Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality 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:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

043558,000002:                                                                                                  ## Copyright:   Public domain.
043559,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
043560,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
043561,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
043562,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
043563,000007:                                                                                                  ## Assembler:   yaYUL
043564,000008:                                                                                                  ## Reference:   Starts on p. 973.
043565,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
043566,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
043567,000011:                                                                                                  ## Mod history: 08/25/04 RSB.   Began transcribing.
043568,000012:                                                                                                  ##              2010-10-25 JL   Fixed page number.
043569,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
043570,000014:                                                                                                  ##                              original harcopy, as opposed to the PDF page
043571,000015:                                                                                                  ##                              numbers in 1701.pdf.
043572,000016:                                                                                                  ##              2017-01-18 RSB  Cross-diff'd comment text (not whitespace)
043573,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
043574,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
043575,000019:                                                                                                  ##                              and corrected errors found.
043576,000020:                                                                                                  ##
043577,000021:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
043578,000022:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
043579,000023:                                                                                                  ## document read, in part:
043580,000024:                                                                                                  ##
043581,000025:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
043582,000026:                                                                                                  ##      2021111-041.  October 28, 1968.  
043583,000027:                                                                                                  ##
043584,000028:                                                                                                  ##      This AGC program shall also be referred to as
043585,000029:                                                                                                  ##                              Colossus 1A
043586,000030:                                                                                                  ##
043587,000031:                                                                                                  ##      Prepared by
043588,000032:                                                                                                  ##                      Massachusetts Institute of Technology
043589,000033:                                                                                                  ##                      75 Cambridge Parkway
043590,000034:                                                                                                  ##                      Cambridge, Massachusetts
043591,000035:                                                                                                  ##      under NASA contract NAS 9-4065.
043592,000036:                                                                                                  ##
043593,000037:                                                                                                  ## Refer directly to the online document mentioned above for further information.
043594,000038:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
043595,000039:                                                                                                  ##
043596,000040:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
043597,000041:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
043598,000042:                                                                                                  ## source file, and then is proofed to incorporate any changes.
043599,000043: 

Page 973

043601,000045:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043602,000046: 
043603,000047:                                                                                                  #  START OF T5 INTERRUPT PROGRAM
043604,000048: 
043605,000049: 20,3565                                           BANK     20                                    
043606,000050: 21,2000                                           SETLOC   DAPS3                                 
043607,000051: 21,2000                                           BANK                                           
043608,000052: 
043609,000053: 21,2071                                           COUNT    21/DAPRC                              
043610,000054: 
043611,000055: 21,2071  E6,1510                                  EBANK=   KMPAC                                 
043612,000056: 21,2071           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
043613,000057: 21,2072           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
043614,000058: 21,2073           00006                           EXTEND                                         
043615,000059: 21,2074           62076                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
043616,000060: 21,2075           12100                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
043617,000061: 21,2076           44712                           CS       ONE                                   
043618,000062: 21,2077           55465                           TS       T5PHASE                               
043619,000063: 21,2100           00006                           EXTEND                                         
043620,000064: 21,2101           32105                           DCA      RCSLOC                                
043621,000065: 21,2102           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
043622,000066: 21,2103           12107                           TCF      RCSATT     +1                         
043623,000067: 21,2104  E6,1510                                  EBANK=   KMPAC                                 
043624,000068: 21,2104           02106 42066  RCSLOC             2CADR    RCSATT                                
043625,000069: 
043626,000070: 21,2106           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
043627,000071: 21,2107           00006                           EXTEND                                         #  SAVE Q
043628,000072: 21,2110           22012                           QXCH     QRUPT                                 
043629,000073: 21,2111           34674                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043630,000074: 21,2112           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043631,000075: 21,2113           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
043632,000076: 21,2114           00006                           EXTEND                                         
043633,000077: 21,2115           12144                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
043634,000078:                                                                                                  #  GO TO SETT5
043635,000079: 
043636,000080: 21,2116           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043637,000081: 21,2117           74675                           MASK     BIT14                                 
043638,000082: 21,2120           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
043639,000083: 21,2121           34672                           CAF      POSMAX                                
043640,000084: 21,2122           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
043641,000085: 21,2123           34714                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
043642,000086: 21,2124           55567                           TS       ERRORX                                
043643,000087: 21,2125           55570                           TS       ERRORY                                
043644,000088: 21,2126           55571                           TS       ERRORZ                                
043645,000089: 21,2127           34675                           CAF      BIT14                                 
043646,000090: 21,2130           00006                           EXTEND                                         
043647,000091: 21,2131           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
043648,000092: 21,2132           00006                           EXTEND                                         

Page 974

043650,000094: 21,2133           12144                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
043651,000095: 
043652,000096: 21,2134           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
043653,000097: 21,2135           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
043654,000098: 21,2136           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
043655,000099: 
043656,000100: 21,2137           02616                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043657,000101: 
043658,000102: 21,2140           12334                           TCF      KMATRIX                               
043659,000103: 21,2141           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
043660,000104: 21,2142           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
043661,000105: 21,2143           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
043662,000106: 21,2144                        CHAN5              EQUALS   5                                     
043663,000107: 21,2144                        CHAN6              EQUALS   6                                     
043664,000108: 21,2144     7671               PRIO34A            =        PRIO34                                
043665,000109: 
043666,000110:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
043667,000111: 
043668,000112:                                                                                                  #  BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 
043669,000113:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043670,000114:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
043671,000115:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043672,000116:                                                                                                  #  VARIABLES AT TURN ON.
043673,000117: 
043674,000118:                                                                                                  #  THE CODING OF T5PHASE IS...
043675,000119: 
043676,000120:                                                                                                  #                + = INITIALIZE T5 RCS-CSM AUTOPILOT
043677,000121:                                                                                                  #     T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043678,000122:                                                                                                  #                - = RESTART DAP
043679,000123:                                                                                                  #               -0 = PHASE1 OF THE T5 PROGRAM
043680,000124: 
043681,000125: 21,2144           11465        SETT5              CCS      T5PHASE                               
043682,000126: 21,2145           12530                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
043683,000127: 21,2146           12645                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
043684,000128: 21,2147           12532                           TCF      REDAP                                 #  RESTART AUTOPILOT
043685,000129: 21,2150           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
043686,000130: 21,2151           30030                           CA       TIME5                                 
043687,000131: 21,2152           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
043688,000132: 21,2153           32142                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
043689,000133: 21,2154           54030                           TS       TIME5                                 #  OF PROGRAM
043690,000134: 

Page 975

043692,000136:                                                                                                  #  IMU STATUS CHECK
043693,000137: 
043694,000138: 21,2155           41321                           CS       IMODES33                              #  CHECK IMU STATUS
043695,000139: 21,2156           74705                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
043696,000140: 21,2157           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
043697,000141: 21,2160           12174                           TCF      RATEFILT                              
043698,000142: 21,2161           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
043699,000143: 21,2162           74675                           MASK     BIT14                                 #  INITIALIZED
043700,000144: 21,2163           27501                           ADS      RCSFLAGS                              
043701,000145: 21,2164           34675                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
043702,000146: 21,2165           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
043703,000147:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
043704,000148:                                                                                                  #  ATTITUDE HOLD
043705,000149: 21,2166           00006                           EXTEND                                         
043706,000150: 21,2167           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
043707,000151: 21,2170           00006                           EXTEND                                         
043708,000152: 21,2171           12403                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
043709,000153: 21,2172           12520                           TCF      REINIT                                #  .....TILT...............................
043710,000154: 21,2173           00030        BITS4,5            OCT      30                                    
043711,000155: 21,2174           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
043712,000156: 21,2175           74675                           MASK     BIT14                                 
043713,000157: 21,2176           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
043714,000158: 21,2177           12201                           BZF      +2                                    
043715,000159: 21,2200           12334                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
043716,000160: 
043717,000161:                                                                                                  #        RATE FILTER     TIMING = 7.72 MS
043718,000162: 
043719,000163:                                                                                                  #  RATE FILTER EQUATIONS
043720,000164: 
043721,000165: 
043722,000166:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043723,000167:                                                                                                  #                                            -1
043724,000168: 
043725,000169:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
043726,000170:                                                                                                  #             -1
043727,000171:                                                                                                  #         -       *     -     -
043728,000172:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
043729,000173:                                                                                                  #                                -1
043730,000174: 
043731,000175: 21,2201           34711                           CAF      TWO                                   
043732,000176: 21,2202           55506        DRHOLOOP           TS       SPNDX                                 
043733,000177: 21,2203           60000                           DOUBLE                                         
043734,000178: 21,2204           55507                           TS       DPNDX                                 
043735,000179: 21,2205           51507                           INDEX    DPNDX                                 
043736,000180: 21,2206           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
043737,000181: 21,2207           00006                           EXTEND                                         
043738,000182: 21,2210           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
043739,000183: 21,2211           73063                           MP       GAIN1                                 
043740,000184: 21,2212           51507                           INDEX    DPNDX                                 
043741,000185: 21,2213           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
043742,000186: 21,2214           00006                           EXTEND                                         

Page 976

043744,000188: 21,2215           51507                           INDEX    DPNDX                                 
043745,000189: 21,2216           41534                           DCS      ADOT                                  
043746,000190: 21,2217           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
043747,000191: 21,2220           34676                           CA       QUARTER                               
043748,000192: 21,2221           02026                           TC       SMALLMP                               
043749,000193: 21,2222           53511                           DXCH     KMPAC                                 
043750,000194: 21,2223           51507                           INDEX    DPNDX                                 
043751,000195: 21,2224           21553                           DAS      DRHO                                  
043752,000196: 21,2225           11506                           CCS      SPNDX                                 
043753,000197: 21,2226           12202                           TCF      DRHOLOOP                              
043754,000198: 
043755,000199: 21,2227           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
043756,000200: 21,2230           57635                           XCH      RHO                                   
043757,000201: 21,2231           00006                           EXTEND                                         
043758,000202: 21,2232           21635                           MSU      RHO                                   #  -        *     -     -
043759,000203: 21,2233           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
043760,000204:                                                                                                  #                          -1
043761,000205: 21,2234           22007                           ZL                                             
043762,000206: 21,2235           53516                           DXCH     DELTEMPX                              
043763,000207: 21,2236           30033                           CA       CDUY                                  
043764,000208: 21,2237           57636                           XCH      RHO1                                  
043765,000209: 21,2240           00006                           EXTEND                                         
043766,000210: 21,2241           21636                           MSU      RHO1                                  
043767,000211: 21,2242           40000                           COM                                            
043768,000212: 21,2243           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
043769,000213: 21,2244           00006                           EXTEND                                         
043770,000214: 21,2245           71640                           MP       AMGB1                                 
043771,000215: 21,2246           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043772,000216:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
043773,000217:                                                                                                  #  PULSES
043774,000218: 21,2247           31641                           CA       AMGB4                                 
043775,000219: 21,2250           00006                           EXTEND                                         
043776,000220: 21,2251           71502                           MP       T5TEMP                                
043777,000221: 21,2252           53520                           DXCH     DELTEMPY                              
043778,000222: 21,2253           31643                           CA       AMGB7                                 
043779,000223: 21,2254           00006                           EXTEND                                         
043780,000224: 21,2255           71502                           MP       T5TEMP                                
043781,000225: 21,2256           53522                           DXCH     DELTEMPZ                              
043782,000226: 21,2257           30034                           CA       CDUZ                                  
043783,000227: 21,2260           57637                           XCH      RHO2                                  
043784,000228: 21,2261           00006                           EXTEND                                         
043785,000229: 21,2262           21637                           MSU      RHO2                                  
043786,000230: 21,2263           40000                           COM                                            
043787,000231: 21,2264           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
043788,000232: 21,2265           00006                           EXTEND                                         
043789,000233: 21,2266           71642                           MP       AMGB5                                 
043790,000234: 21,2267           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
043791,000235:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
043792,000236: 21,2270           31644                           CA       AMGB8                                 
043793,000237: 21,2271           00006                           EXTEND                                         
043794,000238: 

Page 977

043796,000240: 21,2272           71502                           MP       T5TEMP                                
043797,000241: 21,2273           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)
043798,000242:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
043799,000243: 21,2274           34711                           CAF      TWO                                   
043800,000244: 21,2275           55506        ADOTLOOP           TS       SPNDX                                 
043801,000245: 21,2276           60000                           DOUBLE                                         
043802,000246: 21,2277           55507                           TS       DPNDX                                 
043803,000247: 21,2300           00006                           EXTEND                                         
043804,000248: 21,2301           51507                           INDEX    DPNDX                                 
043805,000249: 21,2302           31516                           DCA      DELTEMPX                              
043806,000250: 21,2303           51507                           INDEX    DPNDX                                 
043807,000251: 21,2304           21553                           DAS      DRHO                                  
043808,000252: 21,2305           00006                           EXTEND                                         
043809,000253: 21,2306           51507                           INDEX    DPNDX                                 
043810,000254: 21,2307           31516                           DCA      DELTEMPX                              
043811,000255: 21,2310           51507                           INDEX    DPNDX                                 
043812,000256: 21,2311           21542                           DAS      MERRORX                               
043813,000257: 21,2312           51507                           INDEX    DPNDX                                 
043814,000258: 21,2313           31552                           CA       DRHO                                  
043815,000259: 21,2314           60000                           DOUBLE                                         #  N.B.
043816,000260: 21,2315           60000                           DOUBLE                                         #  N.B.
043817,000261: 21,2316           00006                           EXTEND                                         
043818,000262: 21,2317           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
043819,000263: 21,2320           73101                           MP       GAIN2                                 
043820,000264: 21,2321           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
043821,000265: 21,2322           21534                           DAS      ADOT                                  #      -1
043822,000266: 21,2323           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
043823,000267: 21,2324           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
043824,000268: 21,2325           00006                           EXTEND                                         
043825,000269: 21,2326           51506                           INDEX    SPNDX                                 
043826,000270: 21,2327           71547                           MP       DFT                                   
043827,000271: 21,2330           51507                           INDEX    DPNDX                                 
043828,000272: 21,2331           21534                           DAS      ADOT                                  #  KMJ(DFT)
043829,000273: 21,2332           11506                           CCS      SPNDX                                 
043830,000274: 21,2333           12275                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
043831,000275: 21,2334           31560        KMATRIX            CA       ATTSEC                                
043832,000276: 21,2335           74721                           MASK     LOW4                                  
043833,000277: 21,2336           10000                           CCS      A                                     
043834,000278: 21,2337           12345                           TCF      TENTHSEK                              
043835,000279: 21,2340           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043836,000280: 21,2341           05027                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
043837,000281: 21,2342  E6,1510                                  EBANK=   KMPAC                                 
043838,000282: 21,2342           03444 44066                     2CADR    AMBGUPDT                              
043839,000283: 
043840,000284: 21,2344           34334                           CAF      NINE                                  
043841,000285: 
043842,000286: 21,2345           55560        TENTHSEK           TS       ATTSEC                                
043843,000287: 

Page 978

043845,000289:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
043846,000290:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
043847,000291: 
043848,000292:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
043849,000293:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
043850,000294:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
043851,000295: 
043852,000296:                                                                                                  #  THE STEERING PROGRAMS-
043853,000297:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
043854,000298:                                                                                                  #        2) LEM TRACKING
043855,000299: 
043856,000300:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
043857,000301:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
043858,000302: 
043859,000303:                                                                                                  #  HOLDFLAG CODING-
043860,000304: 
043861,000305:                                                                                                  #        + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
043862,000306:                                                                                                  #            AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
043863,000307:                                                                                                  #            ALSO IGNORE AUTOMATIC STEERING
043864,000308:                                                                                                  #            SET = + BY
043865,000309:                                                                                                  #                1) INITIALIZATION PHASE OF AUTOPILOT
043866,000310:                                                                                                  #                2) OCCURANCE OF RHC COMMANDS
043867,000311:                                                                                                  #                3) FREE MODE
043868,000312:                                                                                                  #                4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
043869,000313:                                                                                                  #                   WHILE DOING AUTOMATIC STEERING (IN THIS CASE
043870,000314:                                                                                                  #                   HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
043871,000315:                                                                                                  #                   FUNCTIONS AS IF IT WERE.)
043872,000316:                                                                                                  #                5) S/C CONTROL SWITCH IN SCS
043873,000317:                                                                                                  #                6) IMU POWER OFF
043874,000318: 
043875,000319:                                                                                                  #       +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
043876,000320:                                                                                                  #        
043877,000321:                                                                                                  #        - = PERFORMING AUTOMATIC MANEUVER
043878,000322: 
043879,000323:                                                                                                  #       -0 = NOT USED AT PRESENT
043880,000324: 
043881,000325:                                                                                                  #  NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
043882,000326:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
043883,000327:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
043884,000328: 
043885,000329: 21,2346           41332                           CS       HOLDFLAG                              
043886,000330: 21,2347           00006                           EXTEND                                         
043887,000331: 21,2350           62375                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
043888,000332:                                                                                                  #  COMMANDS
043889,000333: 21,2351           34711        DCDUINCR           CAF      TWO                                   
043890,000334: 21,2352           55506        DELOOP             TS       SPNDX                                 
043891,000335: 21,2353           60000                           DOUBLE                                         
043892,000336: 21,2354           55507                           TS       DPNDX                                 
043893,000337: 21,2355           00006                           EXTEND                                         
043894,000338: 21,2356           50000                           INDEX    A                                     
043895,000339: 21,2357           31647                           DCA      CDUXD                                 

Page 979

043897,000341: 21,2360           53511                           DXCH     KMPAC                                 
043898,000342: 21,2361           00006                           EXTEND                                         
043899,000343: 21,2362           51507                           INDEX    DPNDX                                 
043900,000344: 21,2363           31576                           DCA      DELCDUX                               
043901,000345: 21,2364           02040                           TC       DPADD                                 
043902,000346: 21,2365           00006                           EXTEND                                         
043903,000347: 21,2366           31511                           DCA      KMPAC                                 
043904,000348: 21,2367           51506                           INDEX    SPNDX                                 
043905,000349: 21,2370           55572                           TS       THETADX                               
043906,000350: 21,2371           51507                           INDEX    DPNDX                                 
043907,000351: 21,2372           53647                           DXCH     CDUXD                                 
043908,000352: 21,2373           11506                           CCS      SPNDX                                 
043909,000353: 21,2374           12352                           TCF      DELOOP                                
043910,000354: 

Page 980

043912,000356:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
043913,000357: 
043914,000358:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
043915,000359: 
043916,000360:                                                                                                  #        MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
043917,000361:                                                                                                  #                GENERATED INTERNALLY BY THE AUTOPILOT
043918,000362: 
043919,000363:                                                                                                  #        MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
043920,000364:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N22
043921,000365: 
043922,000366:                                                                                                  #        MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
043923,000367:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N17
043924,000368: 
043925,000369:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
043926,000370:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
043927,000371: 
043928,000372:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043929,000373:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043930,000374:                                                                                                  #  AS A FLY-TO INDICATOR.
043931,000375: 
043932,000376:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043933,000377:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043934,000378:                                                                                                  #  AS A FLY-TO INDICATOR.
043935,000379: 
043936,000380:                                                                                                  #  V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
043937,000381:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
043938,000382: 
043939,000383:                                                                                                  #  THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
043940,000384:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
043941,000385:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
043942,000386: 
043943,000387: 21,2375           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
043944,000388: 21,2376           74707                           MASK     BIT4                                  
043945,000389: 21,2377           00006                           EXTEND                                         
043946,000390: 21,2400           13144                           BZF      FDAIDSP2                              
043947,000391: 
043948,000392: 21,2401           27501        FDAIDSP1           ADS      RCSFLAGS                              
043949,000393: 21,2402           02404                           TC       NEEDLER                               
043950,000394: 21,2403           15222        KRESUME1           TCF      RESUME                                #  END PHASE 1
043951,000395: 

Page 981

043953,000397:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
043954,000398: 
043955,000399:                                                                                                  #  PROGRAM DESCRIPTION:  D. KEENE  5/24/67
043956,000400: 
043957,000401:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
043958,000402:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
043959,000403:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
043960,000404:                                                                                                  #  THE DACS.
043961,000405: 
043962,000406:                                                                                                  #  CALLING SEQUENCE:
043963,000407: 
043964,000408:                                                                                                  #  DURING THE INITIALIZATION SECTIONOF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
043965,000409:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
043966,000410: 
043967,000411:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
043968,000412:                                                                                                  #                MASK    BIT3
043969,000413:                                                                                                  #                ADS     RCSFLAGS
043970,000414: 
043971,000415:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
043972,000416: 
043973,000417:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
043974,000418:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
043975,000419:                                                                                                  #                AK2     SCALED 180 DEGREES
043976,000420: 
043977,000421:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
043978,000422:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
043979,000423: 
043980,000424:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
043981,000425: 
043982,000426:                                                                                                  #                INHINT
043983,000427:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
043984,000428:                                                                                                  #                CADR    NEEDLER
043985,000429:                                                                                                  #                RELINT
043986,000430: 
043987,000431:                                                                                                  #  THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
043988,000432:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
043989,000433:                                                                                                  #  NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
043990,000434: 
043991,000435:                                                                                                  #  ERASABLE USED:
043992,000436:                                                                                                  #                AK              CDUXCMD
043993,000437:                                                                                                  #                AK1             CDUYCMD
043994,000438:                                                                                                  #                AK2             CDUZCMD
043995,000439:                                                                                                  #                EDRIVEX         A,L,Q
043996,000440:                                                                                                  #                EDRIVEY         T5TEMP
043997,000441:                                                                                                  #                EDRIVEZ         SPNDX
043998,000442: 
043999,000443:                                                                                                  #  SWITCHES:     RCSFLAGS        BITS 3,2
044000,000444: 
044001,000445:                                                                                                  #  I/O CHANNELS: CHAN12          BIT 4            (COARSE ALIGN - READ ONLY)

Page 982

044003,000447:                                                                                                  #                CHAN12          BIT 6           (IMU ERROR COUNTER ENABLE)
044004,000448:                                                                                                  #                CHAN14          BIT 13,14,15    (DAC ACTIVITY)
044005,000449: 
044006,000450:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
044007,000451:                                                                                                  #                WHERE   THETAC = COMMAND ANGLE
044008,000452:                                                                                                  #                        THETA = PRESENT ANGLE
044009,000453: 
044010,000454: 21,2404           34707        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
044011,000455: 21,2405           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
044012,000456: 21,2406           02012                           RAND     CHAN12                                #  ERROR COUNTERS.  DONT USE NEEDLES
044013,000457: 21,2407           00006                           EXTEND                                         
044014,000458: 21,2410           12415                           BZF      NEEDLER1                              
044015,000459: 21,2411           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
044016,000460: 21,2412           74710                           MASK     BIT3                                  
044017,000461: 21,2413           27501                           ADS      RCSFLAGS                              
044018,000462: 21,2414           00002                           TC       Q                                     
044019,000463: 
044020,000464: 21,2415           31501        NEEDLER1           CA       RCSFLAGS                              
044021,000465: 21,2416           76211                           MASK     SIX                                   
044022,000466: 21,2417           00006                           EXTEND                                         
044023,000467: 21,2420           12455                           BZF      NEEDLES3                              
044024,000468: 21,2421           74710                           MASK     BIT3                                  
044025,000469: 21,2422           00006                           EXTEND                                         
044026,000470: 21,2423           12446                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
044027,000471: 
044028,000472: 21,2424           44705                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
044029,000473: 21,2425           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
044030,000474: 21,2426           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
044031,000475: 21,2427           44714        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
044032,000476: 21,2430           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
044033,000477: 21,2431           55477                           TS       AK1                                   
044034,000478: 21,2432           55500                           TS       AK2                                   
044035,000479: 21,2433           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
044036,000480: 21,2434           55504                           TS       EDRIVEY                               
044037,000481: 21,2435           55505                           TS       EDRIVEZ                               
044038,000482: 21,2436           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
044039,000483: 21,2437           54051                           TS       CDUYCMD                               
044040,000484: 21,2440           54052                           TS       CDUZCMD                               
044041,000485: 21,2441           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
044042,000486: 21,2442           71501                           MASK     RCSFLAGS                              
044043,000487: 21,2443           64711                           AD       BIT2                                  
044044,000488: 21,2444           55501                           TS       RCSFLAGS                              
044045,000489: 21,2445           00002                           TC       Q                                     #  END PASS1
044046,000490: 
044047,000491: 21,2446           34705        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
044048,000492: 21,2447           00006                           EXTEND                                         
044049,000493: 21,2450           05012                           WOR      CHAN12                                
044050,000494: 21,2451           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 983

044052,000496: 21,2452           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
044053,000497: 21,2453           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
044054,000498: 21,2454           00002                           TC       Q                                     
044055,000499: 21,2455           34705        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
044056,000500: 21,2456           00006                           EXTEND                                         #  IS ENABLED
044057,000501: 21,2457           02012                           RAND     CHAN12                                
044058,000502: 21,2460           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
044059,000503: 21,2461           12411                           BZF      NEEDLER    +5                         
044060,000504: 
044061,000505: 21,2462           34711        NEEDLES            CAF      TWO                                   
044062,000506: 21,2463           55506        DACLOOP            TS       SPNDX                                 
044063,000507: 21,2464           44676                           CS       QUARTER                               
044064,000508: 21,2465           00006                           EXTEND                                         
044065,000509: 21,2466           51506                           INDEX    SPNDX                                 
044066,000510: 21,2467           71476                           MP       AK                                    
044067,000511: 21,2470           54001                           TS       L                                     
044068,000512: 21,2471           10000                           CCS      A                                     
044069,000513: 21,2472           32526                           CA       DACLIMIT                              
044070,000514: 21,2473           12475                           TCF      +2                                    
044071,000515: 21,2474           42526                           CS       DACLIMIT                              
044072,000516: 21,2475           60001                           AD       L                                     
044073,000517: 21,2476           55502                           TS       T5TEMP                                #  OVFLO CHK
044074,000518: 21,2477           12503                           TCF      +4                                    
044075,000519: 21,2500           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
044076,000520: 21,2501           32526                           CAF      DACLIMIT                              
044077,000521: 21,2502           54001                           TS       L                                     
044078,000522: 21,2503           51506                           INDEX    SPNDX                                 
044079,000523: 21,2504           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
044080,000524: 21,2505           60001                           AD       L                                     
044081,000525: 21,2506           51506                           INDEX    SPNDX                                 
044082,000526: 21,2507           26050                           ADS      CDUXCMD                               
044083,000527: 21,2510           51506                           INDEX    SPNDX                                 
044084,000528: 21,2511           23503                           LXCH     EDRIVEX                               
044085,000529: 21,2512           11506                           CCS      SPNDX                                 
044086,000530: 21,2513           12463                           TCF      DACLOOP                               
044087,000531: 21,2514           37707                           CAF      13,14,15                              
044088,000532: 21,2515           00006                           EXTEND                                         
044089,000533: 21,2516           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
044090,000534: 21,2517           00002                           TC       Q                                     
044091,000535: 
044092,000536: 21,2520           32524        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
044093,000537: 21,2521           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
044094,000538: 21,2522           55465                           TS       T5PHASE                               
044095,000539: 21,2523           15222                           TCF      RESUME                                
044096,000540: 21,2524           37754        DELAY200           DEC      16364      B-14                       #  200MS
044097,000541: 21,2525           77177                           DEC      -384       B-14                       
044098,000542: 

Page 984

044100,000544: 21,2526           37200        DACLIMIT           DEC      16000      B-14                       
044101,000545: 21,2527           00600                           DEC      384        B-14                       
044102,000546: 

Page 985

044104,000548:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044105,000549: 
044106,000550:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044107,000551: 
044108,000552:                                                                                                  #        WBODY   (+1)            DFT                     TAU2
044109,000553:                                                                                                  #        WBODY1  (+1)            DFT1                    BIAS
044110,000554:                                                                                                  #        WBODY2  (+1)            DFT2                    BIAS1
044111,000555:                                                                                                  #        ADOT    (+1)            DRHO    (+1)            BIAS2
044112,000556:                                                                                                  #        ADOT1   (+1)            DRHO1   (+1)            ERRORX
044113,000557:                                                                                                  #        ADOT2   (+1)            DRHO2   (+1)            ERRORY
044114,000558:                                                                                                  #        MERRORX (+1)            ATTSEC                  ERRORZ
044115,000559:                                                                                                  #        MERRORY (+1)            TAU
044116,000560:                                                                                                  #        MERRORZ (+1)            TAU1
044117,000561: 
044118,000562: 21,2530           34712        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
044119,000563: 21,2531           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
044120,000564:                                                                                                  #  ATTITUDE HOLD REFERENCE
044121,000565: 
044122,000566: 21,2532           04633        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044123,000567: 21,2533           40146                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
044124,000568: 
044125,000569: 21,2534           04633                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
044126,000570: 21,2535           40277                           CADR     S40.14                                #  TO AUTOPILOT GAINS
044127,000571: 
044128,000572: 21,2536           32607                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
044129,000573: 21,2537           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
044130,000574: 21,2540           34714                           CAF      ZERO                                  
044131,000575: 21,2541           51506                           INDEX    SPNDX                                 
044132,000576: 21,2542           55525                           TS       WBODY                                 
044133,000577: 21,2543           11506                           CCS      SPNDX                                 
044134,000578: 21,2544           12537                           TCF      ZEROT5                                
044135,000579: 21,2545           02616                           TCR      ZEROJET                               
044136,000580: 
044137,000581: 21,2546           44714                           CS       ZERO                                  
044138,000582: 21,2547           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
044139,000583: 
044140,000584: 21,2550           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
044141,000585:                                                                                                  #  MANUAL RATE MODES
044142,000586: 
044143,000587: 21,2551           32610                           CAF      =.24                                  
044144,000588: 21,2552           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
044145,000589: 
044146,000590: 21,2553           34710                           CAF      FOUR                                  
044147,000591: 21,2554           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044148,000592:                                                                                                  #  60 MS.  PHASE 2 RESETS FOR PHASE 1 RUPT
044149,000593:                                                                                                  #  IN (80MS - T5TIME(40MS)).  THEREFORE
044150,000594:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044151,000595:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER
044152,000596: 
044153,000597: 21,2555           34717                           CAF      ELEVEN                                
044154,000598: 21,2556           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
044155,000599:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES

Page 986

044157,000601: 21,2557           30032                           CA       CDUX                                  
044158,000602: 21,2560           55635                           TS       RHO                                   
044159,000603: 21,2561           30033                           CA       CDUY                                  
044160,000604: 21,2562           55636                           TS       RHO1                                  
044161,000605: 21,2563           30034                           CA       CDUZ                                  
044162,000606: 21,2564           55637                           TS       RHO2                                  
044163,000607: 21,2565           34714                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
044164,000608: 21,2566           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
044165,000609: 
044166,000610: 21,2567           41321                           CS       IMODES33                              #  CHECK IMU STATUS
044167,000611: 21,2570           74705                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
044168,000612: 21,2571           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
044169,000613: 21,2572           12576                           TCF      IMUAOK                                
044170,000614: 21,2573           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
044171,000615: 21,2574           32612                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
044172,000616: 21,2575           12603                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
044173,000617:                                                                                                  #  SIGNAL NO RATE FILTER
044174,000618: 
044175,000619: 21,2576           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
044176,000620: 21,2577           05027                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
044177,000621: 21,2600  E6,1510                                  EBANK=   KMPAC                                 
044178,000622: 21,2600           03444 44066                     2CADR    AMBGUPDT                              
044179,000623: 
044180,000624: 21,2602           32611                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044181,000625: 21,2603           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
044182,000626:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
044183,000627:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
044184,000628: 21,2604           32613                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044185,000629:                                                                                                  #  ERROR COUNTER TO ZERO.
044186,000630:                                                                                                  #  (MINIMUM DELAY = 15 MS)
044187,000631: 21,2605           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044188,000632: 21,2606           05222                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS.  RATE
044189,000633:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
044190,000634:                                                                                                  #  NOW
044191,000635: 
044192,000636:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
044193,000637: 
044194,000638: 21,2607           00044        NO.T5VAR           DEC      36         B-14                       
044195,000639: 21,2610           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
044196,000640: 21,2611           00004        RCSINIT            OCT      00004                                 
044197,000641: 21,2612           20004        RCSINITB           OCT      20004                                 
044198,000642: 21,2613           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
044199,000643: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
044200,000644: 21,2614           03644 36066  T6ADDR             2CADR    T6START                               
044201,000645: 
044202,000646: 21,2616           34717        ZEROJET            CAF      ELEVEN                                #  ZERO BLAST2, BLAST1, BLAST, YWORD2,
044203,000647: 21,2617           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
044204,000648: 21,2620           34714                           CAF      ZERO                                  #  AND RWORD1.
044205,000649: 

Page 987

044207,000651: 21,2621           51506                           INDEX    SPNDX                                 
044208,000652: 21,2622           55451                           TS       RWORD1                                
044209,000653: 21,2623           11506                           CCS      SPNDX                                 
044210,000654: 21,2624           12617                           TCF      ZEROJET    +1                         
044211,000655: 
044212,000656: 21,2625           34710                           CAF      FOUR                                  
044213,000657: 21,2626           55462                           TS       BLAST1     +1                         
044214,000658: 21,2627           34717                           CAF      ELEVEN                                
044215,000659: 21,2630           55464                           TS       BLAST2     +1                         
044216,000660: 
044217,000661: 21,2631           44712                           CS       BIT1                                  
044218,000662: 21,2632           71501                           MASK     RCSFLAGS                              
044219,000663: 21,2633           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
044220,000664: 
044221,000665: 21,2634           00006                           EXTEND                                         
044222,000666: 21,2635           32615                           DCA      T6ADDR                                
044223,000667: 21,2636           53311                           DXCH     T6LOC                                 
044224,000668: 21,2637           33034                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044225,000669: 21,2640           54031                           TS       TIME6                                 
044226,000670: 21,2641           34674                           CAF      BIT15                                 
044227,000671: 21,2642           00006                           EXTEND                                         
044228,000672: 21,2643           05013                           WOR      CHAN13                                
044229,000673: 
044230,000674: 21,2644           00002                           TC       Q                                     
044231,000675: 
044232,000676: 21,2645           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
044233,000677: 21,2646           13132                           TCF      KALUPDT                               
044234,000678: 21,2647           12651                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
044235,000679: 21,2650           12651                           TCF      +1                                    
044236,000680: 21,2651           32142                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
044237,000681: 21,2652           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC)
044238,000682: 21,2653           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
044239,000683: 21,2654           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
044240,000684: 21,2655           74674                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044241,000685: 21,2656           00006                           EXTEND                                         #  ATTKALMN TO -1
044242,000686: 21,2657           12661                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
044243,000687: 21,2660           44712                           CS       ONE                                   
044244,000688: 21,2661           55617        NOHIAUTO           TS       ATTKALMN                              
044245,000689: 

Page 988

044247,000691:                                                                                                  #  MANUAL ROTATION COMMANDS
044248,000692: 
044249,000693: 21,2662           43016                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
044250,000694: 21,2663           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
044251,000695: 21,2664           55501                           TS       RCSFLAGS                              
044252,000696: 
044253,000697: 21,2665           00006                           EXTEND                                         
044254,000698: 21,2666           00031                           READ     CHAN31                                
044255,000699: 21,2667           54001                           TS       L                                     
044256,000700: 21,2670           31632                           CA       CH31TEMP                              
044257,000701: 21,2671           00006                           EXTEND                                         
044258,000702: 21,2672           06001                           RXOR     LCHAN                                 
044259,000703: 21,2673           73022                           MASK     MANROT                                #  = OCT00077
044260,000704: 21,2674           00006                           EXTEND                                         
044261,000705: 21,2675           62710                           BZMF     NOCHANGE                              
044262,000706: 
044263,000707: 21,2676           22000                           LXCH     A                                     
044264,000708: 21,2677           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044265,000709: 
044266,000710: 21,2700           30001                           CA       L                                     
044267,000711: 21,2701           00006                           EXTEND                                         
044268,000712: 21,2702           74706                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
044269,000713: 21,2703           30001                           CA       L                                     
044270,000714: 21,2704           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
044271,000715:                                                                                                  #  WITH CHANGES IN COMMAND.  BITS 10,9 FOR
044272,000716:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044273,000717:                                                                                                  #  PITCH
044274,000718: 
044275,000719: 21,2705           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12, AND
044276,000720: 21,2706           73023                           MASK     OCT16000                              #  11 OF RCSFLAGS)
044277,000721: 21,2707           27501                           ADS      RCSFLAGS                              
044278,000722: 
044279,000723: 21,2710           41632        NOCHANGE           CS       CH31TEMP                              
044280,000724: 21,2711           73022                           MASK     MANROT                                
044281,000725: 21,2712           00006                           EXTEND                                         
044282,000726: 21,2713           63234                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
044283,000727: 
044284,000728: 21,2714           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
044285,000729: 
044286,000730: 21,2715           03114                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044287,000731:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
044288,000732:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044289,000733:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
044290,000734:                                                                                                  #  COMMANDED BY THE RHC.
044291,000735: 
044292,000736:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
044293,000737:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
044294,000738:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044295,000739:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
044296,000740:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044297,000741:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 989

044299,000743:                                                                                                  #  VALUES.
044300,000744: 
044301,000745: 21,2716           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
044302,000746: 21,2717           74675                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
044303,000747: 21,2720           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044304,000748: 
044305,000749: 21,2721           34675                           CAF      BIT14                                 
044306,000750: 21,2722           00006                           EXTEND                                         
044307,000751: 21,2723           02031                           RAND     CHAN31                                
044308,000752: 21,2724           00006                           EXTEND                                         
044309,000753: 21,2725           63035                           BZMF     FREEFUNC                              
044310,000754: 
044311,000755: 21,2726           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044312,000756: 21,2727           74675                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
044313,000757: 21,2730           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
044314,000758: 21,2731           12520                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
044315,000759: 
044316,000760: 21,2732           44715                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
044317,000761: 21,2733           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
044318,000762: 21,2734           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
044319,000763: 21,2735           62740                           BZMF     +3                                    
044320,000764: 21,2736           44712                           CS       ONE                                   
044321,000765: 21,2737           55617                           TS       ATTKALMN                              
044322,000766: 21,2740           34711                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
044323,000767: 21,2741           55506        SETWBODY           TS       SPNDX                                 
044324,000768: 21,2742           60000                           DOUBLE                                         
044325,000769: 21,2743           55507                           TS       DPNDX                                 
044326,000770: 21,2744           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
044327,000771: 21,2745           31656                           CA       RMANNDX                               #          = 1  + ROTATION
044328,000772: 21,2746           00006                           EXTEND                                         #          = 2  - ROTATION
044329,000773: 21,2747           12771                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
044330,000774:                                                                                                  #  GO TO NORATE.
044331,000775: 
044332,000776: 21,2750           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
044333,000777: 21,2751           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
044334,000778: 21,2752           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
044335,000779: 21,2753           33023                           CA       MANTABLE   -1                         #           = 6  4.0  DEG/SEC
044336,000780: 21,2754           00006                           EXTEND                                         
044337,000781: 21,2755           74702                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
044338,000782: 21,2756           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
044339,000783: 21,2757           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
044340,000784: 
044341,000785: 21,2760           31501                           CA       RCSFLAGS                              
044342,000786: 21,2761           73023                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
044343,000787: 21,2762           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
044344,000788: 21,2763           13001                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044345,000789:                                                                                                  #  ERROR.
044346,000790: 

Page 990

044348,000792: 21,2764           34714        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
044349,000793: 21,2765           22007                           ZL                                             
044350,000794: 21,2766           51507                           INDEX    DPNDX                                 
044351,000795: 21,2767           53542                           DXCH     MERRORX                               
044352,000796: 21,2770           13007                           TCF      SPNDXCHK                              
044353,000797: 
044354,000798: 21,2771           22007        NORATE             ZL                                             
044355,000799: 21,2772           51507                           INDEX    DPNDX                                 
044356,000800: 21,2773           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
044357,000801: 21,2774           31501                           CA       RCSFLAGS                              
044358,000802: 21,2775           73023                           MASK     OCT16000                              
044359,000803: 21,2776           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
044360,000804: 21,2777           13007                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044361,000805: 21,3000           12764                           TCF      ZEROER                                #  NO, GO TO ZEROER
044362,000806: 
044363,000807: 21,3001           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044364,000808: 21,3002           43023                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
044365,000809: 21,3003           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
044366,000810: 21,3004           74704                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
044367,000811: 21,3005           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
044368,000812: 21,3006           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044369,000813: 
044370,000814: 21,3007           51507        SPNDXCHK           INDEX    DPNDX                                 
044371,000815: 21,3010           31541                           CA       MERRORX                               
044372,000816: 21,3011           51506                           INDEX    SPNDX                                 
044373,000817: 21,3012           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
044374,000818: 21,3013           11506                           CCS      SPNDX                                 
044375,000819: 21,3014           12741                           TCF      SETWBODY                              
044376,000820: 21,3015           13425                           TCF      JETS                                  
044377,000821: 21,3016           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
044378,000822: 
044379,000823: 21,3017           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
044380,000824: 21,3020           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
044381,000825: 21,3021           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
044382,000826:                                                                                                  #                                PRESERVED
044383,000827:                                                                                                  #                                FOR INDEXING
044384,000828: 21,3022           00077        MANROT             OCT      77                                    
044385,000829: 21,3023           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
044386,000830: 21,3024           00165        MANTABLE           DEC      .0071111                              
044387,000831: 21,3025           77612                           DEC      -.0071111                             
044388,000832: 21,3026           00722                           DEC      .028444                               
044389,000833: 21,3027           77055                           DEC      -0.028444                             
044390,000834: 21,3030           02215                           DEC      .071111                               
044391,000835: 21,3031           75562                           DEC      -.071111                              
044392,000836: 21,3032           22151                           DEC      .568889                               
044393,000837: 21,3033           55626                           DEC      -.568889                              
044394,000838: 21,3034           00027        =+14MS             DEC      23         B-14                       
044395,000839: 
044396,000840: 21,3035           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 991

044398,000842: 21,3036           33047                           CA       FREETAU                               #  COMMANDS
044399,000843: 21,3037           55561                           TS       TAU                                   
044400,000844: 21,3040           51657                           INDEX    PMANNDX                               
044401,000845: 21,3041           33047                           CA       FREETAU                               #  FREETAU       0 SEC
044402,000846: 21,3042           55562                           TS       TAU1                                  #  +1            +0.10 SEC
044403,000847: 21,3043           51660                           INDEX    YMANNDX                               #  +2            -0.10 SEC
044404,000848: 21,3044           33047                           CA       FREETAU                               #  (+3)          0 SEC
044405,000849: 21,3045           55563                           TS       TAU2                                  
044406,000850: 21,3046           13053                           TCF      T6PROGM                               
044407,000851: 
044408,000852: 21,3047           00000        FREETAU            DEC      0          B-14                       
044409,000853: 21,3050           00740                           DEC      480        B-14                       
044410,000854: 21,3051           77037                           DEC      -480       B-14                       
044411,000855: 21,3052           00000                           DEC      0          B-14                       
044412,000856: 
044413,000857: 21,3053           34714        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
044414,000858: 21,3054           55567                           TS       ERRORX                                
044415,000859: 21,3055           55570                           TS       ERRORY                                
044416,000860: 21,3056           55571                           TS       ERRORZ                                
044417,000861: 21,3057           13743                           TCF      T6PROG                                
044418,000862: 

Page 992

044420,000864: 21,3060           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044421,000865: 21,3061           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044422,000866: 21,3062           06604                           DEC      .2112                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044423,000867: 21,3063           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
044424,000868: 21,3064           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
044425,000869: 21,3065           13030                           DEC      .3452                                 
044426,000870: 21,3066           14047                           DEC      .3774                                 
044427,000871: 21,3067           15241                           DEC      .4161                                 
044428,000872: 21,3070           16650                           DEC      .4634                                 
044429,000873: 21,3071           20555                           DEC      .5223                                 
044430,000874: 21,3072           23065                           DEC      .5970                                 
044431,000875: 21,3073           26137                           DEC      .6933                                 
044432,000876: 21,3074           32053                           DEC      .8151                                 
044433,000877: 21,3075           35712                           DEC      .9342                                 
044434,000878: 
044435,000879: 21,3076           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
044436,000880: 21,3077           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044437,000881: 21,3100           00435                           DEC      .0174                                 #  FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044438,000882: 21,3101           00032        GAIN2              DEC      .0016                                 #  SCALED 10
044439,000883: 21,3102           01350                           DEC      .0454                                 
044440,000884: 21,3103           01575                           DEC      .0545                                 
044441,000885: 21,3104           02103                           DEC      .0666                                 
044442,000886: 21,3105           02523                           DEC      .0832                                 
044443,000887: 21,3106           03327                           DEC      .1069                                 
044444,000888: 21,3107           04432                           DEC      .1422                                 
044445,000889: 21,3110           06264                           DEC      .1985                                 
044446,000890: 21,3111           11351                           DEC      .2955                                 
044447,000891: 21,3112           17324                           DEC      .4817                                 
044448,000892: 21,3113           33622                           DEC      .8683                                 
044449,000893: 
044450,000894: 21,3114           55502        STICKCHK           TS       T5TEMP                                
044451,000895: 21,3115           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
044452,000896: 21,3116           55657                           TS       PMANNDX                               
044453,000897: 21,3117           31502                           CA       T5TEMP                                
044454,000898: 21,3120           00006                           EXTEND                                         #  MAN RATE  0   0 RATE (DP)
044455,000899: 21,3121           74676                           MP       QUARTER                               #           +1   + RATE (DP)
044456,000900: 21,3122           55502                           TS       T5TEMP                                #           +2   - RATE (DP)
044457,000901: 21,3123           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
044458,000902: 21,3124           55660                           TS       YMANNDX                               
044459,000903: 21,3125           31502                           CA       T5TEMP                                
044460,000904: 21,3126           00006                           EXTEND                                         
044461,000905: 21,3127           74676                           MP       QUARTER                               
044462,000906: 21,3130           55656                           TS       RMANNDX                               
044463,000907: 21,3131           00002                           TC       Q                                     
044464,000908: 21,3132           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
044465,000909:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
044466,000910: 
044467,000911: 21,3133           32141                           CA       DELTATT                               #  =1SEC - 80MS
044468,000912: 21,3134           61634                           AD       T5TIME                                #  + DELAYS

Page 993

044470,000914: 21,3135           54030                           TS       TIME5                                 
044471,000915: 21,3136           13141                           TCF      +3                                    
044472,000916: 21,3137           32142                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
044473,000917: 21,3140           54030                           TS       TIME5                                 #  A T5RUPT
044474,000918: 21,3141           44714        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
044475,000919: 21,3142           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
044476,000920: 21,3143           15222                           TCF      RESUME                                
044477,000921: 21,3144           44707        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
044478,000922: 21,3145           71501                           MASK     RCSFLAGS                              
044479,000923: 21,3146           55501                           TS       RCSFLAGS                              
044480,000924: 
044481,000925: 21,3147           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044482,000926: 21,3150           74702                           MASK     BIT9                                  #  ERRORS
044483,000927: 21,3151           00006                           EXTEND                                         
044484,000928: 21,3152           13161                           BZF      FDAITOTL                              
044485,000929: 21,3153           00006                           EXTEND                                         
044486,000930: 21,3154           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044487,000931: 21,3155           53477                           DXCH     AK                                    
044488,000932: 21,3156           41571                           CS       ERRORZ                                
044489,000933: 21,3157           55500                           TS       AK2                                   
044490,000934: 21,3160           15222                           TCF      RESUME                                #  END PHASE 1
044491,000935: 21,3161           30105        FDAITOTL           CA       FLAGWRD9                              
044492,000936: 21,3162           74705                           MASK     BIT6                                  
044493,000937: 21,3163           00006                           EXTEND                                         
044494,000938: 21,3164           13227                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044495,000939:                                                                                                  #  IF SO, GO TO WRTN17
044496,000940: 21,3165           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
044497,000941: 21,3166           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
044498,000942: 21,3167           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
044499,000943: 21,3170           31155                           CA       CPHI                                  #  COMPONENTS OF N22
044500,000944: 
044501,000945: 21,3171           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
044502,000946: 21,3172           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
044503,000947: 21,3173           55476                           TS       AK                                    
044504,000948: 21,3174           31513                           CA       WTEMP                                 
044505,000949: 21,3175           00006                           EXTEND                                         
044506,000950: 21,3176           20033                           MSU      CDUY                                  
044507,000951: 21,3177           55502                           TS       T5TEMP                                
044508,000952: 21,3200           00006                           EXTEND                                         
044509,000953: 21,3201           71640                           MP       AMGB1                                 
044510,000954: 21,3202           27476                           ADS      AK                                    
044511,000955: 21,3203           31502                           CA       T5TEMP                                
044512,000956: 21,3204           00006                           EXTEND                                         
044513,000957: 21,3205           71641                           MP       AMGB4                                 

Page 994

044515,000959: 21,3206           55477                           TS       AK1                                   
044516,000960: 21,3207           31502                           CA       T5TEMP                                
044517,000961: 21,3210           00006                           EXTEND                                         
044518,000962: 21,3211           71643                           MP       AMGB7                                 
044519,000963: 21,3212           55500                           TS       AK2                                   
044520,000964: 21,3213           31514                           CA       WTEMP      +1                         
044521,000965: 21,3214           00006                           EXTEND                                         
044522,000966: 21,3215           20034                           MSU      CDUZ                                  
044523,000967: 21,3216           55502                           TS       T5TEMP                                
044524,000968: 21,3217           00006                           EXTEND                                         
044525,000969: 21,3220           71642                           MP       AMGB5                                 
044526,000970: 21,3221           27477                           ADS      AK1                                   
044527,000971: 21,3222           31502                           CA       T5TEMP                                
044528,000972: 21,3223           00006                           EXTEND                                         
044529,000973: 21,3224           71644                           MP       AMGB8                                 
044530,000974: 21,3225           27500                           ADS      AK2                                   
044531,000975: 21,3226           15222                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
044532,000976: 
044533,000977: 21,3227           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
044534,000978: 21,3230           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
044535,000979: 21,3231           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
044536,000980: 21,3232           31333                           CA       CPHIX                                 
044537,000981: 21,3233           13171                           TCF      GETAKS                                
044538,000982: 

Page 995 Blank page.

044541,000985: 

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