Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

042257,000002:                                                                                                  ## Copyright:   Public domain.
042258,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
042259,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
042260,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
042261,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
042262,000007:                                                                                                  ## Assembler:   yaYUL
042263,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
042264,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
042265,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042266,000011:                                                                                                  ## Mod history: 2011-03-17 JL   Adapted from corresponding Colossus 249 file.
042267,000012:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
042268,000013:                                                                                                  ##                              and fixed errors found.
042269,000014: 

Page 970

042271,000016:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042272,000017:                                                                                                  #       START OF T5 INTERRUPT PROGRAM
042273,000018: 
042274,000019: 20,3550                                           BANK     20                                    
042275,000020: 21,2000                                           SETLOC   DAPS3                                 
042276,000021: 21,2000                                           BANK                                           
042277,000022: 
042278,000023: 21,2071                                           COUNT    21/DAPRC                              
042279,000024: 
042280,000025: 21,2071  E6,1510                                  EBANK=   KMPAC                                 
042281,000026: 21,2071           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
042282,000027: 21,2072           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
042283,000028: 21,2073           00006                           EXTEND                                         
042284,000029: 21,2074           62076                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
042285,000030: 21,2075           12100                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
042286,000031: 21,2076           44712                           CS       ONE                                   
042287,000032: 21,2077           55465                           TS       T5PHASE                               
042288,000033: 21,2100           00006                           EXTEND                                         
042289,000034: 21,2101           32105                           DCA      RCSLOC                                
042290,000035: 21,2102           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
042291,000036: 21,2103           12107                           TCF      RCSATT     +1                         
042292,000037: 21,2104  E6,1510                                  EBANK=   KMPAC                                 
042293,000038: 21,2104           02106 42066  RCSLOC             2CADR    RCSATT                                
042294,000039: 
042295,000040: 
042296,000041: 21,2106           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
042297,000042: 21,2107           00006                           EXTEND                                         #  SAVE Q
042298,000043: 21,2110           22012                           QXCH     QRUPT                                 
042299,000044: 21,2111           34674                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042300,000045: 21,2112           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042301,000046: 21,2113           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
042302,000047: 21,2114           00006                           EXTEND                                         
042303,000048: 21,2115           12144                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
042304,000049:                                                                                                  #                                          GO TO SETT5
042305,000050: 
042306,000051: 21,2116           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042307,000052: 21,2117           74675                           MASK     BIT14                                 
042308,000053: 21,2120           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
042309,000054: 21,2121           34672                           CAF      POSMAX                                
042310,000055: 21,2122           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
042311,000056: 21,2123           34714                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
042312,000057: 21,2124           55567                           TS       ERRORX                                
042313,000058: 21,2125           55570                           TS       ERRORY                                
042314,000059: 21,2126           55571                           TS       ERRORZ                                
042315,000060: 21,2127           34675                           CAF      BIT14                                 
042316,000061: 21,2130           00006                           EXTEND                                         
042317,000062: 21,2131           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
042318,000063: 21,2132           00006                           EXTEND                                         

Page 971

042320,000065: 21,2133           12144                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
042321,000066: 
042322,000067: 21,2134           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
042323,000068: 21,2135           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
042324,000069: 21,2136           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
042325,000070: 
042326,000071: 21,2137           02616                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042327,000072: 
042328,000073: 21,2140           12334                           TCF      KMATRIX                               
042329,000074: 21,2141           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
042330,000075: 21,2142           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
042331,000076: 21,2143           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
042332,000077: 21,2144                        CHAN5              EQUALS   5                                     
042333,000078: 21,2144                        CHAN6              EQUALS   6                                     
042334,000079: 21,2144     7671               PRIO34A            =        PRIO34                                
042335,000080: 
042336,000081:                                                                                                  #           CHECK PHASE OF T5 PROGRAM
042337,000082: 
042338,000083:                                                                                                  #      BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO 
042339,000084:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042340,000085:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
042341,000086:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042342,000087:                                                                                                  #  VARIABLES AT TURN ON.
042343,000088:                                                                                                  #  THE CODING OF T5PHASE IS...
042344,000089: 
042345,000090:                                                                                                  #             + = INITIALIZE T5 RCS-CSM AUTOPILOT
042346,000091:                                                                                                  #  T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042347,000092:                                                                                                  #             - = RESTART DAP
042348,000093:                                                                                                  #            -0 = PHASE1 OF THE T5 PROGRAM
042349,000094: 
042350,000095: 21,2144           11465        SETT5              CCS      T5PHASE                               
042351,000096: 21,2145           12530                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
042352,000097: 21,2146           12645                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
042353,000098: 21,2147           12532                           TCF      REDAP                                 #  RESTART AUTOPILOT
042354,000099: 
042355,000100: 
042356,000101: 21,2150           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
042357,000102: 21,2151           30030                           CA       TIME5                                 
042358,000103: 21,2152           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
042359,000104: 21,2153           32142                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
042360,000105: 21,2154           54030                           TS       TIME5                                 #  OF PROGRAM
042361,000106: 

Page 972

042363,000108:                                                                                                  #  IMU STATUS CHECK
042364,000109: 
042365,000110: 21,2155           41321                           CS       IMODES33                              #  CHECK IMU STATUS
042366,000111: 21,2156           74705                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
042367,000112: 21,2157           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
042368,000113: 21,2160           12174                           TCF      RATEFILT                              
042369,000114: 21,2161           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
042370,000115: 21,2162           74675                           MASK     BIT14                                 #  INITIALIZED
042371,000116: 21,2163           27501                           ADS      RCSFLAGS                              
042372,000117: 21,2164           34675                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
042373,000118: 21,2165           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
042374,000119:                                                                                                  #                                          TO PICK UP CDU ANGLES UPON RESUMPTION OF
042375,000120:                                                                                                  #                                          ATTITUDE HOLD
042376,000121: 21,2166           00006                           EXTEND                                         
042377,000122: 21,2167           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
042378,000123: 21,2170           00006                           EXTEND                                         
042379,000124: 21,2171           12403                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
042380,000125: 21,2172           12520                           TCF      REINIT                                #  .....TILT...............................
042381,000126: 21,2173           00030        BITS4,5            OCT      30                                    
042382,000127: 
042383,000128: 
042384,000129: 21,2174           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
042385,000130: 21,2175           74675                           MASK     BIT14                                 
042386,000131: 21,2176           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
042387,000132: 21,2177           12201                           BZF      +2                                    
042388,000133: 21,2200           12334                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
042389,000134: 
042390,000135:                                                                                                  #           RATE FILTER     TIMING = 7.72MS
042391,000136: 
042392,000137:                                                                                                  #  RATE FILTER EQUATIONS
042393,000138:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042394,000139:                                                                                                  #                                            -1
042395,000140:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
042396,000141:                                                                                                  #             -1
042397,000142:                                                                                                  #        -        *     -     -
042398,000143:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
042399,000144:                                                                                                  #                                -1
042400,000145: 
042401,000146: 21,2201           34711                           CAF      TWO                                   
042402,000147: 21,2202           55506        DRHOLOOP           TS       SPNDX                                 
042403,000148: 21,2203           60000                           DOUBLE                                         
042404,000149: 21,2204           55507                           TS       DPNDX                                 
042405,000150: 21,2205           51507                           INDEX    DPNDX                                 
042406,000151: 21,2206           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
042407,000152: 21,2207           00006                           EXTEND                                         
042408,000153: 21,2210           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
042409,000154: 21,2211           73063                           MP       GAIN1                                 
042410,000155: 21,2212           51507                           INDEX    DPNDX                                 
042411,000156: 21,2213           21553                           DAS      DRHO                                  #  (1 -.064)DRHO
042412,000157: 21,2214           00006                           EXTEND                                         

Page 973

042414,000159: 21,2215           51507                           INDEX    DPNDX                                 
042415,000160: 21,2216           41534                           DCS      ADOT                                  
042416,000161: 21,2217           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
042417,000162: 21,2220           34676                           CA       QUARTER                               
042418,000163: 21,2221           02026                           TC       SMALLMP                               
042419,000164: 21,2222           53511                           DXCH     KMPAC                                 
042420,000165: 21,2223           51507                           INDEX    DPNDX                                 
042421,000166: 21,2224           21553                           DAS      DRHO                                  
042422,000167: 21,2225           11506                           CCS      SPNDX                                 
042423,000168: 21,2226           12202                           TCF      DRHOLOOP                              
042424,000169: 
042425,000170: 21,2227           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
042426,000171: 21,2230           57635                           XCH      RHO                                   
042427,000172: 21,2231           00006                           EXTEND                                         
042428,000173: 21,2232           21635                           MSU      RHO                                   #  -        *     -     -
042429,000174: 21,2233           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
042430,000175:                                                                                                  #                                                                  -1
042431,000176: 21,2234           22007                           ZL                                             
042432,000177: 21,2235           53516                           DXCH     DELTEMPX                              
042433,000178: 21,2236           30033                           CA       CDUY                                  
042434,000179: 21,2237           57636                           XCH      RHO1                                  
042435,000180: 21,2240           00006                           EXTEND                                         
042436,000181: 21,2241           21636                           MSU      RHO1                                  
042437,000182: 21,2242           40000                           COM                                            
042438,000183: 21,2243           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
042439,000184: 21,2244           00006                           EXTEND                                         
042440,000185: 21,2245           71640                           MP       AMGB1                                 
042441,000186: 21,2246           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042442,000187:                                                                                                  #                                          MUST BE DOUBLE PRECISION OR WILL LOSE
042443,000188:                                                                                                  #                                          PULSES
042444,000189: 21,2247           31641                           CA       AMGB4                                 
042445,000190: 21,2250           00006                           EXTEND                                         
042446,000191: 21,2251           71502                           MP       T5TEMP                                
042447,000192: 21,2252           53520                           DXCH     DELTEMPY                              
042448,000193: 21,2253           31643                           CA       AMGB7                                 
042449,000194: 21,2254           00006                           EXTEND                                         
042450,000195: 21,2255           71502                           MP       T5TEMP                                
042451,000196: 21,2256           53522                           DXCH     DELTEMPZ                              
042452,000197: 21,2257           30034                           CA       CDUZ                                  
042453,000198: 21,2260           57637                           XCH      RHO2                                  
042454,000199: 21,2261           00006                           EXTEND                                         
042455,000200: 21,2262           21637                           MSU      RHO2                                  
042456,000201: 21,2263           40000                           COM                                            
042457,000202: 21,2264           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
042458,000203: 21,2265           00006                           EXTEND                                         
042459,000204: 21,2266           71642                           MP       AMGB5                                 
042460,000205: 21,2267           21520                           DAS      DELTEMPY                              #  DELTEMPY =AMGB4(CDUY-RHO1)
042461,000206:                                                                                                  #                                                          + AMGB5(CDUZ-RHO2)
042462,000207: 21,2270           31644                           CA       AMGB8                                 
042463,000208: 21,2271           00006                           EXTEND                                         

Page 974

042465,000210: 21,2272           71502                           MP       T5TEMP                                
042466,000211: 21,2273           21522                           DAS      DELTEMPZ                              #  DELTEMPZ =AMGB7(CDUY-RHO1)
042467,000212:                                                                                                  #                                                         + AMGB8(CDUZ-RHO2)
042468,000213: 21,2274           34711                           CAF      TWO                                   
042469,000214: 21,2275           55506        ADOTLOOP           TS       SPNDX                                 
042470,000215: 21,2276           60000                           DOUBLE                                         
042471,000216: 21,2277           55507                           TS       DPNDX                                 
042472,000217: 21,2300           00006                           EXTEND                                         
042473,000218: 21,2301           51507                           INDEX    DPNDX                                 
042474,000219: 21,2302           31516                           DCA      DELTEMPX                              
042475,000220: 21,2303           51507                           INDEX    DPNDX                                 
042476,000221: 21,2304           21553                           DAS      DRHO                                  
042477,000222: 21,2305           00006                           EXTEND                                         
042478,000223: 21,2306           51507                           INDEX    DPNDX                                 
042479,000224: 21,2307           31516                           DCA      DELTEMPX                              
042480,000225: 21,2310           51507                           INDEX    DPNDX                                 
042481,000226: 21,2311           21542                           DAS      MERRORX                               
042482,000227: 21,2312           51507                           INDEX    DPNDX                                 
042483,000228: 21,2313           31552                           CA       DRHO                                  
042484,000229: 21,2314           60000                           DOUBLE                                         #  N.B.
042485,000230: 21,2315           60000                           DOUBLE                                         #  N.B.
042486,000231: 21,2316           00006                           EXTEND                                         
042487,000232: 21,2317           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
042488,000233: 21,2320           73101                           MP       GAIN2                                 
042489,000234: 21,2321           51507                           INDEX    DPNDX                                 #  ADOT  + (.16)(.1)DRHO
042490,000235: 21,2322           21534                           DAS      ADOT                                  #      -1
042491,000236: 21,2323           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
042492,000237: 21,2324           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
042493,000238: 21,2325           00006                           EXTEND                                         
042494,000239: 21,2326           51506                           INDEX    SPNDX                                 
042495,000240: 21,2327           71547                           MP       DFT                                   
042496,000241: 21,2330           51507                           INDEX    DPNDX                                 
042497,000242: 21,2331           21534                           DAS      ADOT                                  #  KMJ(DFT)
042498,000243: 21,2332           11506                           CCS      SPNDX                                 
042499,000244: 21,2333           12275                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
042500,000245: 21,2334           31560        KMATRIX            CA       ATTSEC                                
042501,000246: 21,2335           74721                           MASK     LOW4                                  
042502,000247: 21,2336           10000                           CCS      A                                     
042503,000248: 21,2337           12345                           TCF      TENTHSEK                              
042504,000249: 21,2340           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042505,000250: 21,2341           05027                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
042506,000251: 21,2342  E6,1510                                  EBANK=   KMPAC                                 
042507,000252: 21,2342           03444 44066                     2CADR    AMBGUPDT                              
042508,000253: 21,2344           34334                           CAF      NINE                                  
042509,000254: 
042510,000255: 21,2345           55560        TENTHSEK           TS       ATTSEC                                
042511,000256: 

Page 975

042513,000258:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042514,000259:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042515,000260: 
042516,000261:                                                                                                  #           CDUXD = CDUXD + DELCDUX    (DOUBLE PRECISION)
042517,000262:                                                                                                  #           CDUYD = CDUYD + DELCDUY    (DOUBLE PRECISION)
042518,000263:                                                                                                  #           CDUZD = CDUZD + DELCDUZ    (DOUBLE PRECISION)
042519,000264: 
042520,000265:                                                                                                  #  THE STEERING PROGRAMS-
042521,000266:                                                                                                  #           1) ATTITUDE MANEUVER ROUTINE
042522,000267:                                                                                                  #           2) LEM TRACKING
042523,000268: 
042524,000269:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042525,000270:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042526,000271: 
042527,000272:                                                                                                  #  HOLDFLAG CODING-
042528,000273: 
042529,000274:                                                                                                  #      +  = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042530,000275:                                                                                                  #           AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042531,000276:                                                                                                  #           ALSO IGNORE AUTOMATIC STEERING
042532,000277:                                                                                                  #           SET = + BY
042533,000278:                                                                                                  #                  1) INITIALIZATION PHASE OF AUTOPILOT
042534,000279:                                                                                                  #                  2) OCCURANCE OF RHC COMMANDS
042535,000280:                                                                                                  #                  3) FREE MODE
042536,000281:                                                                                                  #                  4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042537,000282:                                                                                                  #                     WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042538,000283:                                                                                                  #                     HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042539,000284:                                                                                                  #                     FUNCTIONS AS IF IT WERE.)
042540,000285:                                                                                                  #                  5) S/C CONTROL SWITCH IN SCS
042541,000286:                                                                                                  #                  6) IMU POWER OFF
042542,000287:                                                                                                  #      +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042543,000288:                                                                                                  #       - = PERFORMING AUTOMATIC MANEUVER
042544,000289:                                                                                                  #      -0 = NOT USED AT PRESENT
042545,000290: 
042546,000291: 
042547,000292:                                                                                                  #         NOTE THAT THIS FLAG MUST BE  SET = -  BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042548,000293:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO 
042549,000294:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042550,000295: 
042551,000296: 
042552,000297: 21,2346           41332                           CS       HOLDFLAG                              
042553,000298: 21,2347           00006                           EXTEND                                         
042554,000299: 21,2350           62375                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042555,000300:                                                                                                  #                                          COMMANDS
042556,000301: 21,2351           34711        DCDUINCR           CAF      TWO                                   
042557,000302: 21,2352           55506        DELOOP             TS       SPNDX                                 
042558,000303: 21,2353           60000                           DOUBLE                                         
042559,000304: 21,2354           55507                           TS       DPNDX                                 
042560,000305: 21,2355           00006                           EXTEND                                         
042561,000306: 21,2356           50000                           INDEX    A                                     
042562,000307: 21,2357           31647                           DCA      CDUXD                                 

Page 976

042564,000309: 21,2360           53511                           DXCH     KMPAC                                 
042565,000310: 21,2361           00006                           EXTEND                                         
042566,000311: 21,2362           51507                           INDEX    DPNDX                                 
042567,000312: 21,2363           31576                           DCA      DELCDUX                               
042568,000313: 21,2364           02040                           TC       DPADD                                 
042569,000314: 21,2365           00006                           EXTEND                                         
042570,000315: 21,2366           31511                           DCA      KMPAC                                 
042571,000316: 21,2367           51506                           INDEX    SPNDX                                 
042572,000317: 21,2370           55572                           TS       THETADX                               
042573,000318: 21,2371           51507                           INDEX    DPNDX                                 
042574,000319: 21,2372           53647                           DXCH     CDUXD                                 
042575,000320: 21,2373           11506                           CCS      SPNDX                                 
042576,000321: 21,2374           12352                           TCF      DELOOP                                
042577,000322: 

Page 977

042579,000324:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042580,000325: 
042581,000326:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042582,000327: 
042583,000328:                                                                                                  #           MODE 1) AUTOPILOT FOLLOWING ERRORS                 SELECTED BY V61E
042584,000329:                                                                                                  #                   GENERATED INTERNALLY BY THE AUTOPILOT
042585,000330: 
042586,000331:                                                                                                  #           MODE 2) TOTAL ATTITUDE ERRORS                      SELECTED BY V62E
042587,000332:                                                                                                  #                   WITH RESPECT TO THE CONTENTS OF N22
042588,000333: 
042589,000334:                                                                                                  #           MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS            SELECTED BY V63E
042590,000335:                                                                                                  #                   WITH RESPECT TO THE CONTENTS OF N17
042591,000336: 
042592,000337:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
042593,000338:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042594,000339: 
042595,000340:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042596,000341:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042597,000342:                                                                                                  #  AS A FLY-TO INDICATOR.
042598,000343: 
042599,000344:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042600,000345:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042601,000346:                                                                                                  #  AS A FLY-TO INDICATOR.
042602,000347: 
042603,000348:                                                                                                  #     V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042604,000349:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
042605,000350: 
042606,000351:                                                                                                  #     THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042607,000352:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
042608,000353:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042609,000354: 
042610,000355: 
042611,000356: 21,2375           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE  BETWEEN FDAIDSP1 AND FDAIDSP2
042612,000357: 21,2376           74707                           MASK     BIT4                                  
042613,000358: 21,2377           00006                           EXTEND                                         
042614,000359: 21,2400           13144                           BZF      FDAIDSP2                              
042615,000360: 
042616,000361: 21,2401           27501        FDAIDSP1           ADS      RCSFLAGS                              
042617,000362: 21,2402           02404                           TC       NEEDLER                               
042618,000363: 21,2403           15222        KRESUME1           TCF      RESUME                                #  END PHASE 1
042619,000364: 

Page 978

042621,000366:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042622,000367: 
042623,000368:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
042624,000369: 
042625,000370:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042626,000371:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042627,000372:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042628,000373:                                                                                                  #  THE DACS.
042629,000374: 
042630,000375: 
042631,000376:                                                                                                  #  CALLING SEQUENCE:
042632,000377: 
042633,000378:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042634,000379:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042635,000380: 
042636,000381:                                                                                                  #           CS     RCSFLAGS        IN EBANK6
042637,000382:                                                                                                  #           MASK   BIT3
042638,000383:                                                                                                  #           ADS    RCSFLAGS
042639,000384: 
042640,000385:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
042641,000386: 
042642,000387:                                                                                                  #           AK     SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
042643,000388:                                                                                                  #           AK1    SCALED 180 DEGREES        TO CHANGE
042644,000389:                                                                                                  #           AK2    SCALED 180 DEGREES
042645,000390: 
042646,000391:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042647,000392:                                                                                                  #           (= 384 BITS IN IMU ERROR COUNTER)
042648,000393: 
042649,000394:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042650,000395: 
042651,000396:                                                                                                  #           INHINT
042652,000397:                                                                                                  #           TC     IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
042653,000398:                                                                                                  #           CADR   NEEDLER
042654,000399:                                                                                                  #           RELINT
042655,000400: 
042656,000401:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
042657,000402:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042658,000403:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042659,000404: 
042660,000405:                                                                                                  #  ERASABLE USED:
042661,000406:                                                                                                  #                       AK         CDUXCMD
042662,000407:                                                                                                  #                       AK1        CDUYCMD
042663,000408:                                                                                                  #                       AK2        CDUZCMD
042664,000409:                                                                                                  #                       EDRIVEX    A,L,Q
042665,000410:                                                                                                  #                       EDRIVEY    T5TEMP
042666,000411:                                                                                                  #                       EDRIVEZ    SPNDX
042667,000412: 
042668,000413:                                                                                                  #  SWITCHES:            RCSFLAGS   BITS 3,2
042669,000414: 
042670,000415:                                                                                                  #  I/O CHANNELS:        CHAN12     BIT 4 (COARSE ALIGN - READ ONLY)

Page 979

042672,000417:                                                                                                  #                       CHAN12     BIT 6 (IMU ERROR COUNTER ENABLE)
042673,000418:                                                                                                  #                       CHAN14     BIT 13,14,15 (DAC ACTIVITY)
042674,000419: 
042675,000420: 
042676,000421:                                                                                                  #  SIGN CONVENTION<   AK = THETAC - THETA
042677,000422:                                                                                                  #            WHERE    THETAC = COMMAND ANGLE
042678,000423:                                                                                                  #                     THETA = PRESENT ANGLE
042679,000424: 
042680,000425: 
042681,000426: 21,2404           34707        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
042682,000427: 21,2405           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
042683,000428: 21,2406           02012                           RAND     CHAN12                                #  ERROR COUNTERS. DONT USE NEEDLES
042684,000429: 21,2407           00006                           EXTEND                                         
042685,000430: 21,2410           12415                           BZF      NEEDLER1                              
042686,000431: 21,2411           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
042687,000432: 21,2412           74710                           MASK     BIT3                                  
042688,000433: 21,2413           27501                           ADS      RCSFLAGS                              
042689,000434: 21,2414           00002                           TC       Q                                     
042690,000435: 
042691,000436: 21,2415           31501        NEEDLER1           CA       RCSFLAGS                              
042692,000437: 21,2416           76211                           MASK     SIX                                   
042693,000438: 21,2417           00006                           EXTEND                                         
042694,000439: 21,2420           12455                           BZF      NEEDLES3                              
042695,000440: 21,2421           74710                           MASK     BIT3                                  
042696,000441: 21,2422           00006                           EXTEND                                         
042697,000442: 21,2423           12446                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
042698,000443: 
042699,000444: 21,2424           44705                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
042700,000445: 21,2425           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
042701,000446: 21,2426           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
042702,000447: 21,2427           44714        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
042703,000448: 21,2430           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
042704,000449: 21,2431           55477                           TS       AK1                                   
042705,000450: 21,2432           55500                           TS       AK2                                   
042706,000451: 21,2433           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
042707,000452: 21,2434           55504                           TS       EDRIVEY                               
042708,000453: 21,2435           55505                           TS       EDRIVEZ                               
042709,000454: 21,2436           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
042710,000455: 21,2437           54051                           TS       CDUYCMD                               
042711,000456: 21,2440           54052                           TS       CDUZCMD                               
042712,000457: 21,2441           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
042713,000458: 21,2442           71501                           MASK     RCSFLAGS                              
042714,000459: 21,2443           64711                           AD       BIT2                                  
042715,000460: 21,2444           55501                           TS       RCSFLAGS                              
042716,000461: 21,2445           00002                           TC       Q                                     #  END PASS1
042717,000462: 
042718,000463: 21,2446           34705        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
042719,000464: 21,2447           00006                           EXTEND                                         
042720,000465: 21,2450           05012                           WOR      CHAN12                                
042721,000466: 21,2451           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 980

042723,000468: 21,2452           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT ATLEAST 4 MS FOR
042724,000469: 21,2453           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
042725,000470: 21,2454           00002                           TC       Q                                     
042726,000471: 
042727,000472: 
042728,000473: 21,2455           34705        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
042729,000474: 21,2456           00006                           EXTEND                                         #  IS ENABLED
042730,000475: 21,2457           02012                           RAND     CHAN12                                
042731,000476: 21,2460           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
042732,000477: 21,2461           12411                           BZF      NEEDLER    +5                         
042733,000478: 
042734,000479: 21,2462           34711        NEEDLES            CAF      TWO                                   
042735,000480: 21,2463           55506        DACLOOP            TS       SPNDX                                 
042736,000481: 21,2464           44676                           CS       QUARTER                               
042737,000482: 21,2465           00006                           EXTEND                                         
042738,000483: 21,2466           51506                           INDEX    SPNDX                                 
042739,000484: 21,2467           71476                           MP       AK                                    
042740,000485: 21,2470           54001                           TS       L                                     
042741,000486: 21,2471           10000                           CCS      A                                     
042742,000487: 21,2472           32526                           CA       DACLIMIT                              
042743,000488: 21,2473           12475                           TCF      +2                                    
042744,000489: 21,2474           42526                           CS       DACLIMIT                              
042745,000490: 21,2475           60001                           AD       L                                     
042746,000491: 21,2476           55502                           TS       T5TEMP                                #  OVFLO CHK
042747,000492: 21,2477           12503                           TCF      +4                                    
042748,000493: 21,2500           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
042749,000494: 21,2501           32526                           CAF      DACLIMIT                              
042750,000495: 21,2502           54001                           TS       L                                     
042751,000496: 21,2503           51506                           INDEX    SPNDX                                 
042752,000497: 21,2504           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
042753,000498: 21,2505           60001                           AD       L                                     
042754,000499: 21,2506           51506                           INDEX    SPNDX                                 
042755,000500: 21,2507           26050                           ADS      CDUXCMD                               
042756,000501: 21,2510           51506                           INDEX    SPNDX                                 
042757,000502: 21,2511           23503                           LXCH     EDRIVEX                               
042758,000503: 21,2512           11506                           CCS      SPNDX                                 
042759,000504: 21,2513           12463                           TCF      DACLOOP                               
042760,000505: 21,2514           37707                           CAF      13,14,15                              
042761,000506: 21,2515           00006                           EXTEND                                         
042762,000507: 21,2516           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
042763,000508: 21,2517           00002                           TC       Q                                     
042764,000509: 
042765,000510: 21,2520           32524        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
042766,000511: 21,2521           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
042767,000512: 21,2522           55465                           TS       T5PHASE                               
042768,000513: 21,2523           15222                           TCF      RESUME                                
042769,000514: 21,2524           37754        DELAY200           DEC      16364      B-14                       #  200MS
042770,000515: 
042771,000516: 
042772,000517: 21,2525           77177                           DEC      -384       B-14                       
042773,000518: 

Page 981

042775,000520: 21,2526           37200        DACLIMIT           DEC      16000      B-14                       
042776,000521: 21,2527           00600                           DEC      384        B-14                       
042777,000522: 

Page 982

042779,000524:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042780,000525: 
042781,000526:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042782,000527: 
042783,000528:                                                                                                  #  WBODY   (+1)    DFT             TAU2
042784,000529:                                                                                                  #  WBODY1  (+1)    DFT1            BIAS
042785,000530:                                                                                                  #  WBODY2  (+1)    DFT2            BIAS1
042786,000531:                                                                                                  #  ADOT    (+1)    DRHO   (+1)     BIAS2
042787,000532:                                                                                                  #  ADOT1   (+1)    DRHO1  (+1)     ERRORX
042788,000533:                                                                                                  #  ADOT2   (+1)    DRHO2  (+1)     ERRORY
042789,000534:                                                                                                  #  MERRORX (+1)    ATTSEC          ERRORZ
042790,000535:                                                                                                  #  MERRORY (+1)    TAU
042791,000536:                                                                                                  #  MERRORZ (+1)    TAU1
042792,000537: 21,2530           34712        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
042793,000538: 21,2531           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
042794,000539:                                                                                                  #                                          ATTITUDE HOLD REFERENCE
042795,000540: 
042796,000541: 21,2532           04633        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042797,000542: 21,2533           40145                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
042798,000543: 
042799,000544: 21,2534           04633                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
042800,000545: 21,2535           40276                           CADR     S40.14                                #  TO AUTOPILOT GAINS
042801,000546: 
042802,000547: 21,2536           32607                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
042803,000548: 21,2537           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
042804,000549: 21,2540           34714                           CAF      ZERO                                  
042805,000550: 21,2541           51506                           INDEX    SPNDX                                 
042806,000551: 21,2542           55525                           TS       WBODY                                 
042807,000552: 21,2543           11506                           CCS      SPNDX                                 
042808,000553: 21,2544           12537                           TCF      ZEROT5                                
042809,000554: 21,2545           02616                           TCR      ZEROJET                               
042810,000555: 
042811,000556: 21,2546           44714                           CS       ZERO                                  
042812,000557: 21,2547           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
042813,000558: 
042814,000559: 21,2550           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
042815,000560:                                                                                                  #                                          MANUAL RATE MODES
042816,000561: 21,2551           32610                           CAF      =.24                                  
042817,000562: 21,2552           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
042818,000563: 
042819,000564: 21,2553           34710                           CAF      FOUR                                  
042820,000565: 21,2554           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042821,000566:                                                                                                  #                                          60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042822,000567:                                                                                                  #                                          IN (80MS - T5TIME(40MS)). THEREFORE
042823,000568:                                                                                                  #                                          PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042824,000569:                                                                                                  #                                          MS FROM NOW AND EVERY 100MS THEREAFTER
042825,000570: 
042826,000571: 21,2555           34717                           CAF      ELEVEN                                
042827,000572: 21,2556           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
042828,000573:                                                                                                  #                                          TO INITIALIZE THE S/C ANGULAR RATES

Page 983

042830,000575: 21,2557           30032                           CA       CDUX                                  
042831,000576: 21,2560           55635                           TS       RHO                                   
042832,000577: 21,2561           30033                           CA       CDUY                                  
042833,000578: 21,2562           55636                           TS       RHO1                                  
042834,000579: 21,2563           30034                           CA       CDUZ                                  
042835,000580: 21,2564           55637                           TS       RHO2                                  
042836,000581: 21,2565           34714                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
042837,000582: 21,2566           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
042838,000583: 
042839,000584: 21,2567           41321                           CS       IMODES33                              #  CHECK IMU STATUS
042840,000585: 21,2570           74705                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
042841,000586: 21,2571           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
042842,000587: 21,2572           12576                           TCF      IMUAOK                                
042843,000588: 21,2573           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
042844,000589: 21,2574           32612                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
042845,000590: 21,2575           12603                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
042846,000591:                                                                                                  #                                          SIGNAL NO RATE FILTER
042847,000592: 
042848,000593: 21,2576           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
042849,000594: 21,2577           05027                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
042850,000595: 21,2600  E6,1510                                  EBANK=   KMPAC                                 
042851,000596: 21,2600           03444 44066                     2CADR    AMBGUPDT                              
042852,000597: 21,2602           32611                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042853,000598: 21,2603           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
042854,000599:                                                                                                  #                                            SET BIT3  -INITIALIZE NEEDLES
042855,000600:                                                                                                  #                                          CLEAR BIT4  -RESET FOR FDAIDSP1
042856,000601: 21,2604           32613                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042857,000602:                                                                                                  #                                          ERROR COUNTER TO ZERO.
042858,000603:                                                                                                  #                                          (MINIMUM DELAY = 15 MS)
042859,000604: 21,2605           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042860,000605: 21,2606           05222                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS. RATE
042861,000606:                                                                                                  #                                          FILTER WILL BEGIN OPERATING ZOOMS FROM
042862,000607:                                                                                                  #                                          NOW
042863,000608: 
042864,000609:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
042865,000610: 
042866,000611: 21,2607           00044        NO.T5VAR           DEC      36         B-14                       
042867,000612: 21,2610           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
042868,000613: 21,2611           00004        RCSINIT            OCT      00004                                 
042869,000614: 21,2612           20004        RCSINITB           OCT      20004                                 
042870,000615: 21,2613           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
042871,000616: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
042872,000617: 21,2614           03646 36066  T6ADDR             2CADR    T6START                               
042873,000618: 
042874,000619: 
042875,000620: 21,2616           34717        ZEROJET            CAF      ELEVEN                                #  ZERO  BLAST2, BLAST1, BLAST, YWORD2,
042876,000621: 21,2617           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
042877,000622: 21,2620           34714                           CAF      ZERO                                  #  AND RWORD1.

Page 984

042879,000624: 21,2621           51506                           INDEX    SPNDX                                 
042880,000625: 21,2622           55451                           TS       RWORD1                                
042881,000626: 21,2623           11506                           CCS      SPNDX                                 
042882,000627: 21,2624           12617                           TCF      ZEROJET    +1                         
042883,000628: 
042884,000629: 21,2625           34710                           CAF      FOUR                                  
042885,000630: 21,2626           55462                           TS       BLAST1     +1                         
042886,000631: 21,2627           34717                           CAF      ELEVEN                                
042887,000632: 21,2630           55464                           TS       BLAST2     +1                         
042888,000633: 
042889,000634: 21,2631           44712                           CS       BIT1                                  
042890,000635: 21,2632           71501                           MASK     RCSFLAGS                              
042891,000636: 21,2633           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
042892,000637: 
042893,000638: 21,2634           00006                           EXTEND                                         
042894,000639: 21,2635           32615                           DCA      T6ADDR                                
042895,000640: 21,2636           53311                           DXCH     T6LOC                                 
042896,000641: 21,2637           33034                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042897,000642: 21,2640           54031                           TS       TIME6                                 
042898,000643: 21,2641           34674                           CAF      BIT15                                 
042899,000644: 21,2642           00006                           EXTEND                                         
042900,000645: 21,2643           05013                           WOR      CHAN13                                
042901,000646: 
042902,000647: 21,2644           00002                           TC       Q                                     
042903,000648: 
042904,000649: 21,2645           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
042905,000650: 21,2646           13132                           TCF      KALUPDT                               
042906,000651: 
042907,000652: 
042908,000653: 21,2647           12651                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
042909,000654: 21,2650           12651                           TCF      +1                                    
042910,000655: 21,2651           32142                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
042911,000656: 21,2652           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC )
042912,000657: 21,2653           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
042913,000658: 
042914,000659: 
042915,000660: 21,2654           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
042916,000661: 21,2655           74674                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042917,000662: 21,2656           00006                           EXTEND                                         #  ATTKALMN TO -1
042918,000663: 21,2657           12661                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
042919,000664: 21,2660           44712                           CS       ONE                                   
042920,000665: 21,2661           55617        NOHIAUTO           TS       ATTKALMN                              
042921,000666: 

Page 985

042923,000668:                                                                                                  #           MANUAL ROTATION COMMANDS
042924,000669: 21,2662           43016                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
042925,000670: 21,2663           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
042926,000671: 21,2664           55501                           TS       RCSFLAGS                              
042927,000672: 
042928,000673: 21,2665           00006                           EXTEND                                         
042929,000674: 21,2666           00031                           READ     CHAN31                                
042930,000675: 21,2667           54001                           TS       L                                     
042931,000676: 21,2670           31632                           CA       CH31TEMP                              
042932,000677: 21,2671           00006                           EXTEND                                         
042933,000678: 21,2672           06001                           RXOR     LCHAN                                 
042934,000679: 21,2673           73022                           MASK     MANROT                                #  = OCT00077
042935,000680: 21,2674           00006                           EXTEND                                         
042936,000681: 21,2675           62710                           BZMF     NOCHANGE                              
042937,000682: 
042938,000683: 21,2676           22000                           LXCH     A                                     
042939,000684: 21,2677           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042940,000685: 
042941,000686: 21,2700           30001                           CA       L                                     
042942,000687: 21,2701           00006                           EXTEND                                         
042943,000688: 21,2702           74706                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
042944,000689: 21,2703           30001                           CA       L                                     
042945,000690: 21,2704           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
042946,000691:                                                                                                  #                                          WITH CHANGES IN COMMAND. BITS 10,9 FOR
042947,000692:                                                                                                  #                                          ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042948,000693:                                                                                                  #                                          PITCH
042949,000694: 
042950,000695: 21,2705           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12,AND
042951,000696: 21,2706           73023                           MASK     OCT16000                              #  11 OF RCSFLAGS)
042952,000697: 21,2707           27501                           ADS      RCSFLAGS                              
042953,000698: 
042954,000699: 21,2710           41632        NOCHANGE           CS       CH31TEMP                              
042955,000700: 21,2711           73022                           MASK     MANROT                                
042956,000701: 21,2712           00006                           EXTEND                                         
042957,000702: 21,2713           63234                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
042958,000703: 
042959,000704: 21,2714           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
042960,000705: 
042961,000706: 21,2715           03114                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042962,000707:                                                                                                  #                                          YMANNDX, AND RMANNDX ARE ALL SET, BY
042963,000708:                                                                                                  #                                          MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042964,000709:                                                                                                  #                                          +, OR - ROTATION RESPECTIVELY AS
042965,000710:                                                                                                  #                                          COMMANDED BY THE RHC.
042966,000711: 
042967,000712:                                                                                                  #                                          HOWEVER, IT IS WELL TO NOTE THAT AFTER
042968,000713:                                                                                                  #                                          THE RHC IS RETURNED TO DETENT, THE
042969,000714:                                                                                                  #                                          PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042970,000715:                                                                                                  #                                          STICKCHK SO PMANNDX, YMANNDX, AND
042971,000716:                                                                                                  #                                          RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042972,000717:                                                                                                  #                                          LEFT SET TO THEIR LAST OUT OF DETENT

Page 986

042974,000719:                                                                                                  #                                          VALUES.
042975,000720: 
042976,000721: 21,2716           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
042977,000722: 21,2717           74675                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
042978,000723: 21,2720           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042979,000724: 
042980,000725: 21,2721           34675                           CAF      BIT14                                 
042981,000726: 21,2722           00006                           EXTEND                                         
042982,000727: 21,2723           02031                           RAND     CHAN31                                
042983,000728: 21,2724           00006                           EXTEND                                         
042984,000729: 21,2725           63035                           BZMF     FREEFUNC                              
042985,000730: 
042986,000731: 21,2726           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
042987,000732: 21,2727           74675                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
042988,000733: 21,2730           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
042989,000734: 21,2731           12520                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
042990,000735: 
042991,000736: 21,2732           44715                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
042992,000737: 21,2733           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
042993,000738: 21,2734           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
042994,000739: 21,2735           62740                           BZMF     +3                                    
042995,000740: 21,2736           44712                           CS       ONE                                   
042996,000741: 21,2737           55617                           TS       ATTKALMN                              
042997,000742: 
042998,000743: 
042999,000744: 21,2740           34711                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
043000,000745: 21,2741           55506        SETWBODY           TS       SPNDX                                 
043001,000746: 21,2742           60000                           DOUBLE                                         
043002,000747: 21,2743           55507                           TS       DPNDX                                 
043003,000748: 21,2744           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
043004,000749: 21,2745           31656                           CA       RMANNDX                               #          = 1  + ROTATION
043005,000750: 21,2746           00006                           EXTEND                                         #          = 2  - ROTATION
043006,000751: 21,2747           12771                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
043007,000752:                                                                                                  #                                          GO TO NORATE.
043008,000753: 
043009,000754: 21,2750           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
043010,000755: 21,2751           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
043011,000756: 21,2752           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
043012,000757: 21,2753           33023                           CA       MANTABLE   -1                         #           = 6  4.0  DEG/SEC
043013,000758: 21,2754           00006                           EXTEND                                         
043014,000759: 21,2755           74702                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
043015,000760: 21,2756           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
043016,000761: 21,2757           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
043017,000762: 
043018,000763: 21,2760           31501                           CA       RCSFLAGS                              
043019,000764: 21,2761           73023                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12AND
043020,000765: 21,2762           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
043021,000766: 21,2763           13001                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043022,000767:                                                                                                  #                                          ERROR.
043023,000768: 

Page 987

043025,000770: 21,2764           34714        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
043026,000771: 21,2765           22007                           ZL                                             
043027,000772: 21,2766           51507                           INDEX    DPNDX                                 
043028,000773: 21,2767           53542                           DXCH     MERRORX                               
043029,000774: 21,2770           13007                           TCF      SPNDXCHK                              
043030,000775: 
043031,000776: 21,2771           22007        NORATE             ZL                                             
043032,000777: 21,2772           51507                           INDEX    DPNDX                                 
043033,000778: 21,2773           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
043034,000779: 21,2774           31501                           CA       RCSFLAGS                              
043035,000780: 21,2775           73023                           MASK     OCT16000                              
043036,000781: 21,2776           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
043037,000782: 21,2777           13007                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043038,000783: 21,3000           12764                           TCF      ZEROER                                #  NO,GO TO ZEROER
043039,000784: 
043040,000785: 21,3001           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043041,000786: 21,3002           43023                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
043042,000787: 21,3003           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
043043,000788: 21,3004           74704                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
043044,000789: 21,3005           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
043045,000790: 21,3006           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043046,000791: 
043047,000792: 21,3007           51507        SPNDXCHK           INDEX    DPNDX                                 
043048,000793: 21,3010           31541                           CA       MERRORX                               
043049,000794: 21,3011           51506                           INDEX    SPNDX                                 
043050,000795: 21,3012           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
043051,000796: 21,3013           11506                           CCS      SPNDX                                 
043052,000797: 21,3014           12741                           TCF      SETWBODY                              
043053,000798: 21,3015           13425                           TCF      JETS                                  
043054,000799: 
043055,000800: 
043056,000801: 21,3016           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
043057,000802: 
043058,000803: 21,3017           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
043059,000804: 21,3020           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
043060,000805: 21,3021           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
043061,000806:                                                                                                  #                                                                        PRESERVED
043062,000807:                                                                                                  #                                                                      FOR INDEXING
043063,000808: 21,3022           00077        MANROT             OCT      77                                    
043064,000809: 21,3023           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
043065,000810: 21,3024           00165        MANTABLE           DEC      .0071111                              
043066,000811: 21,3025           77612                           DEC      -.0071111                             
043067,000812: 21,3026           00722                           DEC      .028444                               
043068,000813: 21,3027           77055                           DEC      -.028444                              
043069,000814: 21,3030           02215                           DEC      .071111                               
043070,000815: 21,3031           75562                           DEC      -.071111                              
043071,000816: 21,3032           22151                           DEC      .568889                               
043072,000817: 21,3033           55626                           DEC      -.568889                              
043073,000818: 21,3034           00027        =+14MS             DEC      23         B-14                       
043074,000819: 21,3035           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 988

043076,000821: 21,3036           33047                           CA       FREETAU                               #  COMMANDS
043077,000822: 21,3037           55561                           TS       TAU                                   
043078,000823: 21,3040           51657                           INDEX    PMANNDX                               
043079,000824: 21,3041           33047                           CA       FREETAU                               #  FREETAU    0 SEC
043080,000825: 21,3042           55562                           TS       TAU1                                  #  +1        +0.10 SEC
043081,000826: 21,3043           51660                           INDEX    YMANNDX                               #  +2        -0.10 SEC
043082,000827: 21,3044           33047                           CA       FREETAU                               #  (+3)       0 SEC
043083,000828: 21,3045           55563                           TS       TAU2                                  
043084,000829: 21,3046           13053                           TCF      T6PROGM                               
043085,000830: 
043086,000831: 21,3047           00000        FREETAU            DEC      0          B-14                       
043087,000832: 21,3050           00740                           DEC      480        B-14                       
043088,000833: 21,3051           77037                           DEC      -480       B-14                       
043089,000834: 21,3052           00000                           DEC      0          B-14                       
043090,000835: 
043091,000836: 21,3053           34714        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
043092,000837: 21,3054           55567                           TS       ERRORX                                
043093,000838: 21,3055           55570                           TS       ERRORY                                
043094,000839: 21,3056           55571                           TS       ERRORZ                                
043095,000840: 21,3057           13743                           TCF      T6PROG                                
043096,000841: 

Page 989

043098,000843: 21,3060           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043099,000844: 21,3061           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043100,000845: 21,3062           06604                           DEC      .2112                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043101,000846: 21,3063           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
043102,000847: 21,3064           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
043103,000848: 21,3065           13030                           DEC      .3452                                 
043104,000849: 21,3066           14047                           DEC      .3774                                 
043105,000850: 21,3067           15241                           DEC      .4161                                 
043106,000851: 21,3070           16650                           DEC      .4634                                 
043107,000852: 21,3071           20555                           DEC      .5223                                 
043108,000853: 21,3072           23065                           DEC      .5970                                 
043109,000854: 21,3073           26137                           DEC      .6933                                 
043110,000855: 21,3074           32053                           DEC      .8151                                 
043111,000856: 21,3075           35712                           DEC      .9342                                 
043112,000857: 
043113,000858: 21,3076           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
043114,000859: 21,3077           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043115,000860: 21,3100           00435                           DEC      .0174                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043116,000861: 21,3101           00032        GAIN2              DEC      .0016                                 #  SCALED 10
043117,000862: 21,3102           01350                           DEC      .0454                                 
043118,000863: 21,3103           01575                           DEC      .0545                                 
043119,000864: 21,3104           02103                           DEC      .0666                                 
043120,000865: 21,3105           02523                           DEC      .0832                                 
043121,000866: 21,3106           03327                           DEC      .1069                                 
043122,000867: 21,3107           04432                           DEC      .1422                                 
043123,000868: 21,3110           06264                           DEC      .1985                                 
043124,000869: 21,3111           11351                           DEC      .2955                                 
043125,000870: 21,3112           17324                           DEC      .4817                                 
043126,000871: 21,3113           33622                           DEC      .8683                                 
043127,000872: 21,3114           55502        STICKCHK           TS       T5TEMP                                
043128,000873: 21,3115           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
043129,000874: 21,3116           55657                           TS       PMANNDX                               
043130,000875: 21,3117           31502                           CA       T5TEMP                                
043131,000876: 21,3120           00006                           EXTEND                                         #  MAN RATE 0   0 RATE (DP)
043132,000877: 21,3121           74676                           MP       QUARTER                               #           +1   +RATE (DP)
043133,000878: 21,3122           55502                           TS       T5TEMP                                #           +2   -RATE (DP)
043134,000879: 21,3123           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
043135,000880: 21,3124           55660                           TS       YMANNDX                               
043136,000881: 21,3125           31502                           CA       T5TEMP                                
043137,000882: 21,3126           00006                           EXTEND                                         
043138,000883: 21,3127           74676                           MP       QUARTER                               
043139,000884: 21,3130           55656                           TS       RMANNDX                               
043140,000885: 21,3131           00002                           TC       Q                                     
043141,000886: 
043142,000887: 
043143,000888: 21,3132           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
043144,000889:                                                                                                  #                                          KALMAN FILTER TAKES 1.1 SEC
043145,000890: 
043146,000891: 21,3133           32141                           CA       DELTATT                               #  =1SEC - 80MS
043147,000892: 21,3134           61634                           AD       T5TIME                                #  + DELAYS

Page 990

043149,000894: 21,3135           54030                           TS       TIME5                                 
043150,000895: 21,3136           13141                           TCF      +3                                    
043151,000896: 21,3137           32142                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
043152,000897: 21,3140           54030                           TS       TIME5                                 #  A T5RUPT
043153,000898: 
043154,000899: 
043155,000900: 21,3141           44714        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
043156,000901: 21,3142           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
043157,000902: 21,3143           15222                           TCF      RESUME                                
043158,000903: 
043159,000904: 
043160,000905: 21,3144           44707        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
043161,000906: 21,3145           71501                           MASK     RCSFLAGS                              
043162,000907: 21,3146           55501                           TS       RCSFLAGS                              
043163,000908: 
043164,000909: 21,3147           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043165,000910: 21,3150           74702                           MASK     BIT9                                  #  ERRORS
043166,000911: 21,3151           00006                           EXTEND                                         
043167,000912: 21,3152           13161                           BZF      FDAITOTL                              
043168,000913: 21,3153           00006                           EXTEND                                         
043169,000914: 21,3154           41570                           DCS      ERRORX                                #  OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
043170,000915: 21,3155           53477                           DXCH     AK                                    
043171,000916: 21,3156           41571                           CS       ERRORZ                                
043172,000917: 21,3157           55500                           TS       AK2                                   
043173,000918: 21,3160           15222                           TCF      RESUME                                #  END PHASE 1
043174,000919: 
043175,000920: 
043176,000921: 21,3161           30105        FDAITOTL           CA       FLAGWRD9                              
043177,000922: 21,3162           74705                           MASK     BIT6                                  
043178,000923: 21,3163           00006                           EXTEND                                         
043179,000924: 21,3164           13227                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043180,000925:                                                                                                  #                                          IF SO, GO TO WRTN17
043181,000926: 21,3165           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
043182,000927: 21,3166           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
043183,000928: 21,3167           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
043184,000929: 21,3170           31155                           CA       CPHI                                  #  COMPONENTS OF N22
043185,000930: 
043186,000931: 21,3171           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
043187,000932: 21,3172           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
043188,000933: 21,3173           55476                           TS       AK                                    
043189,000934: 21,3174           31513                           CA       WTEMP                                 
043190,000935: 21,3175           00006                           EXTEND                                         
043191,000936: 21,3176           20033                           MSU      CDUY                                  
043192,000937: 21,3177           55502                           TS       T5TEMP                                
043193,000938: 21,3200           00006                           EXTEND                                         
043194,000939: 21,3201           71640                           MP       AMGB1                                 
043195,000940: 21,3202           27476                           ADS      AK                                    
043196,000941: 21,3203           31502                           CA       T5TEMP                                
043197,000942: 21,3204           00006                           EXTEND                                         
043198,000943: 21,3205           71641                           MP       AMGB4                                 

Page 991

043200,000945: 21,3206           55477                           TS       AK1                                   
043201,000946: 21,3207           31502                           CA       T5TEMP                                
043202,000947: 21,3210           00006                           EXTEND                                         
043203,000948: 21,3211           71643                           MP       AMGB7                                 
043204,000949: 21,3212           55500                           TS       AK2                                   
043205,000950: 21,3213           31514                           CA       WTEMP      +1                         
043206,000951: 21,3214           00006                           EXTEND                                         
043207,000952: 21,3215           20034                           MSU      CDUZ                                  
043208,000953: 21,3216           55502                           TS       T5TEMP                                
043209,000954: 21,3217           00006                           EXTEND                                         
043210,000955: 21,3220           71642                           MP       AMGB5                                 
043211,000956: 21,3221           27477                           ADS      AK1                                   
043212,000957: 21,3222           31502                           CA       T5TEMP                                
043213,000958: 21,3223           00006                           EXTEND                                         
043214,000959: 21,3224           71644                           MP       AMGB8                                 
043215,000960: 21,3225           27500                           ADS      AK2                                   
043216,000961: 21,3226           15222                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
043217,000962: 
043218,000963: 21,3227           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
043219,000964: 21,3230           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
043220,000965: 21,3231           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
043221,000966: 21,3232           31333                           CA       CPHIX                                 
043222,000967: 21,3233           13171                           TCF      GETAKS                                
043223,000968: 

Page 992 Empty page.


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