Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. 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
Note that the date is the date of the printout, not the date of the program revision.

042271,000002:                                                                                                  ## Copyright:   Public domain.
042272,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
042273,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
042274,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
042275,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
042276,000007:                                                                                                  ## Assembler:   yaYUL
042277,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
042278,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042279,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042280,000011:                                                                                                  ## Mod history: 2011-03-17 JL   Adapted from corresponding Colossus 249 file.
042281,000012:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
042282,000013:                                                                                                  ##                              and fixed errors found.
042283,000014: 

Page 970

042285,000016:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042286,000017:                                                                                                  #       START OF T5 INTERRUPT PROGRAM
042287,000018: 
042288,000019: 20,3550                                           BANK     20                                    
042289,000020: 21,2000                                           SETLOC   DAPS3                                 
042290,000021: 21,2000                                           BANK                                           
042291,000022: 
042292,000023: 21,2071                                           COUNT    21/DAPRC                              
042293,000024: 
042294,000025: 21,2071  E6,1510                                  EBANK=   KMPAC                                 
042295,000026: 21,2071           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
042296,000027: 21,2072           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
042297,000028: 21,2073           00006                           EXTEND                                         
042298,000029: 21,2074           62076                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
042299,000030: 21,2075           12100                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
042300,000031: 21,2076           44712                           CS       ONE                                   
042301,000032: 21,2077           55465                           TS       T5PHASE                               
042302,000033: 21,2100           00006                           EXTEND                                         
042303,000034: 21,2101           32105                           DCA      RCSLOC                                
042304,000035: 21,2102           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
042305,000036: 21,2103           12107                           TCF      RCSATT     +1                         
042306,000037: 21,2104  E6,1510                                  EBANK=   KMPAC                                 
042307,000038: 21,2104           02106 42066  RCSLOC             2CADR    RCSATT                                
042308,000039: 
042309,000040: 
042310,000041: 21,2106           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
042311,000042: 21,2107           00006                           EXTEND                                         #  SAVE Q
042312,000043: 21,2110           22012                           QXCH     QRUPT                                 
042313,000044: 21,2111           34674                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042314,000045: 21,2112           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042315,000046: 21,2113           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
042316,000047: 21,2114           00006                           EXTEND                                         
042317,000048: 21,2115           12144                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
042318,000049:                                                                                                  #                                          GO TO SETT5
042319,000050: 
042320,000051: 21,2116           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042321,000052: 21,2117           74675                           MASK     BIT14                                 
042322,000053: 21,2120           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
042323,000054: 21,2121           34672                           CAF      POSMAX                                
042324,000055: 21,2122           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
042325,000056: 21,2123           34714                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
042326,000057: 21,2124           55567                           TS       ERRORX                                
042327,000058: 21,2125           55570                           TS       ERRORY                                
042328,000059: 21,2126           55571                           TS       ERRORZ                                
042329,000060: 21,2127           34675                           CAF      BIT14                                 
042330,000061: 21,2130           00006                           EXTEND                                         
042331,000062: 21,2131           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
042332,000063: 21,2132           00006                           EXTEND                                         

Page 971

042334,000065: 21,2133           12144                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
042335,000066: 
042336,000067: 21,2134           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
042337,000068: 21,2135           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
042338,000069: 21,2136           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
042339,000070: 
042340,000071: 21,2137           02616                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042341,000072: 
042342,000073: 21,2140           12334                           TCF      KMATRIX                               
042343,000074: 21,2141           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
042344,000075: 21,2142           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
042345,000076: 21,2143           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
042346,000077: 21,2144                        CHAN5              EQUALS   5                                     
042347,000078: 21,2144                        CHAN6              EQUALS   6                                     
042348,000079: 21,2144     7671               PRIO34A            =        PRIO34                                
042349,000080: 
042350,000081:                                                                                                  #           CHECK PHASE OF T5 PROGRAM
042351,000082: 
042352,000083:                                                                                                  #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
042353,000084:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042354,000085:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
042355,000086:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042356,000087:                                                                                                  #  VARIABLES AT TURN ON.
042357,000088:                                                                                                  #  THE CODING OF T5PHASE IS...
042358,000089: 
042359,000090:                                                                                                  #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
042360,000091:                                                                                                  #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042361,000092:                                                                                                  #             - = RESTART DAP
042362,000093:                                                                                                  #            -0 = PHASE1 OF THE T5 PROGRAM
042363,000094: 
042364,000095: 21,2144           11465        SETT5              CCS      T5PHASE                               
042365,000096: 21,2145           12530                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
042366,000097: 21,2146           12645                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
042367,000098: 21,2147           12532                           TCF      REDAP                                 #  RESTART AUTOPILOT
042368,000099: 
042369,000100: 
042370,000101: 21,2150           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
042371,000102: 21,2151           30030                           CA       TIME5                                 
042372,000103: 21,2152           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
042373,000104: 21,2153           32142                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
042374,000105: 21,2154           54030                           TS       TIME5                                 #  OF PROGRAM
042375,000106: 

Page 972

042377,000108:                                                                                                  #  IMU STATUS CHECK
042378,000109: 
042379,000110: 21,2155           41321                           CS       IMODES33                              #  CHECK IMU STATUS
042380,000111: 21,2156           74705                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
042381,000112: 21,2157           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
042382,000113: 21,2160           12174                           TCF      RATEFILT                              
042383,000114: 21,2161           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
042384,000115: 21,2162           74675                           MASK     BIT14                                 #  INITIALIZED
042385,000116: 21,2163           27501                           ADS      RCSFLAGS                              
042386,000117: 21,2164           34675                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
042387,000118: 21,2165           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
042388,000119:                                                                                                  #                                          TO PICK UP CDU ANGLES UPON RESUMPTION OF
042389,000120:                                                                                                  #                                          ATTITUDE HOLD
042390,000121: 21,2166           00006                           EXTEND                                         
042391,000122: 21,2167           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
042392,000123: 21,2170           00006                           EXTEND                                         
042393,000124: 21,2171           12403                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
042394,000125: 21,2172           12520                           TCF      REINIT                                #  .....TILT...............................
042395,000126: 21,2173           00030        BITS4,5            OCT      30                                    
042396,000127: 
042397,000128: 
042398,000129: 21,2174           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
042399,000130: 21,2175           74675                           MASK     BIT14                                 
042400,000131: 21,2176           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
042401,000132: 21,2177           12201                           BZF      +2                                    
042402,000133: 21,2200           12334                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
042403,000134: 
042404,000135:                                                                                                  #           RATE FILTER     TIMING = 7.72MS
042405,000136: 
042406,000137:                                                                                                  #  RATE FILTER EQUATIONS
042407,000138:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042408,000139:                                                                                                  #                                            -1
042409,000140:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
042410,000141:                                                                                                  #             -1
042411,000142:                                                                                                  #        -        *     -     -
042412,000143:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
042413,000144:                                                                                                  #                                -1
042414,000145: 
042415,000146: 21,2201           34711                           CAF      TWO                                   
042416,000147: 21,2202           55506        DRHOLOOP           TS       SPNDX                                 
042417,000148: 21,2203           60000                           DOUBLE                                         
042418,000149: 21,2204           55507                           TS       DPNDX                                 
042419,000150: 21,2205           51507                           INDEX    DPNDX                                 
042420,000151: 21,2206           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
042421,000152: 21,2207           00006                           EXTEND                                         
042422,000153: 21,2210           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
042423,000154: 21,2211           73063                           MP       GAIN1                                 
042424,000155: 21,2212           51507                           INDEX    DPNDX                                 
042425,000156: 21,2213           21553                           DAS      DRHO                                  #  (1 -.064)DRHO
042426,000157: 21,2214           00006                           EXTEND                                         

Page 973

042428,000159: 21,2215           51507                           INDEX    DPNDX                                 
042429,000160: 21,2216           41534                           DCS      ADOT                                  
042430,000161: 21,2217           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
042431,000162: 21,2220           34676                           CA       QUARTER                               
042432,000163: 21,2221           02026                           TC       SMALLMP                               
042433,000164: 21,2222           53511                           DXCH     KMPAC                                 
042434,000165: 21,2223           51507                           INDEX    DPNDX                                 
042435,000166: 21,2224           21553                           DAS      DRHO                                  
042436,000167: 21,2225           11506                           CCS      SPNDX                                 
042437,000168: 21,2226           12202                           TCF      DRHOLOOP                              
042438,000169: 
042439,000170: 21,2227           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
042440,000171: 21,2230           57635                           XCH      RHO                                   
042441,000172: 21,2231           00006                           EXTEND                                         
042442,000173: 21,2232           21635                           MSU      RHO                                   #  -        *     -     -
042443,000174: 21,2233           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
042444,000175:                                                                                                  #                                                                  -1
042445,000176: 21,2234           22007                           ZL                                             
042446,000177: 21,2235           53516                           DXCH     DELTEMPX                              
042447,000178: 21,2236           30033                           CA       CDUY                                  
042448,000179: 21,2237           57636                           XCH      RHO1                                  
042449,000180: 21,2240           00006                           EXTEND                                         
042450,000181: 21,2241           21636                           MSU      RHO1                                  
042451,000182: 21,2242           40000                           COM                                            
042452,000183: 21,2243           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
042453,000184: 21,2244           00006                           EXTEND                                         
042454,000185: 21,2245           71640                           MP       AMGB1                                 
042455,000186: 21,2246           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042456,000187:                                                                                                  #                                          MUST BE DOUBLE PRECISION OR WILL LOSE
042457,000188:                                                                                                  #                                          PULSES
042458,000189: 21,2247           31641                           CA       AMGB4                                 
042459,000190: 21,2250           00006                           EXTEND                                         
042460,000191: 21,2251           71502                           MP       T5TEMP                                
042461,000192: 21,2252           53520                           DXCH     DELTEMPY                              
042462,000193: 21,2253           31643                           CA       AMGB7                                 
042463,000194: 21,2254           00006                           EXTEND                                         
042464,000195: 21,2255           71502                           MP       T5TEMP                                
042465,000196: 21,2256           53522                           DXCH     DELTEMPZ                              
042466,000197: 21,2257           30034                           CA       CDUZ                                  
042467,000198: 21,2260           57637                           XCH      RHO2                                  
042468,000199: 21,2261           00006                           EXTEND                                         
042469,000200: 21,2262           21637                           MSU      RHO2                                  
042470,000201: 21,2263           40000                           COM                                            
042471,000202: 21,2264           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
042472,000203: 21,2265           00006                           EXTEND                                         
042473,000204: 21,2266           71642                           MP       AMGB5                                 
042474,000205: 21,2267           21520                           DAS      DELTEMPY                              #  DELTEMPY =AMGB4(CDUY-RHO1)
042475,000206:                                                                                                  #                                                          + AMGB5(CDUZ-RHO2)
042476,000207: 21,2270           31644                           CA       AMGB8                                 
042477,000208: 21,2271           00006                           EXTEND                                         

Page 974

042479,000210: 21,2272           71502                           MP       T5TEMP                                
042480,000211: 21,2273           21522                           DAS      DELTEMPZ                              #  DELTEMPZ =AMGB7(CDUY-RHO1)
042481,000212:                                                                                                  #                                                         + AMGB8(CDUZ-RHO2)
042482,000213: 21,2274           34711                           CAF      TWO                                   
042483,000214: 21,2275           55506        ADOTLOOP           TS       SPNDX                                 
042484,000215: 21,2276           60000                           DOUBLE                                         
042485,000216: 21,2277           55507                           TS       DPNDX                                 
042486,000217: 21,2300           00006                           EXTEND                                         
042487,000218: 21,2301           51507                           INDEX    DPNDX                                 
042488,000219: 21,2302           31516                           DCA      DELTEMPX                              
042489,000220: 21,2303           51507                           INDEX    DPNDX                                 
042490,000221: 21,2304           21553                           DAS      DRHO                                  
042491,000222: 21,2305           00006                           EXTEND                                         
042492,000223: 21,2306           51507                           INDEX    DPNDX                                 
042493,000224: 21,2307           31516                           DCA      DELTEMPX                              
042494,000225: 21,2310           51507                           INDEX    DPNDX                                 
042495,000226: 21,2311           21542                           DAS      MERRORX                               
042496,000227: 21,2312           51507                           INDEX    DPNDX                                 
042497,000228: 21,2313           31552                           CA       DRHO                                  
042498,000229: 21,2314           60000                           DOUBLE                                         #  N.B.
042499,000230: 21,2315           60000                           DOUBLE                                         #  N.B.
042500,000231: 21,2316           00006                           EXTEND                                         
042501,000232: 21,2317           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
042502,000233: 21,2320           73101                           MP       GAIN2                                 
042503,000234: 21,2321           51507                           INDEX    DPNDX                                 #  ADOT  + (.16)(.1)DRHO
042504,000235: 21,2322           21534                           DAS      ADOT                                  #      -1
042505,000236: 21,2323           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
042506,000237: 21,2324           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
042507,000238: 21,2325           00006                           EXTEND                                         
042508,000239: 21,2326           51506                           INDEX    SPNDX                                 
042509,000240: 21,2327           71547                           MP       DFT                                   
042510,000241: 21,2330           51507                           INDEX    DPNDX                                 
042511,000242: 21,2331           21534                           DAS      ADOT                                  #  KMJ(DFT)
042512,000243: 21,2332           11506                           CCS      SPNDX                                 
042513,000244: 21,2333           12275                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
042514,000245: 21,2334           31560        KMATRIX            CA       ATTSEC                                
042515,000246: 21,2335           74721                           MASK     LOW4                                  
042516,000247: 21,2336           10000                           CCS      A                                     
042517,000248: 21,2337           12345                           TCF      TENTHSEK                              
042518,000249: 21,2340           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042519,000250: 21,2341           05027                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
042520,000251: 21,2342  E6,1510                                  EBANK=   KMPAC                                 
042521,000252: 21,2342           03444 44066                     2CADR    AMBGUPDT                              
042522,000253: 21,2344           34334                           CAF      NINE                                  
042523,000254: 
042524,000255: 21,2345           55560        TENTHSEK           TS       ATTSEC                                
042525,000256: 

Page 975

042527,000258:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042528,000259:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042529,000260: 
042530,000261:                                                                                                  #           CDUXD = CDUXD + DELCDUX    (DOUBLE PRECISION)
042531,000262:                                                                                                  #           CDUYD = CDUYD + DELCDUY    (DOUBLE PRECISION)
042532,000263:                                                                                                  #           CDUZD = CDUZD + DELCDUZ    (DOUBLE PRECISION)
042533,000264: 
042534,000265:                                                                                                  #  THE STEERING PROGRAMS-
042535,000266:                                                                                                  #           1) ATTITUDE MANEUVER ROUTINE
042536,000267:                                                                                                  #           2) LEM TRACKING
042537,000268: 
042538,000269:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042539,000270:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042540,000271: 
042541,000272:                                                                                                  #  HOLDFLAG CODING-
042542,000273: 
042543,000274:                                                                                                  #      +  = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042544,000275:                                                                                                  #           AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042545,000276:                                                                                                  #           ALSO IGNORE AUTOMATIC STEERING
042546,000277:                                                                                                  #           SET = + BY
042547,000278:                                                                                                  #                  1) INITIALIZATION PHASE OF AUTOPILOT
042548,000279:                                                                                                  #                  2) OCCURANCE OF RHC COMMANDS
042549,000280:                                                                                                  #                  3) FREE MODE
042550,000281:                                                                                                  #                  4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042551,000282:                                                                                                  #                     WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042552,000283:                                                                                                  #                     HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042553,000284:                                                                                                  #                     FUNCTIONS AS IF IT WERE.)
042554,000285:                                                                                                  #                  5) S/C CONTROL SWITCH IN SCS
042555,000286:                                                                                                  #                  6) IMU POWER OFF
042556,000287:                                                                                                  #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042557,000288:                                                                                                  #       - = PERFORMING AUTOMATIC MANEUVER
042558,000289:                                                                                                  #      -0 = NOT USED AT PRESENT
042559,000290: 
042560,000291: 
042561,000292:                                                                                                  #         NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042562,000293:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO 
042563,000294:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042564,000295: 
042565,000296: 
042566,000297: 21,2346           41332                           CS       HOLDFLAG                              
042567,000298: 21,2347           00006                           EXTEND                                         
042568,000299: 21,2350           62375                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042569,000300:                                                                                                  #                                          COMMANDS
042570,000301: 21,2351           34711        DCDUINCR           CAF      TWO                                   
042571,000302: 21,2352           55506        DELOOP             TS       SPNDX                                 
042572,000303: 21,2353           60000                           DOUBLE                                         
042573,000304: 21,2354           55507                           TS       DPNDX                                 
042574,000305: 21,2355           00006                           EXTEND                                         
042575,000306: 21,2356           50000                           INDEX    A                                     
042576,000307: 21,2357           31647                           DCA      CDUXD                                 

Page 976

042578,000309: 21,2360           53511                           DXCH     KMPAC                                 
042579,000310: 21,2361           00006                           EXTEND                                         
042580,000311: 21,2362           51507                           INDEX    DPNDX                                 
042581,000312: 21,2363           31576                           DCA      DELCDUX                               
042582,000313: 21,2364           02040                           TC       DPADD                                 
042583,000314: 21,2365           00006                           EXTEND                                         
042584,000315: 21,2366           31511                           DCA      KMPAC                                 
042585,000316: 21,2367           51506                           INDEX    SPNDX                                 
042586,000317: 21,2370           55572                           TS       THETADX                               
042587,000318: 21,2371           51507                           INDEX    DPNDX                                 
042588,000319: 21,2372           53647                           DXCH     CDUXD                                 
042589,000320: 21,2373           11506                           CCS      SPNDX                                 
042590,000321: 21,2374           12352                           TCF      DELOOP                                
042591,000322: 

Page 977

042593,000324:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042594,000325: 
042595,000326:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042596,000327: 
042597,000328:                                                                                                  #           MODE 1) AUTOPILOT FOLLOWING ERRORS                 SELECTED BY V61E
042598,000329:                                                                                                  #                   GENERATED INTERNALLY BY THE AUTOPILOT
042599,000330: 
042600,000331:                                                                                                  #           MODE 2) TOTAL ATTITUDE ERRORS                      SELECTED BY V62E
042601,000332:                                                                                                  #                   WITH RESPECT TO THE CONTENTS OF N22
042602,000333: 
042603,000334:                                                                                                  #           MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS            SELECTED BY V63E
042604,000335:                                                                                                  #                   WITH RESPECT TO THE CONTENTS OF N17
042605,000336: 
042606,000337:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
042607,000338:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042608,000339: 
042609,000340:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042610,000341:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042611,000342:                                                                                                  #  AS A FLY-TO INDICATOR.
042612,000343: 
042613,000344:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042614,000345:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042615,000346:                                                                                                  #  AS A FLY-TO INDICATOR.
042616,000347: 
042617,000348:                                                                                                  #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042618,000349:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
042619,000350: 
042620,000351:                                                                                                  #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042621,000352:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
042622,000353:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042623,000354: 
042624,000355: 
042625,000356: 21,2375           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
042626,000357: 21,2376           74707                           MASK     BIT4                                  
042627,000358: 21,2377           00006                           EXTEND                                         
042628,000359: 21,2400           13144                           BZF      FDAIDSP2                              
042629,000360: 
042630,000361: 21,2401           27501        FDAIDSP1           ADS      RCSFLAGS                              
042631,000362: 21,2402           02404                           TC       NEEDLER                               
042632,000363: 21,2403           15222        KRESUME1           TCF      RESUME                                #  END PHASE 1
042633,000364: 

Page 978

042635,000366:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042636,000367: 
042637,000368:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
042638,000369: 
042639,000370:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042640,000371:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042641,000372:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042642,000373:                                                                                                  #  THE DACS.
042643,000374: 
042644,000375: 
042645,000376:                                                                                                  #  CALLING SEQUENCE:
042646,000377: 
042647,000378:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042648,000379:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042649,000380: 
042650,000381:                                                                                                  #           CS     RCSFLAGS        IN EBANK6
042651,000382:                                                                                                  #           MASK   BIT3
042652,000383:                                                                                                  #           ADS    RCSFLAGS
042653,000384: 
042654,000385:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
042655,000386: 
042656,000387:                                                                                                  #           AK     SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
042657,000388:                                                                                                  #           AK1    SCALED 180 DEGREES        TO CHANGE
042658,000389:                                                                                                  #           AK2    SCALED 180 DEGREES
042659,000390: 
042660,000391:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042661,000392:                                                                                                  #           (= 384 BITS IN IMU ERROR COUNTER)
042662,000393: 
042663,000394:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042664,000395: 
042665,000396:                                                                                                  #           INHINT
042666,000397:                                                                                                  #           TC     IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
042667,000398:                                                                                                  #           CADR   NEEDLER
042668,000399:                                                                                                  #           RELINT
042669,000400: 
042670,000401:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
042671,000402:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042672,000403:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042673,000404: 
042674,000405:                                                                                                  #  ERASABLE USED:
042675,000406:                                                                                                  #                       AK         CDUXCMD
042676,000407:                                                                                                  #                       AK1        CDUYCMD
042677,000408:                                                                                                  #                       AK2        CDUZCMD
042678,000409:                                                                                                  #                       EDRIVEX    A,L,Q
042679,000410:                                                                                                  #                       EDRIVEY    T5TEMP
042680,000411:                                                                                                  #                       EDRIVEZ    SPNDX
042681,000412: 
042682,000413:                                                                                                  #  SWITCHES:            RCSFLAGS   BITS 3,2
042683,000414: 
042684,000415:                                                                                                  #  I/O CHANNELS:        CHAN12     BIT 4 (COARSE ALIGN - READ ONLY)

Page 979

042686,000417:                                                                                                  #                       CHAN12     BIT 6 (IMU ERROR COUNTER ENABLE)
042687,000418:                                                                                                  #                       CHAN14     BIT 13,14,15 (DAC ACTIVITY)
042688,000419: 
042689,000420: 
042690,000421:                                                                                                  #  SIGN CONVENTION<   AK = THETAC - THETA
042691,000422:                                                                                                  #            WHERE    THETAC = COMMAND ANGLE
042692,000423:                                                                                                  #                     THETA = PRESENT ANGLE
042693,000424: 
042694,000425: 
042695,000426: 21,2404           34707        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
042696,000427: 21,2405           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
042697,000428: 21,2406           02012                           RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
042698,000429: 21,2407           00006                           EXTEND                                         
042699,000430: 21,2410           12415                           BZF      NEEDLER1                              
042700,000431: 21,2411           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
042701,000432: 21,2412           74710                           MASK     BIT3                                  
042702,000433: 21,2413           27501                           ADS      RCSFLAGS                              
042703,000434: 21,2414           00002                           TC       Q                                     
042704,000435: 
042705,000436: 21,2415           31501        NEEDLER1           CA       RCSFLAGS                              
042706,000437: 21,2416           76211                           MASK     SIX                                   
042707,000438: 21,2417           00006                           EXTEND                                         
042708,000439: 21,2420           12455                           BZF      NEEDLES3                              
042709,000440: 21,2421           74710                           MASK     BIT3                                  
042710,000441: 21,2422           00006                           EXTEND                                         
042711,000442: 21,2423           12446                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
042712,000443: 
042713,000444: 21,2424           44705                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
042714,000445: 21,2425           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
042715,000446: 21,2426           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
042716,000447: 21,2427           44714        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
042717,000448: 21,2430           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
042718,000449: 21,2431           55477                           TS       AK1                                   
042719,000450: 21,2432           55500                           TS       AK2                                   
042720,000451: 21,2433           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
042721,000452: 21,2434           55504                           TS       EDRIVEY                               
042722,000453: 21,2435           55505                           TS       EDRIVEZ                               
042723,000454: 21,2436           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
042724,000455: 21,2437           54051                           TS       CDUYCMD                               
042725,000456: 21,2440           54052                           TS       CDUZCMD                               
042726,000457: 21,2441           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
042727,000458: 21,2442           71501                           MASK     RCSFLAGS                              
042728,000459: 21,2443           64711                           AD       BIT2                                  
042729,000460: 21,2444           55501                           TS       RCSFLAGS                              
042730,000461: 21,2445           00002                           TC       Q                                     #  END PASS1
042731,000462: 
042732,000463: 21,2446           34705        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
042733,000464: 21,2447           00006                           EXTEND                                         
042734,000465: 21,2450           05012                           WOR      CHAN12                                
042735,000466: 21,2451           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 980

042737,000468: 21,2452           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT ATLEAST 4 MS FOR
042738,000469: 21,2453           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
042739,000470: 21,2454           00002                           TC       Q                                     
042740,000471: 
042741,000472: 
042742,000473: 21,2455           34705        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
042743,000474: 21,2456           00006                           EXTEND                                         #  IS ENABLED
042744,000475: 21,2457           02012                           RAND     CHAN12                                
042745,000476: 21,2460           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
042746,000477: 21,2461           12411                           BZF      NEEDLER    +5                         
042747,000478: 
042748,000479: 21,2462           34711        NEEDLES            CAF      TWO                                   
042749,000480: 21,2463           55506        DACLOOP            TS       SPNDX                                 
042750,000481: 21,2464           44676                           CS       QUARTER                               
042751,000482: 21,2465           00006                           EXTEND                                         
042752,000483: 21,2466           51506                           INDEX    SPNDX                                 
042753,000484: 21,2467           71476                           MP       AK                                    
042754,000485: 21,2470           54001                           TS       L                                     
042755,000486: 21,2471           10000                           CCS      A                                     
042756,000487: 21,2472           32526                           CA       DACLIMIT                              
042757,000488: 21,2473           12475                           TCF      +2                                    
042758,000489: 21,2474           42526                           CS       DACLIMIT                              
042759,000490: 21,2475           60001                           AD       L                                     
042760,000491: 21,2476           55502                           TS       T5TEMP                                #  OVFLO CHK
042761,000492: 21,2477           12503                           TCF      +4                                    
042762,000493: 21,2500           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
042763,000494: 21,2501           32526                           CAF      DACLIMIT                              
042764,000495: 21,2502           54001                           TS       L                                     
042765,000496: 21,2503           51506                           INDEX    SPNDX                                 
042766,000497: 21,2504           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
042767,000498: 21,2505           60001                           AD       L                                     
042768,000499: 21,2506           51506                           INDEX    SPNDX                                 
042769,000500: 21,2507           26050                           ADS      CDUXCMD                               
042770,000501: 21,2510           51506                           INDEX    SPNDX                                 
042771,000502: 21,2511           23503                           LXCH     EDRIVEX                               
042772,000503: 21,2512           11506                           CCS      SPNDX                                 
042773,000504: 21,2513           12463                           TCF      DACLOOP                               
042774,000505: 21,2514           37707                           CAF      13,14,15                              
042775,000506: 21,2515           00006                           EXTEND                                         
042776,000507: 21,2516           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
042777,000508: 21,2517           00002                           TC       Q                                     
042778,000509: 
042779,000510: 21,2520           32524        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
042780,000511: 21,2521           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
042781,000512: 21,2522           55465                           TS       T5PHASE                               
042782,000513: 21,2523           15222                           TCF      RESUME                                
042783,000514: 21,2524           37754        DELAY200           DEC      16364      B-14                       #  200MS
042784,000515: 
042785,000516: 
042786,000517: 21,2525           77177                           DEC      -384       B-14                       
042787,000518: 

Page 981

042789,000520: 21,2526           37200        DACLIMIT           DEC      16000      B-14                       
042790,000521: 21,2527           00600                           DEC      384        B-14                       
042791,000522: 

Page 982

042793,000524:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042794,000525: 
042795,000526:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042796,000527: 
042797,000528:                                                                                                  #  WBODY   (+1)    DFT             TAU2
042798,000529:                                                                                                  #  WBODY1  (+1)    DFT1            BIAS
042799,000530:                                                                                                  #  WBODY2  (+1)    DFT2            BIAS1
042800,000531:                                                                                                  #  ADOT    (+1)    DRHO   (+1)     BIAS2
042801,000532:                                                                                                  #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
042802,000533:                                                                                                  #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
042803,000534:                                                                                                  #  MERRORX (+1)    ATTSEC          ERRORZ
042804,000535:                                                                                                  #  MERRORY (+1)    TAU
042805,000536:                                                                                                  #  MERRORZ (+1)    TAU1
042806,000537: 21,2530           34712        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
042807,000538: 21,2531           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
042808,000539:                                                                                                  #                                          ATTITUDE HOLD REFERENCE
042809,000540: 
042810,000541: 21,2532           04633        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042811,000542: 21,2533           40145                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
042812,000543: 
042813,000544: 21,2534           04633                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
042814,000545: 21,2535           40276                           CADR     S40.14                                #  TO AUTOPILOT GAINS
042815,000546: 
042816,000547: 21,2536           32607                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
042817,000548: 21,2537           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
042818,000549: 21,2540           34714                           CAF      ZERO                                  
042819,000550: 21,2541           51506                           INDEX    SPNDX                                 
042820,000551: 21,2542           55525                           TS       WBODY                                 
042821,000552: 21,2543           11506                           CCS      SPNDX                                 
042822,000553: 21,2544           12537                           TCF      ZEROT5                                
042823,000554: 21,2545           02616                           TCR      ZEROJET                               
042824,000555: 
042825,000556: 21,2546           44714                           CS       ZERO                                  
042826,000557: 21,2547           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
042827,000558: 
042828,000559: 21,2550           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
042829,000560:                                                                                                  #                                          MANUAL RATE MODES
042830,000561: 21,2551           32610                           CAF      =.24                                  
042831,000562: 21,2552           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
042832,000563: 
042833,000564: 21,2553           34710                           CAF      FOUR                                  
042834,000565: 21,2554           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042835,000566:                                                                                                  #                                          60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042836,000567:                                                                                                  #                                          IN (80MS - T5TIME(40MS)). THEREFORE
042837,000568:                                                                                                  #                                          PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042838,000569:                                                                                                  #                                          MS FROM NOW AND EVERY 100MS THEREAFTER
042839,000570: 
042840,000571: 21,2555           34717                           CAF      ELEVEN                                
042841,000572: 21,2556           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
042842,000573:                                                                                                  #                                          TO INITIALIZE THE S/C ANGULAR RATES

Page 983

042844,000575: 21,2557           30032                           CA       CDUX                                  
042845,000576: 21,2560           55635                           TS       RHO                                   
042846,000577: 21,2561           30033                           CA       CDUY                                  
042847,000578: 21,2562           55636                           TS       RHO1                                  
042848,000579: 21,2563           30034                           CA       CDUZ                                  
042849,000580: 21,2564           55637                           TS       RHO2                                  
042850,000581: 21,2565           34714                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
042851,000582: 21,2566           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
042852,000583: 
042853,000584: 21,2567           41321                           CS       IMODES33                              #  CHECK IMU STATUS
042854,000585: 21,2570           74705                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
042855,000586: 21,2571           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
042856,000587: 21,2572           12576                           TCF      IMUAOK                                
042857,000588: 21,2573           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
042858,000589: 21,2574           32612                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
042859,000590: 21,2575           12603                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
042860,000591:                                                                                                  #                                          SIGNAL NO RATE FILTER
042861,000592: 
042862,000593: 21,2576           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
042863,000594: 21,2577           05027                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
042864,000595: 21,2600  E6,1510                                  EBANK=   KMPAC                                 
042865,000596: 21,2600           03444 44066                     2CADR    AMBGUPDT                              
042866,000597: 21,2602           32611                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042867,000598: 21,2603           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
042868,000599:                                                                                                  #                                            SET BIT3  -INITIALIZE NEEDLES
042869,000600:                                                                                                  #                                          CLEAR BIT4  -RESET FOR FDAIDSP1
042870,000601: 21,2604           32613                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042871,000602:                                                                                                  #                                          ERROR COUNTER TO ZERO.
042872,000603:                                                                                                  #                                          (MINIMUM DELAY = 15 MS)
042873,000604: 21,2605           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042874,000605: 21,2606           05222                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
042875,000606:                                                                                                  #                                          FILTER WILL BEGIN OPERATING ZOOMS FROM
042876,000607:                                                                                                  #                                          NOW
042877,000608: 
042878,000609:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
042879,000610: 
042880,000611: 21,2607           00044        NO.T5VAR           DEC      36         B-14                       
042881,000612: 21,2610           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
042882,000613: 21,2611           00004        RCSINIT            OCT      00004                                 
042883,000614: 21,2612           20004        RCSINITB           OCT      20004                                 
042884,000615: 21,2613           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
042885,000616: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
042886,000617: 21,2614           03646 36066  T6ADDR             2CADR    T6START                               
042887,000618: 
042888,000619: 
042889,000620: 21,2616           34717        ZEROJET            CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
042890,000621: 21,2617           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
042891,000622: 21,2620           34714                           CAF      ZERO                                  #  AND RWORD1.

Page 984

042893,000624: 21,2621           51506                           INDEX    SPNDX                                 
042894,000625: 21,2622           55451                           TS       RWORD1                                
042895,000626: 21,2623           11506                           CCS      SPNDX                                 
042896,000627: 21,2624           12617                           TCF      ZEROJET    +1                         
042897,000628: 
042898,000629: 21,2625           34710                           CAF      FOUR                                  
042899,000630: 21,2626           55462                           TS       BLAST1     +1                         
042900,000631: 21,2627           34717                           CAF      ELEVEN                                
042901,000632: 21,2630           55464                           TS       BLAST2     +1                         
042902,000633: 
042903,000634: 21,2631           44712                           CS       BIT1                                  
042904,000635: 21,2632           71501                           MASK     RCSFLAGS                              
042905,000636: 21,2633           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
042906,000637: 
042907,000638: 21,2634           00006                           EXTEND                                         
042908,000639: 21,2635           32615                           DCA      T6ADDR                                
042909,000640: 21,2636           53311                           DXCH     T6LOC                                 
042910,000641: 21,2637           33034                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042911,000642: 21,2640           54031                           TS       TIME6                                 
042912,000643: 21,2641           34674                           CAF      BIT15                                 
042913,000644: 21,2642           00006                           EXTEND                                         
042914,000645: 21,2643           05013                           WOR      CHAN13                                
042915,000646: 
042916,000647: 21,2644           00002                           TC       Q                                     
042917,000648: 
042918,000649: 21,2645           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
042919,000650: 21,2646           13132                           TCF      KALUPDT                               
042920,000651: 
042921,000652: 
042922,000653: 21,2647           12651                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
042923,000654: 21,2650           12651                           TCF      +1                                    
042924,000655: 21,2651           32142                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
042925,000656: 21,2652           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC )
042926,000657: 21,2653           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
042927,000658: 
042928,000659: 
042929,000660: 21,2654           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
042930,000661: 21,2655           74674                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042931,000662: 21,2656           00006                           EXTEND                                         #  ATTKALMN TO -1
042932,000663: 21,2657           12661                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
042933,000664: 21,2660           44712                           CS       ONE                                   
042934,000665: 21,2661           55617        NOHIAUTO           TS       ATTKALMN                              
042935,000666: 

Page 985

042937,000668:                                                                                                  #           MANUAL ROTATION COMMANDS
042938,000669: 21,2662           43016                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
042939,000670: 21,2663           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
042940,000671: 21,2664           55501                           TS       RCSFLAGS                              
042941,000672: 
042942,000673: 21,2665           00006                           EXTEND                                         
042943,000674: 21,2666           00031                           READ     CHAN31                                
042944,000675: 21,2667           54001                           TS       L                                     
042945,000676: 21,2670           31632                           CA       CH31TEMP                              
042946,000677: 21,2671           00006                           EXTEND                                         
042947,000678: 21,2672           06001                           RXOR     LCHAN                                 
042948,000679: 21,2673           73022                           MASK     MANROT                                #  = OCT00077
042949,000680: 21,2674           00006                           EXTEND                                         
042950,000681: 21,2675           62710                           BZMF     NOCHANGE                              
042951,000682: 
042952,000683: 21,2676           22000                           LXCH     A                                     
042953,000684: 21,2677           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042954,000685: 
042955,000686: 21,2700           30001                           CA       L                                     
042956,000687: 21,2701           00006                           EXTEND                                         
042957,000688: 21,2702           74706                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
042958,000689: 21,2703           30001                           CA       L                                     
042959,000690: 21,2704           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
042960,000691:                                                                                                  #                                          WITH CHANGES IN COMMAND. BITS 10,9 FOR
042961,000692:                                                                                                  #                                          ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042962,000693:                                                                                                  #                                          PITCH
042963,000694: 
042964,000695: 21,2705           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
042965,000696: 21,2706           73023                           MASK     OCT16000                              #  11 OF RCSFLAGS)
042966,000697: 21,2707           27501                           ADS      RCSFLAGS                              
042967,000698: 
042968,000699: 21,2710           41632        NOCHANGE           CS       CH31TEMP                              
042969,000700: 21,2711           73022                           MASK     MANROT                                
042970,000701: 21,2712           00006                           EXTEND                                         
042971,000702: 21,2713           63234                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
042972,000703: 
042973,000704: 21,2714           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
042974,000705: 
042975,000706: 21,2715           03114                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042976,000707:                                                                                                  #                                          YMANNDX, AND RMANNDX ARE ALL SET, BY
042977,000708:                                                                                                  #                                          MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042978,000709:                                                                                                  #                                          +, OR - ROTATION RESPECTIVELY AS
042979,000710:                                                                                                  #                                          COMMANDED BY THE RHC.
042980,000711: 
042981,000712:                                                                                                  #                                          HOWEVER, IT IS WELL TO NOTE THAT AFTER
042982,000713:                                                                                                  #                                          THE RHC IS RETURNED TO DETENT, THE
042983,000714:                                                                                                  #                                          PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042984,000715:                                                                                                  #                                          STICKCHK SO PMANNDX, YMANNDX, AND
042985,000716:                                                                                                  #                                          RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042986,000717:                                                                                                  #                                          LEFT SET TO THEIR LAST OUT OF DETENT

Page 986

042988,000719:                                                                                                  #                                          VALUES.
042989,000720: 
042990,000721: 21,2716           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
042991,000722: 21,2717           74675                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
042992,000723: 21,2720           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042993,000724: 
042994,000725: 21,2721           34675                           CAF      BIT14                                 
042995,000726: 21,2722           00006                           EXTEND                                         
042996,000727: 21,2723           02031                           RAND     CHAN31                                
042997,000728: 21,2724           00006                           EXTEND                                         
042998,000729: 21,2725           63035                           BZMF     FREEFUNC                              
042999,000730: 
043000,000731: 21,2726           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
043001,000732: 21,2727           74675                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
043002,000733: 21,2730           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
043003,000734: 21,2731           12520                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
043004,000735: 
043005,000736: 21,2732           44715                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
043006,000737: 21,2733           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
043007,000738: 21,2734           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
043008,000739: 21,2735           62740                           BZMF     +3                                    
043009,000740: 21,2736           44712                           CS       ONE                                   
043010,000741: 21,2737           55617                           TS       ATTKALMN                              
043011,000742: 
043012,000743: 
043013,000744: 21,2740           34711                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
043014,000745: 21,2741           55506        SETWBODY           TS       SPNDX                                 
043015,000746: 21,2742           60000                           DOUBLE                                         
043016,000747: 21,2743           55507                           TS       DPNDX                                 
043017,000748: 21,2744           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
043018,000749: 21,2745           31656                           CA       RMANNDX                               #          = 1  + ROTATION
043019,000750: 21,2746           00006                           EXTEND                                         #          = 2  - ROTATION
043020,000751: 21,2747           12771                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
043021,000752:                                                                                                  #                                          GO TO NORATE.
043022,000753: 
043023,000754: 21,2750           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
043024,000755: 21,2751           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
043025,000756: 21,2752           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
043026,000757: 21,2753           33023                           CA       MANTABLE   -1                         #           = 6  4.0  DEG/SEC
043027,000758: 21,2754           00006                           EXTEND                                         
043028,000759: 21,2755           74702                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
043029,000760: 21,2756           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
043030,000761: 21,2757           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
043031,000762: 
043032,000763: 21,2760           31501                           CA       RCSFLAGS                              
043033,000764: 21,2761           73023                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12AND
043034,000765: 21,2762           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
043035,000766: 21,2763           13001                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043036,000767:                                                                                                  #                                          ERROR.
043037,000768: 

Page 987

043039,000770: 21,2764           34714        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
043040,000771: 21,2765           22007                           ZL                                             
043041,000772: 21,2766           51507                           INDEX    DPNDX                                 
043042,000773: 21,2767           53542                           DXCH     MERRORX                               
043043,000774: 21,2770           13007                           TCF      SPNDXCHK                              
043044,000775: 
043045,000776: 21,2771           22007        NORATE             ZL                                             
043046,000777: 21,2772           51507                           INDEX    DPNDX                                 
043047,000778: 21,2773           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
043048,000779: 21,2774           31501                           CA       RCSFLAGS                              
043049,000780: 21,2775           73023                           MASK     OCT16000                              
043050,000781: 21,2776           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043051,000782: 21,2777           13007                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043052,000783: 21,3000           12764                           TCF      ZEROER                                #  NO,GO TO ZEROER
043053,000784: 
043054,000785: 21,3001           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043055,000786: 21,3002           43023                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
043056,000787: 21,3003           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
043057,000788: 21,3004           74704                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
043058,000789: 21,3005           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
043059,000790: 21,3006           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043060,000791: 
043061,000792: 21,3007           51507        SPNDXCHK           INDEX    DPNDX                                 
043062,000793: 21,3010           31541                           CA       MERRORX                               
043063,000794: 21,3011           51506                           INDEX    SPNDX                                 
043064,000795: 21,3012           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
043065,000796: 21,3013           11506                           CCS      SPNDX                                 
043066,000797: 21,3014           12741                           TCF      SETWBODY                              
043067,000798: 21,3015           13425                           TCF      JETS                                  
043068,000799: 
043069,000800: 
043070,000801: 21,3016           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
043071,000802: 
043072,000803: 21,3017           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
043073,000804: 21,3020           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
043074,000805: 21,3021           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
043075,000806:                                                                                                  #                                                                        PRESERVED
043076,000807:                                                                                                  #                                                                      FOR INDEXING
043077,000808: 21,3022           00077        MANROT             OCT      77                                    
043078,000809: 21,3023           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
043079,000810: 21,3024           00165        MANTABLE           DEC      .0071111                              
043080,000811: 21,3025           77612                           DEC      -.0071111                             
043081,000812: 21,3026           00722                           DEC      .028444                               
043082,000813: 21,3027           77055                           DEC      -.028444                              
043083,000814: 21,3030           02215                           DEC      .071111                               
043084,000815: 21,3031           75562                           DEC      -.071111                              
043085,000816: 21,3032           22151                           DEC      .568889                               
043086,000817: 21,3033           55626                           DEC      -.568889                              
043087,000818: 21,3034           00027        =+14MS             DEC      23         B-14                       
043088,000819: 21,3035           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 988

043090,000821: 21,3036           33047                           CA       FREETAU                               #  COMMANDS
043091,000822: 21,3037           55561                           TS       TAU                                   
043092,000823: 21,3040           51657                           INDEX    PMANNDX                               
043093,000824: 21,3041           33047                           CA       FREETAU                               #  FREETAU    0 SEC
043094,000825: 21,3042           55562                           TS       TAU1                                  #  +1        +0.10 SEC
043095,000826: 21,3043           51660                           INDEX    YMANNDX                               #  +2        -0.10 SEC
043096,000827: 21,3044           33047                           CA       FREETAU                               #  (+3)       0 SEC
043097,000828: 21,3045           55563                           TS       TAU2                                  
043098,000829: 21,3046           13053                           TCF      T6PROGM                               
043099,000830: 
043100,000831: 21,3047           00000        FREETAU            DEC      0          B-14                       
043101,000832: 21,3050           00740                           DEC      480        B-14                       
043102,000833: 21,3051           77037                           DEC      -480       B-14                       
043103,000834: 21,3052           00000                           DEC      0          B-14                       
043104,000835: 
043105,000836: 21,3053           34714        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
043106,000837: 21,3054           55567                           TS       ERRORX                                
043107,000838: 21,3055           55570                           TS       ERRORY                                
043108,000839: 21,3056           55571                           TS       ERRORZ                                
043109,000840: 21,3057           13743                           TCF      T6PROG                                
043110,000841: 

Page 989

043112,000843: 21,3060           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043113,000844: 21,3061           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043114,000845: 21,3062           06604                           DEC      .2112                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043115,000846: 21,3063           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
043116,000847: 21,3064           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
043117,000848: 21,3065           13030                           DEC      .3452                                 
043118,000849: 21,3066           14047                           DEC      .3774                                 
043119,000850: 21,3067           15241                           DEC      .4161                                 
043120,000851: 21,3070           16650                           DEC      .4634                                 
043121,000852: 21,3071           20555                           DEC      .5223                                 
043122,000853: 21,3072           23065                           DEC      .5970                                 
043123,000854: 21,3073           26137                           DEC      .6933                                 
043124,000855: 21,3074           32053                           DEC      .8151                                 
043125,000856: 21,3075           35712                           DEC      .9342                                 
043126,000857: 
043127,000858: 21,3076           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043128,000859: 21,3077           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043129,000860: 21,3100           00435                           DEC      .0174                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043130,000861: 21,3101           00032        GAIN2              DEC      .0016                                 #  SCALED 10
043131,000862: 21,3102           01350                           DEC      .0454                                 
043132,000863: 21,3103           01575                           DEC      .0545                                 
043133,000864: 21,3104           02103                           DEC      .0666                                 
043134,000865: 21,3105           02523                           DEC      .0832                                 
043135,000866: 21,3106           03327                           DEC      .1069                                 
043136,000867: 21,3107           04432                           DEC      .1422                                 
043137,000868: 21,3110           06264                           DEC      .1985                                 
043138,000869: 21,3111           11351                           DEC      .2955                                 
043139,000870: 21,3112           17324                           DEC      .4817                                 
043140,000871: 21,3113           33622                           DEC      .8683                                 
043141,000872: 21,3114           55502        STICKCHK           TS       T5TEMP                                
043142,000873: 21,3115           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
043143,000874: 21,3116           55657                           TS       PMANNDX                               
043144,000875: 21,3117           31502                           CA       T5TEMP                                
043145,000876: 21,3120           00006                           EXTEND                                         #  MAN RATE 0   0 RATE (DP)
043146,000877: 21,3121           74676                           MP       QUARTER                               #           +1   +RATE (DP)
043147,000878: 21,3122           55502                           TS       T5TEMP                                #           +2   -RATE (DP)
043148,000879: 21,3123           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
043149,000880: 21,3124           55660                           TS       YMANNDX                               
043150,000881: 21,3125           31502                           CA       T5TEMP                                
043151,000882: 21,3126           00006                           EXTEND                                         
043152,000883: 21,3127           74676                           MP       QUARTER                               
043153,000884: 21,3130           55656                           TS       RMANNDX                               
043154,000885: 21,3131           00002                           TC       Q                                     
043155,000886: 
043156,000887: 
043157,000888: 21,3132           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
043158,000889:                                                                                                  #                                          KALMAN FILTER TAKES 1.1 SEC
043159,000890: 
043160,000891: 21,3133           32141                           CA       DELTATT                               #  =1SEC - 80MS
043161,000892: 21,3134           61634                           AD       T5TIME                                #  + DELAYS

Page 990

043163,000894: 21,3135           54030                           TS       TIME5                                 
043164,000895: 21,3136           13141                           TCF      +3                                    
043165,000896: 21,3137           32142                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
043166,000897: 21,3140           54030                           TS       TIME5                                 #  A T5RUPT
043167,000898: 
043168,000899: 
043169,000900: 21,3141           44714        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
043170,000901: 21,3142           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
043171,000902: 21,3143           15222                           TCF      RESUME                                
043172,000903: 
043173,000904: 
043174,000905: 21,3144           44707        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
043175,000906: 21,3145           71501                           MASK     RCSFLAGS                              
043176,000907: 21,3146           55501                           TS       RCSFLAGS                              
043177,000908: 
043178,000909: 21,3147           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043179,000910: 21,3150           74702                           MASK     BIT9                                  #  ERRORS
043180,000911: 21,3151           00006                           EXTEND                                         
043181,000912: 21,3152           13161                           BZF      FDAITOTL                              
043182,000913: 21,3153           00006                           EXTEND                                         
043183,000914: 21,3154           41570                           DCS      ERRORX                                #  OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
043184,000915: 21,3155           53477                           DXCH     AK                                    
043185,000916: 21,3156           41571                           CS       ERRORZ                                
043186,000917: 21,3157           55500                           TS       AK2                                   
043187,000918: 21,3160           15222                           TCF      RESUME                                #  END PHASE 1
043188,000919: 
043189,000920: 
043190,000921: 21,3161           30105        FDAITOTL           CA       FLAGWRD9                              
043191,000922: 21,3162           74705                           MASK     BIT6                                  
043192,000923: 21,3163           00006                           EXTEND                                         
043193,000924: 21,3164           13227                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043194,000925:                                                                                                  #                                          IF SO, GO TO WRTN17
043195,000926: 21,3165           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
043196,000927: 21,3166           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
043197,000928: 21,3167           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
043198,000929: 21,3170           31155                           CA       CPHI                                  #  COMPONENTS OF N22
043199,000930: 
043200,000931: 21,3171           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
043201,000932: 21,3172           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
043202,000933: 21,3173           55476                           TS       AK                                    
043203,000934: 21,3174           31513                           CA       WTEMP                                 
043204,000935: 21,3175           00006                           EXTEND                                         
043205,000936: 21,3176           20033                           MSU      CDUY                                  
043206,000937: 21,3177           55502                           TS       T5TEMP                                
043207,000938: 21,3200           00006                           EXTEND                                         
043208,000939: 21,3201           71640                           MP       AMGB1                                 
043209,000940: 21,3202           27476                           ADS      AK                                    
043210,000941: 21,3203           31502                           CA       T5TEMP                                
043211,000942: 21,3204           00006                           EXTEND                                         
043212,000943: 21,3205           71641                           MP       AMGB4                                 

Page 991

043214,000945: 21,3206           55477                           TS       AK1                                   
043215,000946: 21,3207           31502                           CA       T5TEMP                                
043216,000947: 21,3210           00006                           EXTEND                                         
043217,000948: 21,3211           71643                           MP       AMGB7                                 
043218,000949: 21,3212           55500                           TS       AK2                                   
043219,000950: 21,3213           31514                           CA       WTEMP      +1                         
043220,000951: 21,3214           00006                           EXTEND                                         
043221,000952: 21,3215           20034                           MSU      CDUZ                                  
043222,000953: 21,3216           55502                           TS       T5TEMP                                
043223,000954: 21,3217           00006                           EXTEND                                         
043224,000955: 21,3220           71642                           MP       AMGB5                                 
043225,000956: 21,3221           27477                           ADS      AK1                                   
043226,000957: 21,3222           31502                           CA       T5TEMP                                
043227,000958: 21,3223           00006                           EXTEND                                         
043228,000959: 21,3224           71644                           MP       AMGB8                                 
043229,000960: 21,3225           27500                           ADS      AK2                                   
043230,000961: 21,3226           15222                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
043231,000962: 
043232,000963: 21,3227           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
043233,000964: 21,3230           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
043234,000965: 21,3231           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
043235,000966: 21,3232           31333                           CA       CPHIX                                 
043236,000967: 21,3233           13171                           TCF      GETAKS                                
043237,000968: 

Page 992 Empty page.


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