Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72/3 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

042975,000002:                                                                                                  ## Copyright:   Public domain.
042976,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
042977,000004:                                                                                                  ## Purpose:     A section of Manche72 revision 3.
042978,000005:                                                                                                  ##              It is part of the reconstructed source code for the final, flown
042979,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
042980,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
042981,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
042982,000009:                                                                                                  ##              from a reconstructed copy of Comanche 072. It has been adapted
042983,000010:                                                                                                  ##              such that the resulting bugger words exactly match those
042984,000011:                                                                                                  ##              specified for Manche72 revision 3 in NASA drawing 2021153G,
042985,000012:                                                                                                  ##              which gives relatively high confidence that the reconstruction
042986,000013:                                                                                                  ##              is correct.
042987,000014:                                                                                                  ## Assembler:   yaYUL
042988,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
042989,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042990,000017:                                                                                                  ## Mod history: 2024-05-19 MAS  Created from Comanche 072.
042991,000018: 
042992,000019:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042993,000020: 
042994,000021:                                                                                                  #  START OF T5 INTERRUPT PROGRAM
042995,000022: 
042996,000023: 20,3650                                           BANK     20                                    
042997,000024: 21,2000                                           SETLOC   DAPS3                                 
042998,000025: 21,2000                                           BANK                                           
042999,000026: 
043000,000027: 21,2117                                           COUNT    21/DAPRC                              
043001,000028: 
043002,000029: 21,2117  E6,1510                                  EBANK=   KMPAC                                 
043003,000030: 21,2117           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
043004,000031: 21,2120           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
043005,000032: 21,2121           00006                           EXTEND                                         
043006,000033: 21,2122           62124                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
043007,000034: 21,2123           12126                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
043008,000035: 21,2124           45033                           CS       ONE                                   
043009,000036: 21,2125           55465                           TS       T5PHASE                               
043010,000037: 21,2126           00006                           EXTEND                                         
043011,000038: 21,2127           32133                           DCA      RCSLOC                                
043012,000039: 21,2130           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
043013,000040: 21,2131           12135                           TCF      RCSATT     +1                         
043014,000041: 21,2132  E6,1510                                  EBANK=   KMPAC                                 
043015,000042: 21,2132           02134 42066  RCSLOC             2CADR    RCSATT                                
043016,000043: 
043017,000044: 21,2134           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
043018,000045: 21,2135           00006                           EXTEND                                         #  SAVE Q
043019,000046: 21,2136           22012                           QXCH     QRUPT                                 
043020,000047: 21,2137           35015                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043021,000048: 21,2140           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043022,000049: 21,2141           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
043023,000050: 21,2142           00006                           EXTEND                                         
043024,000051: 21,2143           12172                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
043025,000052:                                                                                                  #  GO TO SETT5
043026,000053: 
043027,000054: 21,2144           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043028,000055: 21,2145           75016                           MASK     BIT14                                 
043029,000056: 21,2146           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
043030,000057: 21,2147           35013                           CAF      POSMAX                                
043031,000058: 21,2150           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
043032,000059: 21,2151           35035                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
043033,000060: 21,2152           55567                           TS       ERRORX                                
043034,000061: 21,2153           55570                           TS       ERRORY                                
043035,000062: 21,2154           55571                           TS       ERRORZ                                
043036,000063: 21,2155           35016                           CAF      BIT14                                 
043037,000064: 21,2156           00006                           EXTEND                                         
043038,000065: 21,2157           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
043039,000066: 21,2160           00006                           EXTEND                                         
043040,000067: 21,2161           12172                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
043041,000068: 
043042,000069: 21,2162           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
043043,000070: 21,2163           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
043044,000071: 21,2164           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
043045,000072: 
043046,000073: 21,2165           02644                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043047,000074: 
043048,000075: 21,2166           12362                           TCF      KMATRIX                               
043049,000076: 21,2167           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
043050,000077: 21,2170           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
043051,000078: 21,2171           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
043052,000079: 21,2172                        CHAN5              EQUALS   5                                     
043053,000080: 21,2172                        CHAN6              EQUALS   6                                     
043054,000081: 21,2172     7671               PRIO34A            =        PRIO34                                
043055,000082: 
043056,000083:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
043057,000084: 
043058,000085:                                                                                                  #  BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 
043059,000086:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043060,000087:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
043061,000088:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043062,000089:                                                                                                  #  VARIABLES AT TURN ON.
043063,000090: 
043064,000091:                                                                                                  #  THE CODING OF T5PHASE IS...
043065,000092: 
043066,000093:                                                                                                  #                + = INITIALIZE T5 RCS-CSM AUTOPILOT
043067,000094:                                                                                                  #     T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043068,000095:                                                                                                  #                - = RESTART DAP
043069,000096:                                                                                                  #               -0 = PHASE1 OF THE T5 PROGRAM
043070,000097: 
043071,000098: 21,2172           11465        SETT5              CCS      T5PHASE                               
043072,000099: 21,2173           12556                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
043073,000100: 21,2174           12673                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
043074,000101: 21,2175           12560                           TCF      REDAP                                 #  RESTART AUTOPILOT
043075,000102: 
043076,000103: 21,2176           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
043077,000104: 21,2177           30030                           CA       TIME5                                 
043078,000105: 21,2200           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
043079,000106: 21,2201           32170                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
043080,000107: 21,2202           54030                           TS       TIME5                                 #  OF PROGRAM
043081,000108: 
043082,000109:                                                                                                  #  IMU STATUS CHECK
043083,000110: 
043084,000111: 21,2203           41321                           CS       IMODES33                              #  CHECK IMU STATUS
043085,000112: 21,2204           75026                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
043086,000113: 21,2205           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
043087,000114: 21,2206           12222                           TCF      RATEFILT                              
043088,000115: 21,2207           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
043089,000116: 21,2210           75016                           MASK     BIT14                                 #  INITIALIZED
043090,000117: 21,2211           27501                           ADS      RCSFLAGS                              
043091,000118: 21,2212           35016                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
043092,000119: 21,2213           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
043093,000120:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
043094,000121:                                                                                                  #  ATTITUDE HOLD
043095,000122: 21,2214           00006                           EXTEND                                         
043096,000123: 21,2215           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
043097,000124: 21,2216           00006                           EXTEND                                         
043098,000125: 21,2217           12431                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
043099,000126: 21,2220           12546                           TCF      REINIT                                #  .....TILT...............................
043100,000127: 21,2221           00030        BITS4,5            OCT      30                                    
043101,000128: 
043102,000129: 21,2222           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
043103,000130: 21,2223           75016                           MASK     BIT14                                 
043104,000131: 21,2224           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
043105,000132: 21,2225           12227                           BZF      +2                                    
043106,000133: 21,2226           12362                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
043107,000134: 
043108,000135:                                                                                                  #        RATE FILTER     TIMING = 7.72 MS
043109,000136: 
043110,000137:                                                                                                  #  RATE FILTER EQUATIONS
043111,000138: 
043112,000139: 
043113,000140:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043114,000141:                                                                                                  #                                            -1
043115,000142: 
043116,000143:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
043117,000144:                                                                                                  #             -1
043118,000145:                                                                                                  #         -       *     -     -
043119,000146:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
043120,000147:                                                                                                  #                                -1
043121,000148: 
043122,000149: 21,2227           35032                           CAF      TWO                                   
043123,000150: 21,2230           55506        DRHOLOOP           TS       SPNDX                                 
043124,000151: 21,2231           60000                           DOUBLE                                         
043125,000152: 21,2232           55507                           TS       DPNDX                                 
043126,000153: 21,2233           51507                           INDEX    DPNDX                                 
043127,000154: 21,2234           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
043128,000155: 21,2235           00006                           EXTEND                                         
043129,000156: 21,2236           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
043130,000157: 21,2237           73111                           MP       GAIN1                                 
043131,000158: 21,2240           51507                           INDEX    DPNDX                                 
043132,000159: 21,2241           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
043133,000160: 21,2242           00006                           EXTEND                                         
043134,000161: 21,2243           51507                           INDEX    DPNDX                                 
043135,000162: 21,2244           41534                           DCS      ADOT                                  
043136,000163: 21,2245           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
043137,000164: 21,2246           35017                           CA       QUARTER                               
043138,000165: 21,2247           02054                           TC       SMALLMP                               
043139,000166: 21,2250           53511                           DXCH     KMPAC                                 
043140,000167: 21,2251           51507                           INDEX    DPNDX                                 
043141,000168: 21,2252           21553                           DAS      DRHO                                  
043142,000169: 21,2253           11506                           CCS      SPNDX                                 
043143,000170: 21,2254           12230                           TCF      DRHOLOOP                              
043144,000171: 
043145,000172: 21,2255           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
043146,000173: 21,2256           57635                           XCH      RHO                                   
043147,000174: 21,2257           00006                           EXTEND                                         
043148,000175: 21,2260           21635                           MSU      RHO                                   #  -        *     -     -
043149,000176: 21,2261           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
043150,000177:                                                                                                  #                          -1
043151,000178: 21,2262           22007                           ZL                                             
043152,000179: 21,2263           53516                           DXCH     DELTEMPX                              
043153,000180: 21,2264           30033                           CA       CDUY                                  
043154,000181: 21,2265           57636                           XCH      RHO1                                  
043155,000182: 21,2266           00006                           EXTEND                                         
043156,000183: 21,2267           21636                           MSU      RHO1                                  
043157,000184: 21,2270           40000                           COM                                            
043158,000185: 21,2271           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
043159,000186: 21,2272           00006                           EXTEND                                         
043160,000187: 21,2273           71640                           MP       AMGB1                                 
043161,000188: 21,2274           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043162,000189:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
043163,000190:                                                                                                  #  PULSES
043164,000191: 21,2275           31641                           CA       AMGB4                                 
043165,000192: 21,2276           00006                           EXTEND                                         
043166,000193: 21,2277           71502                           MP       T5TEMP                                
043167,000194: 21,2300           53520                           DXCH     DELTEMPY                              
043168,000195: 21,2301           31643                           CA       AMGB7                                 
043169,000196: 21,2302           00006                           EXTEND                                         
043170,000197: 21,2303           71502                           MP       T5TEMP                                
043171,000198: 21,2304           53522                           DXCH     DELTEMPZ                              
043172,000199: 21,2305           30034                           CA       CDUZ                                  
043173,000200: 21,2306           57637                           XCH      RHO2                                  
043174,000201: 21,2307           00006                           EXTEND                                         
043175,000202: 21,2310           21637                           MSU      RHO2                                  
043176,000203: 21,2311           40000                           COM                                            
043177,000204: 21,2312           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
043178,000205: 21,2313           00006                           EXTEND                                         
043179,000206: 21,2314           71642                           MP       AMGB5                                 
043180,000207: 21,2315           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
043181,000208:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
043182,000209: 21,2316           31644                           CA       AMGB8                                 
043183,000210: 21,2317           00006                           EXTEND                                         
043184,000211: 
043185,000212: 21,2320           71502                           MP       T5TEMP                                
043186,000213: 21,2321           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)
043187,000214:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
043188,000215: 21,2322           35032                           CAF      TWO                                   
043189,000216: 21,2323           55506        ADOTLOOP           TS       SPNDX                                 
043190,000217: 21,2324           60000                           DOUBLE                                         
043191,000218: 21,2325           55507                           TS       DPNDX                                 
043192,000219: 21,2326           00006                           EXTEND                                         
043193,000220: 21,2327           51507                           INDEX    DPNDX                                 
043194,000221: 21,2330           31516                           DCA      DELTEMPX                              
043195,000222: 21,2331           51507                           INDEX    DPNDX                                 
043196,000223: 21,2332           21553                           DAS      DRHO                                  
043197,000224: 21,2333           00006                           EXTEND                                         
043198,000225: 21,2334           51507                           INDEX    DPNDX                                 
043199,000226: 21,2335           31516                           DCA      DELTEMPX                              
043200,000227: 21,2336           51507                           INDEX    DPNDX                                 
043201,000228: 21,2337           21542                           DAS      MERRORX                               
043202,000229: 21,2340           51507                           INDEX    DPNDX                                 
043203,000230: 21,2341           31552                           CA       DRHO                                  
043204,000231: 21,2342           60000                           DOUBLE                                         #  N.B.
043205,000232: 21,2343           60000                           DOUBLE                                         #  N.B.
043206,000233: 21,2344           00006                           EXTEND                                         
043207,000234: 21,2345           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
043208,000235: 21,2346           73127                           MP       GAIN2                                 
043209,000236: 21,2347           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
043210,000237: 21,2350           21534                           DAS      ADOT                                  #      -1
043211,000238: 21,2351           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
043212,000239: 21,2352           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
043213,000240: 21,2353           00006                           EXTEND                                         
043214,000241: 21,2354           51506                           INDEX    SPNDX                                 
043215,000242: 21,2355           71547                           MP       DFT                                   
043216,000243: 21,2356           51507                           INDEX    DPNDX                                 
043217,000244: 21,2357           21534                           DAS      ADOT                                  #  KMJ(DFT)
043218,000245: 21,2360           11506                           CCS      SPNDX                                 
043219,000246: 21,2361           12323                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
043220,000247: 21,2362           31560        KMATRIX            CA       ATTSEC                                
043221,000248: 21,2363           75042                           MASK     LOW4                                  
043222,000249: 21,2364           10000                           CCS      A                                     
043223,000250: 21,2365           12373                           TCF      TENTHSEK                              
043224,000251: 21,2366           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043225,000252: 21,2367           05150                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
043226,000253: 21,2370  E6,1510                                  EBANK=   KMPAC                                 
043227,000254: 21,2370           03447 44066                     2CADR    AMBGUPDT                              
043228,000255: 
043229,000256: 21,2372           34334                           CAF      NINE                                  
043230,000257: 
043231,000258: 21,2373           55560        TENTHSEK           TS       ATTSEC                                
043232,000259: 
043233,000260:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
043234,000261:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
043235,000262: 
043236,000263:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
043237,000264:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
043238,000265:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
043239,000266: 
043240,000267:                                                                                                  #  THE STEERING PROGRAMS-
043241,000268:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
043242,000269:                                                                                                  #        2) LEM TRACKING
043243,000270: 
043244,000271:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
043245,000272:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
043246,000273: 
043247,000274:                                                                                                  #  HOLDFLAG CODING-
043248,000275: 
043249,000276:                                                                                                  #        + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
043250,000277:                                                                                                  #            AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
043251,000278:                                                                                                  #            ALSO IGNORE AUTOMATIC STEERING
043252,000279:                                                                                                  #            SET = + BY
043253,000280:                                                                                                  #                1) INITIALIZATION PHASE OF AUTOPILOT
043254,000281:                                                                                                  #                2) OCCURANCE OF RHC COMMANDS
043255,000282:                                                                                                  #                3) FREE MODE
043256,000283:                                                                                                  #                4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
043257,000284:                                                                                                  #                   WHILE DOING AUTOMATIC STEERING (IN THIS CASE
043258,000285:                                                                                                  #                   HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
043259,000286:                                                                                                  #                   FUNCTIONS AS IF IT WERE.)
043260,000287:                                                                                                  #                5) S/C CONTROL SWITCH IN SCS
043261,000288:                                                                                                  #                6) IMU POWER OFF
043262,000289:                                                                                                  #       +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
043263,000290:                                                                                                  #        - = PERFORMING AUTOMATIC MANEUVER
043264,000291:                                                                                                  #       -0 = NOT USED AT PRESENT
043265,000292: 
043266,000293:                                                                                                  #  NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
043267,000294:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
043268,000295:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
043269,000296: 
043270,000297: 21,2374           41332                           CS       HOLDFLAG                              
043271,000298: 21,2375           00006                           EXTEND                                         
043272,000299: 21,2376           62423                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
043273,000300:                                                                                                  #  COMMANDS
043274,000301: 21,2377           35032        DCDUINCR           CAF      TWO                                   
043275,000302: 21,2400           55506        DELOOP             TS       SPNDX                                 
043276,000303: 21,2401           60000                           DOUBLE                                         
043277,000304: 21,2402           55507                           TS       DPNDX                                 
043278,000305: 21,2403           00006                           EXTEND                                         
043279,000306: 21,2404           50000                           INDEX    A                                     
043280,000307: 21,2405           31647                           DCA      CDUXD                                 
043281,000308: 21,2406           53511                           DXCH     KMPAC                                 
043282,000309: 21,2407           00006                           EXTEND                                         
043283,000310: 21,2410           51507                           INDEX    DPNDX                                 
043284,000311: 21,2411           31576                           DCA      DELCDUX                               
043285,000312: 21,2412           02066                           TC       DPADD                                 
043286,000313: 21,2413           00006                           EXTEND                                         
043287,000314: 21,2414           31511                           DCA      KMPAC                                 
043288,000315: 21,2415           51506                           INDEX    SPNDX                                 
043289,000316: 21,2416           55572                           TS       THETADX                               
043290,000317: 21,2417           51507                           INDEX    DPNDX                                 
043291,000318: 21,2420           53647                           DXCH     CDUXD                                 
043292,000319: 21,2421           11506                           CCS      SPNDX                                 
043293,000320: 21,2422           12400                           TCF      DELOOP                                
043294,000321: 
043295,000322:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
043296,000323: 
043297,000324:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
043298,000325: 
043299,000326:                                                                                                  #        MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
043300,000327:                                                                                                  #                GENERATED INTERNALLY BY THE AUTOPILOT
043301,000328: 
043302,000329:                                                                                                  #        MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
043303,000330:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N22
043304,000331: 
043305,000332:                                                                                                  #        MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
043306,000333:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N17
043307,000334: 
043308,000335:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
043309,000336:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
043310,000337: 
043311,000338:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043312,000339:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043313,000340:                                                                                                  #  AS A FLY-TO INDICATOR.
043314,000341: 
043315,000342:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043316,000343:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043317,000344:                                                                                                  #  AS A FLY-TO INDICATOR.
043318,000345: 
043319,000346:                                                                                                  #  V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
043320,000347:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
043321,000348: 
043322,000349:                                                                                                  #  THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
043323,000350:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
043324,000351:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
043325,000352: 
043326,000353: 21,2423           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
043327,000354: 21,2424           75030                           MASK     BIT4                                  
043328,000355: 21,2425           00006                           EXTEND                                         
043329,000356: 21,2426           13172                           BZF      FDAIDSP2                              
043330,000357: 
043331,000358: 21,2427           27501        FDAIDSP1           ADS      RCSFLAGS                              
043332,000359: 21,2430           02432                           TC       NEEDLER                               
043333,000360: 21,2431           15347        KRESUME1           TCF      RESUME                                #  END PHASE 1
043334,000361: 
043335,000362:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
043336,000363: 
043337,000364:                                                                                                  #  PROGRAM DESCRIPTION:  D. KEENE  5/24/67
043338,000365: 
043339,000366:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
043340,000367:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
043341,000368:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
043342,000369:                                                                                                  #  THE DACS.
043343,000370: 
043344,000371:                                                                                                  #  CALLING SEQUENCE:
043345,000372: 
043346,000373:                                                                                                  #  DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
043347,000374:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
043348,000375: 
043349,000376:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
043350,000377:                                                                                                  #                MASK    BIT3
043351,000378:                                                                                                  #                ADS     RCSFLAGS
043352,000379: 
043353,000380:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
043354,000381: 
043355,000382:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
043356,000383:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
043357,000384:                                                                                                  #                AK2     SCALED 180 DEGREES
043358,000385: 
043359,000386:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
043360,000387:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
043361,000388: 
043362,000389:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
043363,000390: 
043364,000391:                                                                                                  #                INHINT
043365,000392:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
043366,000393:                                                                                                  #                CADR    NEEDLER
043367,000394:                                                                                                  #                RELINT
043368,000395: 
043369,000396:                                                                                                  #  THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
043370,000397:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
043371,000398:                                                                                                  #  NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
043372,000399: 
043373,000400:                                                                                                  #  ERASABLE USED:
043374,000401:                                                                                                  #                AK              CDUXCMD
043375,000402:                                                                                                  #                AK1             CDUYCMD
043376,000403:                                                                                                  #                AK2             CDUZCMD
043377,000404:                                                                                                  #                EDRIVEX         A,L,Q
043378,000405:                                                                                                  #                EDRIVEY         T5TEMP
043379,000406:                                                                                                  #                EDRIVEZ         SPNDX
043380,000407: 
043381,000408:                                                                                                  #  SWITCHES:     RCSFLAGS        BITS 3,2
043382,000409: 
043383,000410:                                                                                                  #  I/O CHANNELS: CHAN12          BIT 4            (COARSE ALIGN - READ ONLY)
043384,000411:                                                                                                  #                CHAN12          BIT 6           (IMU ERROR COUNTER ENABLE)
043385,000412:                                                                                                  #                CHAN14          BIT 13,14,15    (DAC ACTIVITY)
043386,000413: 
043387,000414:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
043388,000415:                                                                                                  #                WHERE   THETAC = COMMAND ANGLE
043389,000416:                                                                                                  #                        THETA = PRESENT ANGLE
043390,000417: 
043391,000418: 21,2432           35030        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
043392,000419: 21,2433           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
043393,000420: 21,2434           02012                           RAND     CHAN12                                #  ERROR COUNTERS.  DONT USE NEEDLES
043394,000421: 21,2435           00006                           EXTEND                                         
043395,000422: 21,2436           12443                           BZF      NEEDLER1                              
043396,000423: 21,2437           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
043397,000424: 21,2440           75031                           MASK     BIT3                                  
043398,000425: 21,2441           27501                           ADS      RCSFLAGS                              
043399,000426: 21,2442           00002                           TC       Q                                     
043400,000427: 
043401,000428: 21,2443           31501        NEEDLER1           CA       RCSFLAGS                              
043402,000429: 21,2444           76211                           MASK     SIX                                   
043403,000430: 21,2445           00006                           EXTEND                                         
043404,000431: 21,2446           12503                           BZF      NEEDLES3                              
043405,000432: 21,2447           75031                           MASK     BIT3                                  
043406,000433: 21,2450           00006                           EXTEND                                         
043407,000434: 21,2451           12474                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
043408,000435: 
043409,000436: 21,2452           45026                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
043410,000437: 21,2453           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
043411,000438: 21,2454           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
043412,000439: 21,2455           45035        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
043413,000440: 21,2456           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
043414,000441: 21,2457           55477                           TS       AK1                                   
043415,000442: 21,2460           55500                           TS       AK2                                   
043416,000443: 21,2461           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
043417,000444: 21,2462           55504                           TS       EDRIVEY                               
043418,000445: 21,2463           55505                           TS       EDRIVEZ                               
043419,000446: 21,2464           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
043420,000447: 21,2465           54051                           TS       CDUYCMD                               
043421,000448: 21,2466           54052                           TS       CDUZCMD                               
043422,000449: 21,2467           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
043423,000450: 21,2470           71501                           MASK     RCSFLAGS                              
043424,000451: 21,2471           65032                           AD       BIT2                                  
043425,000452: 21,2472           55501                           TS       RCSFLAGS                              
043426,000453: 21,2473           00002                           TC       Q                                     #  END PASS1
043427,000454: 
043428,000455: 21,2474           35026        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
043429,000456: 21,2475           00006                           EXTEND                                         
043430,000457: 21,2476           05012                           WOR      CHAN12                                
043431,000458: 21,2477           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE
043432,000459: 21,2500           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
043433,000460: 21,2501           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
043434,000461: 21,2502           00002                           TC       Q                                     
043435,000462: 
043436,000463: 21,2503           35026        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
043437,000464: 21,2504           00006                           EXTEND                                         #  IS ENABLED
043438,000465: 21,2505           02012                           RAND     CHAN12                                
043439,000466: 21,2506           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
043440,000467: 21,2507           12437                           BZF      NEEDLER    +5                         
043441,000468: 
043442,000469: 21,2510           35032        NEEDLES            CAF      TWO                                   
043443,000470: 21,2511           55506        DACLOOP            TS       SPNDX                                 
043444,000471: 21,2512           45017                           CS       QUARTER                               
043445,000472: 21,2513           00006                           EXTEND                                         
043446,000473: 21,2514           51506                           INDEX    SPNDX                                 
043447,000474: 21,2515           71476                           MP       AK                                    
043448,000475: 21,2516           54001                           TS       L                                     
043449,000476: 21,2517           10000                           CCS      A                                     
043450,000477: 21,2520           32554                           CA       DACLIMIT                              
043451,000478: 21,2521           12523                           TCF      +2                                    
043452,000479: 21,2522           42554                           CS       DACLIMIT                              
043453,000480: 21,2523           60001                           AD       L                                     
043454,000481: 21,2524           55502                           TS       T5TEMP                                #  OVFLO CHK
043455,000482: 21,2525           12531                           TCF      +4                                    
043456,000483: 21,2526           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
043457,000484: 21,2527           32554                           CAF      DACLIMIT                              
043458,000485: 21,2530           54001                           TS       L                                     
043459,000486: 21,2531           51506                           INDEX    SPNDX                                 
043460,000487: 21,2532           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
043461,000488: 21,2533           60001                           AD       L                                     
043462,000489: 21,2534           51506                           INDEX    SPNDX                                 
043463,000490: 21,2535           26050                           ADS      CDUXCMD                               
043464,000491: 21,2536           51506                           INDEX    SPNDX                                 
043465,000492: 21,2537           23503                           LXCH     EDRIVEX                               
043466,000493: 21,2540           11506                           CCS      SPNDX                                 
043467,000494: 21,2541           12511                           TCF      DACLOOP                               
043468,000495: 21,2542           37707                           CAF      13,14,15                              
043469,000496: 21,2543           00006                           EXTEND                                         
043470,000497: 21,2544           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
043471,000498: 21,2545           00002                           TC       Q                                     
043472,000499: 
043473,000500: 21,2546           32552        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
043474,000501: 21,2547           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
043475,000502: 21,2550           55465                           TS       T5PHASE                               
043476,000503: 21,2551           15347                           TCF      RESUME                                
043477,000504: 21,2552           37754        DELAY200           DEC      16364      B-14                       #  200MS
043478,000505: 
043479,000506: 21,2553           77177                           DEC      -384       B-14                       
043480,000507: 
043481,000508: 21,2554           37200        DACLIMIT           DEC      16000      B-14                       
043482,000509: 21,2555           00600                           DEC      384        B-14                       
043483,000510: 
043484,000511:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
043485,000512: 
043486,000513:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
043487,000514: 
043488,000515:                                                                                                  #        WBODY   (+1)            DFT                     TAU2
043489,000516:                                                                                                  #        WBODY1  (+1)            DFT1                    BIAS
043490,000517:                                                                                                  #        WBODY2  (+1)            DFT2                    BIAS1
043491,000518:                                                                                                  #        ADOT    (+1)            DRHO    (+1)            BIAS2
043492,000519:                                                                                                  #        ADOT1   (+1)            DRHO1   (+1)            ERRORX
043493,000520:                                                                                                  #        ADOT2   (+1)            DRHO2   (+1)            ERRORY
043494,000521:                                                                                                  #        MERRORX (+1)            ATTSEC                  ERRORZ
043495,000522:                                                                                                  #        MERRORY (+1)            TAU
043496,000523:                                                                                                  #        MERRORZ (+1)            TAU1
043497,000524: 
043498,000525: 21,2556           35033        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
043499,000526: 21,2557           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
043500,000527:                                                                                                  #  ATTITUDE HOLD REFERENCE
043501,000528: 
043502,000529: 21,2560           04754        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
043503,000530: 21,2561           40366                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
043504,000531: 
043505,000532: 21,2562           04754                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
043506,000533: 21,2563           40517                           CADR     S40.14                                #  TO AUTOPILOT GAINS
043507,000534: 
043508,000535: 21,2564           32635                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
043509,000536: 21,2565           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
043510,000537: 21,2566           35035                           CAF      ZERO                                  
043511,000538: 21,2567           51506                           INDEX    SPNDX                                 
043512,000539: 21,2570           55525                           TS       WBODY                                 
043513,000540: 21,2571           11506                           CCS      SPNDX                                 
043514,000541: 21,2572           12565                           TCF      ZEROT5                                
043515,000542: 21,2573           02644                           TCR      ZEROJET                               
043516,000543: 
043517,000544: 21,2574           45035                           CS       ZERO                                  
043518,000545: 21,2575           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
043519,000546: 
043520,000547: 21,2576           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
043521,000548:                                                                                                  #  MANUAL RATE MODES
043522,000549: 
043523,000550: 21,2577           32636                           CAF      =.24                                  
043524,000551: 21,2600           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
043525,000552: 
043526,000553: 21,2601           35031                           CAF      FOUR                                  
043527,000554: 21,2602           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
043528,000555:                                                                                                  #  60 MS.  PHASE 2 RESETS FOR PHASE 1 RUPT
043529,000556:                                                                                                  #  IN (80MS - T5TIME(40MS)).  THEREFORE
043530,000557:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
043531,000558:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER
043532,000559: 
043533,000560: 21,2603           35040                           CAF      ELEVEN                                
043534,000561: 21,2604           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
043535,000562:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES
043536,000563: 21,2605           30032                           CA       CDUX                                  
043537,000564: 21,2606           55635                           TS       RHO                                   
043538,000565: 21,2607           30033                           CA       CDUY                                  
043539,000566: 21,2610           55636                           TS       RHO1                                  
043540,000567: 21,2611           30034                           CA       CDUZ                                  
043541,000568: 21,2612           55637                           TS       RHO2                                  
043542,000569: 21,2613           35035                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
043543,000570: 21,2614           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
043544,000571: 
043545,000572: 21,2615           41321                           CS       IMODES33                              #  CHECK IMU STATUS
043546,000573: 21,2616           75026                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
043547,000574: 21,2617           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
043548,000575: 21,2620           12624                           TCF      IMUAOK                                
043549,000576: 21,2621           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
043550,000577: 21,2622           32640                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
043551,000578: 21,2623           12631                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
043552,000579:                                                                                                  #  SIGNAL NO RATE FILTER
043553,000580: 
043554,000581: 21,2624           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
043555,000582: 21,2625           05150                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
043556,000583: 21,2626  E6,1510                                  EBANK=   KMPAC                                 
043557,000584: 21,2626           03447 44066                     2CADR    AMBGUPDT                              
043558,000585: 
043559,000586: 21,2630           32637                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
043560,000587: 21,2631           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
043561,000588:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
043562,000589:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
043563,000590: 21,2632           32641                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
043564,000591:                                                                                                  #  ERROR COUNTER TO ZERO.
043565,000592:                                                                                                  #  (MINIMUM DELAY = 15 MS)
043566,000593: 21,2633           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
043567,000594: 21,2634           05347                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS.  RATE
043568,000595:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
043569,000596:                                                                                                  #  NOW
043570,000597: 
043571,000598:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
043572,000599: 
043573,000600: 21,2635           00044        NO.T5VAR           DEC      36         B-14                       
043574,000601: 21,2636           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
043575,000602: 21,2637           00004        RCSINIT            OCT      00004                                 
043576,000603: 21,2640           20004        RCSINITB           OCT      20004                                 
043577,000604: 21,2641           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
043578,000605: 21,2642  E6,1510                                  EBANK=   KMPAC                                 
043579,000606: 21,2642           03655 36066  T6ADDR             2CADR    T6START                               
043580,000607: 
043581,000608: 21,2644           35040        ZEROJET            CAF      ELEVEN                                #  ZERO BLAST2, BLAST1, BLAST, YWORD2,
043582,000609: 21,2645           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
043583,000610: 21,2646           35035                           CAF      ZERO                                  #  AND RWORD1.
043584,000611: 
043585,000612: 21,2647           51506                           INDEX    SPNDX                                 
043586,000613: 21,2650           55451                           TS       RWORD1                                
043587,000614: 21,2651           11506                           CCS      SPNDX                                 
043588,000615: 21,2652           12645                           TCF      ZEROJET    +1                         
043589,000616: 
043590,000617: 21,2653           35031                           CAF      FOUR                                  
043591,000618: 21,2654           55462                           TS       BLAST1     +1                         
043592,000619: 21,2655           35040                           CAF      ELEVEN                                
043593,000620: 21,2656           55464                           TS       BLAST2     +1                         
043594,000621: 
043595,000622: 21,2657           45033                           CS       BIT1                                  
043596,000623: 21,2660           71501                           MASK     RCSFLAGS                              
043597,000624: 21,2661           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
043598,000625: 
043599,000626: 21,2662           00006                           EXTEND                                         
043600,000627: 21,2663           32643                           DCA      T6ADDR                                
043601,000628: 21,2664           53311                           DXCH     T6LOC                                 
043602,000629: 21,2665           33062                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
043603,000630: 21,2666           54031                           TS       TIME6                                 
043604,000631: 21,2667           35015                           CAF      BIT15                                 
043605,000632: 21,2670           00006                           EXTEND                                         
043606,000633: 21,2671           05013                           WOR      CHAN13                                
043607,000634: 
043608,000635: 21,2672           00002                           TC       Q                                     
043609,000636: 
043610,000637: 21,2673           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
043611,000638: 21,2674           13160                           TCF      KALUPDT                               
043612,000639: 
043613,000640: 21,2675           12677                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
043614,000641: 21,2676           12677                           TCF      +1                                    
043615,000642: 21,2677           32170                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
043616,000643: 21,2700           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC)
043617,000644: 21,2701           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
043618,000645: 
043619,000646: 21,2702           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
043620,000647: 21,2703           75015                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
043621,000648: 21,2704           00006                           EXTEND                                         #  ATTKALMN TO -1
043622,000649: 21,2705           12707                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
043623,000650: 21,2706           45033                           CS       ONE                                   
043624,000651: 21,2707           55617        NOHIAUTO           TS       ATTKALMN                              
043625,000652: 
043626,000653:                                                                                                  #  MANUAL ROTATION COMMANDS
043627,000654: 
043628,000655: 21,2710           43044                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
043629,000656: 21,2711           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
043630,000657: 21,2712           55501                           TS       RCSFLAGS                              
043631,000658: 
043632,000659: 21,2713           00006                           EXTEND                                         
043633,000660: 21,2714           00031                           READ     CHAN31                                
043634,000661: 21,2715           54001                           TS       L                                     
043635,000662: 21,2716           31632                           CA       CH31TEMP                              
043636,000663: 21,2717           00006                           EXTEND                                         
043637,000664: 21,2720           06001                           RXOR     LCHAN                                 
043638,000665: 21,2721           73050                           MASK     MANROT                                #  = OCT00077
043639,000666: 21,2722           00006                           EXTEND                                         
043640,000667: 21,2723           62736                           BZMF     NOCHANGE                              
043641,000668: 
043642,000669: 21,2724           22000                           LXCH     A                                     
043643,000670: 21,2725           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
043644,000671: 
043645,000672: 21,2726           30001                           CA       L                                     
043646,000673: 21,2727           00006                           EXTEND                                         
043647,000674: 21,2730           75027                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
043648,000675: 21,2731           30001                           CA       L                                     
043649,000676: 21,2732           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
043650,000677:                                                                                                  #  WITH CHANGES IN COMMAND.  BITS 10,9 FOR
043651,000678:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
043652,000679:                                                                                                  #  PITCH
043653,000680: 
043654,000681: 21,2733           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12, AND
043655,000682: 21,2734           73051                           MASK     OCT16000                              #  11 OF RCSFLAGS)
043656,000683: 21,2735           27501                           ADS      RCSFLAGS                              
043657,000684: 
043658,000685: 21,2736           41632        NOCHANGE           CS       CH31TEMP                              
043659,000686: 21,2737           73050                           MASK     MANROT                                
043660,000687: 21,2740           00006                           EXTEND                                         
043661,000688: 21,2741           63262                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
043662,000689: 
043663,000690: 21,2742           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
043664,000691: 
043665,000692: 21,2743           03142                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
043666,000693:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
043667,000694:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
043668,000695:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
043669,000696:                                                                                                  #  COMMANDED BY THE RHC.
043670,000697: 
043671,000698:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
043672,000699:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
043673,000700:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
043674,000701:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
043675,000702:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
043676,000703:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT
043677,000704:                                                                                                  #  VALUES.
043678,000705: 
043679,000706: 21,2744           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
043680,000707: 21,2745           75016                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
043681,000708: 21,2746           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
043682,000709: 
043683,000710: 21,2747           35016                           CAF      BIT14                                 
043684,000711: 21,2750           00006                           EXTEND                                         
043685,000712: 21,2751           02031                           RAND     CHAN31                                
043686,000713: 21,2752           00006                           EXTEND                                         
043687,000714: 21,2753           63063                           BZMF     FREEFUNC                              
043688,000715: 
043689,000716: 21,2754           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
043690,000717: 21,2755           75016                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
043691,000718: 21,2756           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
043692,000719: 21,2757           12546                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
043693,000720: 
043694,000721: 21,2760           45036                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
043695,000722: 21,2761           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
043696,000723: 21,2762           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
043697,000724: 21,2763           62766                           BZMF     +3                                    
043698,000725: 21,2764           45033                           CS       ONE                                   
043699,000726: 21,2765           55617                           TS       ATTKALMN                              
043700,000727: 
043701,000728: 21,2766           35032                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
043702,000729: 21,2767           55506        SETWBODY           TS       SPNDX                                 
043703,000730: 21,2770           60000                           DOUBLE                                         
043704,000731: 21,2771           55507                           TS       DPNDX                                 
043705,000732: 21,2772           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
043706,000733: 21,2773           31656                           CA       RMANNDX                               #          = 1  + ROTATION
043707,000734: 21,2774           00006                           EXTEND                                         #          = 2  - ROTATION
043708,000735: 21,2775           13017                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
043709,000736:                                                                                                  #  GO TO NORATE.
043710,000737: 
043711,000738: 21,2776           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
043712,000739: 21,2777           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
043713,000740: 21,3000           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
043714,000741: 21,3001           33051                           CA       MANTABLE   -1                         #           = 6  2.0  DEG/SEC
043715,000742: 21,3002           00006                           EXTEND                                         
043716,000743: 21,3003           75023                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
043717,000744: 21,3004           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
043718,000745: 21,3005           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
043719,000746: 
043720,000747: 21,3006           31501                           CA       RCSFLAGS                              
043721,000748: 21,3007           73051                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
043722,000749: 21,3010           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
043723,000750: 21,3011           13027                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043724,000751:                                                                                                  #  ERROR.
043725,000752: 
043726,000753: 21,3012           35035        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
043727,000754: 21,3013           22007                           ZL                                             
043728,000755: 21,3014           51507                           INDEX    DPNDX                                 
043729,000756: 21,3015           53542                           DXCH     MERRORX                               
043730,000757: 21,3016           13035                           TCF      SPNDXCHK                              
043731,000758: 
043732,000759: 21,3017           22007        NORATE             ZL                                             
043733,000760: 21,3020           51507                           INDEX    DPNDX                                 
043734,000761: 21,3021           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
043735,000762: 21,3022           31501                           CA       RCSFLAGS                              
043736,000763: 21,3023           73051                           MASK     OCT16000                              
043737,000764: 21,3024           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043738,000765: 21,3025           13035                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043739,000766: 21,3026           13012                           TCF      ZEROER                                #  NO, GO TO ZEROER
043740,000767: 
043741,000768: 21,3027           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043742,000769: 21,3030           43051                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
043743,000770: 21,3031           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
043744,000771: 21,3032           75025                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
043745,000772: 21,3033           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
043746,000773: 21,3034           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043747,000774: 
043748,000775: 21,3035           51507        SPNDXCHK           INDEX    DPNDX                                 
043749,000776: 21,3036           31541                           CA       MERRORX                               
043750,000777: 21,3037           51506                           INDEX    SPNDX                                 
043751,000778: 21,3040           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
043752,000779: 21,3041           11506                           CCS      SPNDX                                 
043753,000780: 21,3042           12767                           TCF      SETWBODY                              
043754,000781: 21,3043           13453                           TCF      JETS                                  
043755,000782: 
043756,000783: 21,3044           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
043757,000784: 
043758,000785: 21,3045           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
043759,000786: 21,3046           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
043760,000787: 21,3047           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
043761,000788:                                                                                                  #                                PRESERVED
043762,000789:                                                                                                  #                                FOR INDEXING
043763,000790: 21,3050           00077        MANROT             OCT      77                                    
043764,000791: 21,3051           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
043765,000792: 21,3052           00165        MANTABLE           DEC      .0071111                              
043766,000793: 21,3053           77612                           DEC      -.0071111                             
043767,000794: 21,3054           00722                           DEC      .028444                               
043768,000795: 21,3055           77055                           DEC      -0.028444                             
043769,000796: 21,3056           02215                           DEC      .071111                               
043770,000797: 21,3057           75562                           DEC      -.071111                              
043771,000798: 21,3060           11064                           DEC      .284444                               
043772,000799: 21,3061           66713                           DEC      -.284444                              
043773,000800: 21,3062           00027        =+14MS             DEC      23         B-14                       
043774,000801: 21,3063           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION
043775,000802: 21,3064           33075                           CA       FREETAU                               #  COMMANDS
043776,000803: 21,3065           55561                           TS       TAU                                   
043777,000804: 21,3066           51657                           INDEX    PMANNDX                               
043778,000805: 21,3067           33075                           CA       FREETAU                               #  FREETAU       0 SEC
043779,000806: 21,3070           55562                           TS       TAU1                                  #  +1            +0.10 SEC
043780,000807: 21,3071           51660                           INDEX    YMANNDX                               #  +2            -0.10 SEC
043781,000808: 21,3072           33075                           CA       FREETAU                               #  (+3)          0 SEC
043782,000809: 21,3073           55563                           TS       TAU2                                  
043783,000810: 21,3074           13101                           TCF      T6PROGM                               
043784,000811: 
043785,000812: 21,3075           00000        FREETAU            DEC      0          B-14                       
043786,000813: 21,3076           00740                           DEC      480        B-14                       
043787,000814: 21,3077           77037                           DEC      -480       B-14                       
043788,000815: 21,3100           00000                           DEC      0          B-14                       
043789,000816: 
043790,000817: 21,3101           35035        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
043791,000818: 21,3102           55567                           TS       ERRORX                                
043792,000819: 21,3103           55570                           TS       ERRORY                                
043793,000820: 21,3104           55571                           TS       ERRORZ                                
043794,000821: 21,3105           13771                           TCF      T6PROG                                
043795,000822: 
043796,000823: 21,3106           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043797,000824: 21,3107           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043798,000825: 21,3110           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
043799,000826: 21,3111           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
043800,000827: 21,3112           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
043801,000828: 21,3113           13030                           DEC      .3452                                 
043802,000829: 21,3114           14047                           DEC      .3774                                 
043803,000830: 21,3115           15241                           DEC      .4161                                 
043804,000831: 21,3116           16650                           DEC      .4634                                 
043805,000832: 21,3117           20555                           DEC      .5223                                 
043806,000833: 21,3120           23065                           DEC      .5970                                 
043807,000834: 21,3121           26137                           DEC      .6933                                 
043808,000835: 21,3122           32053                           DEC      .8151                                 
043809,000836: 21,3123           35712                           DEC      .9342                                 
043810,000837: 
043811,000838: 21,3124           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043812,000839: 21,3125           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043813,000840: 21,3126           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
043814,000841: 21,3127           00032        GAIN2              DEC      .0016                                 #  SCALED 10
043815,000842: 21,3130           01350                           DEC      .0454                                 
043816,000843: 21,3131           01575                           DEC      .0545                                 
043817,000844: 21,3132           02103                           DEC      .0666                                 
043818,000845: 21,3133           02523                           DEC      .0832                                 
043819,000846: 21,3134           03327                           DEC      .1069                                 
043820,000847: 21,3135           04432                           DEC      .1422                                 
043821,000848: 21,3136           06264                           DEC      .1985                                 
043822,000849: 21,3137           11351                           DEC      .2955                                 
043823,000850: 21,3140           17324                           DEC      .4817                                 
043824,000851: 21,3141           33622                           DEC      .8683                                 
043825,000852: 21,3142           55502        STICKCHK           TS       T5TEMP                                
043826,000853: 21,3143           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
043827,000854: 21,3144           55657                           TS       PMANNDX                               
043828,000855: 21,3145           31502                           CA       T5TEMP                                
043829,000856: 21,3146           00006                           EXTEND                                         #  MAN RATE  0   0 RATE (DP)
043830,000857: 21,3147           75017                           MP       QUARTER                               #           +1   + RATE (DP)
043831,000858: 21,3150           55502                           TS       T5TEMP                                #           +2   - RATE (DP)
043832,000859: 21,3151           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
043833,000860: 21,3152           55660                           TS       YMANNDX                               
043834,000861: 21,3153           31502                           CA       T5TEMP                                
043835,000862: 21,3154           00006                           EXTEND                                         
043836,000863: 21,3155           75017                           MP       QUARTER                               
043837,000864: 21,3156           55656                           TS       RMANNDX                               
043838,000865: 21,3157           00002                           TC       Q                                     
043839,000866: 21,3160           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
043840,000867:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
043841,000868: 
043842,000869: 21,3161           32167                           CA       DELTATT                               #  =1SEC - 80MS
043843,000870: 21,3162           61634                           AD       T5TIME                                #  + DELAYS
043844,000871: 21,3163           54030                           TS       TIME5                                 
043845,000872: 21,3164           13167                           TCF      +3                                    
043846,000873: 21,3165           32170                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
043847,000874: 21,3166           54030                           TS       TIME5                                 #  A T5RUPT
043848,000875: 
043849,000876: 21,3167           45035        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
043850,000877: 21,3170           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
043851,000878: 21,3171           15347                           TCF      RESUME                                
043852,000879: 
043853,000880: 21,3172           45030        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
043854,000881: 21,3173           71501                           MASK     RCSFLAGS                              
043855,000882: 21,3174           55501                           TS       RCSFLAGS                              
043856,000883: 
043857,000884: 21,3175           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043858,000885: 21,3176           75023                           MASK     BIT9                                  #  ERRORS
043859,000886: 21,3177           00006                           EXTEND                                         
043860,000887: 21,3200           13207                           BZF      FDAITOTL                              
043861,000888: 21,3201           00006                           EXTEND                                         
043862,000889: 21,3202           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
043863,000890: 21,3203           53477                           DXCH     AK                                    
043864,000891: 21,3204           41571                           CS       ERRORZ                                
043865,000892: 21,3205           55500                           TS       AK2                                   
043866,000893: 21,3206           15347                           TCF      RESUME                                #  END PHASE 1
043867,000894: 
043868,000895: 21,3207           30105        FDAITOTL           CA       FLAGWRD9                              
043869,000896: 21,3210           75026                           MASK     BIT6                                  
043870,000897: 21,3211           00006                           EXTEND                                         
043871,000898: 21,3212           13255                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043872,000899:                                                                                                  #  IF SO, GO TO WRTN17
043873,000900: 21,3213           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
043874,000901: 21,3214           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
043875,000902: 21,3215           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
043876,000903: 21,3216           31155                           CA       CPHI                                  #  COMPONENTS OF N22
043877,000904: 
043878,000905: 21,3217           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
043879,000906: 21,3220           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
043880,000907: 21,3221           55476                           TS       AK                                    
043881,000908: 21,3222           31513                           CA       WTEMP                                 
043882,000909: 21,3223           00006                           EXTEND                                         
043883,000910: 21,3224           20033                           MSU      CDUY                                  
043884,000911: 21,3225           55502                           TS       T5TEMP                                
043885,000912: 21,3226           00006                           EXTEND                                         
043886,000913: 21,3227           71640                           MP       AMGB1                                 
043887,000914: 21,3230           27476                           ADS      AK                                    
043888,000915: 21,3231           31502                           CA       T5TEMP                                
043889,000916: 21,3232           00006                           EXTEND                                         
043890,000917: 21,3233           71641                           MP       AMGB4                                 
043891,000918: 21,3234           55477                           TS       AK1                                   
043892,000919: 21,3235           31502                           CA       T5TEMP                                
043893,000920: 21,3236           00006                           EXTEND                                         
043894,000921: 21,3237           71643                           MP       AMGB7                                 
043895,000922: 21,3240           55500                           TS       AK2                                   
043896,000923: 21,3241           31514                           CA       WTEMP      +1                         
043897,000924: 21,3242           00006                           EXTEND                                         
043898,000925: 21,3243           20034                           MSU      CDUZ                                  
043899,000926: 21,3244           55502                           TS       T5TEMP                                
043900,000927: 21,3245           00006                           EXTEND                                         
043901,000928: 21,3246           71642                           MP       AMGB5                                 
043902,000929: 21,3247           27477                           ADS      AK1                                   
043903,000930: 21,3250           31502                           CA       T5TEMP                                
043904,000931: 21,3251           00006                           EXTEND                                         
043905,000932: 21,3252           71644                           MP       AMGB8                                 
043906,000933: 21,3253           27500                           ADS      AK2                                   
043907,000934: 21,3254           15347                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
043908,000935: 
043909,000936: 21,3255           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
043910,000937: 21,3256           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
043911,000938: 21,3257           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
043912,000939: 21,3260           31333                           CA       CPHIX                                 
043913,000940: 21,3261           13217                           TCF      GETAKS                                

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