Source Code

These source-code files were obtained by digitally photographing an Artemis 72 (Apollo 15-17 Command Module) program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Photography was by Ron Burkey, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images may be 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 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971
Note that the date is the date of the printout, not the date of the program revision.

044071,000002:                                                                                                  ## Copyright:   Public domain.
044072,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
044073,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
044074,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
044075,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
044076,000007:                                                                                                  ##              Apollo 15-17.
044077,000008:                                                                                                  ## Assembler:   yaYUL
044078,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
044079,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
044080,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
044081,000012:                                                                                                  ## Mod history: 2009-08-27 SN   Adapted from corresponding Comanche 055 file.
044082,000013:                                                                                                  ##              2009-09-04 JL   Fixed typos. Fixed page comment.
044083,000014:                                                                                                  ##              2009-09-10 JL   Fixed typos.
044084,000015:                                                                                                  ##              2010-02-01 JL   Fixed build errors.
044085,000016:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
044086,000017:                                                                                                  ##              2017-02-08 RSB  Proofed comment text by diff'ing vs Comanche 55
044087,000018:                                                                                                  ##                              and/or octopus/ProoferComments as most-appropriate.
044088,000019: 

Page 1000

044090,000021: 
044091,000022:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044092,000023:                                                                                                  #        START OF T5 INTERRUPT PROGRAM
044093,000024: 
044094,000025: 21,2000                                           SETLOC   DAPS3                                 
044095,000026: 21,2000                                           BANK                                           
044096,000027: 
044097,000028: 21,2123                                           COUNT*   $$/DAPRC                              
044098,000029: 21,2123  E6,1510                                  EBANK=   KMPAC                                 
044099,000030: 21,2123           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
044100,000031: 21,2124           31464                           CA       T5PHASE                               #  ON A T5 RUPT.
044101,000032: 21,2125           00006                           EXTEND                                         
044102,000033: 21,2126           62130                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
044103,000034: 21,2127           12132                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
044104,000035: 21,2130           44770                           CS       ONE                                   
044105,000036: 21,2131           55464                           TS       T5PHASE                               
044106,000037: 21,2132           00006                           EXTEND                                         
044107,000038: 21,2133           32137                           DCA      RCSLOC                                
044108,000039: 21,2134           52113                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
044109,000040: 21,2135           12141                           TCF      RCSATT     +1                         
044110,000041: 21,2136  E6,1510                                  EBANK=   KMPAC                                 
044111,000042: 21,2136           02140 42066  RCSLOC             2CADR    RCSATT                                
044112,000043: 
044113,000044: 
044114,000045: 21,2140           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
044115,000046: 21,2141           00006                 +1        EXTEND                                         #  SAVE Q
044116,000047: 21,2142           22012                           QXCH     QRUPT                                 
044117,000048: 21,2143           34752                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044118,000049: 21,2144           05654                           TC       C31BTCHK                              #  S/C CONT SW IS IN CMC (I.E. IF G/C DAP
044119,000050: 21,2145           12170                           TCF      SETT5                                 #  IS FULLY ENABLED).     IF SO8
044120,000051:                                                                                                  #  GO TO SETT5
044121,000052: 
044122,000053: 21,2146           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044123,000054: 21,2147           74753                           MASK     BIT14                                 
044124,000055: 21,2150           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
044125,000056: 21,2151           34750                           CAF      POSMAX                                
044126,000057: 21,2152           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
044127,000058: 21,2153           34772                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
044128,000059: 21,2154           55567                           TS       ERRORX                                
044129,000060: 21,2155           55570                           TS       ERRORY                                
044130,000061: 21,2156           55571                           TS       ERRORZ                                
044131,000062: 21,2157           34753                           CAF      BIT14                                 
044132,000063: 21,2160           05654                           TC       C31BTCHK                              #  AND CHECK FREE FUNCTION (BIT14 CHAN31)
044133,000064: 21,2161           12170                           TCF      SETT5                                 
044134,000065: 21,2162           55464                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
044135,000066: 21,2163           37661                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
044136,000067: 21,2164           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
044137,000068: 
044138,000069: 21,2165           02642                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET

Page 1001

044140,000071: 21,2166           12355                           TCF      KMATRIX                               
044141,000072: 21,2167           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
044142,000073: 21,2170     7663               DELTATT2           =        OCT37776                              #  20 MS (TIME5)
044143,000074: 
044144,000075:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
044145,000076: 
044146,000077:                                                                                                  #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
044147,000078:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044148,000079:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
044149,000080:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044150,000081:                                                                                                  #  VARIABLES AT TURN ON.
044151,000082:                                                                                                  #  THE CODING OF T5PHASE IS...
044152,000083: 
044153,000084:                                                                                                  #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
044154,000085:                                                                                                  #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044155,000086:                                                                                                  #             - = RESTART DAP
044156,000087:                                                                                                  #            -0 = PHASE1 OF THE T5 PROGRAM
044157,000088: 
044158,000089: 21,2170           11464        SETT5              CCS      T5PHASE                               
044159,000090: 21,2171           12551                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
044160,000091: 21,2172           12674                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
044161,000092: 21,2173           12553                           TCF      REDAP                                 #  RESTART AUTOPILOT
044162,000093: 
044163,000094: 21,2174           55464                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
044164,000095: 21,2175           30030                           CA       TIME5                                 
044165,000096: 21,2176           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
044166,000097: 21,2177           37663                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
044167,000098: 21,2200           54030                           TS       TIME5                                 #  OF PROGRAM
044168,000099: 

Page 1002

044170,000101: 
044171,000102:                                                                                                  #  IMU STATUS CHECK
044172,000103: 
044173,000104: 21,2201           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044174,000105: 21,2202           74763                           MASK     NOIMUDAP                              #  BIT6 = 0 IMU OK
044175,000106: 21,2203           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
044176,000107: 21,2204           12215                           TCF      RATEFILT                              
044177,000108: 21,2205           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
044178,000109: 21,2206           74753                           MASK     BIT14                                 #  INITIALIZED
044179,000110: 21,2207           27501                           ADS      RCSFLAGS                              
044180,000111: 21,2210           34753                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
044181,000112: 21,2211           55340                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
044182,000113:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
044183,000114:                                                                                                  #  ATTITUDE HOLD
044184,000115: 21,2212           05654                           TC       C31BTCHK                              #  CHECK FOR FREE MODE
044185,000116: 21,2213           12424                           TCF      KRESUME1                              #  IN FREE, PROVIDE FREE CONTROL ONLY
044186,000117: 21,2214           12541                           TCF      REINIT                                #  .....TILT...............................
044187,000118: 21,2215     5001               BITS4,5            =        BITS4&5                               
044188,000119: 
044189,000120: 21,2215           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
044190,000121: 21,2216           74753                           MASK     BIT14                                 
044191,000122: 21,2217           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
044192,000123: 21,2220           12222                           BZF      +2                                    
044193,000124: 21,2221           12355                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
044194,000125: 
044195,000126:                                                                                                  #                RATE FILTER     TIMING = 7.72 MS
044196,000127: 
044197,000128:                                                                                                  #  RATE FILTER EQUATIONS
044198,000129:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044199,000130:                                                                                                  #                                            -1
044200,000131:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
044201,000132:                                                                                                  #             -1
044202,000133:                                                                                                  #        -        *     -     -
044203,000134:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
044204,000135:                                                                                                  #                                -1
044205,000136: 
044206,000137: 21,2222           34767                 +2        CAF      TWO                                   
044207,000138: 21,2223           55506        DRHOLOOP           TS       SPNDX                                 
044208,000139: 21,2224           60000                           DOUBLE                                         
044209,000140: 21,2225           55507                           TS       DPNDX                                 
044210,000141: 21,2226           51507                           INDEX    DPNDX                                 
044211,000142: 21,2227           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
044212,000143: 21,2230           00006                           EXTEND                                         
044213,000144: 21,2231           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
044214,000145: 21,2232           73121                           MP       GAIN1                                 
044215,000146: 21,2233           51507                           INDEX    DPNDX                                 
044216,000147: 21,2234           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
044217,000148: 21,2235           00006                           EXTEND                                         
044218,000149: 21,2236           51507                           INDEX    DPNDX                                 
044219,000150: 21,2237           41534                           DCS      ADOT                                  

Page 1003

044221,000152: 21,2240           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
044222,000153: 21,2241           34754                           CA       QUARTER                               
044223,000154: 21,2242           02060                           TC       SMALLMP                               
044224,000155: 21,2243           53511                           DXCH     KMPAC                                 
044225,000156: 21,2244           51507                           INDEX    DPNDX                                 
044226,000157: 21,2245           21553                           DAS      DRHO                                  
044227,000158: 21,2246           11506                           CCS      SPNDX                                 
044228,000159: 21,2247           12223                           TCF      DRHOLOOP                              
044229,000160: 
044230,000161: 21,2250           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
044231,000162: 21,2251           57635                           XCH      RHO                                   
044232,000163: 21,2252           00006                           EXTEND                                         
044233,000164: 21,2253           21635                           MSU      RHO                                   #  -        *     -     -
044234,000165: 21,2254           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
044235,000166:                                                                                                  #                          -1
044236,000167: 21,2255           22007                           ZL                                             
044237,000168: 21,2256           53516                           DXCH     DELTEMPX                              
044238,000169: 21,2257           30033                           CA       CDUY                                  
044239,000170: 21,2260           57636                           XCH      RHO1                                  
044240,000171: 21,2261           00006                           EXTEND                                         
044241,000172: 21,2262           21636                           MSU      RHO1                                  
044242,000173: 21,2263           40000                           COM                                            
044243,000174: 21,2264           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
044244,000175: 21,2265           00006                           EXTEND                                         
044245,000176: 21,2266           71640                           MP       AMGB1                                 
044246,000177: 21,2267           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044247,000178:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
044248,000179:                                                                                                  #  PULSES
044249,000180: 21,2270           31641                           CA       AMGB4                                 
044250,000181: 21,2271           00006                           EXTEND                                         
044251,000182: 21,2272           71502                           MP       T5TEMP                                
044252,000183: 21,2273           53520                           DXCH     DELTEMPY                              
044253,000184: 21,2274           31643                           CA       AMGB7                                 
044254,000185: 21,2275           00006                           EXTEND                                         
044255,000186: 21,2276           71502                           MP       T5TEMP                                
044256,000187: 21,2277           53522                           DXCH     DELTEMPZ                              
044257,000188: 21,2300           30034                           CA       CDUZ                                  
044258,000189: 21,2301           57637                           XCH      RHO2                                  
044259,000190: 21,2302           00006                           EXTEND                                         
044260,000191: 21,2303           21637                           MSU      RHO2                                  
044261,000192: 21,2304           40000                           COM                                            
044262,000193: 21,2305           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
044263,000194: 21,2306           00006                           EXTEND                                         
044264,000195: 21,2307           71642                           MP       AMGB5                                 
044265,000196: 21,2310           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
044266,000197:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
044267,000198: 21,2311           31644                           CA       AMGB8                                 
044268,000199: 21,2312           00006                           EXTEND                                         
044269,000200: 21,2313           71502                           MP       T5TEMP                                
044270,000201: 21,2314           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)

Page 1004

044272,000203:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
044273,000204: 21,2315           34767                           CAF      TWO                                   
044274,000205: 21,2316           55506        ADOTLOOP           TS       SPNDX                                 
044275,000206: 21,2317           60000                           DOUBLE                                         
044276,000207: 21,2320           55507                           TS       DPNDX                                 
044277,000208: 21,2321           00006                           EXTEND                                         
044278,000209: 21,2322           51507                           INDEX    DPNDX                                 
044279,000210: 21,2323           31516                           DCA      DELTEMPX                              
044280,000211: 21,2324           51507                           INDEX    DPNDX                                 
044281,000212: 21,2325           21553                           DAS      DRHO                                  
044282,000213: 21,2326           00006                           EXTEND                                         
044283,000214: 21,2327           51507                           INDEX    DPNDX                                 
044284,000215: 21,2330           31516                           DCA      DELTEMPX                              
044285,000216: 21,2331           51507                           INDEX    DPNDX                                 
044286,000217: 21,2332           21542                           DAS      MERRORX                               
044287,000218: 21,2333           51507                           INDEX    DPNDX                                 
044288,000219: 21,2334           31552                           CA       DRHO                                  
044289,000220: 21,2335           60000                           DOUBLE                                         #  N.B.
044290,000221: 21,2336           60000                           DOUBLE                                         #  N.B.
044291,000222: 21,2337           00006                           EXTEND                                         
044292,000223: 21,2340           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
044293,000224: 21,2341           73137                           MP       GAIN2                                 
044294,000225: 21,2342           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
044295,000226: 21,2343           21534                           DAS      ADOT                                  #      -1
044296,000227: 21,2344           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
044297,000228: 21,2345           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
044298,000229: 21,2346           00006                           EXTEND                                         
044299,000230: 21,2347           51506                           INDEX    SPNDX                                 
044300,000231: 21,2350           71547                           MP       DFT                                   
044301,000232: 21,2351           51507                           INDEX    DPNDX                                 
044302,000233: 21,2352           21534                           DAS      ADOT                                  #  KMJ(DFT)
044303,000234: 21,2353           11506                           CCS      SPNDX                                 
044304,000235: 21,2354           12316                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
044305,000236: 21,2355           31560        KMATRIX            CA       ATTSEC                                
044306,000237: 21,2356           74777                           MASK     LOW4                                  
044307,000238: 21,2357           10000                           CCS      A                                     
044308,000239: 21,2360           12366                           TCF      TENTHSEK                              
044309,000240: 21,2361           37656                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
044310,000241: 21,2362           05121                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
044311,000242: 21,2363  E6,1510                                  EBANK=   KMPAC                                 
044312,000243: 21,2363           03560 44066                     2CADR    AMBGUPDT                              
044313,000244: 
044314,000245: 21,2365           34322                           CAF      NINE                                  
044315,000246: 
044316,000247: 21,2366           55560        TENTHSEK           TS       ATTSEC                                
044317,000248: 

Page 1005

044319,000250:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
044320,000251:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
044321,000252: 
044322,000253:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
044323,000254:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
044324,000255:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
044325,000256: 
044326,000257:                                                                                                  #  THE STEERING PROGRAMS-
044327,000258:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
044328,000259:                                                                                                  #        2) LEM TRACKING
044329,000260: 
044330,000261:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
044331,000262:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
044332,000263: 
044333,000264:                                                                                                  #  HOLDFLAG CODING-
044334,000265: 
044335,000266:                                                                                                  #      + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
044336,000267:                                                                                                  #          AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
044337,000268:                                                                                                  #          ALSO IGNORE AUTOMATIC STEERING
044338,000269:                                                                                                  #          SET = + BY
044339,000270:                                                                                                  #                 1) INITIALIZATION PHASE OF AUTOPILOT
044340,000271:                                                                                                  #                 2) OCCURANCE OF RHC COMMANDS
044341,000272:                                                                                                  #                 3) FREE MODE
044342,000273:                                                                                                  #                 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
044343,000274:                                                                                                  #                    WHILE DOING AUTOMATIC STEERING (IN THIS CASE
044344,000275:                                                                                                  #                    HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
044345,000276:                                                                                                  #                    FUNCTIONS AS IF IT WERE.)
044346,000277:                                                                                                  #                 5) S/C CONTROL SWITCH IN SCS
044347,000278:                                                                                                  #                 6) IMU POWER OFF
044348,000279:                                                                                                  #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
044349,000280:                                                                                                  #       - = PERFORMING AUTOMATIC MANEUVER
044350,000281:                                                                                                  #      -0 = NOT USED AT PRESENT
044351,000282: 
044352,000283:                                                                                                  #        NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
044353,000284:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
044354,000285:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044355,000286: 
044356,000287: 
044357,000288: 21,2367           41340                           CS       HOLDFLAG                              
044358,000289: 21,2370           00006                           EXTEND                                         
044359,000290: 21,2371           62416                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044360,000291:                                                                                                  #  COMMANDS
044361,000292: 21,2372           34767        DCDUINCR           CAF      TWO                                   
044362,000293: 21,2373           55506        DELOOP             TS       SPNDX                                 
044363,000294: 21,2374           60000                           DOUBLE                                         
044364,000295: 21,2375           55507                           TS       DPNDX                                 
044365,000296: 21,2376           00006                           EXTEND                                         
044366,000297: 21,2377           50000                           INDEX    A                                     
044367,000298: 21,2400           31647                           DCA      CDUXD                                 

Page 1006

044369,000300: 21,2401           53511                           DXCH     KMPAC                                 
044370,000301: 21,2402           00006                           EXTEND                                         
044371,000302: 21,2403           51507                           INDEX    DPNDX                                 
044372,000303: 21,2404           31576                           DCA      DELCDUX                               
044373,000304: 21,2405           02072                           TC       DPADD                                 
044374,000305: 21,2406           00006                           EXTEND                                         
044375,000306: 21,2407           31511                           DCA      KMPAC                                 
044376,000307: 21,2410           51506                           INDEX    SPNDX                                 
044377,000308: 21,2411           55572                           TS       THETADX                               
044378,000309: 21,2412           51507                           INDEX    DPNDX                                 
044379,000310: 21,2413           53647                           DXCH     CDUXD                                 
044380,000311: 21,2414           11506                           CCS      SPNDX                                 
044381,000312: 21,2415           12373                           TCF      DELOOP                                
044382,000313: 

Page 1007

044384,000315: 
044385,000316:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044386,000317: 
044387,000318:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044388,000319: 
044389,000320:                                                                                                  #                MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
044390,000321:                                                                                                  #                        GENERATED INTERNALLY BY THE AUTOPILOT
044391,000322: 
044392,000323:                                                                                                  #                MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
044393,000324:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N22
044394,000325: 
044395,000326:                                                                                                  #                MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
044396,000327:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N17
044397,000328: 
044398,000329:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
044399,000330:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044400,000331: 
044401,000332:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044402,000333:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044403,000334:                                                                                                  #  AS A FLY-TO INDICATOR.
044404,000335: 
044405,000336:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044406,000337:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044407,000338:                                                                                                  #  AS A FLY-TO INDICATOR.
044408,000339: 
044409,000340:                                                                                                  #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044410,000341:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
044411,000342: 
044412,000343:                                                                                                  #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044413,000344:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
044414,000345:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044415,000346: 
044416,000347: 21,2416           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
044417,000348: 21,2417           74765                           MASK     BIT4                                  
044418,000349: 21,2420           00006                           EXTEND                                         
044419,000350: 21,2421           13202                           BZF      FDAIDSP2                              
044420,000351: 
044421,000352: 21,2422           27501        FDAIDSP1           ADS      RCSFLAGS                              
044422,000353: 21,2423           02425                           TC       NEEDLER                               
044423,000354: 21,2424           15323        KRESUME1           TCF      RESUME                                #  END PHASE 1
044424,000355: 

Page 1008

044426,000357: 
044427,000358:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044428,000359: 
044429,000360:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
044430,000361: 
044431,000362:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044432,000363:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044433,000364:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044434,000365:                                                                                                  #  THE DACS.
044435,000366: 
044436,000367: 
044437,000368:                                                                                                  #  CALLING SEQUENCE:
044438,000369: 
044439,000370:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044440,000371:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044441,000372: 
044442,000373:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
044443,000374:                                                                                                  #                MASK    BIT3
044444,000375:                                                                                                  #                ADS     RCSFLAGS
044445,000376: 
044446,000377:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044447,000378: 
044448,000379:                                                                                                  #                AK      SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
044449,000380:                                                                                                  #                AK1     SCALED 180 DEGREES        TO CHANGE
044450,000381:                                                                                                  #                AK2     SCALED 180 DEGREES
044451,000382: 
044452,000383:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044453,000384:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
044454,000385: 
044455,000386:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044456,000387: 
044457,000388:                                                                                                  #                INHINT
044458,000389:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
044459,000390:                                                                                                  #                CADR    NEEDLER
044460,000391:                                                                                                  #                RELINT
044461,000392: 
044462,000393:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
044463,000394:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044464,000395:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044465,000396: 
044466,000397:                                                                                                  #  ERASABLE USED:
044467,000398:                                                                                                  #                        AK              CDUXCMD
044468,000399:                                                                                                  #                        AK1             CDUYCMD
044469,000400:                                                                                                  #                        AK2             CDUZCMD
044470,000401:                                                                                                  #                        EDRIVEX         A,L,Q
044471,000402:                                                                                                  #                        EDRIVEY         T5TEMP
044472,000403:                                                                                                  #                        EDRIVEZ         SPNDX
044473,000404: 
044474,000405:                                                                                                  #  SWITCHES:             RCSFLAGS        BITS 3,2
044475,000406: 
044476,000407:                                                                                                  #  I/O CHANNELS:         CHAN12          BIT 4 (COARSE ALIGN - READ ONLY)

Page 1009

044478,000409:                                                                                                  #                        CHAN12          BIT 6 (IMU ERROR COUNTER ENABLE)
044479,000410:                                                                                                  #                        CHAN14          BIT 13,14,15 (DAC ACTIVITY)
044480,000411: 
044481,000412:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
044482,000413:                                                                                                  #            WHERE       THETAC = COMMAND ANGLE
044483,000414:                                                                                                  #                        THETA = PRESENT ANGLE
044484,000415: 
044485,000416: 21,2425           34765        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
044486,000417: 21,2426           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
044487,000418: 21,2427           02012                           RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
044488,000419: 21,2430           00006                           EXTEND                                         
044489,000420: 21,2431           12436                           BZF      NEEDLER1                              
044490,000421: 21,2432           41501        RCSINT             CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
044491,000422: 21,2433           74766                           MASK     BIT3                                  
044492,000423: 21,2434           27501                           ADS      RCSFLAGS                              
044493,000424: 21,2435           00002                           TC       Q                                     
044494,000425: 
044495,000426: 21,2436           31501        NEEDLER1           CA       RCSFLAGS                              
044496,000427: 21,2437           76211                           MASK     SIX                                   
044497,000428: 21,2440           00006                           EXTEND                                         
044498,000429: 21,2441           12476                           BZF      NEEDLES3                              
044499,000430: 21,2442           74766                           MASK     BIT3                                  
044500,000431: 21,2443           00006                           EXTEND                                         
044501,000432: 21,2444           12467                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
044502,000433: 
044503,000434: 21,2445           44763                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
044504,000435: 21,2446           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
044505,000436: 21,2447           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
044506,000437: 21,2450           44772        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
044507,000438: 21,2451           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
044508,000439: 21,2452           55477                           TS       AK1                                   
044509,000440: 21,2453           55500                           TS       AK2                                   
044510,000441: 21,2454           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
044511,000442: 21,2455           55504                           TS       EDRIVEY                               
044512,000443: 21,2456           55505                           TS       EDRIVEZ                               
044513,000444: 21,2457           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
044514,000445: 21,2460           54051                           TS       CDUYCMD                               
044515,000446: 21,2461           54052                           TS       CDUZCMD                               
044516,000447: 21,2462           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
044517,000448: 21,2463           71501                           MASK     RCSFLAGS                              
044518,000449: 21,2464           64767                           AD       BIT2                                  
044519,000450: 21,2465           55501                           TS       RCSFLAGS                              
044520,000451: 21,2466           00002                           TC       Q                                     #  END PASS1
044521,000452: 
044522,000453: 21,2467           34763        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
044523,000454: 21,2470           00006                           EXTEND                                         
044524,000455: 21,2471           05012                           WOR      CHAN12                                
044525,000456: 21,2472           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1010

044527,000458: 21,2473           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
044528,000459: 21,2474           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
044529,000460: 21,2475           00002                           TC       Q                                     
044530,000461: 
044531,000462: 
044532,000463: 21,2476           34763        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
044533,000464: 21,2477           00006                           EXTEND                                         #  IS ENABLED
044534,000465: 21,2500           02012                           RAND     CHAN12                                
044535,000466: 21,2501           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
044536,000467: 21,2502           12432                           BZF      RCSINT                                
044537,000468: 21,2503           34767        NEEDLES            CAF      TWO                                   
044538,000469: 21,2504           55506        DACLOOP            TS       SPNDX                                 
044539,000470: 21,2505           44754                           CS       QUARTER                               
044540,000471: 21,2506           00006                           EXTEND                                         
044541,000472: 21,2507           51506                           INDEX    SPNDX                                 
044542,000473: 21,2510           71476                           MP       AK                                    
044543,000474: 21,2511           54001                           TS       L                                     
044544,000475: 21,2512           10000                           CCS      A                                     
044545,000476: 21,2513           32547                           CA       DACLIMIT                              
044546,000477: 21,2514           12516                           TCF      +2                                    
044547,000478: 21,2515           42547                           CS       DACLIMIT                              
044548,000479: 21,2516           60001                           AD       L                                     
044549,000480: 21,2517           55502                           TS       T5TEMP                                #  OVFLO CHK
044550,000481: 21,2520           12524                           TCF      OVSPOT                                
044551,000482: 21,2521           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
044552,000483: 21,2522           32547                           CAF      DACLIMIT                              
044553,000484: 21,2523           54001                           TS       L                                     
044554,000485: 21,2524           51506        OVSPOT             INDEX    SPNDX                                 
044555,000486: 21,2525           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
044556,000487: 21,2526           60001                           AD       L                                     
044557,000488: 21,2527           51506                           INDEX    SPNDX                                 
044558,000489: 21,2530           26050                           ADS      CDUXCMD                               
044559,000490: 21,2531           51506                           INDEX    SPNDX                                 
044560,000491: 21,2532           23503                           LXCH     EDRIVEX                               
044561,000492: 21,2533           11506                           CCS      SPNDX                                 
044562,000493: 21,2534           12504                           TCF      DACLOOP                               
044563,000494: 21,2535           37673                           CAF      13,14,15                              
044564,000495: 21,2536           00006                           EXTEND                                         
044565,000496: 21,2537           05014        DRIVEDAC           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
044566,000497: 21,2540           00002                           TC       Q                                     
044567,000498: 
044568,000499: 21,2541           32545        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
044569,000500: 21,2542           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
044570,000501: 21,2543           55464                           TS       T5PHASE                               
044571,000502: 21,2544           15323                           TCF      RESUME                                
044572,000503: 21,2545           37754        DELAY200           DEC      16364      B-14                       #  200MS
044573,000504: 
044574,000505: 
044575,000506: 21,2546           77177                           DEC      -384       B-14                       
044576,000507: 21,2547           37200        DACLIMIT           DEC      16000      B-14                       

Page 1011

044578,000509: 21,2550           00600                           DEC      384        B-14                       
044579,000510: 

Page 1012

044581,000512: 
044582,000513:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044583,000514: 
044584,000515:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044585,000516: 
044586,000517:                                                                                                  #  WBODY   (+1)    DFT             TAU2
044587,000518:                                                                                                  #  WBODY1  (+1)    DFT1            BIAS
044588,000519:                                                                                                  #  WBODY2  (+1)    DFT2            BIAS1
044589,000520:                                                                                                  #  ADOT    (+1)    DRHO   (+1)     BIAS2
044590,000521:                                                                                                  #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
044591,000522:                                                                                                  #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
044592,000523:                                                                                                  #  MERRORX (+1)    ATTSEC          ERRORZ
044593,000524:                                                                                                  #  MERRORY (+1)    TAU
044594,000525:                                                                                                  #  MERRORZ (+1)    TAU1
044595,000526: 
044596,000527: 21,2551           34770        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
044597,000528: 21,2552           55340                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
044598,000529:                                                                                                  #  ATTITUDE HOLD REFERENCE
044599,000530: 
044600,000531: 21,2553           04714        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044601,000532: 21,2554           40463                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
044602,000533: 
044603,000534: 21,2555           04714                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
044604,000535: 21,2556           40614                           CADR     S40.14                                #  TO AUTOPILOT GAINS
044605,000536: 
044606,000537: 21,2557           32633                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS 2
044607,000538:                                                                                                  #  NO.T5VAR MUST BE ODD *************
044608,000539: 21,2560           10000        ZEROT5             CCS      A                                     
044609,000540: 21,2561           55506                           TS       SPNDX                                 
044610,000541: 21,2562           34772                           CAF      ZERO                                  
044611,000542: 21,2563           54001                           TS       L                                     
044612,000543: 21,2564           51506                           INDEX    SPNDX                                 
044613,000544: 21,2565           53527                           DXCH     WBODY      +1                         
044614,000545: 21,2566           11506                           CCS      SPNDX                                 
044615,000546: 21,2567           12560                           TCF      ZEROT5                                
044616,000547: 21,2570           55525                           TS       WBODY                                 #  ZERO LAST (FIRST) ONE
044617,000548: 
044618,000549: 21,2571           02642                           TC       ZEROJET                               
044619,000550: 21,2572           44772                           CS       ZERO                                  
044620,000551: 21,2573           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
044621,000552: 
044622,000553: 21,2574           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
044623,000554:                                                                                                  #  MANUAL RATE MODES
044624,000555: 
044625,000556: 21,2575           32634                           CAF      =.24                                  
044626,000557: 21,2576           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
044627,000558: 
044628,000559: 21,2577           34766                           CAF      FOUR                                  
044629,000560: 21,2600           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044630,000561:                                                                                                  #  60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044631,000562:                                                                                                  #  IN (80MS - T5TIME(40MS)). THEREFORE
044632,000563:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044633,000564:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER

Page 1013

044635,000566: 21,2601           34775                           CAF      ELEVEN                                
044636,000567: 21,2602           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
044637,000568:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES
044638,000569: 21,2603           30032                           CA       CDUX                                  
044639,000570: 21,2604           55635                           TS       RHO                                   
044640,000571: 21,2605           30033                           CA       CDUY                                  
044641,000572: 21,2606           55636                           TS       RHO1                                  
044642,000573: 21,2607           30034                           CA       CDUZ                                  
044643,000574: 21,2610           55637                           TS       RHO2                                  
044644,000575: 21,2611           34772                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
044645,000576: 21,2612           55464                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
044646,000577: 
044647,000578: 21,2613           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044648,000579: 21,2614           74763                           MASK     NOIMUDAP                              #  IF BIT6 =0 IMU IN FINE ALIGN
044649,000580: 21,2615           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
044650,000581: 21,2616           12622                           TCF      IMUAOK                                
044651,000582: 21,2617           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
044652,000583: 21,2620           32635                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
044653,000584: 21,2621           12627                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
044654,000585:                                                                                                  #  SIGNAL NO RATE FILTER
044655,000586: 
044656,000587: 21,2622           37656        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
044657,000588: 21,2623           05121                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
044658,000589: 21,2624  E6,1510                                  EBANK=   KMPAC                                 
044659,000590: 21,2624           03560 44066                     2CADR    AMBGUPDT                              
044660,000591: 
044661,000592: 21,2626           34766                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044662,000593: 21,2627           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
044663,000594:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
044664,000595:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
044665,000596: 21,2630           32636                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044666,000597:                                                                                                  #  ERROR COUNTER TO ZERO.
044667,000598:                                                                                                  #  (MINIMUM DELAY = 15 MS)
044668,000599: 21,2631           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044669,000600: 21,2632           05323                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
044670,000601:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
044671,000602:                                                                                                  #  NOW
044672,000603: 
044673,000604:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
044674,000605: 
044675,000606: 
044676,000607: 21,2633           00043        NO.T5VAR           DEC      35         B-14                       #  NO. OF LOCATIONS TO BE ZEROED
044677,000608:                                                                                                  #  MINUS 2...MUST BE ODD
044678,000609: 
044679,000610:                                                                                                  #  FOR AN EVEN NUMBER OF VARIABLES TO BE ZEROED....
044680,000611:                                                                                                  #   * SET NO.T5VAR EQUAL TO NUMBER OF VARIABLES MINUS 1
044681,000612:                                                                                                  #   * DO DXCH WBODY INSTEAD OF WBODY + 1
044682,000613:                                                                                                  #   * DELETE TS WBODY
044683,000614: 
044684,000615: 21,2634           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
044685,000616: 21,2635     4766               RCSINIT            =        BIT3                                  
044686,000617: 21,2635           20004        RCSINITB           OCT      20004                                 
044687,000618: 

Page 1014

044689,000620: 
044690,000621: 21,2636           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
044691,000622: 21,2637  E6,1510                                  EBANK=   KMPAC                                 
044692,000623: 21,2637           03606 36066  T6ADDR             2CADR    T6START                               
044693,000624: 
044694,000625: 
044695,000626: 21,2641           62524        -75DEGS            DEC      -.41666                               #  -75 DEGS IN REVS * 2
044696,000627: 21,2642           34775        ZEROJET            CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
044697,000628: 21,2643           55506                 +1        TS       SPNDX                                 #  YWORD1,PWORD2,PWORD1,RWORD2,
044698,000629: 21,2644           34772                           CAF      ZERO                                  #  AND RWORD1.
044699,000630: 21,2645           51506                           INDEX    SPNDX                                 
044700,000631: 21,2646           55450                           TS       RWORD1                                
044701,000632: 21,2647           11506                           CCS      SPNDX                                 
044702,000633: 21,2650           12643                           TCF      ZEROJET    +1                         
044703,000634: 
044704,000635: 21,2651           34766                           CAF      FOUR                                  
044705,000636: 21,2652           55461                           TS       BLAST1     +1                         
044706,000637: 21,2653           34775                           CAF      ELEVEN                                
044707,000638: 21,2654           55463                           TS       BLAST2     +1                         
044708,000639: 
044709,000640: 21,2655           44770                           CS       BIT1                                  
044710,000641: 21,2656           71501                           MASK     RCSFLAGS                              
044711,000642: 21,2657           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
044712,000643: 
044713,000644: 21,2660           00006                           EXTEND                                         
044714,000645: 21,2661           32640                           DCA      T6ADDR                                
044715,000646: 21,2662           52111                           DXCH     T6LOC                                 
044716,000647: 21,2663           33075                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044717,000648: 21,2664           54031                           TS       TIME6                                 
044718,000649: 21,2665           00006                           EXTEND                                         
044719,000650: 21,2666           22070                           QXCH     RUPTREG1                              
044720,000651: 21,2667           04542                           TC       C13STALL                              
044721,000652: 21,2670           34752                           CAF      BIT15                                 
044722,000653: 21,2671           00006                           EXTEND                                         
044723,000654: 21,2672           05013                           WOR      CHAN13                                
044724,000655: 
044725,000656: 21,2673           00070                           TC       RUPTREG1                              
044726,000657: 
044727,000658: 21,2674           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
044728,000659: 21,2675           13170                           TCF      KALUPDT                               
044729,000660: 
044730,000661: 
044731,000662: 21,2676           12700                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
044732,000663: 21,2677           12700                           TCF      +1                                    
044733,000664: 21,2700           37663                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
044734,000665: 21,2701           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC )
044735,000666: 21,2702           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
044736,000667: 
044737,000668: 
044738,000669: 21,2703           10034                           CCS      CDUZ                                  

Page 1015

044740,000671: 21,2704           12710                           TCF      GIMBY                                 #  +(
044741,000672: 21,2705           12717                           TCF      OKGIMB                                #  +0
044742,000673: 21,2706           12710                           TCF      GIMBY                                 #  -N
044743,000674: 21,2707           12717                           TCF      OKGIMB                                #  -0
044744,000675: 21,2710           62641        GIMBY              AD       -75DEGS                               
044745,000676: 21,2711           00006                           EXTEND                                         
044746,000677: 21,2712           62717                           BZMF     OKGIMB                                
044747,000678: 
044748,000679: 21,2713           05547                           TC       UPFLAG                                #  ATTITUDE HOLD WHEN MIDDLE GIMBAL ANGLE
044749,000680: 21,2714           00020                           ADRES    STIKFLAG                              #    GREATER THAN 75 DEGREES
044750,000681: 21,2715           34772                           CAF      ZERO                                  
044751,000682: 21,2716           55340                           TS       HOLDFLAG                              
044752,000683: 
044753,000684: 21,2717           31501        OKGIMB             CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
044754,000685: 21,2720           74752                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044755,000686: 21,2721           00006                           EXTEND                                         #  ATTKALMN TO -1
044756,000687: 21,2722           12724                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
044757,000688: 21,2723           44770                           CS       ONE                                   
044758,000689: 21,2724           55617        NOHIAUTO           TS       ATTKALMN                              
044759,000690: 

Page 1016

044761,000692: 
044762,000693:                                                                                                  #        MANUAL ROTATION COMMANDS
044763,000694: 
044764,000695: 21,2725           43057                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
044765,000696: 21,2726           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
044766,000697: 21,2727           55501                           TS       RCSFLAGS                              
044767,000698: 
044768,000699: 21,2730           00006                           EXTEND                                         
044769,000700: 21,2731           00031                           READ     CHAN31                                
044770,000701: 21,2732           54001                           TS       L                                     
044771,000702: 21,2733           31632                           CA       CH31TEMP                              
044772,000703: 21,2734           00006                           EXTEND                                         
044773,000704: 21,2735           06001                           RXOR     LCHAN                                 
044774,000705: 21,2736           73063                           MASK     MANROT                                #  = OCT00077
044775,000706: 21,2737           00006                           EXTEND                                         
044776,000707: 21,2740           62753                           BZMF     NOCHANGE                              
044777,000708: 
044778,000709: 21,2741           22000                           LXCH     A                                     
044779,000710: 21,2742           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044780,000711: 
044781,000712: 21,2743           30001                           CA       L                                     
044782,000713: 21,2744           00006                           EXTEND                                         
044783,000714: 21,2745           74764                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
044784,000715: 21,2746           30001                           CA       L                                     
044785,000716: 21,2747           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
044786,000717:                                                                                                  #  WITH CHANGES IN COMMAND. BITS 10,9 FOR
044787,000718:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044788,000719:                                                                                                  #  PITCH
044789,000720: 
044790,000721: 21,2750           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
044791,000722: 21,2751           73064                           MASK     OCT16000                              #  11 OF RCSFLAGS)
044792,000723: 21,2752           27501                           ADS      RCSFLAGS                              
044793,000724: 
044794,000725: 21,2753           41632        NOCHANGE           CS       CH31TEMP                              
044795,000726: 21,2754           73063                           MASK     MANROT                                
044796,000727: 21,2755           00006                           EXTEND                                         
044797,000728: 21,2756           63272                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
044798,000729: 
044799,000730: 21,2757           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +
044800,000731: 
044801,000732: 21,2760           03152                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044802,000733:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
044803,000734:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044804,000735:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
044805,000736:                                                                                                  #  COMMANDED BY THE RHC.
044806,000737: 
044807,000738:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
044808,000739:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
044809,000740:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044810,000741:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
044811,000742:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044812,000743:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1017

044814,000745:                                                                                                  #  VALUES.
044815,000746: 
044816,000747: 21,2761           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
044817,000748: 21,2762           74753                           MASK     STIKBIT                               #  PROGRAMS (P20) THAT ASTRONAUT HAS
044818,000749: 21,2763           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044819,000750: 
044820,000751: 21,2764           34753                           CAF      BIT14                                 
044821,000752: 21,2765           05654                           TC       C31BTCHK                              
044822,000753: 21,2766           13076                           TCF      FREEFUNC                              
044823,000754: 21,2767           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044824,000755: 21,2770           74753                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
044825,000756: 21,2771           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
044826,000757: 21,2772           12541                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
044827,000758: 
044828,000759: 21,2773           44773                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
044829,000760: 21,2774           60774                           AD       RATEINDX                              #  ATTKALMN TO -1.
044830,000761: 21,2775           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
044831,000762: 21,2776           63001                           BZMF     +3                                    
044832,000763: 21,2777           44770                           CS       ONE                                   
044833,000764: 21,3000           55617                           TS       ATTKALMN                              
044834,000765: 
044835,000766: 
044836,000767: 21,3001           34767                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
044837,000768: 21,3002           55506        SETWBODY           TS       SPNDX                                 
044838,000769: 21,3003           60000                           DOUBLE                                         
044839,000770: 21,3004           55507                           TS       DPNDX                                 
044840,000771: 21,3005           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
044841,000772: 21,3006           31656                           CA       RMANNDX                               #          = 1  + ROTATION
044842,000773: 21,3007           00006                           EXTEND                                         #          = 2  - ROTATION
044843,000774: 21,3010           13032                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
044844,000775:                                                                                                  #  GO TO NORATE.
044845,000776: 
044846,000777: 21,3011           60774                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
044847,000778: 21,3012           54002                           TS       Q                                     #           = 2  0.2 DEG/SEC
044848,000779: 21,3013           50002                           INDEX    Q                                     #           = 4  0.5 DEG/SEC
044849,000780: 21,3014           33064                           CA       MANTABLE   -1                         #           = 6  2.0 DEG/SEC
044850,000781: 21,3015           00006                           EXTEND                                         
044851,000782: 21,3016           74760                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
044852,000783: 21,3017           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
044853,000784: 21,3020           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
044854,000785: 
044855,000786: 21,3021           31501                           CA       RCSFLAGS                              
044856,000787: 21,3022           73064                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
044857,000788: 21,3023           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
044858,000789: 21,3024           13042                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044859,000790:                                                                                                  #  ERROR.
044860,000791: 
044861,000792: 21,3025           34772        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
044862,000793: 21,3026           22007                           ZL                                             
044863,000794: 21,3027           51507                           INDEX    DPNDX                                 

Page 1018

044865,000796: 21,3030           53542                           DXCH     MERRORX                               
044866,000797: 21,3031           13050                           TCF      SPNDXCHK                              
044867,000798: 
044868,000799: 21,3032           22007        NORATE             ZL                                             
044869,000800: 21,3033           51507                           INDEX    DPNDX                                 
044870,000801: 21,3034           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
044871,000802: 21,3035           31501                           CA       RCSFLAGS                              
044872,000803: 21,3036           73064                           MASK     OCT16000                              
044873,000804: 21,3037           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044874,000805: 21,3040           13050                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044875,000806: 21,3041           13025                           TCF      ZEROER                                #  NO, GO TO ZEROER
044876,000807: 
044877,000808: 21,3042           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044878,000809: 21,3043           43064                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
044879,000810: 21,3044           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
044880,000811: 21,3045           74762                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
044881,000812: 21,3046           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
044882,000813: 21,3047           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044883,000814: 
044884,000815: 21,3050           51507        SPNDXCHK           INDEX    DPNDX                                 
044885,000816: 21,3051           31541                           CA       MERRORX                               
044886,000817: 21,3052           51506                           INDEX    SPNDX                                 
044887,000818: 21,3053           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
044888,000819: 21,3054           11506                           CCS      SPNDX                                 
044889,000820: 21,3055           13002                           TCF      SETWBODY                              
044890,000821: 21,3056           13452                           TCF      JETS                                  
044891,000822: 
044892,000823: 
044893,000824: 21,3057           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
044894,000825: 
044895,000826: 21,3060           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
044896,000827: 21,3061           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
044897,000828: 21,3062           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
044898,000829:                                                                                                  #                                PRESERVED
044899,000830:                                                                                                  #                              FOR INDEXING
044900,000831: 21,3063           00077        MANROT             OCT      77                                    
044901,000832: 21,3064           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
044902,000833: 21,3065           00165        MANTABLE           DEC      .0071111                              
044903,000834: 21,3066           77612                           DEC      -.0071111                             
044904,000835: 21,3067           00722                           DEC      .028444                               
044905,000836: 21,3070           77055                           DEC      -0.028444                             
044906,000837: 21,3071           02215                           DEC      .071111                               
044907,000838: 21,3072           75562                           DEC      -.071111                              
044908,000839: 21,3073           11064                           DEC      .284444                               
044909,000840: 21,3074           66713                           DEC      -.284444                              
044910,000841: 21,3075           00027        =+14MS             DEC      23         B-14                       
044911,000842: 21,3076           31501        FREEFUNC           CA       RCSFLAGS                              
044912,000843: 21,3077           00006                           EXTEND                                         
044913,000844: 21,3100           74756                           MP       BIT11                                 #  SHIFT RIGHT 4 BITS
044914,000845: 21,3101           55502                           TS       T5TEMP                                

Page 1019

044916,000847: 21,3102           41632                           CS       CH31TEMP                              
044917,000848: 21,3103           71502                           MASK     T5TEMP                                #  A= COMPLEMENT OF NEW CH 31 COMMANDS
044918,000849: 21,3104           13320                           TCF      RHCMINP                               
044919,000850: 21,3105           34772        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
044920,000851: 21,3106           55567                           TS       ERRORX                                
044921,000852: 21,3107           55570                           TS       ERRORY                                
044922,000853: 21,3110           55571                           TS       ERRORZ                                
044923,000854: 21,3111           13763                           TCF      T6PROG                                
044924,000855: 

Page 1020

044926,000857: 
044927,000858: 21,3112           00000        FREETAU            DEC      0          B-14                       
044928,000859: 21,3113           00740                           DEC      480        B-14                       
044929,000860: 21,3114           77037                           DEC      -480       B-14                       
044930,000861: 21,3115           00000                           DEC      0          B-14                       
044931,000862: 
044932,000863: 
044933,000864: 21,3116           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044934,000865: 21,3117           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044935,000866: 21,3120           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044936,000867: 21,3121           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
044937,000868: 21,3122           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
044938,000869: 21,3123           13030                           DEC      .3452                                 
044939,000870: 21,3124           14047                           DEC      .3774                                 
044940,000871: 21,3125           15241                           DEC      .4161                                 
044941,000872: 21,3126           16650                           DEC      .4634                                 
044942,000873: 21,3127           20555                           DEC      .5223                                 
044943,000874: 21,3130           23065                           DEC      .5970                                 
044944,000875: 21,3131           26137                           DEC      .6933                                 
044945,000876: 21,3132           32053                           DEC      .8151                                 
044946,000877: 21,3133           35712                           DEC      .9342                                 
044947,000878: 
044948,000879: 21,3134           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044949,000880: 21,3135           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044950,000881: 21,3136           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044951,000882: 21,3137           00032        GAIN2              DEC      .0016                                 #  SCALED 10
044952,000883: 21,3140           01350                           DEC      .0454                                 
044953,000884: 21,3141           01575                           DEC      .0545                                 
044954,000885: 21,3142           02103                           DEC      .0666                                 
044955,000886: 21,3143           02523                           DEC      .0832                                 
044956,000887: 21,3144           03327                           DEC      .1069                                 
044957,000888: 21,3145           04432                           DEC      .1422                                 
044958,000889: 21,3146           06264                           DEC      .1985                                 
044959,000890: 21,3147           11351                           DEC      .2955                                 
044960,000891: 21,3150           17324                           DEC      .4817                                 
044961,000892: 21,3151           33622                           DEC      .8683                                 
044962,000893: 21,3152           55502        STICKCHK           TS       T5TEMP                                
044963,000894: 21,3153           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
044964,000895: 21,3154           55657                           TS       PMANNDX                               
044965,000896: 21,3155           31502                           CA       T5TEMP                                
044966,000897: 21,3156           00006                           EXTEND                                         #  MAN RATE 0   0 RATE (DP)
044967,000898: 21,3157           74754                           MP       QUARTER                               #           +1   +RATE (DP)
044968,000899: 21,3160           55502                           TS       T5TEMP                                #           +2   -RATE (DP)
044969,000900: 21,3161           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
044970,000901: 21,3162           55660                           TS       YMANNDX                               
044971,000902: 21,3163           31502                           CA       T5TEMP                                
044972,000903: 21,3164           00006                           EXTEND                                         
044973,000904: 21,3165           74754                           MP       QUARTER                               
044974,000905: 21,3166           55656                           TS       RMANNDX                               
044975,000906: 21,3167           00002                           TC       Q                                     

Page 1021

044977,000908: 
044978,000909: 21,3170           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
044979,000910:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
044980,000911: 
044981,000912: 21,3171           32167                           CA       DELTATT                               #  =1SEC - 80MS
044982,000913: 21,3172           61634                           AD       T5TIME                                #  + DELAYS
044983,000914: 21,3173           54030                           TS       TIME5                                 
044984,000915: 21,3174           13177                           TCF      +3                                    
044985,000916: 21,3175           37663                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
044986,000917: 21,3176           54030                           TS       TIME5                                 #  A T5RUPT
044987,000918: 
044988,000919: 
044989,000920: 21,3177           44772        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
044990,000921: 21,3200           55464                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
044991,000922: 21,3201           15323                           TCF      RESUME                                
044992,000923: 
044993,000924: 
044994,000925: 21,3202           44765        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
044995,000926: 21,3203           71501                           MASK     RCSFLAGS                              
044996,000927: 21,3204           55501                           TS       RCSFLAGS                              
044997,000928: 
044998,000929: 21,3205           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044999,000930: 21,3206           74760                           MASK     NEEDLBIT                              #  ERRORS
045000,000931: 21,3207           00006                           EXTEND                                         
045001,000932: 21,3210           13217                           BZF      FDAITOTL                              
045002,000933: 21,3211           00006                           EXTEND                                         
045003,000934: 21,3212           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
045004,000935: 21,3213           53477                           DXCH     AK                                    
045005,000936: 21,3214           41571                           CS       ERRORZ                                
045006,000937: 21,3215           55500                           TS       AK2                                   
045007,000938: 21,3216           15323                           TCF      RESUME                                #  END PHASE 1
045008,000939: 
045009,000940: 
045010,000941: 21,3217           30105        FDAITOTL           CA       FLAGWRD9                              
045011,000942: 21,3220           74763                           MASK     N2217BIT                              
045012,000943: 21,3221           00006                           EXTEND                                         
045013,000944: 21,3222           13265                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045014,000945:                                                                                                  #  IF SO, GO TO WRTN17
045015,000946: 21,3223           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
045016,000947: 21,3224           31311                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
045017,000948: 21,3225           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
045018,000949: 21,3226           31307                           CA       CPHI                                  #  COMPONENTS OF N22
045019,000950: 
045020,000951: 21,3227           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
045021,000952: 21,3230           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
045022,000953: 21,3231           55476                           TS       AK                                    
045023,000954: 21,3232           31513                           CA       WTEMP                                 
045024,000955: 21,3233           00006                           EXTEND                                         
045025,000956: 21,3234           20033                           MSU      CDUY                                  
045026,000957: 21,3235           55502                           TS       T5TEMP                                
045027,000958: 21,3236           00006                           EXTEND                                         

Page 1022

045029,000960: 21,3237           71640                           MP       AMGB1                                 
045030,000961: 21,3240           27476                           ADS      AK                                    
045031,000962: 21,3241           31502                           CA       T5TEMP                                
045032,000963: 21,3242           00006                           EXTEND                                         
045033,000964: 21,3243           71641                           MP       AMGB4                                 
045034,000965: 21,3244           55477                           TS       AK1                                   
045035,000966: 21,3245           31502                           CA       T5TEMP                                
045036,000967: 21,3246           00006                           EXTEND                                         
045037,000968: 21,3247           71643                           MP       AMGB7                                 
045038,000969: 21,3250           55500                           TS       AK2                                   
045039,000970: 21,3251           31514                           CA       WTEMP      +1                         
045040,000971: 21,3252           00006                           EXTEND                                         
045041,000972: 21,3253           20034                           MSU      CDUZ                                  
045042,000973: 21,3254           55502                           TS       T5TEMP                                
045043,000974: 21,3255           00006                           EXTEND                                         
045044,000975: 21,3256           71642                           MP       AMGB5                                 
045045,000976: 21,3257           27477                           ADS      AK1                                   
045046,000977: 21,3260           31502                           CA       T5TEMP                                
045047,000978: 21,3261           00006                           EXTEND                                         
045048,000979: 21,3262           71644                           MP       AMGB8                                 
045049,000980: 21,3263           27500                           ADS      AK2                                   
045050,000981: 21,3264           15323                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
045051,000982: 
045052,000983: 21,3265           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
045053,000984: 21,3266           31015                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
045054,000985: 21,3267           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
045055,000986: 21,3270           31013                           CA       CPHIX                                 
045056,000987: 21,3271           13227                           TCF      GETAKS                                
045057,000988: 

Page 1023 Empty page.

045060,000991: 

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