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.

044060,000002:                                                                                                  ## Copyright:   Public domain.
044061,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
044062,000004:                                                                                                  ## Purpose:     Part of the source code for Artemis (i.e., Colossus 3),
044063,000005:                                                                                                  ##              build 072.  This is for the Command Module's (CM) 
044064,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for 
044065,000007:                                                                                                  ##              Apollo 15-17.
044066,000008:                                                                                                  ## Assembler:   yaYUL
044067,000009:                                                                                                  ## Contact:     Sergio Navarro <sergionavarrog@gmail.com>
044068,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
044069,000011:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Artemis072/
044070,000012:                                                                                                  ## Mod history: 2009-08-27 SN   Adapted from corresponding Comanche 055 file.
044071,000013:                                                                                                  ##              2009-09-04 JL   Fixed typos. Fixed page comment.
044072,000014:                                                                                                  ##              2009-09-10 JL   Fixed typos.
044073,000015:                                                                                                  ##              2010-02-01 JL   Fixed build errors.
044074,000016:                                                                                                  ##              2010-02-20 RSB  Un-##'d this header.
044075,000017:                                                                                                  ##              2017-02-08 RSB  Proofed comment text by diff'ing vs Comanche 55
044076,000018:                                                                                                  ##                              and/or octopus/ProoferComments as most-appropriate.
044077,000019: 

Page 1000

044079,000021: 
044080,000022:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044081,000023:                                                                                                  #        START OF T5 INTERRUPT PROGRAM
044082,000024: 
044083,000025: 21,2000                                           SETLOC   DAPS3                                 
044084,000026: 21,2000                                           BANK                                           
044085,000027: 
044086,000028: 21,2123                                           COUNT*   $$/DAPRC                              
044087,000029: 21,2123  E6,1510                                  EBANK=   KMPAC                                 
044088,000030: 21,2123           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
044089,000031: 21,2124           31464                           CA       T5PHASE                               #  ON A T5 RUPT.
044090,000032: 21,2125           00006                           EXTEND                                         
044091,000033: 21,2126           62130                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
044092,000034: 21,2127           12132                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
044093,000035: 21,2130           44770                           CS       ONE                                   
044094,000036: 21,2131           55464                           TS       T5PHASE                               
044095,000037: 21,2132           00006                           EXTEND                                         
044096,000038: 21,2133           32137                           DCA      RCSLOC                                
044097,000039: 21,2134           52113                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
044098,000040: 21,2135           12141                           TCF      RCSATT     +1                         
044099,000041: 21,2136  E6,1510                                  EBANK=   KMPAC                                 
044100,000042: 21,2136           02140 42066  RCSLOC             2CADR    RCSATT                                
044101,000043: 
044102,000044: 
044103,000045: 21,2140           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
044104,000046: 21,2141           00006                 +1        EXTEND                                         #  SAVE Q
044105,000047: 21,2142           22012                           QXCH     QRUPT                                 
044106,000048: 21,2143           34752                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044107,000049: 21,2144           05654                           TC       C31BTCHK                              #  S/C CONT SW IS IN CMC (I.E. IF G/C DAP
044108,000050: 21,2145           12170                           TCF      SETT5                                 #  IS FULLY ENABLED).     IF SO8
044109,000051:                                                                                                  #  GO TO SETT5
044110,000052: 
044111,000053: 21,2146           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044112,000054: 21,2147           74753                           MASK     BIT14                                 
044113,000055: 21,2150           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
044114,000056: 21,2151           34750                           CAF      POSMAX                                
044115,000057: 21,2152           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
044116,000058: 21,2153           34772                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
044117,000059: 21,2154           55567                           TS       ERRORX                                
044118,000060: 21,2155           55570                           TS       ERRORY                                
044119,000061: 21,2156           55571                           TS       ERRORZ                                
044120,000062: 21,2157           34753                           CAF      BIT14                                 
044121,000063: 21,2160           05654                           TC       C31BTCHK                              #  AND CHECK FREE FUNCTION (BIT14 CHAN31)
044122,000064: 21,2161           12170                           TCF      SETT5                                 
044123,000065: 21,2162           55464                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
044124,000066: 21,2163           37661                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
044125,000067: 21,2164           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
044126,000068: 
044127,000069: 21,2165           02642                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET

Page 1001

044129,000071: 21,2166           12355                           TCF      KMATRIX                               
044130,000072: 21,2167           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
044131,000073: 21,2170     7663               DELTATT2           =        OCT37776                              #  20 MS (TIME5)
044132,000074: 
044133,000075:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
044134,000076: 
044135,000077:                                                                                                  #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
044136,000078:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044137,000079:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
044138,000080:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044139,000081:                                                                                                  #  VARIABLES AT TURN ON.
044140,000082:                                                                                                  #  THE CODING OF T5PHASE IS...
044141,000083: 
044142,000084:                                                                                                  #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
044143,000085:                                                                                                  #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044144,000086:                                                                                                  #             - = RESTART DAP
044145,000087:                                                                                                  #            -0 = PHASE1 OF THE T5 PROGRAM
044146,000088: 
044147,000089: 21,2170           11464        SETT5              CCS      T5PHASE                               
044148,000090: 21,2171           12551                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
044149,000091: 21,2172           12674                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
044150,000092: 21,2173           12553                           TCF      REDAP                                 #  RESTART AUTOPILOT
044151,000093: 
044152,000094: 21,2174           55464                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
044153,000095: 21,2175           30030                           CA       TIME5                                 
044154,000096: 21,2176           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
044155,000097: 21,2177           37663                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
044156,000098: 21,2200           54030                           TS       TIME5                                 #  OF PROGRAM
044157,000099: 

Page 1002

044159,000101: 
044160,000102:                                                                                                  #  IMU STATUS CHECK
044161,000103: 
044162,000104: 21,2201           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044163,000105: 21,2202           74763                           MASK     NOIMUDAP                              #  BIT6 = 0 IMU OK
044164,000106: 21,2203           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
044165,000107: 21,2204           12215                           TCF      RATEFILT                              
044166,000108: 21,2205           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
044167,000109: 21,2206           74753                           MASK     BIT14                                 #  INITIALIZED
044168,000110: 21,2207           27501                           ADS      RCSFLAGS                              
044169,000111: 21,2210           34753                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
044170,000112: 21,2211           55340                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
044171,000113:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
044172,000114:                                                                                                  #  ATTITUDE HOLD
044173,000115: 21,2212           05654                           TC       C31BTCHK                              #  CHECK FOR FREE MODE
044174,000116: 21,2213           12424                           TCF      KRESUME1                              #  IN FREE, PROVIDE FREE CONTROL ONLY
044175,000117: 21,2214           12541                           TCF      REINIT                                #  .....TILT...............................
044176,000118: 21,2215     5001               BITS4,5            =        BITS4&5                               
044177,000119: 
044178,000120: 21,2215           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
044179,000121: 21,2216           74753                           MASK     BIT14                                 
044180,000122: 21,2217           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
044181,000123: 21,2220           12222                           BZF      +2                                    
044182,000124: 21,2221           12355                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
044183,000125: 
044184,000126:                                                                                                  #                RATE FILTER     TIMING = 7.72 MS
044185,000127: 
044186,000128:                                                                                                  #  RATE FILTER EQUATIONS
044187,000129:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044188,000130:                                                                                                  #                                            -1
044189,000131:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
044190,000132:                                                                                                  #             -1
044191,000133:                                                                                                  #        -        *     -     -
044192,000134:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
044193,000135:                                                                                                  #                                -1
044194,000136: 
044195,000137: 21,2222           34767                 +2        CAF      TWO                                   
044196,000138: 21,2223           55506        DRHOLOOP           TS       SPNDX                                 
044197,000139: 21,2224           60000                           DOUBLE                                         
044198,000140: 21,2225           55507                           TS       DPNDX                                 
044199,000141: 21,2226           51507                           INDEX    DPNDX                                 
044200,000142: 21,2227           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
044201,000143: 21,2230           00006                           EXTEND                                         
044202,000144: 21,2231           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
044203,000145: 21,2232           73121                           MP       GAIN1                                 
044204,000146: 21,2233           51507                           INDEX    DPNDX                                 
044205,000147: 21,2234           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
044206,000148: 21,2235           00006                           EXTEND                                         
044207,000149: 21,2236           51507                           INDEX    DPNDX                                 
044208,000150: 21,2237           41534                           DCS      ADOT                                  

Page 1003

044210,000152: 21,2240           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
044211,000153: 21,2241           34754                           CA       QUARTER                               
044212,000154: 21,2242           02060                           TC       SMALLMP                               
044213,000155: 21,2243           53511                           DXCH     KMPAC                                 
044214,000156: 21,2244           51507                           INDEX    DPNDX                                 
044215,000157: 21,2245           21553                           DAS      DRHO                                  
044216,000158: 21,2246           11506                           CCS      SPNDX                                 
044217,000159: 21,2247           12223                           TCF      DRHOLOOP                              
044218,000160: 
044219,000161: 21,2250           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
044220,000162: 21,2251           57635                           XCH      RHO                                   
044221,000163: 21,2252           00006                           EXTEND                                         
044222,000164: 21,2253           21635                           MSU      RHO                                   #  -        *     -     -
044223,000165: 21,2254           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
044224,000166:                                                                                                  #                          -1
044225,000167: 21,2255           22007                           ZL                                             
044226,000168: 21,2256           53516                           DXCH     DELTEMPX                              
044227,000169: 21,2257           30033                           CA       CDUY                                  
044228,000170: 21,2260           57636                           XCH      RHO1                                  
044229,000171: 21,2261           00006                           EXTEND                                         
044230,000172: 21,2262           21636                           MSU      RHO1                                  
044231,000173: 21,2263           40000                           COM                                            
044232,000174: 21,2264           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
044233,000175: 21,2265           00006                           EXTEND                                         
044234,000176: 21,2266           71640                           MP       AMGB1                                 
044235,000177: 21,2267           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044236,000178:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
044237,000179:                                                                                                  #  PULSES
044238,000180: 21,2270           31641                           CA       AMGB4                                 
044239,000181: 21,2271           00006                           EXTEND                                         
044240,000182: 21,2272           71502                           MP       T5TEMP                                
044241,000183: 21,2273           53520                           DXCH     DELTEMPY                              
044242,000184: 21,2274           31643                           CA       AMGB7                                 
044243,000185: 21,2275           00006                           EXTEND                                         
044244,000186: 21,2276           71502                           MP       T5TEMP                                
044245,000187: 21,2277           53522                           DXCH     DELTEMPZ                              
044246,000188: 21,2300           30034                           CA       CDUZ                                  
044247,000189: 21,2301           57637                           XCH      RHO2                                  
044248,000190: 21,2302           00006                           EXTEND                                         
044249,000191: 21,2303           21637                           MSU      RHO2                                  
044250,000192: 21,2304           40000                           COM                                            
044251,000193: 21,2305           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
044252,000194: 21,2306           00006                           EXTEND                                         
044253,000195: 21,2307           71642                           MP       AMGB5                                 
044254,000196: 21,2310           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
044255,000197:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
044256,000198: 21,2311           31644                           CA       AMGB8                                 
044257,000199: 21,2312           00006                           EXTEND                                         
044258,000200: 21,2313           71502                           MP       T5TEMP                                
044259,000201: 21,2314           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)

Page 1004

044261,000203:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
044262,000204: 21,2315           34767                           CAF      TWO                                   
044263,000205: 21,2316           55506        ADOTLOOP           TS       SPNDX                                 
044264,000206: 21,2317           60000                           DOUBLE                                         
044265,000207: 21,2320           55507                           TS       DPNDX                                 
044266,000208: 21,2321           00006                           EXTEND                                         
044267,000209: 21,2322           51507                           INDEX    DPNDX                                 
044268,000210: 21,2323           31516                           DCA      DELTEMPX                              
044269,000211: 21,2324           51507                           INDEX    DPNDX                                 
044270,000212: 21,2325           21553                           DAS      DRHO                                  
044271,000213: 21,2326           00006                           EXTEND                                         
044272,000214: 21,2327           51507                           INDEX    DPNDX                                 
044273,000215: 21,2330           31516                           DCA      DELTEMPX                              
044274,000216: 21,2331           51507                           INDEX    DPNDX                                 
044275,000217: 21,2332           21542                           DAS      MERRORX                               
044276,000218: 21,2333           51507                           INDEX    DPNDX                                 
044277,000219: 21,2334           31552                           CA       DRHO                                  
044278,000220: 21,2335           60000                           DOUBLE                                         #  N.B.
044279,000221: 21,2336           60000                           DOUBLE                                         #  N.B.
044280,000222: 21,2337           00006                           EXTEND                                         
044281,000223: 21,2340           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
044282,000224: 21,2341           73137                           MP       GAIN2                                 
044283,000225: 21,2342           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
044284,000226: 21,2343           21534                           DAS      ADOT                                  #      -1
044285,000227: 21,2344           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
044286,000228: 21,2345           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
044287,000229: 21,2346           00006                           EXTEND                                         
044288,000230: 21,2347           51506                           INDEX    SPNDX                                 
044289,000231: 21,2350           71547                           MP       DFT                                   
044290,000232: 21,2351           51507                           INDEX    DPNDX                                 
044291,000233: 21,2352           21534                           DAS      ADOT                                  #  KMJ(DFT)
044292,000234: 21,2353           11506                           CCS      SPNDX                                 
044293,000235: 21,2354           12316                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
044294,000236: 21,2355           31560        KMATRIX            CA       ATTSEC                                
044295,000237: 21,2356           74777                           MASK     LOW4                                  
044296,000238: 21,2357           10000                           CCS      A                                     
044297,000239: 21,2360           12366                           TCF      TENTHSEK                              
044298,000240: 21,2361           37656                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
044299,000241: 21,2362           05121                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
044300,000242: 21,2363  E6,1510                                  EBANK=   KMPAC                                 
044301,000243: 21,2363           03560 44066                     2CADR    AMBGUPDT                              
044302,000244: 
044303,000245: 21,2365           34322                           CAF      NINE                                  
044304,000246: 
044305,000247: 21,2366           55560        TENTHSEK           TS       ATTSEC                                
044306,000248: 

Page 1005

044308,000250:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
044309,000251:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
044310,000252: 
044311,000253:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
044312,000254:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
044313,000255:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
044314,000256: 
044315,000257:                                                                                                  #  THE STEERING PROGRAMS-
044316,000258:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
044317,000259:                                                                                                  #        2) LEM TRACKING
044318,000260: 
044319,000261:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
044320,000262:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
044321,000263: 
044322,000264:                                                                                                  #  HOLDFLAG CODING-
044323,000265: 
044324,000266:                                                                                                  #      + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
044325,000267:                                                                                                  #          AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
044326,000268:                                                                                                  #          ALSO IGNORE AUTOMATIC STEERING
044327,000269:                                                                                                  #          SET = + BY
044328,000270:                                                                                                  #                 1) INITIALIZATION PHASE OF AUTOPILOT
044329,000271:                                                                                                  #                 2) OCCURANCE OF RHC COMMANDS
044330,000272:                                                                                                  #                 3) FREE MODE
044331,000273:                                                                                                  #                 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
044332,000274:                                                                                                  #                    WHILE DOING AUTOMATIC STEERING (IN THIS CASE
044333,000275:                                                                                                  #                    HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
044334,000276:                                                                                                  #                    FUNCTIONS AS IF IT WERE.)
044335,000277:                                                                                                  #                 5) S/C CONTROL SWITCH IN SCS
044336,000278:                                                                                                  #                 6) IMU POWER OFF
044337,000279:                                                                                                  #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
044338,000280:                                                                                                  #       - = PERFORMING AUTOMATIC MANEUVER
044339,000281:                                                                                                  #      -0 = NOT USED AT PRESENT
044340,000282: 
044341,000283:                                                                                                  #        NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
044342,000284:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
044343,000285:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044344,000286: 
044345,000287: 
044346,000288: 21,2367           41340                           CS       HOLDFLAG                              
044347,000289: 21,2370           00006                           EXTEND                                         
044348,000290: 21,2371           62416                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044349,000291:                                                                                                  #  COMMANDS
044350,000292: 21,2372           34767        DCDUINCR           CAF      TWO                                   
044351,000293: 21,2373           55506        DELOOP             TS       SPNDX                                 
044352,000294: 21,2374           60000                           DOUBLE                                         
044353,000295: 21,2375           55507                           TS       DPNDX                                 
044354,000296: 21,2376           00006                           EXTEND                                         
044355,000297: 21,2377           50000                           INDEX    A                                     
044356,000298: 21,2400           31647                           DCA      CDUXD                                 

Page 1006

044358,000300: 21,2401           53511                           DXCH     KMPAC                                 
044359,000301: 21,2402           00006                           EXTEND                                         
044360,000302: 21,2403           51507                           INDEX    DPNDX                                 
044361,000303: 21,2404           31576                           DCA      DELCDUX                               
044362,000304: 21,2405           02072                           TC       DPADD                                 
044363,000305: 21,2406           00006                           EXTEND                                         
044364,000306: 21,2407           31511                           DCA      KMPAC                                 
044365,000307: 21,2410           51506                           INDEX    SPNDX                                 
044366,000308: 21,2411           55572                           TS       THETADX                               
044367,000309: 21,2412           51507                           INDEX    DPNDX                                 
044368,000310: 21,2413           53647                           DXCH     CDUXD                                 
044369,000311: 21,2414           11506                           CCS      SPNDX                                 
044370,000312: 21,2415           12373                           TCF      DELOOP                                
044371,000313: 

Page 1007

044373,000315: 
044374,000316:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044375,000317: 
044376,000318:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044377,000319: 
044378,000320:                                                                                                  #                MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
044379,000321:                                                                                                  #                        GENERATED INTERNALLY BY THE AUTOPILOT
044380,000322: 
044381,000323:                                                                                                  #                MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
044382,000324:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N22
044383,000325: 
044384,000326:                                                                                                  #                MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
044385,000327:                                                                                                  #                        WITH RESPECT TO THE CONTENTS OF N17
044386,000328: 
044387,000329:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
044388,000330:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044389,000331: 
044390,000332:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044391,000333:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044392,000334:                                                                                                  #  AS A FLY-TO INDICATOR.
044393,000335: 
044394,000336:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044395,000337:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044396,000338:                                                                                                  #  AS A FLY-TO INDICATOR.
044397,000339: 
044398,000340:                                                                                                  #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044399,000341:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
044400,000342: 
044401,000343:                                                                                                  #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044402,000344:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
044403,000345:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044404,000346: 
044405,000347: 21,2416           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
044406,000348: 21,2417           74765                           MASK     BIT4                                  
044407,000349: 21,2420           00006                           EXTEND                                         
044408,000350: 21,2421           13202                           BZF      FDAIDSP2                              
044409,000351: 
044410,000352: 21,2422           27501        FDAIDSP1           ADS      RCSFLAGS                              
044411,000353: 21,2423           02425                           TC       NEEDLER                               
044412,000354: 21,2424           15323        KRESUME1           TCF      RESUME                                #  END PHASE 1
044413,000355: 

Page 1008

044415,000357: 
044416,000358:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044417,000359: 
044418,000360:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
044419,000361: 
044420,000362:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044421,000363:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044422,000364:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044423,000365:                                                                                                  #  THE DACS.
044424,000366: 
044425,000367: 
044426,000368:                                                                                                  #  CALLING SEQUENCE:
044427,000369: 
044428,000370:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044429,000371:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044430,000372: 
044431,000373:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
044432,000374:                                                                                                  #                MASK    BIT3
044433,000375:                                                                                                  #                ADS     RCSFLAGS
044434,000376: 
044435,000377:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044436,000378: 
044437,000379:                                                                                                  #                AK      SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
044438,000380:                                                                                                  #                AK1     SCALED 180 DEGREES        TO CHANGE
044439,000381:                                                                                                  #                AK2     SCALED 180 DEGREES
044440,000382: 
044441,000383:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044442,000384:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
044443,000385: 
044444,000386:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044445,000387: 
044446,000388:                                                                                                  #                INHINT
044447,000389:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
044448,000390:                                                                                                  #                CADR    NEEDLER
044449,000391:                                                                                                  #                RELINT
044450,000392: 
044451,000393:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
044452,000394:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044453,000395:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044454,000396: 
044455,000397:                                                                                                  #  ERASABLE USED:
044456,000398:                                                                                                  #                        AK              CDUXCMD
044457,000399:                                                                                                  #                        AK1             CDUYCMD
044458,000400:                                                                                                  #                        AK2             CDUZCMD
044459,000401:                                                                                                  #                        EDRIVEX         A,L,Q
044460,000402:                                                                                                  #                        EDRIVEY         T5TEMP
044461,000403:                                                                                                  #                        EDRIVEZ         SPNDX
044462,000404: 
044463,000405:                                                                                                  #  SWITCHES:             RCSFLAGS        BITS 3,2
044464,000406: 
044465,000407:                                                                                                  #  I/O CHANNELS:         CHAN12          BIT 4 (COARSE ALIGN - READ ONLY)

Page 1009

044467,000409:                                                                                                  #                        CHAN12          BIT 6 (IMU ERROR COUNTER ENABLE)
044468,000410:                                                                                                  #                        CHAN14          BIT 13,14,15 (DAC ACTIVITY)
044469,000411: 
044470,000412:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
044471,000413:                                                                                                  #            WHERE       THETAC = COMMAND ANGLE
044472,000414:                                                                                                  #                        THETA = PRESENT ANGLE
044473,000415: 
044474,000416: 21,2425           34765        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
044475,000417: 21,2426           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
044476,000418: 21,2427           02012                           RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
044477,000419: 21,2430           00006                           EXTEND                                         
044478,000420: 21,2431           12436                           BZF      NEEDLER1                              
044479,000421: 21,2432           41501        RCSINT             CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
044480,000422: 21,2433           74766                           MASK     BIT3                                  
044481,000423: 21,2434           27501                           ADS      RCSFLAGS                              
044482,000424: 21,2435           00002                           TC       Q                                     
044483,000425: 
044484,000426: 21,2436           31501        NEEDLER1           CA       RCSFLAGS                              
044485,000427: 21,2437           76211                           MASK     SIX                                   
044486,000428: 21,2440           00006                           EXTEND                                         
044487,000429: 21,2441           12476                           BZF      NEEDLES3                              
044488,000430: 21,2442           74766                           MASK     BIT3                                  
044489,000431: 21,2443           00006                           EXTEND                                         
044490,000432: 21,2444           12467                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
044491,000433: 
044492,000434: 21,2445           44763                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
044493,000435: 21,2446           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
044494,000436: 21,2447           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
044495,000437: 21,2450           44772        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
044496,000438: 21,2451           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
044497,000439: 21,2452           55477                           TS       AK1                                   
044498,000440: 21,2453           55500                           TS       AK2                                   
044499,000441: 21,2454           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
044500,000442: 21,2455           55504                           TS       EDRIVEY                               
044501,000443: 21,2456           55505                           TS       EDRIVEZ                               
044502,000444: 21,2457           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
044503,000445: 21,2460           54051                           TS       CDUYCMD                               
044504,000446: 21,2461           54052                           TS       CDUZCMD                               
044505,000447: 21,2462           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
044506,000448: 21,2463           71501                           MASK     RCSFLAGS                              
044507,000449: 21,2464           64767                           AD       BIT2                                  
044508,000450: 21,2465           55501                           TS       RCSFLAGS                              
044509,000451: 21,2466           00002                           TC       Q                                     #  END PASS1
044510,000452: 
044511,000453: 21,2467           34763        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
044512,000454: 21,2470           00006                           EXTEND                                         
044513,000455: 21,2471           05012                           WOR      CHAN12                                
044514,000456: 21,2472           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1010

044516,000458: 21,2473           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
044517,000459: 21,2474           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
044518,000460: 21,2475           00002                           TC       Q                                     
044519,000461: 
044520,000462: 
044521,000463: 21,2476           34763        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
044522,000464: 21,2477           00006                           EXTEND                                         #  IS ENABLED
044523,000465: 21,2500           02012                           RAND     CHAN12                                
044524,000466: 21,2501           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
044525,000467: 21,2502           12432                           BZF      RCSINT                                
044526,000468: 21,2503           34767        NEEDLES            CAF      TWO                                   
044527,000469: 21,2504           55506        DACLOOP            TS       SPNDX                                 
044528,000470: 21,2505           44754                           CS       QUARTER                               
044529,000471: 21,2506           00006                           EXTEND                                         
044530,000472: 21,2507           51506                           INDEX    SPNDX                                 
044531,000473: 21,2510           71476                           MP       AK                                    
044532,000474: 21,2511           54001                           TS       L                                     
044533,000475: 21,2512           10000                           CCS      A                                     
044534,000476: 21,2513           32547                           CA       DACLIMIT                              
044535,000477: 21,2514           12516                           TCF      +2                                    
044536,000478: 21,2515           42547                           CS       DACLIMIT                              
044537,000479: 21,2516           60001                           AD       L                                     
044538,000480: 21,2517           55502                           TS       T5TEMP                                #  OVFLO CHK
044539,000481: 21,2520           12524                           TCF      OVSPOT                                
044540,000482: 21,2521           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
044541,000483: 21,2522           32547                           CAF      DACLIMIT                              
044542,000484: 21,2523           54001                           TS       L                                     
044543,000485: 21,2524           51506        OVSPOT             INDEX    SPNDX                                 
044544,000486: 21,2525           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
044545,000487: 21,2526           60001                           AD       L                                     
044546,000488: 21,2527           51506                           INDEX    SPNDX                                 
044547,000489: 21,2530           26050                           ADS      CDUXCMD                               
044548,000490: 21,2531           51506                           INDEX    SPNDX                                 
044549,000491: 21,2532           23503                           LXCH     EDRIVEX                               
044550,000492: 21,2533           11506                           CCS      SPNDX                                 
044551,000493: 21,2534           12504                           TCF      DACLOOP                               
044552,000494: 21,2535           37673                           CAF      13,14,15                              
044553,000495: 21,2536           00006                           EXTEND                                         
044554,000496: 21,2537           05014        DRIVEDAC           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
044555,000497: 21,2540           00002                           TC       Q                                     
044556,000498: 
044557,000499: 21,2541           32545        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
044558,000500: 21,2542           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
044559,000501: 21,2543           55464                           TS       T5PHASE                               
044560,000502: 21,2544           15323                           TCF      RESUME                                
044561,000503: 21,2545           37754        DELAY200           DEC      16364      B-14                       #  200MS
044562,000504: 
044563,000505: 
044564,000506: 21,2546           77177                           DEC      -384       B-14                       
044565,000507: 21,2547           37200        DACLIMIT           DEC      16000      B-14                       

Page 1011

044567,000509: 21,2550           00600                           DEC      384        B-14                       
044568,000510: 

Page 1012

044570,000512: 
044571,000513:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044572,000514: 
044573,000515:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044574,000516: 
044575,000517:                                                                                                  #  WBODY   (+1)    DFT             TAU2
044576,000518:                                                                                                  #  WBODY1  (+1)    DFT1            BIAS
044577,000519:                                                                                                  #  WBODY2  (+1)    DFT2            BIAS1
044578,000520:                                                                                                  #  ADOT    (+1)    DRHO   (+1)     BIAS2
044579,000521:                                                                                                  #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
044580,000522:                                                                                                  #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
044581,000523:                                                                                                  #  MERRORX (+1)    ATTSEC          ERRORZ
044582,000524:                                                                                                  #  MERRORY (+1)    TAU
044583,000525:                                                                                                  #  MERRORZ (+1)    TAU1
044584,000526: 
044585,000527: 21,2551           34770        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
044586,000528: 21,2552           55340                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
044587,000529:                                                                                                  #  ATTITUDE HOLD REFERENCE
044588,000530: 
044589,000531: 21,2553           04714        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044590,000532: 21,2554           40463                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
044591,000533: 
044592,000534: 21,2555           04714                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
044593,000535: 21,2556           40614                           CADR     S40.14                                #  TO AUTOPILOT GAINS
044594,000536: 
044595,000537: 21,2557           32633                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS 2
044596,000538:                                                                                                  #  NO.T5VAR MUST BE ODD *************
044597,000539: 21,2560           10000        ZEROT5             CCS      A                                     
044598,000540: 21,2561           55506                           TS       SPNDX                                 
044599,000541: 21,2562           34772                           CAF      ZERO                                  
044600,000542: 21,2563           54001                           TS       L                                     
044601,000543: 21,2564           51506                           INDEX    SPNDX                                 
044602,000544: 21,2565           53527                           DXCH     WBODY      +1                         
044603,000545: 21,2566           11506                           CCS      SPNDX                                 
044604,000546: 21,2567           12560                           TCF      ZEROT5                                
044605,000547: 21,2570           55525                           TS       WBODY                                 #  ZERO LAST (FIRST) ONE
044606,000548: 
044607,000549: 21,2571           02642                           TC       ZEROJET                               
044608,000550: 21,2572           44772                           CS       ZERO                                  
044609,000551: 21,2573           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
044610,000552: 
044611,000553: 21,2574           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
044612,000554:                                                                                                  #  MANUAL RATE MODES
044613,000555: 
044614,000556: 21,2575           32634                           CAF      =.24                                  
044615,000557: 21,2576           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
044616,000558: 
044617,000559: 21,2577           34766                           CAF      FOUR                                  
044618,000560: 21,2600           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044619,000561:                                                                                                  #  60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044620,000562:                                                                                                  #  IN (80MS - T5TIME(40MS)). THEREFORE
044621,000563:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044622,000564:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER

Page 1013

044624,000566: 21,2601           34775                           CAF      ELEVEN                                
044625,000567: 21,2602           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
044626,000568:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES
044627,000569: 21,2603           30032                           CA       CDUX                                  
044628,000570: 21,2604           55635                           TS       RHO                                   
044629,000571: 21,2605           30033                           CA       CDUY                                  
044630,000572: 21,2606           55636                           TS       RHO1                                  
044631,000573: 21,2607           30034                           CA       CDUZ                                  
044632,000574: 21,2610           55637                           TS       RHO2                                  
044633,000575: 21,2611           34772                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
044634,000576: 21,2612           55464                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
044635,000577: 
044636,000578: 21,2613           41334                           CS       IMODES33                              #  CHECK IMU STATUS
044637,000579: 21,2614           74763                           MASK     NOIMUDAP                              #  IF BIT6 =0 IMU IN FINE ALIGN
044638,000580: 21,2615           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
044639,000581: 21,2616           12622                           TCF      IMUAOK                                
044640,000582: 21,2617           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
044641,000583: 21,2620           32635                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
044642,000584: 21,2621           12627                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
044643,000585:                                                                                                  #  SIGNAL NO RATE FILTER
044644,000586: 
044645,000587: 21,2622           37656        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
044646,000588: 21,2623           05121                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
044647,000589: 21,2624  E6,1510                                  EBANK=   KMPAC                                 
044648,000590: 21,2624           03560 44066                     2CADR    AMBGUPDT                              
044649,000591: 
044650,000592: 21,2626           34766                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044651,000593: 21,2627           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
044652,000594:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
044653,000595:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
044654,000596: 21,2630           32636                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044655,000597:                                                                                                  #  ERROR COUNTER TO ZERO.
044656,000598:                                                                                                  #  (MINIMUM DELAY = 15 MS)
044657,000599: 21,2631           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044658,000600: 21,2632           05323                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
044659,000601:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
044660,000602:                                                                                                  #  NOW
044661,000603: 
044662,000604:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
044663,000605: 
044664,000606: 
044665,000607: 21,2633           00043        NO.T5VAR           DEC      35         B-14                       #  NO. OF LOCATIONS TO BE ZEROED
044666,000608:                                                                                                  #  MINUS 2...MUST BE ODD
044667,000609: 
044668,000610:                                                                                                  #  FOR AN EVEN NUMBER OF VARIABLES TO BE ZEROED....
044669,000611:                                                                                                  #   * SET NO.T5VAR EQUAL TO NUMBER OF VARIABLES MINUS 1
044670,000612:                                                                                                  #   * DO DXCH WBODY INSTEAD OF WBODY + 1
044671,000613:                                                                                                  #   * DELETE TS WBODY
044672,000614: 
044673,000615: 21,2634           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
044674,000616: 21,2635     4766               RCSINIT            =        BIT3                                  
044675,000617: 21,2635           20004        RCSINITB           OCT      20004                                 
044676,000618: 

Page 1014

044678,000620: 
044679,000621: 21,2636           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
044680,000622: 21,2637  E6,1510                                  EBANK=   KMPAC                                 
044681,000623: 21,2637           03606 36066  T6ADDR             2CADR    T6START                               
044682,000624: 
044683,000625: 
044684,000626: 21,2641           62524        -75DEGS            DEC      -.41666                               #  -75 DEGS IN REVS * 2
044685,000627: 21,2642           34775        ZEROJET            CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
044686,000628: 21,2643           55506                 +1        TS       SPNDX                                 #  YWORD1,PWORD2,PWORD1,RWORD2,
044687,000629: 21,2644           34772                           CAF      ZERO                                  #  AND RWORD1.
044688,000630: 21,2645           51506                           INDEX    SPNDX                                 
044689,000631: 21,2646           55450                           TS       RWORD1                                
044690,000632: 21,2647           11506                           CCS      SPNDX                                 
044691,000633: 21,2650           12643                           TCF      ZEROJET    +1                         
044692,000634: 
044693,000635: 21,2651           34766                           CAF      FOUR                                  
044694,000636: 21,2652           55461                           TS       BLAST1     +1                         
044695,000637: 21,2653           34775                           CAF      ELEVEN                                
044696,000638: 21,2654           55463                           TS       BLAST2     +1                         
044697,000639: 
044698,000640: 21,2655           44770                           CS       BIT1                                  
044699,000641: 21,2656           71501                           MASK     RCSFLAGS                              
044700,000642: 21,2657           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
044701,000643: 
044702,000644: 21,2660           00006                           EXTEND                                         
044703,000645: 21,2661           32640                           DCA      T6ADDR                                
044704,000646: 21,2662           52111                           DXCH     T6LOC                                 
044705,000647: 21,2663           33075                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044706,000648: 21,2664           54031                           TS       TIME6                                 
044707,000649: 21,2665           00006                           EXTEND                                         
044708,000650: 21,2666           22070                           QXCH     RUPTREG1                              
044709,000651: 21,2667           04542                           TC       C13STALL                              
044710,000652: 21,2670           34752                           CAF      BIT15                                 
044711,000653: 21,2671           00006                           EXTEND                                         
044712,000654: 21,2672           05013                           WOR      CHAN13                                
044713,000655: 
044714,000656: 21,2673           00070                           TC       RUPTREG1                              
044715,000657: 
044716,000658: 21,2674           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
044717,000659: 21,2675           13170                           TCF      KALUPDT                               
044718,000660: 
044719,000661: 
044720,000662: 21,2676           12700                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
044721,000663: 21,2677           12700                           TCF      +1                                    
044722,000664: 21,2700           37663                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
044723,000665: 21,2701           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC )
044724,000666: 21,2702           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
044725,000667: 
044726,000668: 
044727,000669: 21,2703           10034                           CCS      CDUZ                                  

Page 1015

044729,000671: 21,2704           12710                           TCF      GIMBY                                 #  +(
044730,000672: 21,2705           12717                           TCF      OKGIMB                                #  +0
044731,000673: 21,2706           12710                           TCF      GIMBY                                 #  -N
044732,000674: 21,2707           12717                           TCF      OKGIMB                                #  -0
044733,000675: 21,2710           62641        GIMBY              AD       -75DEGS                               
044734,000676: 21,2711           00006                           EXTEND                                         
044735,000677: 21,2712           62717                           BZMF     OKGIMB                                
044736,000678: 
044737,000679: 21,2713           05547                           TC       UPFLAG                                #  ATTITUDE HOLD WHEN MIDDLE GIMBAL ANGLE
044738,000680: 21,2714           00020                           ADRES    STIKFLAG                              #    GREATER THAN 75 DEGREES
044739,000681: 21,2715           34772                           CAF      ZERO                                  
044740,000682: 21,2716           55340                           TS       HOLDFLAG                              
044741,000683: 
044742,000684: 21,2717           31501        OKGIMB             CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
044743,000685: 21,2720           74752                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044744,000686: 21,2721           00006                           EXTEND                                         #  ATTKALMN TO -1
044745,000687: 21,2722           12724                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
044746,000688: 21,2723           44770                           CS       ONE                                   
044747,000689: 21,2724           55617        NOHIAUTO           TS       ATTKALMN                              
044748,000690: 

Page 1016

044750,000692: 
044751,000693:                                                                                                  #        MANUAL ROTATION COMMANDS
044752,000694: 
044753,000695: 21,2725           43057                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
044754,000696: 21,2726           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
044755,000697: 21,2727           55501                           TS       RCSFLAGS                              
044756,000698: 
044757,000699: 21,2730           00006                           EXTEND                                         
044758,000700: 21,2731           00031                           READ     CHAN31                                
044759,000701: 21,2732           54001                           TS       L                                     
044760,000702: 21,2733           31632                           CA       CH31TEMP                              
044761,000703: 21,2734           00006                           EXTEND                                         
044762,000704: 21,2735           06001                           RXOR     LCHAN                                 
044763,000705: 21,2736           73063                           MASK     MANROT                                #  = OCT00077
044764,000706: 21,2737           00006                           EXTEND                                         
044765,000707: 21,2740           62753                           BZMF     NOCHANGE                              
044766,000708: 
044767,000709: 21,2741           22000                           LXCH     A                                     
044768,000710: 21,2742           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044769,000711: 
044770,000712: 21,2743           30001                           CA       L                                     
044771,000713: 21,2744           00006                           EXTEND                                         
044772,000714: 21,2745           74764                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
044773,000715: 21,2746           30001                           CA       L                                     
044774,000716: 21,2747           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
044775,000717:                                                                                                  #  WITH CHANGES IN COMMAND. BITS 10,9 FOR
044776,000718:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044777,000719:                                                                                                  #  PITCH
044778,000720: 
044779,000721: 21,2750           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
044780,000722: 21,2751           73064                           MASK     OCT16000                              #  11 OF RCSFLAGS)
044781,000723: 21,2752           27501                           ADS      RCSFLAGS                              
044782,000724: 
044783,000725: 21,2753           41632        NOCHANGE           CS       CH31TEMP                              
044784,000726: 21,2754           73063                           MASK     MANROT                                
044785,000727: 21,2755           00006                           EXTEND                                         
044786,000728: 21,2756           63272                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
044787,000729: 
044788,000730: 21,2757           55340                           TS       HOLDFLAG                              #  SET HOLDFLAG +
044789,000731: 
044790,000732: 21,2760           03152                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044791,000733:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
044792,000734:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044793,000735:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
044794,000736:                                                                                                  #  COMMANDED BY THE RHC.
044795,000737: 
044796,000738:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
044797,000739:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
044798,000740:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044799,000741:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
044800,000742:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044801,000743:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1017

044803,000745:                                                                                                  #  VALUES.
044804,000746: 
044805,000747: 21,2761           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
044806,000748: 21,2762           74753                           MASK     STIKBIT                               #  PROGRAMS (P20) THAT ASTRONAUT HAS
044807,000749: 21,2763           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044808,000750: 
044809,000751: 21,2764           34753                           CAF      BIT14                                 
044810,000752: 21,2765           05654                           TC       C31BTCHK                              
044811,000753: 21,2766           13076                           TCF      FREEFUNC                              
044812,000754: 21,2767           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044813,000755: 21,2770           74753                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
044814,000756: 21,2771           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
044815,000757: 21,2772           12541                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
044816,000758: 
044817,000759: 21,2773           44773                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
044818,000760: 21,2774           60774                           AD       RATEINDX                              #  ATTKALMN TO -1.
044819,000761: 21,2775           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
044820,000762: 21,2776           63001                           BZMF     +3                                    
044821,000763: 21,2777           44770                           CS       ONE                                   
044822,000764: 21,3000           55617                           TS       ATTKALMN                              
044823,000765: 
044824,000766: 
044825,000767: 21,3001           34767                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
044826,000768: 21,3002           55506        SETWBODY           TS       SPNDX                                 
044827,000769: 21,3003           60000                           DOUBLE                                         
044828,000770: 21,3004           55507                           TS       DPNDX                                 
044829,000771: 21,3005           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
044830,000772: 21,3006           31656                           CA       RMANNDX                               #          = 1  + ROTATION
044831,000773: 21,3007           00006                           EXTEND                                         #          = 2  - ROTATION
044832,000774: 21,3010           13032                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
044833,000775:                                                                                                  #  GO TO NORATE.
044834,000776: 
044835,000777: 21,3011           60774                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
044836,000778: 21,3012           54002                           TS       Q                                     #           = 2  0.2 DEG/SEC
044837,000779: 21,3013           50002                           INDEX    Q                                     #           = 4  0.5 DEG/SEC
044838,000780: 21,3014           33064                           CA       MANTABLE   -1                         #           = 6  2.0 DEG/SEC
044839,000781: 21,3015           00006                           EXTEND                                         
044840,000782: 21,3016           74760                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
044841,000783: 21,3017           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
044842,000784: 21,3020           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
044843,000785: 
044844,000786: 21,3021           31501                           CA       RCSFLAGS                              
044845,000787: 21,3022           73064                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
044846,000788: 21,3023           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
044847,000789: 21,3024           13042                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044848,000790:                                                                                                  #  ERROR.
044849,000791: 
044850,000792: 21,3025           34772        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
044851,000793: 21,3026           22007                           ZL                                             
044852,000794: 21,3027           51507                           INDEX    DPNDX                                 

Page 1018

044854,000796: 21,3030           53542                           DXCH     MERRORX                               
044855,000797: 21,3031           13050                           TCF      SPNDXCHK                              
044856,000798: 
044857,000799: 21,3032           22007        NORATE             ZL                                             
044858,000800: 21,3033           51507                           INDEX    DPNDX                                 
044859,000801: 21,3034           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
044860,000802: 21,3035           31501                           CA       RCSFLAGS                              
044861,000803: 21,3036           73064                           MASK     OCT16000                              
044862,000804: 21,3037           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044863,000805: 21,3040           13050                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044864,000806: 21,3041           13025                           TCF      ZEROER                                #  NO, GO TO ZEROER
044865,000807: 
044866,000808: 21,3042           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044867,000809: 21,3043           43064                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
044868,000810: 21,3044           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
044869,000811: 21,3045           74762                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
044870,000812: 21,3046           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
044871,000813: 21,3047           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044872,000814: 
044873,000815: 21,3050           51507        SPNDXCHK           INDEX    DPNDX                                 
044874,000816: 21,3051           31541                           CA       MERRORX                               
044875,000817: 21,3052           51506                           INDEX    SPNDX                                 
044876,000818: 21,3053           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
044877,000819: 21,3054           11506                           CCS      SPNDX                                 
044878,000820: 21,3055           13002                           TCF      SETWBODY                              
044879,000821: 21,3056           13452                           TCF      JETS                                  
044880,000822: 
044881,000823: 
044882,000824: 21,3057           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
044883,000825: 
044884,000826: 21,3060           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
044885,000827: 21,3061           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
044886,000828: 21,3062           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
044887,000829:                                                                                                  #                                PRESERVED
044888,000830:                                                                                                  #                              FOR INDEXING
044889,000831: 21,3063           00077        MANROT             OCT      77                                    
044890,000832: 21,3064           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
044891,000833: 21,3065           00165        MANTABLE           DEC      .0071111                              
044892,000834: 21,3066           77612                           DEC      -.0071111                             
044893,000835: 21,3067           00722                           DEC      .028444                               
044894,000836: 21,3070           77055                           DEC      -0.028444                             
044895,000837: 21,3071           02215                           DEC      .071111                               
044896,000838: 21,3072           75562                           DEC      -.071111                              
044897,000839: 21,3073           11064                           DEC      .284444                               
044898,000840: 21,3074           66713                           DEC      -.284444                              
044899,000841: 21,3075           00027        =+14MS             DEC      23         B-14                       
044900,000842: 21,3076           31501        FREEFUNC           CA       RCSFLAGS                              
044901,000843: 21,3077           00006                           EXTEND                                         
044902,000844: 21,3100           74756                           MP       BIT11                                 #  SHIFT RIGHT 4 BITS
044903,000845: 21,3101           55502                           TS       T5TEMP                                

Page 1019

044905,000847: 21,3102           41632                           CS       CH31TEMP                              
044906,000848: 21,3103           71502                           MASK     T5TEMP                                #  A= COMPLEMENT OF NEW CH 31 COMMANDS
044907,000849: 21,3104           13320                           TCF      RHCMINP                               
044908,000850: 21,3105           34772        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
044909,000851: 21,3106           55567                           TS       ERRORX                                
044910,000852: 21,3107           55570                           TS       ERRORY                                
044911,000853: 21,3110           55571                           TS       ERRORZ                                
044912,000854: 21,3111           13763                           TCF      T6PROG                                
044913,000855: 

Page 1020

044915,000857: 
044916,000858: 21,3112           00000        FREETAU            DEC      0          B-14                       
044917,000859: 21,3113           00740                           DEC      480        B-14                       
044918,000860: 21,3114           77037                           DEC      -480       B-14                       
044919,000861: 21,3115           00000                           DEC      0          B-14                       
044920,000862: 
044921,000863: 
044922,000864: 21,3116           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044923,000865: 21,3117           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044924,000866: 21,3120           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044925,000867: 21,3121           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
044926,000868: 21,3122           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
044927,000869: 21,3123           13030                           DEC      .3452                                 
044928,000870: 21,3124           14047                           DEC      .3774                                 
044929,000871: 21,3125           15241                           DEC      .4161                                 
044930,000872: 21,3126           16650                           DEC      .4634                                 
044931,000873: 21,3127           20555                           DEC      .5223                                 
044932,000874: 21,3130           23065                           DEC      .5970                                 
044933,000875: 21,3131           26137                           DEC      .6933                                 
044934,000876: 21,3132           32053                           DEC      .8151                                 
044935,000877: 21,3133           35712                           DEC      .9342                                 
044936,000878: 
044937,000879: 21,3134           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044938,000880: 21,3135           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044939,000881: 21,3136           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044940,000882: 21,3137           00032        GAIN2              DEC      .0016                                 #  SCALED 10
044941,000883: 21,3140           01350                           DEC      .0454                                 
044942,000884: 21,3141           01575                           DEC      .0545                                 
044943,000885: 21,3142           02103                           DEC      .0666                                 
044944,000886: 21,3143           02523                           DEC      .0832                                 
044945,000887: 21,3144           03327                           DEC      .1069                                 
044946,000888: 21,3145           04432                           DEC      .1422                                 
044947,000889: 21,3146           06264                           DEC      .1985                                 
044948,000890: 21,3147           11351                           DEC      .2955                                 
044949,000891: 21,3150           17324                           DEC      .4817                                 
044950,000892: 21,3151           33622                           DEC      .8683                                 
044951,000893: 21,3152           55502        STICKCHK           TS       T5TEMP                                
044952,000894: 21,3153           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
044953,000895: 21,3154           55657                           TS       PMANNDX                               
044954,000896: 21,3155           31502                           CA       T5TEMP                                
044955,000897: 21,3156           00006                           EXTEND                                         #  MAN RATE 0   0 RATE (DP)
044956,000898: 21,3157           74754                           MP       QUARTER                               #           +1   +RATE (DP)
044957,000899: 21,3160           55502                           TS       T5TEMP                                #           +2   -RATE (DP)
044958,000900: 21,3161           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
044959,000901: 21,3162           55660                           TS       YMANNDX                               
044960,000902: 21,3163           31502                           CA       T5TEMP                                
044961,000903: 21,3164           00006                           EXTEND                                         
044962,000904: 21,3165           74754                           MP       QUARTER                               
044963,000905: 21,3166           55656                           TS       RMANNDX                               
044964,000906: 21,3167           00002                           TC       Q                                     

Page 1021

044966,000908: 
044967,000909: 21,3170           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
044968,000910:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
044969,000911: 
044970,000912: 21,3171           32167                           CA       DELTATT                               #  =1SEC - 80MS
044971,000913: 21,3172           61634                           AD       T5TIME                                #  + DELAYS
044972,000914: 21,3173           54030                           TS       TIME5                                 
044973,000915: 21,3174           13177                           TCF      +3                                    
044974,000916: 21,3175           37663                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
044975,000917: 21,3176           54030                           TS       TIME5                                 #  A T5RUPT
044976,000918: 
044977,000919: 
044978,000920: 21,3177           44772        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
044979,000921: 21,3200           55464                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
044980,000922: 21,3201           15323                           TCF      RESUME                                
044981,000923: 
044982,000924: 
044983,000925: 21,3202           44765        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
044984,000926: 21,3203           71501                           MASK     RCSFLAGS                              
044985,000927: 21,3204           55501                           TS       RCSFLAGS                              
044986,000928: 
044987,000929: 21,3205           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044988,000930: 21,3206           74760                           MASK     NEEDLBIT                              #  ERRORS
044989,000931: 21,3207           00006                           EXTEND                                         
044990,000932: 21,3210           13217                           BZF      FDAITOTL                              
044991,000933: 21,3211           00006                           EXTEND                                         
044992,000934: 21,3212           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044993,000935: 21,3213           53477                           DXCH     AK                                    
044994,000936: 21,3214           41571                           CS       ERRORZ                                
044995,000937: 21,3215           55500                           TS       AK2                                   
044996,000938: 21,3216           15323                           TCF      RESUME                                #  END PHASE 1
044997,000939: 
044998,000940: 
044999,000941: 21,3217           30105        FDAITOTL           CA       FLAGWRD9                              
045000,000942: 21,3220           74763                           MASK     N2217BIT                              
045001,000943: 21,3221           00006                           EXTEND                                         
045002,000944: 21,3222           13265                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045003,000945:                                                                                                  #  IF SO, GO TO WRTN17
045004,000946: 21,3223           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
045005,000947: 21,3224           31311                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
045006,000948: 21,3225           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
045007,000949: 21,3226           31307                           CA       CPHI                                  #  COMPONENTS OF N22
045008,000950: 
045009,000951: 21,3227           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
045010,000952: 21,3230           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
045011,000953: 21,3231           55476                           TS       AK                                    
045012,000954: 21,3232           31513                           CA       WTEMP                                 
045013,000955: 21,3233           00006                           EXTEND                                         
045014,000956: 21,3234           20033                           MSU      CDUY                                  
045015,000957: 21,3235           55502                           TS       T5TEMP                                
045016,000958: 21,3236           00006                           EXTEND                                         

Page 1022

045018,000960: 21,3237           71640                           MP       AMGB1                                 
045019,000961: 21,3240           27476                           ADS      AK                                    
045020,000962: 21,3241           31502                           CA       T5TEMP                                
045021,000963: 21,3242           00006                           EXTEND                                         
045022,000964: 21,3243           71641                           MP       AMGB4                                 
045023,000965: 21,3244           55477                           TS       AK1                                   
045024,000966: 21,3245           31502                           CA       T5TEMP                                
045025,000967: 21,3246           00006                           EXTEND                                         
045026,000968: 21,3247           71643                           MP       AMGB7                                 
045027,000969: 21,3250           55500                           TS       AK2                                   
045028,000970: 21,3251           31514                           CA       WTEMP      +1                         
045029,000971: 21,3252           00006                           EXTEND                                         
045030,000972: 21,3253           20034                           MSU      CDUZ                                  
045031,000973: 21,3254           55502                           TS       T5TEMP                                
045032,000974: 21,3255           00006                           EXTEND                                         
045033,000975: 21,3256           71642                           MP       AMGB5                                 
045034,000976: 21,3257           27477                           ADS      AK1                                   
045035,000977: 21,3260           31502                           CA       T5TEMP                                
045036,000978: 21,3261           00006                           EXTEND                                         
045037,000979: 21,3262           71644                           MP       AMGB8                                 
045038,000980: 21,3263           27500                           ADS      AK2                                   
045039,000981: 21,3264           15323                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
045040,000982: 
045041,000983: 21,3265           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
045042,000984: 21,3266           31015                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
045043,000985: 21,3267           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
045044,000986: 21,3270           31013                           CA       CPHIX                                 
045045,000987: 21,3271           13227                           TCF      GETAKS                                
045046,000988: 

Page 1023 Empty page.

045049,000991: 

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