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.

044070,000002:                                                                                                  ## Copyright:   Public domain.
044071,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
044072,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
044073,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
044074,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
044075,000007:                                                                                                  ##              Apollo 15-17.
044076,000008:                                                                                                  ## Assembler:   yaYUL
044077,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
044078,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
044079,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
044080,000012:                                                                                                  ## Mod history: 2009-08-27 SN   Adapted from corresponding Comanche 055 file.
044081,000013:                                                                                                  ##              2009-09-04 JL   Fixed typos. Fixed page comment.
044082,000014:                                                                                                  ##              2009-09-10 JL   Fixed typos.
044083,000015:                                                                                                  ##              2010-02-01 JL   Fixed build errors.
044084,000016:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
044085,000017:                                                                                                  ##              2017-02-08 RSB  Proofed comment text by diff'ing vs Comanche 55
044086,000018:                                                                                                  ##                              and/or octopus/ProoferComments as most-appropriate.
044087,000019: 

Page 1000

044089,000021: 
044090,000022:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044091,000023:                                                                                                  #        START OF T5 INTERRUPT PROGRAM
044092,000024: 
044093,000025: 21,2000                                           SETLOC   DAPS3                                 
044094,000026: 21,2000                                           BANK                                           
044095,000027: 
044096,000028: 21,2123                                           COUNT*   $$/DAPRC                              
044097,000029: 21,2123  E6,1510                                  EBANK=   KMPAC                                 
044098,000030: 21,2123           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
044099,000031: 21,2124           31464                           CA       T5PHASE                               #  ON A T5 RUPT.
044100,000032: 21,2125           00006                           EXTEND                                         
044101,000033: 21,2126           62130                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
044102,000034: 21,2127           12132                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
044103,000035: 21,2130           44770                           CS       ONE                                   
044104,000036: 21,2131           55464                           TS       T5PHASE                               
044105,000037: 21,2132           00006                           EXTEND                                         
044106,000038: 21,2133           32137                           DCA      RCSLOC                                
044107,000039: 21,2134           52113                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
044108,000040: 21,2135           12141                           TCF      RCSATT     +1                         
044109,000041: 21,2136  E6,1510                                  EBANK=   KMPAC                                 
044110,000042: 21,2136           02140 42066  RCSLOC             2CADR    RCSATT                                
044111,000043: 
044112,000044: 
044113,000045: 21,2140           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
044114,000046: 21,2141           00006                 +1        EXTEND                                         #  SAVE Q
044115,000047: 21,2142           22012                           QXCH     QRUPT                                 
044116,000048: 21,2143           34752                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044117,000049: 21,2144           05654                           TC       C31BTCHK                              #  S/C CONT SW IS IN CMC (I.E. IF G/C DAP
044118,000050: 21,2145           12170                           TCF      SETT5                                 #  IS FULLY ENABLED).     IF SO8
044119,000051:                                                                                                  #  GO TO SETT5
044120,000052: 
044121,000053: 21,2146           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044122,000054: 21,2147           74753                           MASK     BIT14                                 
044123,000055: 21,2150           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
044124,000056: 21,2151           34750                           CAF      POSMAX                                
044125,000057: 21,2152           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
044126,000058: 21,2153           34772                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
044127,000059: 21,2154           55567                           TS       ERRORX                                
044128,000060: 21,2155           55570                           TS       ERRORY                                
044129,000061: 21,2156           55571                           TS       ERRORZ                                
044130,000062: 21,2157           34753                           CAF      BIT14                                 
044131,000063: 21,2160           05654                           TC       C31BTCHK                              #  AND CHECK FREE FUNCTION (BIT14 CHAN31)
044132,000064: 21,2161           12170                           TCF      SETT5                                 
044133,000065: 21,2162           55464                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
044134,000066: 21,2163           37661                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
044135,000067: 21,2164           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
044136,000068: 
044137,000069: 21,2165           02642                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET

Page 1001

044139,000071: 21,2166           12355                           TCF      KMATRIX                               
044140,000072: 21,2167           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
044141,000073: 21,2170     7663               DELTATT2           =        OCT37776                              #  20 MS (TIME5)
044142,000074: 
044143,000075:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
044144,000076: 
044145,000077:                                                                                                  #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
044146,000078:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044147,000079:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
044148,000080:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044149,000081:                                                                                                  #  VARIABLES AT TURN ON.
044150,000082:                                                                                                  #  THE CODING OF T5PHASE IS...
044151,000083: 
044152,000084:                                                                                                  #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
044153,000085:                                                                                                  #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044154,000086:                                                                                                  #             - = RESTART DAP
044155,000087:                                                                                                  #            -0 = PHASE1 OF THE T5 PROGRAM
044156,000088: 
044157,000089: 21,2170           11464        SETT5              CCS      T5PHASE                               
044158,000090: 21,2171           12551                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
044159,000091: 21,2172           12674                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
044160,000092: 21,2173           12553                           TCF      REDAP                                 #  RESTART AUTOPILOT
044161,000093: 
044162,000094: 21,2174           55464                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
044163,000095: 21,2175           30030                           CA       TIME5                                 
044164,000096: 21,2176           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
044165,000097: 21,2177           37663                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
044166,000098: 21,2200           54030                           TS       TIME5                                 #  OF PROGRAM
044167,000099: 

Page 1002

044169,000101: 
044170,000102:                                                                                                  #  IMU STATUS CHECK
044171,000103: 
044172,000104: 21,2201           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044173,000105: 21,2202           74763                           MASK     NOIMUDAP                              #  BIT6 = 0 IMU OK
044174,000106: 21,2203           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
044175,000107: 21,2204           12215                           TCF      RATEFILT                              
044176,000108: 21,2205           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
044177,000109: 21,2206           74753                           MASK     BIT14                                 #  INITIALIZED
044178,000110: 21,2207           27501                           ADS      RCSFLAGS                              
044179,000111: 21,2210           34753                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
044180,000112: 21,2211           55340                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
044181,000113:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
044182,000114:                                                                                                  #  ATTITUDE HOLD
044183,000115: 21,2212           05654                           TC       C31BTCHK                              #  CHECK FOR FREE MODE
044184,000116: 21,2213           12424                           TCF      KRESUME1                              #  IN FREE, PROVIDE FREE CONTROL ONLY
044185,000117: 21,2214           12541                           TCF      REINIT                                #  .....TILT...............................
044186,000118: 21,2215     5001               BITS4,5            =        BITS4&5                               
044187,000119: 
044188,000120: 21,2215           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
044189,000121: 21,2216           74753                           MASK     BIT14                                 
044190,000122: 21,2217           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
044191,000123: 21,2220           12222                           BZF      +2                                    
044192,000124: 21,2221           12355                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
044193,000125: 
044194,000126:                                                                                                  #                RATE FILTER     TIMING = 7.72 MS
044195,000127: 
044196,000128:                                                                                                  #  RATE FILTER EQUATIONS
044197,000129:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044198,000130:                                                                                                  #                                            -1
044199,000131:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
044200,000132:                                                                                                  #             -1
044201,000133:                                                                                                  #        -        *     -     -
044202,000134:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
044203,000135:                                                                                                  #                                -1
044204,000136: 
044205,000137: 21,2222           34767                 +2        CAF      TWO                                   
044206,000138: 21,2223           55506        DRHOLOOP           TS       SPNDX                                 
044207,000139: 21,2224           60000                           DOUBLE                                         
044208,000140: 21,2225           55507                           TS       DPNDX                                 
044209,000141: 21,2226           51507                           INDEX    DPNDX                                 
044210,000142: 21,2227           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
044211,000143: 21,2230           00006                           EXTEND                                         
044212,000144: 21,2231           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
044213,000145: 21,2232           73121                           MP       GAIN1                                 
044214,000146: 21,2233           51507                           INDEX    DPNDX                                 
044215,000147: 21,2234           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
044216,000148: 21,2235           00006                           EXTEND                                         
044217,000149: 21,2236           51507                           INDEX    DPNDX                                 
044218,000150: 21,2237           41534                           DCS      ADOT                                  

Page 1003

044220,000152: 21,2240           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
044221,000153: 21,2241           34754                           CA       QUARTER                               
044222,000154: 21,2242           02060                           TC       SMALLMP                               
044223,000155: 21,2243           53511                           DXCH     KMPAC                                 
044224,000156: 21,2244           51507                           INDEX    DPNDX                                 
044225,000157: 21,2245           21553                           DAS      DRHO                                  
044226,000158: 21,2246           11506                           CCS      SPNDX                                 
044227,000159: 21,2247           12223                           TCF      DRHOLOOP                              
044228,000160: 
044229,000161: 21,2250           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
044230,000162: 21,2251           57635                           XCH      RHO                                   
044231,000163: 21,2252           00006                           EXTEND                                         
044232,000164: 21,2253           21635                           MSU      RHO                                   #  -        *     -     -
044233,000165: 21,2254           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
044234,000166:                                                                                                  #                          -1
044235,000167: 21,2255           22007                           ZL                                             
044236,000168: 21,2256           53516                           DXCH     DELTEMPX                              
044237,000169: 21,2257           30033                           CA       CDUY                                  
044238,000170: 21,2260           57636                           XCH      RHO1                                  
044239,000171: 21,2261           00006                           EXTEND                                         
044240,000172: 21,2262           21636                           MSU      RHO1                                  
044241,000173: 21,2263           40000                           COM                                            
044242,000174: 21,2264           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
044243,000175: 21,2265           00006                           EXTEND                                         
044244,000176: 21,2266           71640                           MP       AMGB1                                 
044245,000177: 21,2267           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044246,000178:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
044247,000179:                                                                                                  #  PULSES
044248,000180: 21,2270           31641                           CA       AMGB4                                 
044249,000181: 21,2271           00006                           EXTEND                                         
044250,000182: 21,2272           71502                           MP       T5TEMP                                
044251,000183: 21,2273           53520                           DXCH     DELTEMPY                              
044252,000184: 21,2274           31643                           CA       AMGB7                                 
044253,000185: 21,2275           00006                           EXTEND                                         
044254,000186: 21,2276           71502                           MP       T5TEMP                                
044255,000187: 21,2277           53522                           DXCH     DELTEMPZ                              
044256,000188: 21,2300           30034                           CA       CDUZ                                  
044257,000189: 21,2301           57637                           XCH      RHO2                                  
044258,000190: 21,2302           00006                           EXTEND                                         
044259,000191: 21,2303           21637                           MSU      RHO2                                  
044260,000192: 21,2304           40000                           COM                                            
044261,000193: 21,2305           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
044262,000194: 21,2306           00006                           EXTEND                                         
044263,000195: 21,2307           71642                           MP       AMGB5                                 
044264,000196: 21,2310           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
044265,000197:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
044266,000198: 21,2311           31644                           CA       AMGB8                                 
044267,000199: 21,2312           00006                           EXTEND                                         
044268,000200: 21,2313           71502                           MP       T5TEMP                                
044269,000201: 21,2314           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)

Page 1004

044271,000203:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
044272,000204: 21,2315           34767                           CAF      TWO                                   
044273,000205: 21,2316           55506        ADOTLOOP           TS       SPNDX                                 
044274,000206: 21,2317           60000                           DOUBLE                                         
044275,000207: 21,2320           55507                           TS       DPNDX                                 
044276,000208: 21,2321           00006                           EXTEND                                         
044277,000209: 21,2322           51507                           INDEX    DPNDX                                 
044278,000210: 21,2323           31516                           DCA      DELTEMPX                              
044279,000211: 21,2324           51507                           INDEX    DPNDX                                 
044280,000212: 21,2325           21553                           DAS      DRHO                                  
044281,000213: 21,2326           00006                           EXTEND                                         
044282,000214: 21,2327           51507                           INDEX    DPNDX                                 
044283,000215: 21,2330           31516                           DCA      DELTEMPX                              
044284,000216: 21,2331           51507                           INDEX    DPNDX                                 
044285,000217: 21,2332           21542                           DAS      MERRORX                               
044286,000218: 21,2333           51507                           INDEX    DPNDX                                 
044287,000219: 21,2334           31552                           CA       DRHO                                  
044288,000220: 21,2335           60000                           DOUBLE                                         #  N.B.
044289,000221: 21,2336           60000                           DOUBLE                                         #  N.B.
044290,000222: 21,2337           00006                           EXTEND                                         
044291,000223: 21,2340           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
044292,000224: 21,2341           73137                           MP       GAIN2                                 
044293,000225: 21,2342           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
044294,000226: 21,2343           21534                           DAS      ADOT                                  #      -1
044295,000227: 21,2344           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
044296,000228: 21,2345           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
044297,000229: 21,2346           00006                           EXTEND                                         
044298,000230: 21,2347           51506                           INDEX    SPNDX                                 
044299,000231: 21,2350           71547                           MP       DFT                                   
044300,000232: 21,2351           51507                           INDEX    DPNDX                                 
044301,000233: 21,2352           21534                           DAS      ADOT                                  #  KMJ(DFT)
044302,000234: 21,2353           11506                           CCS      SPNDX                                 
044303,000235: 21,2354           12316                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
044304,000236: 21,2355           31560        KMATRIX            CA       ATTSEC                                
044305,000237: 21,2356           74777                           MASK     LOW4                                  
044306,000238: 21,2357           10000                           CCS      A                                     
044307,000239: 21,2360           12366                           TCF      TENTHSEK                              
044308,000240: 21,2361           37656                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
044309,000241: 21,2362           05121                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
044310,000242: 21,2363  E6,1510                                  EBANK=   KMPAC                                 
044311,000243: 21,2363           03560 44066                     2CADR    AMBGUPDT                              
044312,000244: 
044313,000245: 21,2365           34322                           CAF      NINE                                  
044314,000246: 
044315,000247: 21,2366           55560        TENTHSEK           TS       ATTSEC                                
044316,000248: 

Page 1005

044318,000250:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
044319,000251:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
044320,000252: 
044321,000253:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
044322,000254:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
044323,000255:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
044324,000256: 
044325,000257:                                                                                                  #  THE STEERING PROGRAMS-
044326,000258:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
044327,000259:                                                                                                  #        2) LEM TRACKING
044328,000260: 
044329,000261:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
044330,000262:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
044331,000263: 
044332,000264:                                                                                                  #  HOLDFLAG CODING-
044333,000265: 
044334,000266:                                                                                                  #      + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
044335,000267:                                                                                                  #          AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
044336,000268:                                                                                                  #          ALSO IGNORE AUTOMATIC STEERING
044337,000269:                                                                                                  #          SET = + BY
044338,000270:                                                                                                  #                 1) INITIALIZATION PHASE OF AUTOPILOT
044339,000271:                                                                                                  #                 2) OCCURANCE OF RHC COMMANDS
044340,000272:                                                                                                  #                 3) FREE MODE
044341,000273:                                                                                                  #                 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
044342,000274:                                                                                                  #                    WHILE DOING AUTOMATIC STEERING (IN THIS CASE
044343,000275:                                                                                                  #                    HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
044344,000276:                                                                                                  #                    FUNCTIONS AS IF IT WERE.)
044345,000277:                                                                                                  #                 5) S/C CONTROL SWITCH IN SCS
044346,000278:                                                                                                  #                 6) IMU POWER OFF
044347,000279:                                                                                                  #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
044348,000280:                                                                                                  #       - = PERFORMING AUTOMATIC MANEUVER
044349,000281:                                                                                                  #      -0 = NOT USED AT PRESENT
044350,000282: 
044351,000283:                                                                                                  #        NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
044352,000284:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
044353,000285:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044354,000286: 
044355,000287: 
044356,000288: 21,2367           41340                           CS       HOLDFLAG                              
044357,000289: 21,2370           00006                           EXTEND                                         
044358,000290: 21,2371           62416                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044359,000291:                                                                                                  #  COMMANDS
044360,000292: 21,2372           34767        DCDUINCR           CAF      TWO                                   
044361,000293: 21,2373           55506        DELOOP             TS       SPNDX                                 
044362,000294: 21,2374           60000                           DOUBLE                                         
044363,000295: 21,2375           55507                           TS       DPNDX                                 
044364,000296: 21,2376           00006                           EXTEND                                         
044365,000297: 21,2377           50000                           INDEX    A                                     
044366,000298: 21,2400           31647                           DCA      CDUXD                                 

Page 1006

044368,000300: 21,2401           53511                           DXCH     KMPAC                                 
044369,000301: 21,2402           00006                           EXTEND                                         
044370,000302: 21,2403           51507                           INDEX    DPNDX                                 
044371,000303: 21,2404           31576                           DCA      DELCDUX                               
044372,000304: 21,2405           02072                           TC       DPADD                                 
044373,000305: 21,2406           00006                           EXTEND                                         
044374,000306: 21,2407           31511                           DCA      KMPAC                                 
044375,000307: 21,2410           51506                           INDEX    SPNDX                                 
044376,000308: 21,2411           55572                           TS       THETADX                               
044377,000309: 21,2412           51507                           INDEX    DPNDX                                 
044378,000310: 21,2413           53647                           DXCH     CDUXD                                 
044379,000311: 21,2414           11506                           CCS      SPNDX                                 
044380,000312: 21,2415           12373                           TCF      DELOOP                                
044381,000313: 

Page 1007

044383,000315: 
044384,000316:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044385,000317: 
044386,000318:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044387,000319: 
044388,000320:                                                                                                  #                MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
044389,000321:                                                                                                  #                        GENERATED INTERNALLY BY THE AUTOPILOT
044390,000322: 
044391,000323:                                                                                                  #                MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
044392,000324:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N22
044393,000325: 
044394,000326:                                                                                                  #                MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
044395,000327:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N17
044396,000328: 
044397,000329:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
044398,000330:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044399,000331: 
044400,000332:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044401,000333:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044402,000334:                                                                                                  #  AS A FLY-TO INDICATOR.
044403,000335: 
044404,000336:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044405,000337:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044406,000338:                                                                                                  #  AS A FLY-TO INDICATOR.
044407,000339: 
044408,000340:                                                                                                  #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044409,000341:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
044410,000342: 
044411,000343:                                                                                                  #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044412,000344:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
044413,000345:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044414,000346: 
044415,000347: 21,2416           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
044416,000348: 21,2417           74765                           MASK     BIT4                                  
044417,000349: 21,2420           00006                           EXTEND                                         
044418,000350: 21,2421           13202                           BZF      FDAIDSP2                              
044419,000351: 
044420,000352: 21,2422           27501        FDAIDSP1           ADS      RCSFLAGS                              
044421,000353: 21,2423           02425                           TC       NEEDLER                               
044422,000354: 21,2424           15323        KRESUME1           TCF      RESUME                                #  END PHASE 1
044423,000355: 

Page 1008

044425,000357: 
044426,000358:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044427,000359: 
044428,000360:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
044429,000361: 
044430,000362:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044431,000363:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044432,000364:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044433,000365:                                                                                                  #  THE DACS.
044434,000366: 
044435,000367: 
044436,000368:                                                                                                  #  CALLING SEQUENCE:
044437,000369: 
044438,000370:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044439,000371:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044440,000372: 
044441,000373:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
044442,000374:                                                                                                  #                MASK    BIT3
044443,000375:                                                                                                  #                ADS     RCSFLAGS
044444,000376: 
044445,000377:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044446,000378: 
044447,000379:                                                                                                  #                AK      SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
044448,000380:                                                                                                  #                AK1     SCALED 180 DEGREES        TO CHANGE
044449,000381:                                                                                                  #                AK2     SCALED 180 DEGREES
044450,000382: 
044451,000383:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044452,000384:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
044453,000385: 
044454,000386:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044455,000387: 
044456,000388:                                                                                                  #                INHINT
044457,000389:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
044458,000390:                                                                                                  #                CADR    NEEDLER
044459,000391:                                                                                                  #                RELINT
044460,000392: 
044461,000393:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
044462,000394:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044463,000395:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044464,000396: 
044465,000397:                                                                                                  #  ERASABLE USED:
044466,000398:                                                                                                  #                        AK              CDUXCMD
044467,000399:                                                                                                  #                        AK1             CDUYCMD
044468,000400:                                                                                                  #                        AK2             CDUZCMD
044469,000401:                                                                                                  #                        EDRIVEX         A,L,Q
044470,000402:                                                                                                  #                        EDRIVEY         T5TEMP
044471,000403:                                                                                                  #                        EDRIVEZ         SPNDX
044472,000404: 
044473,000405:                                                                                                  #  SWITCHES:             RCSFLAGS        BITS 3,2
044474,000406: 
044475,000407:                                                                                                  #  I/O CHANNELS:         CHAN12          BIT 4 (COARSE ALIGN - READ ONLY)

Page 1009

044477,000409:                                                                                                  #                        CHAN12          BIT 6 (IMU ERROR COUNTER ENABLE)
044478,000410:                                                                                                  #                        CHAN14          BIT 13,14,15 (DAC ACTIVITY)
044479,000411: 
044480,000412:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
044481,000413:                                                                                                  #            WHERE       THETAC = COMMAND ANGLE
044482,000414:                                                                                                  #                        THETA = PRESENT ANGLE
044483,000415: 
044484,000416: 21,2425           34765        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
044485,000417: 21,2426           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
044486,000418: 21,2427           02012                           RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
044487,000419: 21,2430           00006                           EXTEND                                         
044488,000420: 21,2431           12436                           BZF      NEEDLER1                              
044489,000421: 21,2432           41501        RCSINT             CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
044490,000422: 21,2433           74766                           MASK     BIT3                                  
044491,000423: 21,2434           27501                           ADS      RCSFLAGS                              
044492,000424: 21,2435           00002                           TC       Q                                     
044493,000425: 
044494,000426: 21,2436           31501        NEEDLER1           CA       RCSFLAGS                              
044495,000427: 21,2437           76211                           MASK     SIX                                   
044496,000428: 21,2440           00006                           EXTEND                                         
044497,000429: 21,2441           12476                           BZF      NEEDLES3                              
044498,000430: 21,2442           74766                           MASK     BIT3                                  
044499,000431: 21,2443           00006                           EXTEND                                         
044500,000432: 21,2444           12467                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
044501,000433: 
044502,000434: 21,2445           44763                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
044503,000435: 21,2446           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
044504,000436: 21,2447           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
044505,000437: 21,2450           44772        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
044506,000438: 21,2451           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
044507,000439: 21,2452           55477                           TS       AK1                                   
044508,000440: 21,2453           55500                           TS       AK2                                   
044509,000441: 21,2454           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
044510,000442: 21,2455           55504                           TS       EDRIVEY                               
044511,000443: 21,2456           55505                           TS       EDRIVEZ                               
044512,000444: 21,2457           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
044513,000445: 21,2460           54051                           TS       CDUYCMD                               
044514,000446: 21,2461           54052                           TS       CDUZCMD                               
044515,000447: 21,2462           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
044516,000448: 21,2463           71501                           MASK     RCSFLAGS                              
044517,000449: 21,2464           64767                           AD       BIT2                                  
044518,000450: 21,2465           55501                           TS       RCSFLAGS                              
044519,000451: 21,2466           00002                           TC       Q                                     #  END PASS1
044520,000452: 
044521,000453: 21,2467           34763        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
044522,000454: 21,2470           00006                           EXTEND                                         
044523,000455: 21,2471           05012                           WOR      CHAN12                                
044524,000456: 21,2472           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1010

044526,000458: 21,2473           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
044527,000459: 21,2474           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
044528,000460: 21,2475           00002                           TC       Q                                     
044529,000461: 
044530,000462: 
044531,000463: 21,2476           34763        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
044532,000464: 21,2477           00006                           EXTEND                                         #  IS ENABLED
044533,000465: 21,2500           02012                           RAND     CHAN12                                
044534,000466: 21,2501           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
044535,000467: 21,2502           12432                           BZF      RCSINT                                
044536,000468: 21,2503           34767        NEEDLES            CAF      TWO                                   
044537,000469: 21,2504           55506        DACLOOP            TS       SPNDX                                 
044538,000470: 21,2505           44754                           CS       QUARTER                               
044539,000471: 21,2506           00006                           EXTEND                                         
044540,000472: 21,2507           51506                           INDEX    SPNDX                                 
044541,000473: 21,2510           71476                           MP       AK                                    
044542,000474: 21,2511           54001                           TS       L                                     
044543,000475: 21,2512           10000                           CCS      A                                     
044544,000476: 21,2513           32547                           CA       DACLIMIT                              
044545,000477: 21,2514           12516                           TCF      +2                                    
044546,000478: 21,2515           42547                           CS       DACLIMIT                              
044547,000479: 21,2516           60001                           AD       L                                     
044548,000480: 21,2517           55502                           TS       T5TEMP                                #  OVFLO CHK
044549,000481: 21,2520           12524                           TCF      OVSPOT                                
044550,000482: 21,2521           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
044551,000483: 21,2522           32547                           CAF      DACLIMIT                              
044552,000484: 21,2523           54001                           TS       L                                     
044553,000485: 21,2524           51506        OVSPOT             INDEX    SPNDX                                 
044554,000486: 21,2525           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
044555,000487: 21,2526           60001                           AD       L                                     
044556,000488: 21,2527           51506                           INDEX    SPNDX                                 
044557,000489: 21,2530           26050                           ADS      CDUXCMD                               
044558,000490: 21,2531           51506                           INDEX    SPNDX                                 
044559,000491: 21,2532           23503                           LXCH     EDRIVEX                               
044560,000492: 21,2533           11506                           CCS      SPNDX                                 
044561,000493: 21,2534           12504                           TCF      DACLOOP                               
044562,000494: 21,2535           37673                           CAF      13,14,15                              
044563,000495: 21,2536           00006                           EXTEND                                         
044564,000496: 21,2537           05014        DRIVEDAC           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
044565,000497: 21,2540           00002                           TC       Q                                     
044566,000498: 
044567,000499: 21,2541           32545        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
044568,000500: 21,2542           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
044569,000501: 21,2543           55464                           TS       T5PHASE                               
044570,000502: 21,2544           15323                           TCF      RESUME                                
044571,000503: 21,2545           37754        DELAY200           DEC      16364      B-14                       #  200MS
044572,000504: 
044573,000505: 
044574,000506: 21,2546           77177                           DEC      -384       B-14                       
044575,000507: 21,2547           37200        DACLIMIT           DEC      16000      B-14                       

Page 1011

044577,000509: 21,2550           00600                           DEC      384        B-14                       
044578,000510: 

Page 1012

044580,000512: 
044581,000513:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044582,000514: 
044583,000515:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044584,000516: 
044585,000517:                                                                                                  #  WBODY   (+1)    DFT             TAU2
044586,000518:                                                                                                  #  WBODY1  (+1)    DFT1            BIAS
044587,000519:                                                                                                  #  WBODY2  (+1)    DFT2            BIAS1
044588,000520:                                                                                                  #  ADOT    (+1)    DRHO   (+1)     BIAS2
044589,000521:                                                                                                  #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
044590,000522:                                                                                                  #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
044591,000523:                                                                                                  #  MERRORX (+1)    ATTSEC          ERRORZ
044592,000524:                                                                                                  #  MERRORY (+1)    TAU
044593,000525:                                                                                                  #  MERRORZ (+1)    TAU1
044594,000526: 
044595,000527: 21,2551           34770        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
044596,000528: 21,2552           55340                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
044597,000529:                                                                                                  #  ATTITUDE HOLD REFERENCE
044598,000530: 
044599,000531: 21,2553           04714        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044600,000532: 21,2554           40463                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
044601,000533: 
044602,000534: 21,2555           04714                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
044603,000535: 21,2556           40614                           CADR     S40.14                                #  TO AUTOPILOT GAINS
044604,000536: 
044605,000537: 21,2557           32633                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS 2
044606,000538:                                                                                                  #  NO.T5VAR MUST BE ODD *************
044607,000539: 21,2560           10000        ZEROT5             CCS      A                                     
044608,000540: 21,2561           55506                           TS       SPNDX                                 
044609,000541: 21,2562           34772                           CAF      ZERO                                  
044610,000542: 21,2563           54001                           TS       L                                     
044611,000543: 21,2564           51506                           INDEX    SPNDX                                 
044612,000544: 21,2565           53527                           DXCH     WBODY      +1                         
044613,000545: 21,2566           11506                           CCS      SPNDX                                 
044614,000546: 21,2567           12560                           TCF      ZEROT5                                
044615,000547: 21,2570           55525                           TS       WBODY                                 #  ZERO LAST (FIRST) ONE
044616,000548: 
044617,000549: 21,2571           02642                           TC       ZEROJET                               
044618,000550: 21,2572           44772                           CS       ZERO                                  
044619,000551: 21,2573           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
044620,000552: 
044621,000553: 21,2574           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
044622,000554:                                                                                                  #  MANUAL RATE MODES
044623,000555: 
044624,000556: 21,2575           32634                           CAF      =.24                                  
044625,000557: 21,2576           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
044626,000558: 
044627,000559: 21,2577           34766                           CAF      FOUR                                  
044628,000560: 21,2600           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044629,000561:                                                                                                  #  60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044630,000562:                                                                                                  #  IN (80MS - T5TIME(40MS)). THEREFORE
044631,000563:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044632,000564:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER

Page 1013

044634,000566: 21,2601           34775                           CAF      ELEVEN                                
044635,000567: 21,2602           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
044636,000568:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES
044637,000569: 21,2603           30032                           CA       CDUX                                  
044638,000570: 21,2604           55635                           TS       RHO                                   
044639,000571: 21,2605           30033                           CA       CDUY                                  
044640,000572: 21,2606           55636                           TS       RHO1                                  
044641,000573: 21,2607           30034                           CA       CDUZ                                  
044642,000574: 21,2610           55637                           TS       RHO2                                  
044643,000575: 21,2611           34772                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
044644,000576: 21,2612           55464                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
044645,000577: 
044646,000578: 21,2613           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044647,000579: 21,2614           74763                           MASK     NOIMUDAP                              #  IF BIT6 =0 IMU IN FINE ALIGN
044648,000580: 21,2615           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
044649,000581: 21,2616           12622                           TCF      IMUAOK                                
044650,000582: 21,2617           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
044651,000583: 21,2620           32635                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
044652,000584: 21,2621           12627                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
044653,000585:                                                                                                  #  SIGNAL NO RATE FILTER
044654,000586: 
044655,000587: 21,2622           37656        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
044656,000588: 21,2623           05121                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
044657,000589: 21,2624  E6,1510                                  EBANK=   KMPAC                                 
044658,000590: 21,2624           03560 44066                     2CADR    AMBGUPDT                              
044659,000591: 
044660,000592: 21,2626           34766                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044661,000593: 21,2627           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
044662,000594:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
044663,000595:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
044664,000596: 21,2630           32636                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044665,000597:                                                                                                  #  ERROR COUNTER TO ZERO.
044666,000598:                                                                                                  #  (MINIMUM DELAY = 15 MS)
044667,000599: 21,2631           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044668,000600: 21,2632           05323                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
044669,000601:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
044670,000602:                                                                                                  #  NOW
044671,000603: 
044672,000604:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
044673,000605: 
044674,000606: 
044675,000607: 21,2633           00043        NO.T5VAR           DEC      35         B-14                       #  NO. OF LOCATIONS TO BE ZEROED
044676,000608:                                                                                                  #  MINUS 2...MUST BE ODD
044677,000609: 
044678,000610:                                                                                                  #  FOR AN EVEN NUMBER OF VARIABLES TO BE ZEROED....
044679,000611:                                                                                                  #   * SET NO.T5VAR EQUAL TO NUMBER OF VARIABLES MINUS 1
044680,000612:                                                                                                  #   * DO DXCH WBODY INSTEAD OF WBODY + 1
044681,000613:                                                                                                  #   * DELETE TS WBODY
044682,000614: 
044683,000615: 21,2634           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
044684,000616: 21,2635     4766               RCSINIT            =        BIT3                                  
044685,000617: 21,2635           20004        RCSINITB           OCT      20004                                 
044686,000618: 

Page 1014

044688,000620: 
044689,000621: 21,2636           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
044690,000622: 21,2637  E6,1510                                  EBANK=   KMPAC                                 
044691,000623: 21,2637           03606 36066  T6ADDR             2CADR    T6START                               
044692,000624: 
044693,000625: 
044694,000626: 21,2641           62524        -75DEGS            DEC      -.41666                               #  -75 DEGS IN REVS * 2
044695,000627: 21,2642           34775        ZEROJET            CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
044696,000628: 21,2643           55506                 +1        TS       SPNDX                                 #  YWORD1,PWORD2,PWORD1,RWORD2,
044697,000629: 21,2644           34772                           CAF      ZERO                                  #  AND RWORD1.
044698,000630: 21,2645           51506                           INDEX    SPNDX                                 
044699,000631: 21,2646           55450                           TS       RWORD1                                
044700,000632: 21,2647           11506                           CCS      SPNDX                                 
044701,000633: 21,2650           12643                           TCF      ZEROJET    +1                         
044702,000634: 
044703,000635: 21,2651           34766                           CAF      FOUR                                  
044704,000636: 21,2652           55461                           TS       BLAST1     +1                         
044705,000637: 21,2653           34775                           CAF      ELEVEN                                
044706,000638: 21,2654           55463                           TS       BLAST2     +1                         
044707,000639: 
044708,000640: 21,2655           44770                           CS       BIT1                                  
044709,000641: 21,2656           71501                           MASK     RCSFLAGS                              
044710,000642: 21,2657           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
044711,000643: 
044712,000644: 21,2660           00006                           EXTEND                                         
044713,000645: 21,2661           32640                           DCA      T6ADDR                                
044714,000646: 21,2662           52111                           DXCH     T6LOC                                 
044715,000647: 21,2663           33075                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044716,000648: 21,2664           54031                           TS       TIME6                                 
044717,000649: 21,2665           00006                           EXTEND                                         
044718,000650: 21,2666           22070                           QXCH     RUPTREG1                              
044719,000651: 21,2667           04542                           TC       C13STALL                              
044720,000652: 21,2670           34752                           CAF      BIT15                                 
044721,000653: 21,2671           00006                           EXTEND                                         
044722,000654: 21,2672           05013                           WOR      CHAN13                                
044723,000655: 
044724,000656: 21,2673           00070                           TC       RUPTREG1                              
044725,000657: 
044726,000658: 21,2674           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
044727,000659: 21,2675           13170                           TCF      KALUPDT                               
044728,000660: 
044729,000661: 
044730,000662: 21,2676           12700                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
044731,000663: 21,2677           12700                           TCF      +1                                    
044732,000664: 21,2700           37663                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
044733,000665: 21,2701           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC )
044734,000666: 21,2702           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
044735,000667: 
044736,000668: 
044737,000669: 21,2703           10034                           CCS      CDUZ                                  

Page 1015

044739,000671: 21,2704           12710                           TCF      GIMBY                                 #  +(
044740,000672: 21,2705           12717                           TCF      OKGIMB                                #  +0
044741,000673: 21,2706           12710                           TCF      GIMBY                                 #  -N
044742,000674: 21,2707           12717                           TCF      OKGIMB                                #  -0
044743,000675: 21,2710           62641        GIMBY              AD       -75DEGS                               
044744,000676: 21,2711           00006                           EXTEND                                         
044745,000677: 21,2712           62717                           BZMF     OKGIMB                                
044746,000678: 
044747,000679: 21,2713           05547                           TC       UPFLAG                                #  ATTITUDE HOLD WHEN MIDDLE GIMBAL ANGLE
044748,000680: 21,2714           00020                           ADRES    STIKFLAG                              #    GREATER THAN 75 DEGREES
044749,000681: 21,2715           34772                           CAF      ZERO                                  
044750,000682: 21,2716           55340                           TS       HOLDFLAG                              
044751,000683: 
044752,000684: 21,2717           31501        OKGIMB             CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
044753,000685: 21,2720           74752                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044754,000686: 21,2721           00006                           EXTEND                                         #  ATTKALMN TO -1
044755,000687: 21,2722           12724                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
044756,000688: 21,2723           44770                           CS       ONE                                   
044757,000689: 21,2724           55617        NOHIAUTO           TS       ATTKALMN                              
044758,000690: 

Page 1016

044760,000692: 
044761,000693:                                                                                                  #        MANUAL ROTATION COMMANDS
044762,000694: 
044763,000695: 21,2725           43057                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
044764,000696: 21,2726           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
044765,000697: 21,2727           55501                           TS       RCSFLAGS                              
044766,000698: 
044767,000699: 21,2730           00006                           EXTEND                                         
044768,000700: 21,2731           00031                           READ     CHAN31                                
044769,000701: 21,2732           54001                           TS       L                                     
044770,000702: 21,2733           31632                           CA       CH31TEMP                              
044771,000703: 21,2734           00006                           EXTEND                                         
044772,000704: 21,2735           06001                           RXOR     LCHAN                                 
044773,000705: 21,2736           73063                           MASK     MANROT                                #  = OCT00077
044774,000706: 21,2737           00006                           EXTEND                                         
044775,000707: 21,2740           62753                           BZMF     NOCHANGE                              
044776,000708: 
044777,000709: 21,2741           22000                           LXCH     A                                     
044778,000710: 21,2742           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044779,000711: 
044780,000712: 21,2743           30001                           CA       L                                     
044781,000713: 21,2744           00006                           EXTEND                                         
044782,000714: 21,2745           74764                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
044783,000715: 21,2746           30001                           CA       L                                     
044784,000716: 21,2747           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
044785,000717:                                                                                                  #  WITH CHANGES IN COMMAND. BITS 10,9 FOR
044786,000718:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044787,000719:                                                                                                  #  PITCH
044788,000720: 
044789,000721: 21,2750           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
044790,000722: 21,2751           73064                           MASK     OCT16000                              #  11 OF RCSFLAGS)
044791,000723: 21,2752           27501                           ADS      RCSFLAGS                              
044792,000724: 
044793,000725: 21,2753           41632        NOCHANGE           CS       CH31TEMP                              
044794,000726: 21,2754           73063                           MASK     MANROT                                
044795,000727: 21,2755           00006                           EXTEND                                         
044796,000728: 21,2756           63272                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
044797,000729: 
044798,000730: 21,2757           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +
044799,000731: 
044800,000732: 21,2760           03152                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044801,000733:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
044802,000734:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044803,000735:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
044804,000736:                                                                                                  #  COMMANDED BY THE RHC.
044805,000737: 
044806,000738:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
044807,000739:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
044808,000740:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044809,000741:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
044810,000742:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044811,000743:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1017

044813,000745:                                                                                                  #  VALUES.
044814,000746: 
044815,000747: 21,2761           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
044816,000748: 21,2762           74753                           MASK     STIKBIT                               #  PROGRAMS (P20) THAT ASTRONAUT HAS
044817,000749: 21,2763           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044818,000750: 
044819,000751: 21,2764           34753                           CAF      BIT14                                 
044820,000752: 21,2765           05654                           TC       C31BTCHK                              
044821,000753: 21,2766           13076                           TCF      FREEFUNC                              
044822,000754: 21,2767           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044823,000755: 21,2770           74753                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
044824,000756: 21,2771           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
044825,000757: 21,2772           12541                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
044826,000758: 
044827,000759: 21,2773           44773                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
044828,000760: 21,2774           60774                           AD       RATEINDX                              #  ATTKALMN TO -1.
044829,000761: 21,2775           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
044830,000762: 21,2776           63001                           BZMF     +3                                    
044831,000763: 21,2777           44770                           CS       ONE                                   
044832,000764: 21,3000           55617                           TS       ATTKALMN                              
044833,000765: 
044834,000766: 
044835,000767: 21,3001           34767                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
044836,000768: 21,3002           55506        SETWBODY           TS       SPNDX                                 
044837,000769: 21,3003           60000                           DOUBLE                                         
044838,000770: 21,3004           55507                           TS       DPNDX                                 
044839,000771: 21,3005           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
044840,000772: 21,3006           31656                           CA       RMANNDX                               #          = 1  + ROTATION
044841,000773: 21,3007           00006                           EXTEND                                         #          = 2  - ROTATION
044842,000774: 21,3010           13032                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
044843,000775:                                                                                                  #  GO TO NORATE.
044844,000776: 
044845,000777: 21,3011           60774                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
044846,000778: 21,3012           54002                           TS       Q                                     #           = 2  0.2 DEG/SEC
044847,000779: 21,3013           50002                           INDEX    Q                                     #           = 4  0.5 DEG/SEC
044848,000780: 21,3014           33064                           CA       MANTABLE   -1                         #           = 6  2.0 DEG/SEC
044849,000781: 21,3015           00006                           EXTEND                                         
044850,000782: 21,3016           74760                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
044851,000783: 21,3017           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
044852,000784: 21,3020           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
044853,000785: 
044854,000786: 21,3021           31501                           CA       RCSFLAGS                              
044855,000787: 21,3022           73064                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
044856,000788: 21,3023           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
044857,000789: 21,3024           13042                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044858,000790:                                                                                                  #  ERROR.
044859,000791: 
044860,000792: 21,3025           34772        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
044861,000793: 21,3026           22007                           ZL                                             
044862,000794: 21,3027           51507                           INDEX    DPNDX                                 

Page 1018

044864,000796: 21,3030           53542                           DXCH     MERRORX                               
044865,000797: 21,3031           13050                           TCF      SPNDXCHK                              
044866,000798: 
044867,000799: 21,3032           22007        NORATE             ZL                                             
044868,000800: 21,3033           51507                           INDEX    DPNDX                                 
044869,000801: 21,3034           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
044870,000802: 21,3035           31501                           CA       RCSFLAGS                              
044871,000803: 21,3036           73064                           MASK     OCT16000                              
044872,000804: 21,3037           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044873,000805: 21,3040           13050                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044874,000806: 21,3041           13025                           TCF      ZEROER                                #  NO, GO TO ZEROER
044875,000807: 
044876,000808: 21,3042           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044877,000809: 21,3043           43064                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
044878,000810: 21,3044           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
044879,000811: 21,3045           74762                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
044880,000812: 21,3046           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
044881,000813: 21,3047           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044882,000814: 
044883,000815: 21,3050           51507        SPNDXCHK           INDEX    DPNDX                                 
044884,000816: 21,3051           31541                           CA       MERRORX                               
044885,000817: 21,3052           51506                           INDEX    SPNDX                                 
044886,000818: 21,3053           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
044887,000819: 21,3054           11506                           CCS      SPNDX                                 
044888,000820: 21,3055           13002                           TCF      SETWBODY                              
044889,000821: 21,3056           13452                           TCF      JETS                                  
044890,000822: 
044891,000823: 
044892,000824: 21,3057           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
044893,000825: 
044894,000826: 21,3060           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
044895,000827: 21,3061           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
044896,000828: 21,3062           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
044897,000829:                                                                                                  #                                PRESERVED
044898,000830:                                                                                                  #                              FOR INDEXING
044899,000831: 21,3063           00077        MANROT             OCT      77                                    
044900,000832: 21,3064           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
044901,000833: 21,3065           00165        MANTABLE           DEC      .0071111                              
044902,000834: 21,3066           77612                           DEC      -.0071111                             
044903,000835: 21,3067           00722                           DEC      .028444                               
044904,000836: 21,3070           77055                           DEC      -0.028444                             
044905,000837: 21,3071           02215                           DEC      .071111                               
044906,000838: 21,3072           75562                           DEC      -.071111                              
044907,000839: 21,3073           11064                           DEC      .284444                               
044908,000840: 21,3074           66713                           DEC      -.284444                              
044909,000841: 21,3075           00027        =+14MS             DEC      23         B-14                       
044910,000842: 21,3076           31501        FREEFUNC           CA       RCSFLAGS                              
044911,000843: 21,3077           00006                           EXTEND                                         
044912,000844: 21,3100           74756                           MP       BIT11                                 #  SHIFT RIGHT 4 BITS
044913,000845: 21,3101           55502                           TS       T5TEMP                                

Page 1019

044915,000847: 21,3102           41632                           CS       CH31TEMP                              
044916,000848: 21,3103           71502                           MASK     T5TEMP                                #  A= COMPLEMENT OF NEW CH 31 COMMANDS
044917,000849: 21,3104           13320                           TCF      RHCMINP                               
044918,000850: 21,3105           34772        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
044919,000851: 21,3106           55567                           TS       ERRORX                                
044920,000852: 21,3107           55570                           TS       ERRORY                                
044921,000853: 21,3110           55571                           TS       ERRORZ                                
044922,000854: 21,3111           13763                           TCF      T6PROG                                
044923,000855: 

Page 1020

044925,000857: 
044926,000858: 21,3112           00000        FREETAU            DEC      0          B-14                       
044927,000859: 21,3113           00740                           DEC      480        B-14                       
044928,000860: 21,3114           77037                           DEC      -480       B-14                       
044929,000861: 21,3115           00000                           DEC      0          B-14                       
044930,000862: 
044931,000863: 
044932,000864: 21,3116           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044933,000865: 21,3117           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044934,000866: 21,3120           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044935,000867: 21,3121           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
044936,000868: 21,3122           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
044937,000869: 21,3123           13030                           DEC      .3452                                 
044938,000870: 21,3124           14047                           DEC      .3774                                 
044939,000871: 21,3125           15241                           DEC      .4161                                 
044940,000872: 21,3126           16650                           DEC      .4634                                 
044941,000873: 21,3127           20555                           DEC      .5223                                 
044942,000874: 21,3130           23065                           DEC      .5970                                 
044943,000875: 21,3131           26137                           DEC      .6933                                 
044944,000876: 21,3132           32053                           DEC      .8151                                 
044945,000877: 21,3133           35712                           DEC      .9342                                 
044946,000878: 
044947,000879: 21,3134           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044948,000880: 21,3135           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044949,000881: 21,3136           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044950,000882: 21,3137           00032        GAIN2              DEC      .0016                                 #  SCALED 10
044951,000883: 21,3140           01350                           DEC      .0454                                 
044952,000884: 21,3141           01575                           DEC      .0545                                 
044953,000885: 21,3142           02103                           DEC      .0666                                 
044954,000886: 21,3143           02523                           DEC      .0832                                 
044955,000887: 21,3144           03327                           DEC      .1069                                 
044956,000888: 21,3145           04432                           DEC      .1422                                 
044957,000889: 21,3146           06264                           DEC      .1985                                 
044958,000890: 21,3147           11351                           DEC      .2955                                 
044959,000891: 21,3150           17324                           DEC      .4817                                 
044960,000892: 21,3151           33622                           DEC      .8683                                 
044961,000893: 21,3152           55502        STICKCHK           TS       T5TEMP                                
044962,000894: 21,3153           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
044963,000895: 21,3154           55657                           TS       PMANNDX                               
044964,000896: 21,3155           31502                           CA       T5TEMP                                
044965,000897: 21,3156           00006                           EXTEND                                         #  MAN RATE 0   0 RATE (DP)
044966,000898: 21,3157           74754                           MP       QUARTER                               #           +1   +RATE (DP)
044967,000899: 21,3160           55502                           TS       T5TEMP                                #           +2   -RATE (DP)
044968,000900: 21,3161           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
044969,000901: 21,3162           55660                           TS       YMANNDX                               
044970,000902: 21,3163           31502                           CA       T5TEMP                                
044971,000903: 21,3164           00006                           EXTEND                                         
044972,000904: 21,3165           74754                           MP       QUARTER                               
044973,000905: 21,3166           55656                           TS       RMANNDX                               
044974,000906: 21,3167           00002                           TC       Q                                     

Page 1021

044976,000908: 
044977,000909: 21,3170           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
044978,000910:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
044979,000911: 
044980,000912: 21,3171           32167                           CA       DELTATT                               #  =1SEC - 80MS
044981,000913: 21,3172           61634                           AD       T5TIME                                #  + DELAYS
044982,000914: 21,3173           54030                           TS       TIME5                                 
044983,000915: 21,3174           13177                           TCF      +3                                    
044984,000916: 21,3175           37663                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
044985,000917: 21,3176           54030                           TS       TIME5                                 #  A T5RUPT
044986,000918: 
044987,000919: 
044988,000920: 21,3177           44772        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
044989,000921: 21,3200           55464                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
044990,000922: 21,3201           15323                           TCF      RESUME                                
044991,000923: 
044992,000924: 
044993,000925: 21,3202           44765        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
044994,000926: 21,3203           71501                           MASK     RCSFLAGS                              
044995,000927: 21,3204           55501                           TS       RCSFLAGS                              
044996,000928: 
044997,000929: 21,3205           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044998,000930: 21,3206           74760                           MASK     NEEDLBIT                              #  ERRORS
044999,000931: 21,3207           00006                           EXTEND                                         
045000,000932: 21,3210           13217                           BZF      FDAITOTL                              
045001,000933: 21,3211           00006                           EXTEND                                         
045002,000934: 21,3212           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
045003,000935: 21,3213           53477                           DXCH     AK                                    
045004,000936: 21,3214           41571                           CS       ERRORZ                                
045005,000937: 21,3215           55500                           TS       AK2                                   
045006,000938: 21,3216           15323                           TCF      RESUME                                #  END PHASE 1
045007,000939: 
045008,000940: 
045009,000941: 21,3217           30105        FDAITOTL           CA       FLAGWRD9                              
045010,000942: 21,3220           74763                           MASK     N2217BIT                              
045011,000943: 21,3221           00006                           EXTEND                                         
045012,000944: 21,3222           13265                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045013,000945:                                                                                                  #  IF SO, GO TO WRTN17
045014,000946: 21,3223           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
045015,000947: 21,3224           31311                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
045016,000948: 21,3225           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
045017,000949: 21,3226           31307                           CA       CPHI                                  #  COMPONENTS OF N22
045018,000950: 
045019,000951: 21,3227           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
045020,000952: 21,3230           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
045021,000953: 21,3231           55476                           TS       AK                                    
045022,000954: 21,3232           31513                           CA       WTEMP                                 
045023,000955: 21,3233           00006                           EXTEND                                         
045024,000956: 21,3234           20033                           MSU      CDUY                                  
045025,000957: 21,3235           55502                           TS       T5TEMP                                
045026,000958: 21,3236           00006                           EXTEND                                         

Page 1022

045028,000960: 21,3237           71640                           MP       AMGB1                                 
045029,000961: 21,3240           27476                           ADS      AK                                    
045030,000962: 21,3241           31502                           CA       T5TEMP                                
045031,000963: 21,3242           00006                           EXTEND                                         
045032,000964: 21,3243           71641                           MP       AMGB4                                 
045033,000965: 21,3244           55477                           TS       AK1                                   
045034,000966: 21,3245           31502                           CA       T5TEMP                                
045035,000967: 21,3246           00006                           EXTEND                                         
045036,000968: 21,3247           71643                           MP       AMGB7                                 
045037,000969: 21,3250           55500                           TS       AK2                                   
045038,000970: 21,3251           31514                           CA       WTEMP      +1                         
045039,000971: 21,3252           00006                           EXTEND                                         
045040,000972: 21,3253           20034                           MSU      CDUZ                                  
045041,000973: 21,3254           55502                           TS       T5TEMP                                
045042,000974: 21,3255           00006                           EXTEND                                         
045043,000975: 21,3256           71642                           MP       AMGB5                                 
045044,000976: 21,3257           27477                           ADS      AK1                                   
045045,000977: 21,3260           31502                           CA       T5TEMP                                
045046,000978: 21,3261           00006                           EXTEND                                         
045047,000979: 21,3262           71644                           MP       AMGB8                                 
045048,000980: 21,3263           27500                           ADS      AK2                                   
045049,000981: 21,3264           15323                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
045050,000982: 
045051,000983: 21,3265           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
045052,000984: 21,3266           31015                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
045053,000985: 21,3267           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
045054,000986: 21,3270           31013                           CA       CPHIX                                 
045055,000987: 21,3271           13227                           TCF      GETAKS                                
045056,000988: 

Page 1023 Empty page.

045059,000991: 

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