Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

042053,000002:                                                                                                 #  Copyright:    Public domain.
042054,000003:                                                                                                 #  Filename:      RCS-CSM_DIGITAL_AUTOPILOT.agc
042055,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
042056,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
042057,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
042058,000007:                                                                                                 #  Assembler:    yaYUL
042059,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
042060,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
042061,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042062,000011:                                                                                                 #  Mod history:  2011-03-17 JL    Adapted from corresponding Colossus 249 file.
042063,000012: 
042064,000013:                                                                                                 # # Page 970
042065,000014:                                                                                                 #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042066,000015:                                                                                                 #       START OF T5 INTERRUPT PROGRAM
042067,000016: 
042068,000017: 20,3550                                          BANK     20                                    
042069,000018: 21,2000                                          SETLOC   DAPS3                                 
042070,000019: 21,2000                                          BANK                                           
042071,000020: 
042072,000021: 21,2071                                          COUNT    21/DAPRC                              
042073,000022: 
042074,000023: 21,2071  E6,1510                                 EBANK=   KMPAC                                 
042075,000024: 21,2071           22016        REDORCS           LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
042076,000025: 21,2072           31465                          CA       T5PHASE                               #  ON A T5 RUPT.
042077,000026: 21,2073           00006                          EXTEND                                         
042078,000027: 21,2074           62076                          BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
042079,000028: 21,2075           12100                          TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
042080,000029: 21,2076           44712                          CS       ONE                                   
042081,000030: 21,2077           55465                          TS       T5PHASE                               
042082,000031: 21,2100           00006                          EXTEND                                         
042083,000032: 21,2101           32105                          DCA      RCSLOC                                
042084,000033: 21,2102           53313                          DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
042085,000034: 21,2103           12107                          TCF      RCSATT     +1                         
042086,000035: 21,2104  E6,1510                                 EBANK=   KMPAC                                 
042087,000036: 21,2104           02106 42066  RCSLOC            2CADR    RCSATT                                
042088,000037: 
042089,000038: 
042090,000039: 21,2106           22016        RCSATT            LXCH     BANKRUPT                              #  SAVE BB
042091,000040: 21,2107           00006                          EXTEND                                         #  SAVE Q
042092,000041: 21,2110           22012                          QXCH     QRUPT                                 
042093,000042: 21,2111           34674                          CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042094,000043: 21,2112           00006                          EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042095,000044: 21,2113           02031                          RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
042096,000045: 21,2114           00006                          EXTEND                                         
042097,000046: 21,2115           12144                          BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
042098,000047:                                                                                                 #                                           GO TO SETT5
042099,000048: 
042100,000049: 21,2116           41501                          CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042101,000050: 21,2117           74675                          MASK     BIT14                                 
042102,000051: 21,2120           27501                          ADS      RCSFLAGS                              #  SET NORATE FLAG,
042103,000052: 21,2121           34672                          CAF      POSMAX                                
042104,000053: 21,2122           55332                          TS       HOLDFLAG                              #  SET HOLDFLAG +,
042105,000054: 21,2123           34714                          CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
042106,000055: 21,2124           55567                          TS       ERRORX                                
042107,000056: 21,2125           55570                          TS       ERRORY                                
042108,000057: 21,2126           55571                          TS       ERRORZ                                
042109,000058: 21,2127           34675                          CAF      BIT14                                 
042110,000059: 21,2130           00006                          EXTEND                                         
042111,000060: 21,2131           02031                          RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
042112,000061: 21,2132           00006                          EXTEND                                         
042113,000062:                                                                                                 # # Page 971
042114,000063: 21,2133           12144                          BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
042115,000064: 
042116,000065: 21,2134           55465                          TS       T5PHASE                               #  IF NOT IN FREE MODE,
042117,000066: 21,2135           37676                          CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
042118,000067: 21,2136           54030                          TS       TIME5                                 #  IN 100 MS VIA T5RUPT
042119,000068: 
042120,000069: 21,2137           02616                          TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042121,000070: 
042122,000071: 21,2140           12334                          TCF      KMATRIX                               
042123,000072: 21,2141           37770        DELTATT           OCT      37770                                 #  80MS (TIME5)
042124,000073: 21,2142           37776        DELTATT2          OCT      37776                                 #  20MS (TIME5)
042125,000074: 21,2143           37634        ONESEK            DEC      16284      B-14                       #  1 SEC(TIME5)
042126,000075: 21,2144                        CHAN5             EQUALS   5                                     
042127,000076: 21,2144                        CHAN6             EQUALS   6                                     
042128,000077: 21,2144     7671               PRIO34A           =        PRIO34                                
042129,000078: 
042130,000079:                                                                                                 #           CHECK PHASE OF T5 PROGRAM
042131,000080: 
042132,000081:                                                                                                 #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
042133,000082:                                                                                                 #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042134,000083:                                                                                                 #  TO ALLOW FOR THE EXECUTION OF OTHER
042135,000084:                                                                                                 #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042136,000085:                                                                                                 #  VARIABLES AT TURN ON.
042137,000086:                                                                                                 #  THE CODING OF T5PHASE IS...
042138,000087: 
042139,000088:                                                                                                 #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
042140,000089:                                                                                                 #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042141,000090:                                                                                                 #             - = RESTART DAP
042142,000091:                                                                                                 #            -0 = PHASE1 OF THE T5 PROGRAM
042143,000092: 
042144,000093: 21,2144           11465        SETT5             CCS      T5PHASE                               
042145,000094: 21,2145           12530                          TCF      FRESHDAP                              #  TURN ON AUTOPILOT
042146,000095: 21,2146           12645                          TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
042147,000096: 21,2147           12532                          TCF      REDAP                                 #  RESTART AUTOPILOT
042148,000097: 
042149,000098: 
042150,000099: 21,2150           55465                          TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
042151,000100: 21,2151           30030                          CA       TIME5                                 
042152,000101: 21,2152           55634                          TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
042153,000102: 21,2153           32142                          CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
042154,000103: 21,2154           54030                          TS       TIME5                                 #  OF PROGRAM
042155,000104: 
042156,000105:                                                                                                 # # Page 972
042157,000106:                                                                                                 #  IMU STATUS CHECK
042158,000107: 
042159,000108: 21,2155           41321                          CS       IMODES33                              #  CHECK IMU STATUS
042160,000109: 21,2156           74705                          MASK     BIT6                                  #  BIT6 = 0 IMU OK
042161,000110: 21,2157           10000                          CCS      A                                     #  BIT6 = 1 NO IMU
042162,000111: 21,2160           12174                          TCF      RATEFILT                              
042163,000112: 21,2161           41501        FREECHK           CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
042164,000113: 21,2162           74675                          MASK     BIT14                                 #  INITIALIZED
042165,000114: 21,2163           27501                          ADS      RCSFLAGS                              
042166,000115: 21,2164           34675                          CAF      BIT14                                 #  NO ATTITUDE REFERENCE
042167,000116: 21,2165           55332                          TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
042168,000117:                                                                                                 #                                           TO PICK UP CDU ANGLES UPON RESUMPTION OF
042169,000118:                                                                                                 #                                           ATTITUDE HOLD
042170,000119: 21,2166           00006                          EXTEND                                         
042171,000120: 21,2167           02031                          RAND     CHAN31                                #  CHECK FOR FREE MODE
042172,000121: 21,2170           00006                          EXTEND                                         
042173,000122: 21,2171           12403                          BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
042174,000123: 21,2172           12520                          TCF      REINIT                                #  .....TILT...............................
042175,000124: 21,2173           00030        BITS4,5           OCT      30                                    
042176,000125: 
042177,000126: 
042178,000127: 21,2174           31501        RATEFILT          CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
042179,000128: 21,2175           74675                          MASK     BIT14                                 
042180,000129: 21,2176           00006                          EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
042181,000130: 21,2177           12201                          BZF      +2                                    
042182,000131: 21,2200           12334                          TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
042183,000132: 
042184,000133:                                                                                                 #           RATE FILTER     TIMING = 7.72MS
042185,000134: 
042186,000135:                                                                                                 #  RATE FILTER EQUATIONS
042187,000136:                                                                                                 #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042188,000137:                                                                                                 #                                            -1
042189,000138:                                                                                                 #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
042190,000139:                                                                                                 #             -1
042191,000140:                                                                                                 #        -        *     -     -
042192,000141:                                                                                                 #  WHERE DELRHO = AMGB (CDU - CDU  )
042193,000142:                                                                                                 #                                 -1
042194,000143: 
042195,000144: 21,2201           34711                          CAF      TWO                                   
042196,000145: 21,2202           55506        DRHOLOOP          TS       SPNDX                                 
042197,000146: 21,2203           60000                          DOUBLE                                         
042198,000147: 21,2204           55507                          TS       DPNDX                                 
042199,000148: 21,2205           51507                          INDEX    DPNDX                                 
042200,000149: 21,2206           41552                          CS       DRHO                                  #  DRHO SCALED 180 DEGS
042201,000150: 21,2207           00006                          EXTEND                                         
042202,000151: 21,2210           51617                          INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
042203,000152: 21,2211           73063                          MP       GAIN1                                 
042204,000153: 21,2212           51507                          INDEX    DPNDX                                 
042205,000154: 21,2213           21553                          DAS      DRHO                                  #  (1 -.064)DRHO
042206,000155: 21,2214           00006                          EXTEND                                         
042207,000156:                                                                                                 # # Page 973
042208,000157: 21,2215           51507                          INDEX    DPNDX                                 
042209,000158: 21,2216           41534                          DCS      ADOT                                  
042210,000159: 21,2217           53511                          DXCH     KMPAC                                 #  -(.1)ADOT
042211,000160: 21,2220           34676                          CA       QUARTER                               
042212,000161: 21,2221           02026                          TC       SMALLMP                               
042213,000162: 21,2222           53511                          DXCH     KMPAC                                 
042214,000163: 21,2223           51507                          INDEX    DPNDX                                 
042215,000164: 21,2224           21553                          DAS      DRHO                                  
042216,000165: 21,2225           11506                          CCS      SPNDX                                 
042217,000166: 21,2226           12202                          TCF      DRHOLOOP                              
042218,000167: 
042219,000168: 21,2227           30032                          CA       CDUX                                  #  MEASURED BODY RATES--
042220,000169: 21,2230           57635                          XCH      RHO                                   
042221,000170: 21,2231           00006                          EXTEND                                         
042222,000171: 21,2232           21635                          MSU      RHO                                   #  -        *     -     -
042223,000172: 21,2233           40000                          COM                                            #  DELRHO = AMGB (CDU - CDU  )
042224,000173:                                                                                                 #                                                                   -1
042225,000174: 21,2234           22007                          ZL                                             
042226,000175: 21,2235           53516                          DXCH     DELTEMPX                              
042227,000176: 21,2236           30033                          CA       CDUY                                  
042228,000177: 21,2237           57636                          XCH      RHO1                                  
042229,000178: 21,2240           00006                          EXTEND                                         
042230,000179: 21,2241           21636                          MSU      RHO1                                  
042231,000180: 21,2242           40000                          COM                                            
042232,000181: 21,2243           55502                          TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
042233,000182: 21,2244           00006                          EXTEND                                         
042234,000183: 21,2245           71640                          MP       AMGB1                                 
042235,000184: 21,2246           21516                          DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042236,000185:                                                                                                 #                                           MUST BE DOUBLE PRECISION OR WILL LOSE
042237,000186:                                                                                                 #                                           PULSES
042238,000187: 21,2247           31641                          CA       AMGB4                                 
042239,000188: 21,2250           00006                          EXTEND                                         
042240,000189: 21,2251           71502                          MP       T5TEMP                                
042241,000190: 21,2252           53520                          DXCH     DELTEMPY                              
042242,000191: 21,2253           31643                          CA       AMGB7                                 
042243,000192: 21,2254           00006                          EXTEND                                         
042244,000193: 21,2255           71502                          MP       T5TEMP                                
042245,000194: 21,2256           53522                          DXCH     DELTEMPZ                              
042246,000195: 21,2257           30034                          CA       CDUZ                                  
042247,000196: 21,2260           57637                          XCH      RHO2                                  
042248,000197: 21,2261           00006                          EXTEND                                         
042249,000198: 21,2262           21637                          MSU      RHO2                                  
042250,000199: 21,2263           40000                          COM                                            
042251,000200: 21,2264           55502                          TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
042252,000201: 21,2265           00006                          EXTEND                                         
042253,000202: 21,2266           71642                          MP       AMGB5                                 
042254,000203: 21,2267           21520                          DAS      DELTEMPY                              #  DELTEMPY =AMGB4(CDUY-RHO1)
042255,000204:                                                                                                 #                                                           + AMGB5(CDUZ-RHO2)
042256,000205: 21,2270           31644                          CA       AMGB8                                 
042257,000206: 21,2271           00006                          EXTEND                                         
042258,000207:                                                                                                 # # Page 974
042259,000208: 21,2272           71502                          MP       T5TEMP                                
042260,000209: 21,2273           21522                          DAS      DELTEMPZ                              #  DELTEMPZ =AMBG7(CDUY-RHO1)
042261,000210:                                                                                                 #                                                          + AMGB8(CDUZ-RHO2)
042262,000211: 21,2274           34711                          CAF      TWO                                   
042263,000212: 21,2275           55506        ADOTLOOP          TS       SPNDX                                 
042264,000213: 21,2276           60000                          DOUBLE                                         
042265,000214: 21,2277           55507                          TS       DPNDX                                 
042266,000215: 21,2300           00006                          EXTEND                                         
042267,000216: 21,2301           51507                          INDEX    DPNDX                                 
042268,000217: 21,2302           31516                          DCA      DELTEMPX                              
042269,000218: 21,2303           51507                          INDEX    DPNDX                                 
042270,000219: 21,2304           21553                          DAS      DRHO                                  
042271,000220: 21,2305           00006                          EXTEND                                         
042272,000221: 21,2306           51507                          INDEX    DPNDX                                 
042273,000222: 21,2307           31516                          DCA      DELTEMPX                              
042274,000223: 21,2310           51507                          INDEX    DPNDX                                 
042275,000224: 21,2311           21542                          DAS      MERRORX                               
042276,000225: 21,2312           51507                          INDEX    DPNDX                                 
042277,000226: 21,2313           31552                          CA       DRHO                                  
042278,000227: 21,2314           60000                          DOUBLE                                         #  N.B.
042279,000228: 21,2315           60000                          DOUBLE                                         #  N.B.
042280,000229: 21,2316           00006                          EXTEND                                         
042281,000230: 21,2317           51617                          INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
042282,000231: 21,2320           73101                          MP       GAIN2                                 
042283,000232: 21,2321           51507                          INDEX    DPNDX                                 #  ADOT  + (.16)(.1)DRHO
042284,000233: 21,2322           21534                          DAS      ADOT                                  #      -1
042285,000234: 21,2323           51506                          INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
042286,000235: 21,2324           31620                          CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
042287,000236: 21,2325           00006                          EXTEND                                         
042288,000237: 21,2326           51506                          INDEX    SPNDX                                 
042289,000238: 21,2327           71547                          MP       DFT                                   
042290,000239: 21,2330           51507                          INDEX    DPNDX                                 
042291,000240: 21,2331           21534                          DAS      ADOT                                  #  KMJ(DFT)
042292,000241: 21,2332           11506                          CCS      SPNDX                                 
042293,000242: 21,2333           12275                          TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
042294,000243: 21,2334           31560        KMATRIX           CA       ATTSEC                                
042295,000244: 21,2335           74721                          MASK     LOW4                                  
042296,000245: 21,2336           10000                          CCS      A                                     
042297,000246: 21,2337           12345                          TCF      TENTHSEK                              
042298,000247: 21,2340           37671                          CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042299,000248: 21,2341           05027                          TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
042300,000249: 21,2342  E6,1510                                 EBANK=   KMPAC                                 
042301,000250: 21,2342           03444 44066                    2CADR    AMBGUPDT                              
042302,000251: 21,2344           34334                          CAF      NINE                                  
042303,000252: 
042304,000253: 21,2345           55560        TENTHSEK          TS       ATTSEC                                
042305,000254: 
042306,000255:                                                                                                 # # Page 975
042307,000256:                                                                                                 #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042308,000257:                                                                                                 #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042309,000258: 
042310,000259:                                                                                                 #           CDUXD = CDUXD + DELCDUX    (DOUBLE PRECISION)
042311,000260:                                                                                                 #           CDUYD = CDUYD + DELCDUY    (DOUBLE PRECISION)
042312,000261:                                                                                                 #           CDUZD = CDUZD + DELCDUZ    (DOUBLE PRECISION)
042313,000262: 
042314,000263:                                                                                                 #  THE STEERING PROGRAMS-
042315,000264:                                                                                                 #           1) ATTITUDE MANEUVER ROUTINE
042316,000265:                                                                                                 #           2) LEM TRACKING
042317,000266: 
042318,000267:                                                                                                 #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042319,000268:                                                                                                 #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042320,000269: 
042321,000270:                                                                                                 #  HOLDFLAG CODING-
042322,000271: 
042323,000272:                                                                                                 #      +  = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042324,000273:                                                                                                 #           AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042325,000274:                                                                                                 #           ALSO IGNORE AUTOMATIC STEERING
042326,000275:                                                                                                 #           SET = + BY
042327,000276:                                                                                                 #                  1) INITIALIZATION PHASE OF AUTOPILOT
042328,000277:                                                                                                 #                  2) OCCURANCE OF RHC COMMANDS
042329,000278:                                                                                                 #                  3) FREE MODE
042330,000279:                                                                                                 #                  4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042331,000280:                                                                                                 #                     WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042332,000281:                                                                                                 #                     HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042333,000282:                                                                                                 #                     FUNCTIONS AS IF IT WERE.)
042334,000283:                                                                                                 #                  5) S/C CONTROL SWITCH IN SCS
042335,000284:                                                                                                 #                  6) IMU POWER OFF
042336,000285:                                                                                                 #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042337,000286:                                                                                                 #       - = PERFORMING AUTOMATIC MANEUVER
042338,000287:                                                                                                 #      -0 = NOT USED AT PRESENT
042339,000288: 
042340,000289: 
042341,000290:                                                                                                 #         NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042342,000291:                                                                                                 #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO 
042343,000292:                                                                                                 #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042344,000293: 
042345,000294: 
042346,000295: 21,2346           41332                          CS       HOLDFLAG                              
042347,000296: 21,2347           00006                          EXTEND                                         
042348,000297: 21,2350           62375                          BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042349,000298:                                                                                                 #                                           COMMANDS
042350,000299: 21,2351           34711        DCDUINCR          CAF      TWO                                   
042351,000300: 21,2352           55506        DELOOP            TS       SPNDX                                 
042352,000301: 21,2353           60000                          DOUBLE                                         
042353,000302: 21,2354           55507                          TS       DPNDX                                 
042354,000303: 21,2355           00006                          EXTEND                                         
042355,000304: 21,2356           50000                          INDEX    A                                     
042356,000305: 21,2357           31647                          DCA      CDUXD                                 
042357,000306:                                                                                                 # # Page 976
042358,000307: 21,2360           53511                          DXCH     KMPAC                                 
042359,000308: 21,2361           00006                          EXTEND                                         
042360,000309: 21,2362           51507                          INDEX    DPNDX                                 
042361,000310: 21,2363           31576                          DCA      DELCDUX                               
042362,000311: 21,2364           02040                          TC       DPADD                                 
042363,000312: 21,2365           00006                          EXTEND                                         
042364,000313: 21,2366           31511                          DCA      KMPAC                                 
042365,000314: 21,2367           51506                          INDEX    SPNDX                                 
042366,000315: 21,2370           55572                          TS       THETADX                               
042367,000316: 21,2371           51507                          INDEX    DPNDX                                 
042368,000317: 21,2372           53647                          DXCH     CDUXD                                 
042369,000318: 21,2373           11506                          CCS      SPNDX                                 
042370,000319: 21,2374           12352                          TCF      DELOOP                                
042371,000320: 
042372,000321:                                                                                                 # # Page 977
042373,000322:                                                                                                 #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042374,000323: 
042375,000324:                                                                                                 #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042376,000325: 
042377,000326:                                                                                                 #           MODE 1) AUTOPILOT FOLLOWING ERRORS                 SELECTED BY V61E
042378,000327:                                                                                                 #                   GENERATED INTERNALLY BY THE AUTOPILOT
042379,000328: 
042380,000329:                                                                                                 #           MODE 2) TOTAL ATTITUDE ERRORS                      SELECTED BY V62E
042381,000330:                                                                                                 #                   WITH RESPECT TO THE CONTENTS OF N22
042382,000331: 
042383,000332:                                                                                                 #           MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS            SELECTED BY V63E
042384,000333:                                                                                                 #                   WITH RESPECT TO THE CONTENTS OF N17
042385,000334: 
042386,000335:                                                                                                 #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
042387,000336:                                                                                                 #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042388,000337: 
042389,000338:                                                                                                 #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042390,000339:                                                                                                 #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042391,000340:                                                                                                 #  AS A FLY-TO INDICATOR.
042392,000341: 
042393,000342:                                                                                                 #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042394,000343:                                                                                                 #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042395,000344:                                                                                                 #  AS A FLY-TO INDICATOR.
042396,000345: 
042397,000346:                                                                                                 #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042398,000347:                                                                                                 #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
042399,000348: 
042400,000349:                                                                                                 #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042401,000350:                                                                                                 #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
042402,000351:                                                                                                 #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042403,000352: 
042404,000353: 
042405,000354: 21,2375           41501        DACNDLS           CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
042406,000355: 21,2376           74707                          MASK     BIT4                                  
042407,000356: 21,2377           00006                          EXTEND                                         
042408,000357: 21,2400           13144                          BZF      FDAIDSP2                              
042409,000358: 
042410,000359: 21,2401           27501        FDAIDSP1          ADS      RCSFLAGS                              
042411,000360: 21,2402           02404                          TC       NEEDLER                               
042412,000361: 21,2403           15222        KRESUME1          TCF      RESUME                                #  END PHASE 1
042413,000362: 
042414,000363:                                                                                                 # # Page 978
042415,000364:                                                                                                 #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042416,000365: 
042417,000366:                                                                                                 #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
042418,000367: 
042419,000368:                                                                                                 #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042420,000369:                                                                                                 #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042421,000370:                                                                                                 #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042422,000371:                                                                                                 #  THE DACS.
042423,000372: 
042424,000373: 
042425,000374:                                                                                                 #  CALLING SEQUENCE:
042426,000375: 
042427,000376:                                                                                                 #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042428,000377:                                                                                                 #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042429,000378: 
042430,000379:                                                                                                 #           CS     RCSFLAGS        IN EBANK6
042431,000380:                                                                                                 #           MASK   BIT3
042432,000381:                                                                                                 #           ADS    RCSFLAGS
042433,000382: 
042434,000383:                                                                                                 #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANFERRED TO THE FOLLOWING LOCATIONS IN EBANK6:
042435,000384: 
042436,000385:                                                                                                 #           AK     SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
042437,000386:                                                                                                 #           AK1    SCALED 180 DEGREES        TO CHANGE
042438,000387:                                                                                                 #           AK2    SCALED 180 DEGREES
042439,000388: 
042440,000389:                                                                                                 #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042441,000390:                                                                                                 #           (= 384 BITS IN IMU ERROR COUNTER)
042442,000391: 
042443,000392:                                                                                                 #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042444,000393: 
042445,000394:                                                                                                 #           INHINT
042446,000395:                                                                                                 #           TC     IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
042447,000396:                                                                                                 #           CADR   NEEDLER
042448,000397:                                                                                                 #           RELINT
042449,000398: 
042450,000399:                                                                                                 #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PRORAM ARE
042451,000400:                                                                                                 #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042452,000401:                                                                                                 #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042453,000402: 
042454,000403:                                                                                                 #  ERASABLE USED:
042455,000404:                                                                                                 #                       AK         CDUXCMD
042456,000405:                                                                                                 #                       AK1        CDUYCMD
042457,000406:                                                                                                 #                       AK2        CDUZCMD
042458,000407:                                                                                                 #                       EDRIVEX    A,L,Q
042459,000408:                                                                                                 #                       EDRIVEY    T5TEMP
042460,000409:                                                                                                 #                       EDRIVEZ    SPNDX
042461,000410: 
042462,000411:                                                                                                 #  SWITCHES:            RCSFLAGS   BITS 3,2
042463,000412: 
042464,000413:                                                                                                 #  I/O CHANNELS:        CHAN12     BIT 4 (COARSE ALIGN - READ ONLY)
042465,000414:                                                                                                 # # Page 979
042466,000415:                                                                                                 #                       CHAN12     BIT 6 (IMU ERROR COUNTER ENABLE)
042467,000416:                                                                                                 #                       CHAN14     BIT 13,14,15 (DAC ACTIVITY)
042468,000417: 
042469,000418: 
042470,000419:                                                                                                 #  SIGN CONVENTION<   AK = THETAC - THETA
042471,000420:                                                                                                 #            WHERE    THETAC = COMMAND ANGLE
042472,000421:                                                                                                 #                     THETA = PRESENT ANGLE
042473,000422: 
042474,000423: 
042475,000424: 21,2404           34707        NEEDLER           CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
042476,000425: 21,2405           00006                          EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
042477,000426: 21,2406           02012                          RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
042478,000427: 21,2407           00006                          EXTEND                                         
042479,000428: 21,2410           12415                          BZF      NEEDLER1                              
042480,000429: 21,2411           41501                          CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
042481,000430: 21,2412           74710                          MASK     BIT3                                  
042482,000431: 21,2413           27501                          ADS      RCSFLAGS                              
042483,000432: 21,2414           00002                          TC       Q                                     
042484,000433: 
042485,000434: 21,2415           31501        NEEDLER1          CA       RCSFLAGS                              
042486,000435: 21,2416           76211                          MASK     SIX                                   
042487,000436: 21,2417           00006                          EXTEND                                         
042488,000437: 21,2420           12455                          BZF      NEEDLES3                              
042489,000438: 21,2421           74710                          MASK     BIT3                                  
042490,000439: 21,2422           00006                          EXTEND                                         
042491,000440: 21,2423           12446                          BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
042492,000441: 
042493,000442: 21,2424           44705                          CS       BIT6                                  #  FIRST PASS BIT3 = 1
042494,000443: 21,2425           00006                          EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
042495,000444: 21,2426           03012                          WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
042496,000445: 21,2427           44714        NEEDLE11          CS       ZERO                                  #  ENABLING COUNTERS.
042497,000446: 21,2430           55476                          TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
042498,000447: 21,2431           55477                          TS       AK1                                   
042499,000448: 21,2432           55500                          TS       AK2                                   
042500,000449: 21,2433           55503                          TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
042501,000450: 21,2434           55504                          TS       EDRIVEY                               
042502,000451: 21,2435           55505                          TS       EDRIVEZ                               
042503,000452: 21,2436           54050                          TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
042504,000453: 21,2437           54051                          TS       CDUYCMD                               
042505,000454: 21,2440           54052                          TS       CDUZCMD                               
042506,000455: 21,2441           46211                          CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
042507,000456: 21,2442           71501                          MASK     RCSFLAGS                              
042508,000457: 21,2443           64711                          AD       BIT2                                  
042509,000458: 21,2444           55501                          TS       RCSFLAGS                              
042510,000459: 21,2445           00002                          TC       Q                                     #  END PASS1
042511,000460: 
042512,000461: 21,2446           34705        NEEDLER2          CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
042513,000462: 21,2447           00006                          EXTEND                                         
042514,000463: 21,2450           05012                          WOR      CHAN12                                
042515,000464: 21,2451           46211                          CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE
042516,000465:                                                                                                 # # Page 980
042517,000466: 21,2452           71501                          MASK     RCSFLAGS                              #  ERRORS    WAIT ATLEAST 4 MS FOR
042518,000467: 21,2453           55501                          TS       RCSFLAGS                              #  RELAY CLOSURE
042519,000468: 21,2454           00002                          TC       Q                                     
042520,000469: 
042521,000470: 
042522,000471: 21,2455           34705        NEEDLES3          CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
042523,000472: 21,2456           00006                          EXTEND                                         #  IS ENABLED
042524,000473: 21,2457           02012                          RAND     CHAN12                                
042525,000474: 21,2460           00006                          EXTEND                                         #  IF NOT RECYCLE NEEDLES
042526,000475: 21,2461           12411                          BZF      NEEDLER    +5                         
042527,000476: 
042528,000477: 21,2462           34711        NEEDLES           CAF      TWO                                   
042529,000478: 21,2463           55506        DACLOOP           TS       SPNDX                                 
042530,000479: 21,2464           44676                          CS       QUARTER                               
042531,000480: 21,2465           00006                          EXTEND                                         
042532,000481: 21,2466           51506                          INDEX    SPNDX                                 
042533,000482: 21,2467           71476                          MP       AK                                    
042534,000483: 21,2470           54001                          TS       L                                     
042535,000484: 21,2471           10000                          CCS      A                                     
042536,000485: 21,2472           32526                          CA       DACLIMIT                              
042537,000486: 21,2473           12475                          TCF      +2                                    
042538,000487: 21,2474           42526                          CS       DACLIMIT                              
042539,000488: 21,2475           60001                          AD       L                                     
042540,000489: 21,2476           55502                          TS       T5TEMP                                #  OVFLO CHK
042541,000490: 21,2477           12503                          TCF      +4                                    
042542,000491: 21,2500           50000                          INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
042543,000492: 21,2501           32526                          CAF      DACLIMIT                              
042544,000493: 21,2502           54001                          TS       L                                     
042545,000494: 21,2503           51506                          INDEX    SPNDX                                 
042546,000495: 21,2504           41503                          CS       EDRIVEX                               #  CURRENT VALUE OF DAC
042547,000496: 21,2505           60001                          AD       L                                     
042548,000497: 21,2506           51506                          INDEX    SPNDX                                 
042549,000498: 21,2507           26050                          ADS      CDUXCMD                               
042550,000499: 21,2510           51506                          INDEX    SPNDX                                 
042551,000500: 21,2511           23503                          LXCH     EDRIVEX                               
042552,000501: 21,2512           11506                          CCS      SPNDX                                 
042553,000502: 21,2513           12463                          TCF      DACLOOP                               
042554,000503: 21,2514           37707                          CAF      13,14,15                              
042555,000504: 21,2515           00006                          EXTEND                                         
042556,000505: 21,2516           05014                          WOR      CHAN14                                #  SET DAC ACTIVITY BITS
042557,000506: 21,2517           00002                          TC       Q                                     
042558,000507: 
042559,000508: 21,2520           32524        REINIT            CAF      DELAY200                              #  ........TILT LOGIC
042560,000509: 21,2521           54030                          TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
042561,000510: 21,2522           55465                          TS       T5PHASE                               
042562,000511: 21,2523           15222                          TCF      RESUME                                
042563,000512: 21,2524           37754        DELAY200          DEC      16364      B-14                       #  200MS
042564,000513: 
042565,000514: 
042566,000515: 21,2525           77177                          DEC      -384       B-14                       
042567,000516: 
042568,000517:                                                                                                 # # Page 981
042569,000518: 21,2526           37200        DACLIMIT          DEC      16000      B-14                       
042570,000519: 21,2527           00600                          DEC      384        B-14                       
042571,000520: 
042572,000521:                                                                                                 # # Page 982
042573,000522:                                                                                                 #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042574,000523: 
042575,000524:                                                                                                 #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042576,000525: 
042577,000526:                                                                                                 #  WBODY   (+1)    DFT             TAU2
042578,000527:                                                                                                 #  WBODY1  (+1)    DFT1            BIAS
042579,000528:                                                                                                 #  WBODY2  (+1)    DFT2            BIAS1
042580,000529:                                                                                                 #  ADOT    (+1)    DRHO   (+1)     BIAS2
042581,000530:                                                                                                 #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
042582,000531:                                                                                                 #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
042583,000532:                                                                                                 #  MERRORX (+1)    ATTSEC          ERRORZ
042584,000533:                                                                                                 #  MERRORY (+1)    TAU
042585,000534:                                                                                                 #  MERRORZ (+1)    TAU1
042586,000535: 21,2530           34712        FRESHDAP          CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
042587,000536: 21,2531           55332                          TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
042588,000537:                                                                                                 #                                           ATTITUDE HOLD REFERENCE
042589,000538: 
042590,000539: 21,2532           04633        REDAP             TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042591,000540: 21,2533           40145                          CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
042592,000541: 
042593,000542: 21,2534           04633                          TC       IBNKCALL                              #  DECODE IXX, IAVG, AND CONVERT
042594,000543: 21,2535           40276                          CADR     S40.14                                #  TO AUTOPILOT GAINS
042595,000544: 
042596,000545: 21,2536           32607                          CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
042597,000546: 21,2537           55506        ZEROT5            TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
042598,000547: 21,2540           34714                          CAF      ZERO                                  
042599,000548: 21,2541           51506                          INDEX    SPNDX                                 
042600,000549: 21,2542           55525                          TS       WBODY                                 
042601,000550: 21,2543           11506                          CCS      SPNDX                                 
042602,000551: 21,2544           12537                          TCF      ZEROT5                                
042603,000552: 21,2545           02616                          TCR      ZEROJET                               
042604,000553: 
042605,000554: 21,2546           44714                          CS       ZERO                                  
042606,000555: 21,2547           55633                          TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
042607,000556: 
042608,000557: 21,2550           55632                          TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
042609,000558:                                                                                                 #                                           MANUAL RATE MODES
042610,000559: 21,2551           32610                          CAF      =.24                                  
042611,000560: 21,2552           55654                          TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
042612,000561: 
042613,000562: 21,2553           34710                          CAF      FOUR                                  
042614,000563: 21,2554           55634                          TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042615,000564:                                                                                                 #                                           60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042616,000565:                                                                                                 #                                           IN (80MS - T5TIME(40MS)). THEREFORE
042617,000566:                                                                                                 #                                           PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042618,000567:                                                                                                 #                                           MS FROM NOW AND EVERY 100MS THEREAFTER
042619,000568: 
042620,000569: 21,2555           34717                          CAF      ELEVEN                                
042621,000570: 21,2556           55617                          TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER TAINS
042622,000571:                                                                                                 #                                           TO INITIALIZE THE S/C ANGULAR RATES
042623,000572:                                                                                                 # # Page 983
042624,000573: 21,2557           30032                          CA       CDUX                                  
042625,000574: 21,2560           55635                          TS       RHO                                   
042626,000575: 21,2561           30033                          CA       CDUY                                  
042627,000576: 21,2562           55636                          TS       RHO1                                  
042628,000577: 21,2563           30034                          CA       CDUZ                                  
042629,000578: 21,2564           55637                          TS       RHO2                                  
042630,000579: 21,2565           34714                          CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
042631,000580: 21,2566           55465                          TS       T5PHASE                               #  PHASE2 OF PROGRAM
042632,000581: 
042633,000582: 21,2567           41321                          CS       IMODES33                              #  CHECK IMU STATUS
042634,000583: 21,2570           74705                          MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
042635,000584: 21,2571           10000                          CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
042636,000585: 21,2572           12576                          TCF      IMUAOK                                
042637,000586: 21,2573           55617                          TS       ATTKALMN                              #  CANNOT USE IMU
042638,000587: 21,2574           32612                          CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
042639,000588: 21,2575           12603                          TCF      RCSSWIT                               #  DONT START UP RATE FILTER
042640,000589:                                                                                                 #                                           SIGNAL NO RATE FILTER
042641,000590: 
042642,000591: 21,2576           37671        IMUAOK            CAF      PRIO34                                #  START MATRIX INITIALIZATION
042643,000592: 21,2577           05027                          TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
042644,000593: 21,2600  E6,1510                                 EBANK=   KMPAC                                 
042645,000594: 21,2600           03444 44066                    2CADR    AMBGUPDT                              
042646,000595: 21,2602           32611                          CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042647,000596: 21,2603           55501        RCSSWIT           TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
042648,000597:                                                                                                 #                                             SET BIT3  -INITIALIZE NEEDLES
042649,000598:                                                                                                 #                                           CLEAR BIT4  -RESET FOR FDAIDSP1
042650,000599: 21,2604           32613                          CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042651,000600:                                                                                                 #                                           ERROR COUNTER TO ZERO.
042652,000601:                                                                                                 #                                           (MINIMUM DELAY = 15 MS)
042653,000602: 21,2605           54030                          TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042654,000603: 21,2606           05222                          TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
042655,000604:                                                                                                 #                                           FILTER WILL BEGIN OPERATING ZOOMS FROM
042656,000605:                                                                                                 #                                           NOW
042657,000606: 
042658,000607:                                                                                                 #  CONSTANTS USED IN INITIALIZATION PROGRAM
042659,000608: 
042660,000609: 21,2607           00044        NO.T5VAR          DEC      36         B-14                       
042661,000610: 21,2610           07534        =.24              DEC      .24                                   #  = SLOPE OF 0.6/SEC
042662,000611: 21,2611           00004        RCSINIT           OCT      00004                                 
042663,000612: 21,2612           20004        RCSINITB          OCT      20004                                 
042664,000613: 21,2613           37772        T5WAIT60          DEC      16378      B-14                       #  = 6 CS
042665,000614: 21,2614  E6,1510                                 EBANK=   KMPAC                                 
042666,000615: 21,2614           03646 36066  T6ADDR            2CADR    T6START                               
042667,000616: 
042668,000617: 
042669,000618: 21,2616           34717        ZEROJET           CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
042670,000619: 21,2617           55506                          TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
042671,000620: 21,2620           34714                          CAF      ZERO                                  #  AND RWORD1.
042672,000621:                                                                                                 # # Page 984
042673,000622: 21,2621           51506                          INDEX    SPNDX                                 
042674,000623: 21,2622           55451                          TS       RWORD1                                
042675,000624: 21,2623           11506                          CCS      SPNDX                                 
042676,000625: 21,2624           12617                          TCF      ZEROJET    +1                         
042677,000626: 
042678,000627: 21,2625           34710                          CAF      FOUR                                  
042679,000628: 21,2626           55462                          TS       BLAST1     +1                         
042680,000629: 21,2627           34717                          CAF      ELEVEN                                
042681,000630: 21,2630           55464                          TS       BLAST2     +1                         
042682,000631: 
042683,000632: 21,2631           44712                          CS       BIT1                                  
042684,000633: 21,2632           71501                          MASK     RCSFLAGS                              
042685,000634: 21,2633           55501                          TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
042686,000635: 
042687,000636: 21,2634           00006                          EXTEND                                         
042688,000637: 21,2635           32615                          DCA      T6ADDR                                
042689,000638: 21,2636           53311                          DXCH     T6LOC                                 
042690,000639: 21,2637           33034                          CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042691,000640: 21,2640           54031                          TS       TIME6                                 
042692,000641: 21,2641           34674                          CAF      BIT15                                 
042693,000642: 21,2642           00006                          EXTEND                                         
042694,000643: 21,2643           05013                          WOR      CHAN13                                
042695,000644: 
042696,000645: 21,2644           00002                          TC       Q                                     
042697,000646: 
042698,000647: 21,2645           11617        T5PHASE2          CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
042699,000648: 21,2646           13132                          TCF      KALUPDT                               
042700,000649: 
042701,000650: 
042702,000651: 21,2647           12651                          TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
042703,000652: 21,2650           12651                          TCF      +1                                    
042704,000653: 21,2651           32142                          CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
042705,000654: 21,2652           56030                          XCH      TIME5                                 #  (JET SELECTION LOGIC )
042706,000655: 21,2653           27634                          ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
042707,000656: 
042708,000657: 
042709,000658: 21,2654           31501                          CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
042710,000659: 21,2655           74674                          MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042711,000660: 21,2656           00006                          EXTEND                                         #  ATTKALMN TO -1
042712,000661: 21,2657           12661                          BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
042713,000662: 21,2660           44712                          CS       ONE                                   
042714,000663: 21,2661           55617        NOHIAUTO          TS       ATTKALMN                              
042715,000664: 
042716,000665:                                                                                                 # # Page 985
042717,000666:                                                                                                 #           MANUAL ROTATION COMMANDS
042718,000667: 21,2662           43016                          CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
042719,000668: 21,2663           71501                          MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
042720,000669: 21,2664           55501                          TS       RCSFLAGS                              
042721,000670: 
042722,000671: 21,2665           00006                          EXTEND                                         
042723,000672: 21,2666           00031                          READ     CHAN31                                
042724,000673: 21,2667           54001                          TS       L                                     
042725,000674: 21,2670           31632                          CA       CH31TEMP                              
042726,000675: 21,2671           00006                          EXTEND                                         
042727,000676: 21,2672           06001                          RXOR     LCHAN                                 
042728,000677: 21,2673           73022                          MASK     MANROT                                #  = OCT00077
042729,000678: 21,2674           00006                          EXTEND                                         
042730,000679: 21,2675           62710                          BZMF     NOCHANGE                              
042731,000680: 
042732,000681: 21,2676           22000                          LXCH     A                                     
042733,000682: 21,2677           55632                          TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042734,000683: 
042735,000684: 21,2700           30001                          CA       L                                     
042736,000685: 21,2701           00006                          EXTEND                                         
042737,000686: 21,2702           74706                          MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
042738,000687: 21,2703           30001                          CA       L                                     
042739,000688: 21,2704           27501                          ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
042740,000689:                                                                                                 #                                           WITH CHANGES IN COMMAND. BITS 10,9 FOR
042741,000690:                                                                                                 #                                           ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042742,000691:                                                                                                 #                                           PITCH
042743,000692: 
042744,000693: 21,2705           41501                          CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
042745,000694: 21,2706           73023                          MASK     OCT16000                              #  11 OF RCSFLAGS)
042746,000695: 21,2707           27501                          ADS      RCSFLAGS                              
042747,000696: 
042748,000697: 21,2710           41632        NOCHANGE          CS       CH31TEMP                              
042749,000698: 21,2711           73022                          MASK     MANROT                                
042750,000699: 21,2712           00006                          EXTEND                                         
042751,000700: 21,2713           63234                          BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
042752,000701: 
042753,000702: 21,2714           55332                          TS       HOLDFLAG                              #  SET HOLDFLAG +
042754,000703: 
042755,000704: 21,2715           03114                          TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042756,000705:                                                                                                 #                                           YMANNDX, AND RMANNDX ARE ALL SET, BY
042757,000706:                                                                                                 #                                           MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042758,000707:                                                                                                 #                                           +, OR - ROTATION RESPECTIVELY AS
042759,000708:                                                                                                 #                                           COMMANDED BY THE RHC.
042760,000709: 
042761,000710:                                                                                                 #                                           HOWEVER, IT IS WELL TO NOTE THAT AFTER
042762,000711:                                                                                                 #                                           THE RHC IS RETURNED TO DETENT, THE
042763,000712:                                                                                                 #                                           PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042764,000713:                                                                                                 #                                           STICKCHK SO PMANNDX, YMANNDX, AND
042765,000714:                                                                                                 #                                           RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042766,000715:                                                                                                 #                                           LEFT SET TO THEIR LAST OUT OF DETENT
042767,000716:                                                                                                 # # Page 986
042768,000717:                                                                                                 #                                           VALUES.
042769,000718: 
042770,000719: 21,2716           40075                          CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
042771,000720: 21,2717           74675                          MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
042772,000721: 21,2720           26075                          ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042773,000722: 
042774,000723: 21,2721           34675                          CAF      BIT14                                 
042775,000724: 21,2722           00006                          EXTEND                                         
042776,000725: 21,2723           02031                          RAND     CHAN31                                
042777,000726: 21,2724           00006                          EXTEND                                         
042778,000727: 21,2725           63035                          BZMF     FREEFUNC                              
042779,000728: 
042780,000729: 21,2726           31501                          CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
042781,000730: 21,2727           74675                          MASK     BIT14                                 #  HAS BEEN INITIALIZED
042782,000731: 21,2730           10000                          CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
042783,000732: 21,2731           12520                          TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
042784,000733: 
042785,000734: 21,2732           44715                          CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RTE, SET
042786,000735: 21,2733           61130                          AD       RATEINDX                              #  ATTKALMN TO -1.
042787,000736: 21,2734           00006                          EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
042788,000737: 21,2735           62740                          BZMF     +3                                    
042789,000738: 21,2736           44712                          CS       ONE                                   
042790,000739: 21,2737           55617                          TS       ATTKALMN                              
042791,000740: 
042792,000741: 
042793,000742: 21,2740           34711                          CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
042794,000743: 21,2741           55506        SETWBODY          TS       SPNDX                                 
042795,000744: 21,2742           60000                          DOUBLE                                         
042796,000745: 21,2743           55507                          TS       DPNDX                                 
042797,000746: 21,2744           51506                          INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
042798,000747: 21,2745           31656                          CA       RMANNDX                               #          = 1  + ROTATION
042799,000748: 21,2746           00006                          EXTEND                                         #          = 2  - ROTATION
042800,000749: 21,2747           12771                          BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
042801,000750:                                                                                                 #                                           GO TO NORATE.
042802,000751: 
042803,000752: 21,2750           61130                          AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
042804,000753: 21,2751           54002                          TS       Q                                     #           = 2  0.2  DEG/SEC
042805,000754: 21,2752           50002                          INDEX    Q                                     #           = 4  0.5  DEG/SEC
042806,000755: 21,2753           33023                          CA       MANTABLE   -1                         #           = 6  4.0  DEG/SEC
042807,000756: 21,2754           00006                          EXTEND                                         
042808,000757: 21,2755           74702                          MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
042809,000758: 21,2756           51507                          INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
042810,000759: 21,2757           53526                          DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
042811,000760: 
042812,000761: 21,2760           31501                          CA       RCSFLAGS                              
042813,000762: 21,2761           73023                          MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12AND
042814,000763: 21,2762           00006                          EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
042815,000764: 21,2763           13001                          BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
042816,000765:                                                                                                 #                                           ERROR.
042817,000766: 
042818,000767:                                                                                                 # # Page 987
042819,000768: 21,2764           34714        ZEROER            CA       ZERO                                  #  ZEROER ZEROS MERRORS
042820,000769: 21,2765           22007                          ZL                                             
042821,000770: 21,2766           51507                          INDEX    DPNDX                                 
042822,000771: 21,2767           53542                          DXCH     MERRORX                               
042823,000772: 21,2770           13007                          TCF      SPNDXCHK                              
042824,000773: 
042825,000774: 21,2771           22007        NORATE            ZL                                             
042826,000775: 21,2772           51507                          INDEX    DPNDX                                 
042827,000776: 21,2773           53526                          DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
042828,000777: 21,2774           31501                          CA       RCSFLAGS                              
042829,000778: 21,2775           73023                          MASK     OCT16000                              
042830,000779: 21,2776           00006                          EXTEND                                         #  IS RATE DAMPING COMPLETED
042831,000780: 21,2777           13007                          BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
042832,000781: 21,3000           12764                          TCF      ZEROER                                #  NO,GO TO ZEROER
042833,000782: 
042834,000783: 21,3001           50002        MERUPDAT          INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
042835,000784: 21,3002           43023                          CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
042836,000785: 21,3003           00006                          EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
042837,000786: 21,3004           74704                          MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
042838,000787: 21,3005           51507                          INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
042839,000788: 21,3006           21542                          DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
042840,000789: 
042841,000790: 21,3007           51507        SPNDXCHK          INDEX    DPNDX                                 
042842,000791: 21,3010           31541                          CA       MERRORX                               
042843,000792: 21,3011           51506                          INDEX    SPNDX                                 
042844,000793: 21,3012           55567                          TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
042845,000794: 21,3013           11506                          CCS      SPNDX                                 
042846,000795: 21,3014           12741                          TCF      SETWBODY                              
042847,000796: 21,3015           13425                          TCF      JETS                                  
042848,000797: 
042849,000798: 
042850,000799: 21,3016           01760        OCT01760          OCT      01760                                 #  FORCED FIRING BITS MASK
042851,000800: 
042852,000801: 21,3017           01400        OCT01400          OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
042853,000802: 21,3020           00060        OCT00060          OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
042854,000803: 21,3021           00300        OCT00300          OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
042855,000804:                                                                                                 #                                                                         PRESERVED
042856,000805:                                                                                                 #                                                                       FOR INDEXING
042857,000806: 21,3022           00077        MANROT            OCT      77                                    
042858,000807: 21,3023           16000        OCT16000          OCT      16000                                 #  RATE DAMPING FLAGS MASK
042859,000808: 21,3024           00165        MANTABLE          DEC      .0071111                              
042860,000809: 21,3025           77612                          DEC      -.0071111                             
042861,000810: 21,3026           00722                          DEC      .028444                               
042862,000811: 21,3027           77055                          DEC      -.028444                              
042863,000812: 21,3030           02215                          DEC      .071111                               
042864,000813: 21,3031           75562                          DEC      -.071111                              
042865,000814: 21,3032           22151                          DEC      .568889                               
042866,000815: 21,3033           55626                          DEC      -.568889                              
042867,000816: 21,3034           00027        =+14MS            DEC      23         B-14                       
042868,000817: 21,3035           51656        FREEFUNC          INDEX    RMANNDX                               #  ACCELERATION
042869,000818:                                                                                                 # # Page 988
042870,000819: 21,3036           33047                          CA       FREETAU                               #  COMMANDS
042871,000820: 21,3037           55561                          TS       TAU                                   
042872,000821: 21,3040           51657                          INDEX    PMANNDX                               
042873,000822: 21,3041           33047                          CA       FREETAU                               #  FREETAU    0 SEC
042874,000823: 21,3042           55562                          TS       TAU1                                  #  +1        +0.10 SEC
042875,000824: 21,3043           51660                          INDEX    YMANNDX                               #  +2        -0.10 SEC
042876,000825: 21,3044           33047                          CA       FREETAU                               #  (+3)       0 SEC
042877,000826: 21,3045           55563                          TS       TAU2                                  
042878,000827: 21,3046           13053                          TCF      T6PROGM                               
042879,000828: 
042880,000829: 21,3047           00000        FREETAU           DEC      0          B-14                       
042881,000830: 21,3050           00740                          DEC      480        B-14                       
042882,000831: 21,3051           77037                          DEC      -480       B-14                       
042883,000832: 21,3052           00000                          DEC      0          B-14                       
042884,000833: 
042885,000834: 21,3053           34714        T6PROGM           CAF      ZERO                                  #  FOR MANUAL ROTATIONS
042886,000835: 21,3054           55567                          TS       ERRORX                                
042887,000836: 21,3055           55570                          TS       ERRORY                                
042888,000837: 21,3056           55571                          TS       ERRORZ                                
042889,000838: 21,3057           13743                          TCF      T6PROG                                
042890,000839: 
042891,000840:                                                                                                 # # Page 989
042892,000841: 21,3060           06604                          DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
042893,000842: 21,3061           32703                          DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
042894,000843: 21,3062           06604                          DEC      .2112                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
042895,000844: 21,3063           02031        GAIN1             DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
042896,000845: 21,3064           12132                          DEC      .3180                                 #  OF ATTITUDE RATES
042897,000846: 21,3065           13030                          DEC      .3452                                 
042898,000847: 21,3066           14047                          DEC      .3774                                 
042899,000848: 21,3067           15241                          DEC      .4161                                 
042900,000849: 21,3070           16650                          DEC      .4634                                 
042901,000850: 21,3071           20555                          DEC      .5223                                 
042902,000851: 21,3072           23065                          DEC      .5970                                 
042903,000852: 21,3073           26137                          DEC      .6933                                 
042904,000853: 21,3074           32053                          DEC      .8151                                 
042905,000854: 21,3075           35712                          DEC      .9342                                 
042906,000855: 
042907,000856: 21,3076           00435                          DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
042908,000857: 21,3077           13412                          DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
042909,000858: 21,3100           00435                          DEC      .0174                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
042910,000859: 21,3101           00032        GAIN2             DEC      .0016                                 #  SCALED 10
042911,000860: 21,3102           01350                          DEC      .0454                                 
042912,000861: 21,3103           01575                          DEC      .0545                                 
042913,000862: 21,3104           02103                          DEC      .0666                                 
042914,000863: 21,3105           02523                          DEC      .0832                                 
042915,000864: 21,3106           03327                          DEC      .1069                                 
042916,000865: 21,3107           04432                          DEC      .1422                                 
042917,000866: 21,3110           06264                          DEC      .1985                                 
042918,000867: 21,3111           11351                          DEC      .2955                                 
042919,000868: 21,3112           17324                          DEC      .4817                                 
042920,000869: 21,3113           33622                          DEC      .8683                                 
042921,000870: 21,3114           55502        STICKCHK          TS       T5TEMP                                
042922,000871: 21,3115           76214                          MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
042923,000872: 21,3116           55657                          TS       PMANNDX                               
042924,000873: 21,3117           31502                          CA       T5TEMP                                
042925,000874: 21,3120           00006                          EXTEND                                         #  MAN RATE 0   0 RATE (DP)
042926,000875: 21,3121           74676                          MP       QUARTER                               #           +1   +RATE (DP)
042927,000876: 21,3122           55502                          TS       T5TEMP                                #           +2   -RATE (DP)
042928,000877: 21,3123           76214                          MASK     THREE                                 #          (+3)  0 RATE (DP)
042929,000878: 21,3124           55660                          TS       YMANNDX                               
042930,000879: 21,3125           31502                          CA       T5TEMP                                
042931,000880: 21,3126           00006                          EXTEND                                         
042932,000881: 21,3127           74676                          MP       QUARTER                               
042933,000882: 21,3130           55656                          TS       RMANNDX                               
042934,000883: 21,3131           00002                          TC       Q                                     
042935,000884: 
042936,000885: 
042937,000886: 21,3132           55617        KALUPDT           TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
042938,000887:                                                                                                 #                                           KALMAN FILTER TAKES 1.1 SEC
042939,000888: 
042940,000889: 21,3133           32141                          CA       DELTATT                               #  =1SEC - 80MS
042941,000890: 21,3134           61634                          AD       T5TIME                                #  + DELAYS
042942,000891:                                                                                                 # # Page 990
042943,000892: 21,3135           54030                          TS       TIME5                                 
042944,000893: 21,3136           13141                          TCF      +3                                    
042945,000894: 21,3137           32142                          CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
042946,000895: 21,3140           54030                          TS       TIME5                                 #  A T5RUPT
042947,000896: 
042948,000897: 
042949,000898: 21,3141           44714        KRESUME2          CS       ZERO                                  #  RESET FOR PHASE1
042950,000899: 21,3142           55465                          TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
042951,000900: 21,3143           15222                          TCF      RESUME                                
042952,000901: 
042953,000902: 
042954,000903: 21,3144           44707        FDAIDSP2          CS       BIT4                                  #  RESET FOR FDAIDSP1
042955,000904: 21,3145           71501                          MASK     RCSFLAGS                              
042956,000905: 21,3146           55501                          TS       RCSFLAGS                              
042957,000906: 
042958,000907: 21,3147           40074                          CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
042959,000908: 21,3150           74702                          MASK     BIT9                                  #  ERRORS
042960,000909: 21,3151           00006                          EXTEND                                         
042961,000910: 21,3152           13161                          BZF      FDAITOTL                              
042962,000911: 21,3153           00006                          EXTEND                                         
042963,000912: 21,3154           41570                          DCS      ERRORX                                #  OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
042964,000913: 21,3155           53477                          DXCH     AK                                    
042965,000914: 21,3156           41571                          CS       ERRORZ                                
042966,000915: 21,3157           55500                          TS       AK2                                   
042967,000916: 21,3160           15222                          TCF      RESUME                                #  END PHASE 1
042968,000917: 
042969,000918: 
042970,000919: 21,3161           30105        FDAITOTL          CA       FLAGWRD9                              
042971,000920: 21,3162           74705                          MASK     BIT6                                  
042972,000921: 21,3163           00006                          EXTEND                                         
042973,000922: 21,3164           13227                          BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
042974,000923:                                                                                                 #                                           IF SO, GO TO WRTN17
042975,000924: 21,3165           00006        WRTN22            EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
042976,000925: 21,3166           31157                          DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
042977,000926: 21,3167           53514                          DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
042978,000927: 21,3170           31155                          CA       CPHI                                  #  COMPONENTS OF N22
042979,000928: 
042980,000929: 21,3171           00006        GETAKS            EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
042981,000930: 21,3172           20032                          MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
042982,000931: 21,3173           55476                          TS       AK                                    
042983,000932: 21,3174           31513                          CA       WTEMP                                 
042984,000933: 21,3175           00006                          EXTEND                                         
042985,000934: 21,3176           20033                          MSU      CDUY                                  
042986,000935: 21,3177           55502                          TS       T5TEMP                                
042987,000936: 21,3200           00006                          EXTEND                                         
042988,000937: 21,3201           71640                          MP       AMGB1                                 
042989,000938: 21,3202           27476                          ADS      AK                                    
042990,000939: 21,3203           31502                          CA       T5TEMP                                
042991,000940: 21,3204           00006                          EXTEND                                         
042992,000941: 21,3205           71641                          MP       AMGB4                                 
042993,000942:                                                                                                 # # Page 991
042994,000943: 21,3206           55477                          TS       AK1                                   
042995,000944: 21,3207           31502                          CA       T5TEMP                                
042996,000945: 21,3210           00006                          EXTEND                                         
042997,000946: 21,3211           71643                          MP       AMGB7                                 
042998,000947: 21,3212           55500                          TS       AK2                                   
042999,000948: 21,3213           31514                          CA       WTEMP      +1                         
043000,000949: 21,3214           00006                          EXTEND                                         
043001,000950: 21,3215           20034                          MSU      CDUZ                                  
043002,000951: 21,3216           55502                          TS       T5TEMP                                
043003,000952: 21,3217           00006                          EXTEND                                         
043004,000953: 21,3220           71642                          MP       AMGB5                                 
043005,000954: 21,3221           27477                          ADS      AK1                                   
043006,000955: 21,3222           31502                          CA       T5TEMP                                
043007,000956: 21,3223           00006                          EXTEND                                         
043008,000957: 21,3224           71644                          MP       AMGB8                                 
043009,000958: 21,3225           27500                          ADS      AK2                                   
043010,000959: 21,3226           15222                          TCF      RESUME                                #  END PHASE1 OF RCS DAP
043011,000960: 
043012,000961: 21,3227           00006        WRTN17            EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
043013,000962: 21,3230           31335                          DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
043014,000963: 21,3231           53514                          DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
043015,000964: 21,3232           31333                          CA       CPHIX                                 
043016,000965: 21,3233           13171                          TCF      GETAKS                                
043017,000966: 
043018,000967:                                                                                                 # # Page 992

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