                         
043857,000159: 21,2224           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
043858,000160: 21,2225           73077                           MP       GAIN1                                 
043859,000161: 21,2226           51507                           INDEX    DPNDX                                 
043860,000162: 21,2227           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
043861,000163: 21,2230           00006                           EXTEND                                         

Page 1005

043863,000165: 21,2231           51507                           INDEX    DPNDX                                 
043864,000166: 21,2232           41534                           DCS      ADOT                                  
043865,000167: 21,2233           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
043866,000168: 21,2234           35003                           CA       QUARTER                               
043867,000169: 21,2235           02042                           TC       SMALLMP                               
043868,000170: 21,2236           53511                           DXCH     KMPAC                                 
043869,000171: 21,2237           51507                           INDEX    DPNDX                                 
043870,000172: 21,2240           21553                           DAS      DRHO                                  
043871,000173: 21,2241           11506                           CCS      SPNDX                                 
043872,000174: 21,2242           12216                           TCF      DRHOLOOP                              
043873,000175: 
043874,000176: 21,2243           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
043875,000177: 21,2244           57635                           XCH      RHO                                   
043876,000178: 21,2245           00006                           EXTEND                                         
043877,000179: 21,2246           21635                           MSU      RHO                                   #  -        *     -     -
043878,000180: 21,2247           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
043879,000181:                                                                                                  #                          -1
043880,000182: 21,2250           22007                           ZL                                             
043881,000183: 21,2251           53516                           DXCH     DELTEMPX                              
043882,000184: 21,2252           30033                           CA       CDUY                                  
043883,000185: 21,2253           57636                           XCH      RHO1                                  
043884,000186: 21,2254           00006                           EXTEND                                         
043885,000187: 21,2255           21636                           MSU      RHO1                                  
043886,000188: 21,2256           40000                           COM                                            
043887,000189: 21,2257           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
043888,000190: 21,2260           00006                           EXTEND                                         
043889,000191: 21,2261           71640                           MP       AMGB1                                 
043890,000192: 21,2262           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043891,000193:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
043892,000194:                                                                                                  #  PULSES
043893,000195: 21,2263           31641                           CA       AMGB4                                 
043894,000196: 21,2264           00006                           EXTEND                                         
043895,000197: 21,2265           71502                           MP       T5TEMP                                
043896,000198: 21,2266           53520                           DXCH     DELTEMPY                              
043897,000199: 21,2267           31643                           CA       AMGB7                                 
043898,000200: 21,2270           00006                           EXTEND                                         
043899,000201: 21,2271           71502                           MP       T5TEMP                                
043900,000202: 21,2272           53522                           DXCH     DELTEMPZ                              
043901,000203: 21,2273           30034                           CA       CDUZ                                  
043902,000204: 21,2274           57637                           XCH      RHO2                                  
043903,000205: 21,2275           00006                           EXTEND                                         
043904,000206: 21,2276           21637                           MSU      RHO2                                  
043905,000207: 21,2277           40000                           COM                                            
043906,000208: 21,2300           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
043907,000209: 21,2301           00006                           EXTEND                                         
043908,000210: 21,2302           71642                           MP       AMGB5                                 
043909,000211: 21,2303           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
043910,000212:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
043911,000213: 21,2304           31644                           CA       AMGB8                                 
043912,000214: 21,2305           00006                           EXTEND                                         
043913,000215: 

Page 1006

043915,000217: 21,2306           71502                           MP       T5TEMP                                
043916,000218: 21,2307           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)
043917,000219:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
043918,000220: 21,2310           35016                           CAF      TWO                                   
043919,000221: 21,2311           55506        ADOTLOOP           TS       SPNDX                                 
043920,000222: 21,2312           60000                           DOUBLE                                         
043921,000223: 21,2313           55507                           TS       DPNDX                                 
043922,000224: 21,2314           00006                           EXTEND                                         
043923,000225: 21,2315           51507                           INDEX    DPNDX                                 
043924,000226: 21,2316           31516                           DCA      DELTEMPX                              
043925,000227: 21,2317           51507                           INDEX    DPNDX                                 
043926,000228: 21,2320           21553                           DAS      DRHO                                  
043927,000229: 21,2321           00006                           EXTEND                                         
043928,000230: 21,2322           51507                           INDEX    DPNDX                                 
043929,000231: 21,2323           31516                           DCA      DELTEMPX                              
043930,000232: 21,2324           51507                           INDEX    DPNDX                                 
043931,000233: 21,2325           21542                           DAS      MERRORX                               
043932,000234: 21,2326           51507                           INDEX    DPNDX                                 
043933,000235: 21,2327           31552                           CA       DRHO                                  
043934,000236: 21,2330           60000                           DOUBLE                                         #  N.B.
043935,000237: 21,2331           60000                           DOUBLE                                         #  N.B.
043936,000238: 21,2332           00006                           EXTEND                                         
043937,000239: 21,2333           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
043938,000240: 21,2334           73115                           MP       GAIN2                                 
043939,000241: 21,2335           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
043940,000242: 21,2336           21534                           DAS      ADOT                                  #      -1
043941,000243: 21,2337           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
043942,000244: 21,2340           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
043943,000245: 21,2341           00006                           EXTEND                                         
043944,000246: 21,2342           51506                           INDEX    SPNDX                                 
043945,000247: 21,2343           71547                           MP       DFT                                   
043946,000248: 21,2344           51507                           INDEX    DPNDX                                 
043947,000249: 21,2345           21534                           DAS      ADOT                                  #  KMJ(DFT)
043948,000250: 21,2346           11506                           CCS      SPNDX                                 
043949,000251: 21,2347           12311                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
043950,000252: 21,2350           31560        KMATRIX            CA       ATTSEC                                
043951,000253: 21,2351           75026                           MASK     LOW4                                  
043952,000254: 21,2352           10000                           CCS      A                                     
043953,000255: 21,2353           12361                           TCF      TENTHSEK                              
043954,000256: 21,2354           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043955,000257: 21,2355           05134                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
043956,000258: 21,2356  E6,1510                                  EBANK=   KMPAC                                 
043957,000259: 21,2356           03447 44066                     2CADR    AMBGUPDT                              
043958,000260: 
043959,000261: 21,2360           34334                           CAF      NINE                                  
043960,000262: 
043961,000263: 21,2361           55560        TENTHSEK           TS       ATTSEC                                
043962,000264: 

Page 1007

043964,000266:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
043965,000267:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
043966,000268: 
043967,000269:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
043968,000270:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
043969,000271:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
043970,000272: 
043971,000273:                                                                                                  #  THE STEERING PROGRAMS-
043972,000274:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
043973,000275:                                                                                                  #        2) LEM TRACKING
043974,000276: 
043975,000277:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
043976,000278:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
043977,000279: 
043978,000280:                                                                                                  #  HOLDFLAG CODING-
043979,000281: 
043980,000282:                                                                                                  #        + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
043981,000283:                                                                                                  #            AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
043982,000284:                                                                                                  #            ALSO IGNORE AUTOMATIC STEERING
043983,000285:                                                                                                  #            SET = + BY
043984,000286:                                                                                                  #                1) INITIALIZATION PHASE OF AUTOPILOT
043985,000287:                                                                                                  #                2) OCCURANCE OF RHC COMMANDS
043986,000288:                                                                                                  #                3) FREE MODE
043987,000289:                                                                                                  #                4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
043988,000290:                                                                                                  #                   WHILE DOING AUTOMATIC STEERING (IN THIS CASE
043989,000291:                                                                                                  #                   HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
043990,000292:                                                                                                  #                   FUNCTIONS AS IF IT WERE.)
043991,000293:                                                                                                  #                5) S/C CONTROL SWITCH IN SCS
043992,000294:                                                                                                  #                6) IMU POWER OFF
043993,000295:                                                                                                  #       +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
043994,000296:                                                                                                  #        - = PERFORMING AUTOMATIC MANEUVER
043995,000297:                                                                                                  #       -0 = NOT USED AT PRESENT
043996,000298: 
043997,000299:                                                                                                  #  NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
043998,000300:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
043999,000301:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044000,000302: 
044001,000303: 21,2362           41332                           CS       HOLDFLAG                              
044002,000304: 21,2363           00006                           EXTEND                                         
044003,000305: 21,2364           62411                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044004,000306:                                                                                                  #  COMMANDS
044005,000307: 21,2365           35016        DCDUINCR           CAF      TWO                                   
044006,000308: 21,2366           55506        DELOOP             TS       SPNDX                                 
044007,000309: 21,2367           60000                           DOUBLE                                         
044008,000310: 21,2370           55507                           TS       DPNDX                                 
044009,000311: 21,2371           00006                           EXTEND                                         
044010,000312: 21,2372           50000                           INDEX    A                                     
044011,000313: 21,2373           31647                           DCA      CDUXD                                 

Page 1008

044013,000315: 21,2374           53511                           DXCH     KMPAC                                 
044014,000316: 21,2375           00006                           EXTEND                                         
044015,000317: 21,2376           51507                           INDEX    DPNDX                                 
044016,000318: 21,2377           31576                           DCA      DELCDUX                               
044017,000319: 21,2400           02054                           TC       DPADD                                 
044018,000320: 21,2401           00006                           EXTEND                                         
044019,000321: 21,2402           31511                           DCA      KMPAC                                 
044020,000322: 21,2403           51506                           INDEX    SPNDX                                 
044021,000323: 21,2404           55572                           TS       THETADX                               
044022,000324: 21,2405           51507                           INDEX    DPNDX                                 
044023,000325: 21,2406           53647                           DXCH     CDUXD                                 
044024,000326: 21,2407           11506                           CCS      SPNDX                                 
044025,000327: 21,2410           12366                           TCF      DELOOP                                
044026,000328: 

Page 1009

044028,000330:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044029,000331: 
044030,000332:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044031,000333: 
044032,000334:                                                                                                  #        MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
044033,000335:                                                                                                  #                GENERATED INTERNALLY BY THE AUTOPILOT
044034,000336: 
044035,000337:                                                                                                  #        MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
044036,000338:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N22
044037,000339: 
044038,000340:                                                                                                  #        MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
044039,000341:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N17
044040,000342: 
044041,000343:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
044042,000344:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044043,000345: 
044044,000346:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044045,000347:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044046,000348:                                                                                                  #  AS A FLY-TO INDICATOR.
044047,000349: 
044048,000350:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044049,000351:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044050,000352:                                                                                                  #  AS A FLY-TO INDICATOR.
044051,000353: 
044052,000354:                                                                                                  #  V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044053,000355:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
044054,000356: 
044055,000357:                                                                                                  #  THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044056,000358:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
044057,000359:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044058,000360: 
044059,000361: 21,2411           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
044060,000362: 21,2412           75014                           MASK     BIT4                                  
044061,000363: 21,2413           00006                           EXTEND                                         
044062,000364: 21,2414           13160                           BZF      FDAIDSP2                              
044063,000365: 
044064,000366: 21,2415           27501        FDAIDSP1           ADS      RCSFLAGS                              
044065,000367: 21,2416           02420                           TC       NEEDLER                               
044066,000368: 21,2417           15333        KRESUME1           TCF      RESUME                                #  END PHASE 1
044067,000369: 

Page 1010

044069,000371:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044070,000372: 
044071,000373:                                                                                                  #  PROGRAM DESCRIPTION:  D. KEENE  5/24/67
044072,000374: 
044073,000375:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044074,000376:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044075,000377:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044076,000378:                                                                                                  #  THE DACS.
044077,000379: 
044078,000380:                                                                                                  #  CALLING SEQUENCE:
044079,000381: 
044080,000382:                                                                                                  #  DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044081,000383:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044082,000384: 
044083,000385:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
044084,000386:                                                                                                  #                MASK    BIT3
044085,000387:                                                                                                  #                ADS     RCSFLAGS
044086,000388: 
044087,000389:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044088,000390: 
044089,000391:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
044090,000392:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
044091,000393:                                                                                                  #                AK2     SCALED 180 DEGREES
044092,000394: 
044093,000395:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044094,000396:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
044095,000397: 
044096,000398:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044097,000399: 
044098,000400:                                                                                                  #                INHINT
044099,000401:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
044100,000402:                                                                                                  #                CADR    NEEDLER
044101,000403:                                                                                                  #                RELINT
044102,000404: 
044103,000405:                                                                                                  #  THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
044104,000406:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044105,000407:                                                                                                  #  NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044106,000408: 
044107,000409:                                                                                                  #  ERASABLE USED:
044108,000410:                                                                                                  #                AK              CDUXCMD
044109,000411:                                                                                                  #                AK1             CDUYCMD
044110,000412:                                                                                                  #                AK2             CDUZCMD
044111,000413:                                                                                                  #                EDRIVEX         A,L,Q
044112,000414:                                                                                                  #                EDRIVEY         T5TEMP
044113,000415:                                                                                                  #                EDRIVEZ         SPNDX
044114,000416: 
044115,000417:                                                                                                  #  SWITCHES:     RCSFLAGS        BITS 3,2
044116,000418: 
044117,000419:                                                                                                  #  I/O CHANNELS: CHAN12          BIT 4            (COARSE ALIGN - READ ONLY)

Page 1011

044119,000421:                                                                                                  #                CHAN12          BIT 6           (IMU ERROR COUNTER ENABLE)
044120,000422:                                                                                                  #                CHAN14          BIT 13,14,15    (DAC ACTIVITY)
044121,000423: 
044122,000424:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
044123,000425:                                                                                                  #                WHERE   THETAC = COMMAND ANGLE
044124,000426:                                                                                                  #                        THETA = PRESENT ANGLE
044125,000427: 
044126,000428: 21,2420           35014        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
044127,000429: 21,2421           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
044128,000430: 21,2422           02012                           RAND     CHAN12                                #  ERROR COUNTERS.  DONT USE NEEDLES
044129,000431: 21,2423           00006                           EXTEND                                         
044130,000432: 21,2424           12431                           BZF      NEEDLER1                              
044131,000433: 21,2425           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
044132,000434: 21,2426           75015                           MASK     BIT3                                  
044133,000435: 21,2427           27501                           ADS      RCSFLAGS                              
044134,000436: 21,2430           00002                           TC       Q                                     
044135,000437: 
044136,000438: 21,2431           31501        NEEDLER1           CA       RCSFLAGS                              
044137,000439: 21,2432           76211                           MASK     SIX                                   
044138,000440: 21,2433           00006                           EXTEND                                         
044139,000441: 21,2434           12471                           BZF      NEEDLES3                              
044140,000442: 21,2435           75015                           MASK     BIT3                                  
044141,000443: 21,2436           00006                           EXTEND                                         
044142,000444: 21,2437           12462                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
044143,000445: 
044144,000446: 21,2440           45012                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
044145,000447: 21,2441           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
044146,000448: 21,2442           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
044147,000449: 21,2443           45021        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
044148,000450: 21,2444           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
044149,000451: 21,2445           55477                           TS       AK1                                   
044150,000452: 21,2446           55500                           TS       AK2                                   
044151,000453: 21,2447           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
044152,000454: 21,2450           55504                           TS       EDRIVEY                               
044153,000455: 21,2451           55505                           TS       EDRIVEZ                               
044154,000456: 21,2452           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
044155,000457: 21,2453           54051                           TS       CDUYCMD                               
044156,000458: 21,2454           54052                           TS       CDUZCMD                               
044157,000459: 21,2455           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
044158,000460: 21,2456           71501                           MASK     RCSFLAGS                              
044159,000461: 21,2457           65016                           AD       BIT2                                  
044160,000462: 21,2460           55501                           TS       RCSFLAGS                              
044161,000463: 21,2461           00002                           TC       Q                                     #  END PASS1
044162,000464: 
044163,000465: 21,2462           35012        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
044164,000466: 21,2463           00006                           EXTEND                                         
044165,000467: 21,2464           05012                           WOR      CHAN12                                
044166,000468: 21,2465           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1012

044168,000470: 21,2466           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
044169,000471: 21,2467           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
044170,000472: 21,2470           00002                           TC       Q                                     
044171,000473: 
044172,000474: 21,2471           35012        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
044173,000475: 21,2472           00006                           EXTEND                                         #  IS ENABLED
044174,000476: 21,2473           02012                           RAND     CHAN12                                
044175,000477: 21,2474           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
044176,000478: 21,2475           12425                           BZF      NEEDLER    +5                         
044177,000479: 
044178,000480: 21,2476           35016        NEEDLES            CAF      TWO                                   
044179,000481: 21,2477           55506        DACLOOP            TS       SPNDX                                 
044180,000482: 21,2500           45003                           CS       QUARTER                               
044181,000483: 21,2501           00006                           EXTEND                                         
044182,000484: 21,2502           51506                           INDEX    SPNDX                                 
044183,000485: 21,2503           71476                           MP       AK                                    
044184,000486: 21,2504           54001                           TS       L                                     
044185,000487: 21,2505           10000                           CCS      A                                     
044186,000488: 21,2506           32542                           CA       DACLIMIT                              
044187,000489: 21,2507           12511                           TCF      +2                                    
044188,000490: 21,2510           42542                           CS       DACLIMIT                              
044189,000491: 21,2511           60001                           AD       L                                     
044190,000492: 21,2512           55502                           TS       T5TEMP                                #  OVFLO CHK
044191,000493: 21,2513           12517                           TCF      +4                                    
044192,000494: 21,2514           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
044193,000495: 21,2515           32542                           CAF      DACLIMIT                              
044194,000496: 21,2516           54001                           TS       L                                     
044195,000497: 21,2517           51506                           INDEX    SPNDX                                 
044196,000498: 21,2520           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
044197,000499: 21,2521           60001                           AD       L                                     
044198,000500: 21,2522           51506                           INDEX    SPNDX                                 
044199,000501: 21,2523           26050                           ADS      CDUXCMD                               
044200,000502: 21,2524           51506                           INDEX    SPNDX                                 
044201,000503: 21,2525           23503                           LXCH     EDRIVEX                               
044202,000504: 21,2526           11506                           CCS      SPNDX                                 
044203,000505: 21,2527           12477                           TCF      DACLOOP                               
044204,000506: 21,2530           37707                           CAF      13,14,15                              
044205,000507: 21,2531           00006                           EXTEND                                         
044206,000508: 21,2532           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
044207,000509: 21,2533           00002                           TC       Q                                     
044208,000510: 
044209,000511: 21,2534           32540        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
044210,000512: 21,2535           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
044211,000513: 21,2536           55465                           TS       T5PHASE                               
044212,000514: 21,2537           15333                           TCF      RESUME                                
044213,000515: 21,2540           37754        DELAY200           DEC      16364      B-14                       #  200MS
044214,000516: 
044215,000517: 21,2541           77177                           DEC      -384       B-14                       
044216,000518: 

Page 1013

044218,000520: 21,2542           37200        DACLIMIT           DEC      16000      B-14                       
044219,000521: 21,2543           00600                           DEC      384        B-14                       
044220,000522: 

Page 1014

044222,000524:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044223,000525: 
044224,000526:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044225,000527: 
044226,000528:                                                                                                  #        WBODY   (+1)            DFT                     TAU2
044227,000529:                                                                                                  #        WBODY1  (+1)            DFT1                    BIAS
044228,000530:                                                                                                  #        WBODY2  (+1)            DFT2                    BIAS1
044229,000531:                                                                                                  #        ADOT    (+1)            DRHO    (+1)            BIAS2
044230,000532:                                                                                                  #        ADOT1   (+1)            DRHO1   (+1)            ERRORX
044231,000533:                                                                                                  #        ADOT2   (+1)            DRHO2   (+1)            ERRORY
044232,000534:                                                                                                  #        MERRORX (+1)            ATTSEC                  ERRORZ
044233,000535:                                                                                                  #        MERRORY (+1)            TAU
044234,000536:                                                                                                  #        MERRORZ (+1)            TAU1
044235,000537: 
044236,000538: 21,2544           35017        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
044237,000539: 21,2545           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
044238,000540:                                                                                                  #  ATTITUDE HOLD REFERENCE
044239,000541: 
044240,000542: 21,2546           04740        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044241,000543: 21,2547           40347                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
044242,000544: 
044243,000545: 21,2550           04740                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
044244,000546: 21,2551           40500                           CADR     S40.14                                #  TO AUTOPILOT GAINS
044245,000547: 
044246,000548: 21,2552           32623                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
044247,000549: 21,2553           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
044248,000550: 21,2554           35021                           CAF      ZERO                                  
044249,000551: 21,2555           51506                           INDEX    SPNDX                                 
044250,000552: 21,2556           55525                           TS       WBODY                                 
044251,000553: 21,2557           11506                           CCS      SPNDX                                 
044252,000554: 21,2560           12553                           TCF      ZEROT5                                
044253,000555: 21,2561           02632                           TCR      ZEROJET                               
044254,000556: 
044255,000557: 21,2562           45021                           CS       ZERO                                  
044256,000558: 21,2563           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
044257,000559: 
044258,000560: 21,2564           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
044259,000561:                                                                                                  #  MANUAL RATE MODES
044260,000562: 
044261,000563: 21,2565           32624                           CAF      =.24                                  
044262,000564: 21,2566           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
044263,000565: 
044264,000566: 21,2567           35015                           CAF      FOUR                                  
044265,000567: 21,2570           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044266,000568:                                                                                                  #  60 MS.  PHASE 2 RESETS FOR PHASE 1 RUPT
044267,000569:                                                                                                  #  IN (80MS - T5TIME(40MS)).  THEREFORE
044268,000570:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044269,000571:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER
044270,000572: 
044271,000573: 21,2571           35024                           CAF      ELEVEN                                
044272,000574: 21,2572           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
044273,000575:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES

Page 1015

044275,000577: 21,2573           30032                           CA       CDUX                                  
044276,000578: 21,2574           55635                           TS       RHO                                   
044277,000579: 21,2575           30033                           CA       CDUY                                  
044278,000580: 21,2576           55636                           TS       RHO1                                  
044279,000581: 21,2577           30034                           CA       CDUZ                                  
044280,000582: 21,2600           55637                           TS       RHO2                                  
044281,000583: 21,2601           35021                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
044282,000584: 21,2602           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
044283,000585: 
044284,000586: 21,2603           41321                           CS       IMODES33                              #  CHECK IMU STATUS
044285,000587: 21,2604           75012                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
044286,000588: 21,2605           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
044287,000589: 21,2606           12612                           TCF      IMUAOK                                
044288,000590: 21,2607           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
044289,000591: 21,2610           32626                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
044290,000592: 21,2611           12617                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
044291,000593:                                                                                                  #  SIGNAL NO RATE FILTER
044292,000594: 
044293,000595: 21,2612           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
044294,000596: 21,2613           05134                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
044295,000597: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
044296,000598: 21,2614           03447 44066                     2CADR    AMBGUPDT                              
044297,000599: 
044298,000600: 21,2616           32625                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044299,000601: 21,2617           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
044300,000602:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
044301,000603:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
044302,000604: 21,2620           32627                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044303,000605:                                                                                                  #  ERROR COUNTER TO ZERO.
044304,000606:                                                                                                  #  (MINIMUM DELAY = 15 MS)
044305,000607: 21,2621           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044306,000608: 21,2622           05333                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS.  RATE
044307,000609:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
044308,000610:                                                                                                  #  NOW
044309,000611: 
044310,000612:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
044311,000613: 
044312,000614: 21,2623           00044        NO.T5VAR           DEC      36         B-14                       
044313,000615: 21,2624           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
044314,000616: 21,2625           00004        RCSINIT            OCT      00004                                 
044315,000617: 21,2626           20004        RCSINITB           OCT      20004                                 
044316,000618: 21,2627           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
044317,000619: 21,2630  E6,1510                                  EBANK=   KMPAC                                 
044318,000620: 21,2630           03617 36066  T6ADDR             2CADR    T6START                               
044319,000621: 
044320,000622: 21,2632           35024        ZEROJET            CAF      ELEVEN                                #  ZERO BLAST2, BLAST1, BLAST, YWORD2,
044321,000623: 21,2633           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
044322,000624: 21,2634           35021                           CAF      ZERO                                  #  AND RWORD1.
044323,000625: 

Page 1016

044325,000627: 21,2635           51506                           INDEX    SPNDX                                 
044326,000628: 21,2636           55451                           TS       RWORD1                                
044327,000629: 21,2637           11506                           CCS      SPNDX                                 
044328,000630: 21,2640           12633                           TCF      ZEROJET    +1                         
044329,000631: 
044330,000632: 21,2641           35015                           CAF      FOUR                                  
044331,000633: 21,2642           55462                           TS       BLAST1     +1                         
044332,000634: 21,2643           35024                           CAF      ELEVEN                                
044333,000635: 21,2644           55464                           TS       BLAST2     +1                         
044334,000636: 
044335,000637: 21,2645           45017                           CS       BIT1                                  
044336,000638: 21,2646           71501                           MASK     RCSFLAGS                              
044337,000639: 21,2647           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
044338,000640: 
044339,000641: 21,2650           00006                           EXTEND                                         
044340,000642: 21,2651           32631                           DCA      T6ADDR                                
044341,000643: 21,2652           53311                           DXCH     T6LOC                                 
044342,000644: 21,2653           33050                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044343,000645: 21,2654           54031                           TS       TIME6                                 
044344,000646: 21,2655           35001                           CAF      BIT15                                 
044345,000647: 21,2656           00006                           EXTEND                                         
044346,000648: 21,2657           05013                           WOR      CHAN13                                
044347,000649: 
044348,000650: 21,2660           00002                           TC       Q                                     
044349,000651: 
044350,000652: 21,2661           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
044351,000653: 21,2662           13146                           TCF      KALUPDT                               
044352,000654: 
044353,000655: 21,2663           12665                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
044354,000656: 21,2664           12665                           TCF      +1                                    
044355,000657: 21,2665           32156                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
044356,000658: 21,2666           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC)
044357,000659: 21,2667           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
044358,000660: 
044359,000661: 21,2670           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
044360,000662: 21,2671           75001                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044361,000663: 21,2672           00006                           EXTEND                                         #  ATTKALMN TO -1
044362,000664: 21,2673           12675                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
044363,000665: 21,2674           45017                           CS       ONE                                   
044364,000666: 21,2675           55617        NOHIAUTO           TS       ATTKALMN                              
044365,000667: 

Page 1017

044367,000669:                                                                                                  #  MANUAL ROTATION COMMANDS
044368,000670: 
044369,000671: 21,2676           43032                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
044370,000672: 21,2677           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
044371,000673: 21,2700           55501                           TS       RCSFLAGS                              
044372,000674: 
044373,000675: 21,2701           00006                           EXTEND                                         
044374,000676: 21,2702           00031                           READ     CHAN31                                
044375,000677: 21,2703           54001                           TS       L                                     
044376,000678: 21,2704           31632                           CA       CH31TEMP                              
044377,000679: 21,2705           00006                           EXTEND                                         
044378,000680: 21,2706           06001                           RXOR     LCHAN                                 
044379,000681: 21,2707           73036                           MASK     MANROT                                #  = OCT00077
044380,000682: 21,2710           00006                           EXTEND                                         
044381,000683: 21,2711           62724                           BZMF     NOCHANGE                              
044382,000684: 
044383,000685: 21,2712           22000                           LXCH     A                                     
044384,000686: 21,2713           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044385,000687: 
044386,000688: 21,2714           30001                           CA       L                                     
044387,000689: 21,2715           00006                           EXTEND                                         
044388,000690: 21,2716           75013                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
044389,000691: 21,2717           30001                           CA       L                                     
044390,000692: 21,2720           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
044391,000693:                                                                                                  #  WITH CHANGES IN COMMAND.  BITS 10,9 FOR
044392,000694:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044393,000695:                                                                                                  #  PITCH
044394,000696: 
044395,000697: 21,2721           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12, AND
044396,000698: 21,2722           73037                           MASK     OCT16000                              #  11 OF RCSFLAGS)
044397,000699: 21,2723           27501                           ADS      RCSFLAGS                              
044398,000700: 
044399,000701: 21,2724           41632        NOCHANGE           CS       CH31TEMP                              
044400,000702: 21,2725           73036                           MASK     MANROT                                
044401,000703: 21,2726           00006                           EXTEND                                         
044402,000704: 21,2727           63250                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
044403,000705: 
044404,000706: 21,2730           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
044405,000707: 
044406,000708: 21,2731           03130                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044407,000709:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
044408,000710:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044409,000711:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
044410,000712:                                                                                                  #  COMMANDED BY THE RHC.
044411,000713: 
044412,000714:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
044413,000715:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
044414,000716:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044415,000717:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
044416,000718:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044417,000719:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1018

044419,000721:                                                                                                  #  VALUES.
044420,000722: 
044421,000723: 21,2732           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
044422,000724: 21,2733           75002                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
044423,000725: 21,2734           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044424,000726: 
044425,000727: 21,2735           35002                           CAF      BIT14                                 
044426,000728: 21,2736           00006                           EXTEND                                         
044427,000729: 21,2737           02031                           RAND     CHAN31                                
044428,000730: 21,2740           00006                           EXTEND                                         
044429,000731: 21,2741           63051                           BZMF     FREEFUNC                              
044430,000732: 
044431,000733: 21,2742           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044432,000734: 21,2743           75002                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
044433,000735: 21,2744           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
044434,000736: 21,2745           12534                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
044435,000737: 
044436,000738: 21,2746           45022                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
044437,000739: 21,2747           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
044438,000740: 21,2750           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
044439,000741: 21,2751           62754                           BZMF     +3                                    
044440,000742: 21,2752           45017                           CS       ONE                                   
044441,000743: 21,2753           55617                           TS       ATTKALMN                              
044442,000744: 
044443,000745: 21,2754           35016                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
044444,000746: 21,2755           55506        SETWBODY           TS       SPNDX                                 
044445,000747: 21,2756           60000                           DOUBLE                                         
044446,000748: 21,2757           55507                           TS       DPNDX                                 
044447,000749: 21,2760           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
044448,000750: 21,2761           31656                           CA       RMANNDX                               #          = 1  + ROTATION
044449,000751: 21,2762           00006                           EXTEND                                         #          = 2  - ROTATION
044450,000752: 21,2763           13005                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
044451,000753:                                                                                                  #  GO TO NORATE.
044452,000754: 
044453,000755: 21,2764           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
044454,000756: 21,2765           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
044455,000757: 21,2766           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
044456,000758: 21,2767           33037                           CA       MANTABLE   -1                         #           = 6  2.0  DEG/SEC
044457,000759: 21,2770           00006                           EXTEND                                         
044458,000760: 21,2771           75007                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
044459,000761: 21,2772           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
044460,000762: 21,2773           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
044461,000763: 
044462,000764: 21,2774           31501                           CA       RCSFLAGS                              
044463,000765: 21,2775           73037                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
044464,000766: 21,2776           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
044465,000767: 21,2777           13015                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044466,000768:                                                                                                  #  ERROR.
044467,000769: 

Page 1019

044469,000771: 21,3000           35021        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
044470,000772: 21,3001           22007                           ZL                                             
044471,000773: 21,3002           51507                           INDEX    DPNDX                                 
044472,000774: 21,3003           53542                           DXCH     MERRORX                               
044473,000775: 21,3004           13023                           TCF      SPNDXCHK                              
044474,000776: 
044475,000777: 21,3005           22007        NORATE             ZL                                             
044476,000778: 21,3006           51507                           INDEX    DPNDX                                 
044477,000779: 21,3007           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
044478,000780: 21,3010           31501                           CA       RCSFLAGS                              
044479,000781: 21,3011           73037                           MASK     OCT16000                              
044480,000782: 21,3012           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044481,000783: 21,3013           13023                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044482,000784: 21,3014           13000                           TCF      ZEROER                                #  NO, GO TO ZEROER
044483,000785: 
044484,000786: 21,3015           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044485,000787: 21,3016           43037                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
044486,000788: 21,3017           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
044487,000789: 21,3020           75011                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
044488,000790: 21,3021           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
044489,000791: 21,3022           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044490,000792: 
044491,000793: 21,3023           51507        SPNDXCHK           INDEX    DPNDX                                 
044492,000794: 21,3024           31541                           CA       MERRORX                               
044493,000795: 21,3025           51506                           INDEX    SPNDX                                 
044494,000796: 21,3026           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
044495,000797: 21,3027           11506                           CCS      SPNDX                                 
044496,000798: 21,3030           12755                           TCF      SETWBODY                              
044497,000799: 21,3031           13441                           TCF      JETS                                  
044498,000800: 
044499,000801: 21,3032           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
044500,000802: 
044501,000803: 21,3033           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
044502,000804: 21,3034           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
044503,000805: 21,3035           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
044504,000806:                                                                                                  #                                PRESERVED
044505,000807:                                                                                                  #                                FOR INDEXING
044506,000808: 21,3036           00077        MANROT             OCT      77                                    
044507,000809: 21,3037           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
044508,000810: 21,3040           00165        MANTABLE           DEC      .0071111                              
044509,000811: 21,3041           77612                           DEC      -.0071111                             
044510,000812: 21,3042           00722                           DEC      .028444                               
044511,000813: 21,3043           77055                           DEC      -0.028444                             
044512,000814: 21,3044           02215                           DEC      .071111                               
044513,000815: 21,3045           75562                           DEC      -.071111                              
044514,000816: 21,3046           11064                           DEC      .284444                               
044515,000817: 21,3047           66713                           DEC      -.284444                              
044516,000818: 21,3050           00027        =+14MS             DEC      23         B-14                       
044517,000819: 21,3051           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 1020

044519,000821: 21,3052           33063                           CA       FREETAU                               #  COMMANDS
044520,000822: 21,3053           55561                           TS       TAU                                   
044521,000823: 21,3054           51657                           INDEX    PMANNDX                               
044522,000824: 21,3055           33063                           CA       FREETAU                               #  FREETAU       0 SEC
044523,000825: 21,3056           55562                           TS       TAU1                                  #  +1            +0.10 SEC
044524,000826: 21,3057           51660                           INDEX    YMANNDX                               #  +2            -0.10 SEC
044525,000827: 21,3060           33063                           CA       FREETAU                               #  (+3)          0 SEC
044526,000828: 21,3061           55563                           TS       TAU2                                  
044527,000829: 21,3062           13067                           TCF      T6PROGM                               
044528,000830: 
044529,000831: 21,3063           00000        FREETAU            DEC      0          B-14                       
044530,000832: 21,3064           00740                           DEC      480        B-14                       
044531,000833: 21,3065           77037                           DEC      -480       B-14                       
044532,000834: 21,3066           00000                           DEC      0          B-14                       
044533,000835: 
044534,000836: 21,3067           35021        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
044535,000837: 21,3070           55567                           TS       ERRORX                                
044536,000838: 21,3071           55570                           TS       ERRORY                                
044537,000839: 21,3072           55571                           TS       ERRORZ                                
044538,000840: 21,3073           13757                           TCF      T6PROG                                
044539,000841: 

Page 1021

044541,000843: 21,3074           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044542,000844: 21,3075           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044543,000845: 21,3076           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044544,000846: 21,3077           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
044545,000847: 21,3100           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
044546,000848: 21,3101           13030                           DEC      .3452                                 
044547,000849: 21,3102           14047                           DEC      .3774                                 
044548,000850: 21,3103           15241                           DEC      .4161                                 
044549,000851: 21,3104           16650                           DEC      .4634                                 
044550,000852: 21,3105           20555                           DEC      .5223                                 
044551,000853: 21,3106           23065                           DEC      .5970                                 
044552,000854: 21,3107           26137                           DEC      .6933                                 
044553,000855: 21,3110           32053                           DEC      .8151                                 
044554,000856: 21,3111           35712                           DEC      .9342                                 
044555,000857: 
044556,000858: 21,3112           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044557,000859: 21,3113           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044558,000860: 21,3114           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044559,000861: 21,3115           00032        GAIN2              DEC      .0016                                 #  SCALED 10
044560,000862: 21,3116           01350                           DEC      .0454                                 
044561,000863: 21,3117           01575                           DEC      .0545                                 
044562,000864: 21,3120           02103                           DEC      .0666                                 
044563,000865: 21,3121           02523                           DEC      .0832                                 
044564,000866: 21,3122           03327                           DEC      .1069                                 
044565,000867: 21,3123           04432                           DEC      .1422                                 
044566,000868: 21,3124           06264                           DEC      .1985                                 
044567,000869: 21,3125           11351                           DEC      .2955                                 
044568,000870: 21,3126           17324                           DEC      .4817                                 
044569,000871: 21,3127           33622                           DEC      .8683                                 
044570,000872: 21,3130           55502        STICKCHK           TS       T5TEMP                                
044571,000873: 21,3131           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
044572,000874: 21,3132           55657                           TS       PMANNDX                               
044573,000875: 21,3133           31502                           CA       T5TEMP                                
044574,000876: 21,3134           00006                           EXTEND                                         #  MAN RATE  0   0 RATE (DP)
044575,000877: 21,3135           75003                           MP       QUARTER                               #           +1   + RATE (DP)
044576,000878: 21,3136           55502                           TS       T5TEMP                                #           +2   - RATE (DP)
044577,000879: 21,3137           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
044578,000880: 21,3140           55660                           TS       YMANNDX                               
044579,000881: 21,3141           31502                           CA       T5TEMP                                
044580,000882: 21,3142           00006                           EXTEND                                         
044581,000883: 21,3143           75003                           MP       QUARTER                               
044582,000884: 21,3144           55656                           TS       RMANNDX                               
044583,000885: 21,3145           00002                           TC       Q                                     
044584,000886: 21,3146           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
044585,000887:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
044586,000888: 
044587,000889: 21,3147           32155                           CA       DELTATT                               #  =1SEC - 80MS
044588,000890: 21,3150           61634                           AD       T5TIME                                #  + DELAYS

Page 1022

044590,000892: 21,3151           54030                           TS       TIME5                                 
044591,000893: 21,3152           13155                           TCF      +3                                    
044592,000894: 21,3153           32156                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
044593,000895: 21,3154           54030                           TS       TIME5                                 #  A T5RUPT
044594,000896: 
044595,000897: 21,3155           45021        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
044596,000898: 21,3156           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
044597,000899: 21,3157           15333                           TCF      RESUME                                
044598,000900: 
044599,000901: 21,3160           45014        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
044600,000902: 21,3161           71501                           MASK     RCSFLAGS                              
044601,000903: 21,3162           55501                           TS       RCSFLAGS                              
044602,000904: 
044603,000905: 21,3163           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044604,000906: 21,3164           75007                           MASK     BIT9                                  #  ERRORS
044605,000907: 21,3165           00006                           EXTEND                                         
044606,000908: 21,3166           13175                           BZF      FDAITOTL                              
044607,000909: 21,3167           00006                           EXTEND                                         
044608,000910: 21,3170           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044609,000911: 21,3171           53477                           DXCH     AK                                    
044610,000912: 21,3172           41571                           CS       ERRORZ                                
044611,000913: 21,3173           55500                           TS       AK2                                   
044612,000914: 21,3174           15333                           TCF      RESUME                                #  END PHASE 1
044613,000915: 
044614,000916: 21,3175           30105        FDAITOTL           CA       FLAGWRD9                              
044615,000917: 21,3176           75012                           MASK     BIT6                                  
044616,000918: 21,3177           00006                           EXTEND                                         
044617,000919: 21,3200           13243                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044618,000920:                                                                                                  #  IF SO, GO TO WRTN17
044619,000921: 21,3201           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
044620,000922: 21,3202           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
044621,000923: 21,3203           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
044622,000924: 21,3204           31155                           CA       CPHI                                  #  COMPONENTS OF N22
044623,000925: 
044624,000926: 21,3205           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
044625,000927: 21,3206           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
044626,000928: 21,3207           55476                           TS       AK                                    
044627,000929: 21,3210           31513                           CA       WTEMP                                 
044628,000930: 21,3211           00006                           EXTEND                                         
044629,000931: 21,3212           20033                           MSU      CDUY                                  
044630,000932: 21,3213           55502                           TS       T5TEMP                                
044631,000933: 21,3214           00006                           EXTEND                                         
044632,000934: 21,3215           71640                           MP       AMGB1                                 
044633,000935: 21,3216           27476                           ADS      AK                                    
044634,000936: 21,3217           31502                           CA       T5TEMP                                
044635,000937: 21,3220           00006                           EXTEND                                         
044636,000938: 21,3221           71641                           MP       AMGB4                                 

Page 1023

044638,000940: 21,3222           55477                           TS       AK1                                   
044639,000941: 21,3223           31502                           CA       T5TEMP                                
044640,000942: 21,3224           00006                           EXTEND                                         
044641,000943: 21,3225           71643                           MP       AMGB7                                 
044642,000944: 21,3226           55500                           TS       AK2                                   
044643,000945: 21,3227           31514                           CA       WTEMP      +1                         
044644,000946: 21,3230           00006                           EXTEND                                         
044645,000947: 21,3231           20034                           MSU      CDUZ                                  
044646,000948: 21,3232           55502                           TS       T5TEMP                                
044647,000949: 21,3233           00006                           EXTEND                                         
044648,000950: 21,3234           71642                           MP       AMGB5                                 
044649,000951: 21,3235           27477                           ADS      AK1                                   
044650,000952: 21,3236           31502                           CA       T5TEMP                                
044651,000953: 21,3237           00006                           EXTEND                                         
044652,000954: 21,3240           71644                           MP       AMGB8                                 
044653,000955: 21,3241           27500                           ADS      AK2                                   
044654,000956: 21,3242           15333                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
044655,000957: 
044656,000958: 21,3243           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
044657,000959: 21,3244           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
044658,000960: 21,3245           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
044659,000961: 21,3246           31333                           CA       CPHIX                                 
044660,000962: 21,3247           13205                           TCF      GETAKS                                
044661,000963: 

Page 1024 This page is empty.

044664,000966: 
044665,000967: 

End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc.  Parent file is MAIN.agc