Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. 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:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

044750,000002:                                                                                                  ## Copyright:   Public domain.
044751,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
044752,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
044753,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
044754,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
044755,000007:                                                                                                  ## Assembler:   yaYUL
044756,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
044757,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
044758,000010:                                                                                                  ## Pages:       1002-1024
044759,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
044760,000012:                                                                                                  ##                              same name, using Comanche055 page images.
044761,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
044762,000014:                                                                                                  ##                              and corrected the errors found.
044763,000015:                                                                                                  ##              2017-01-18 RSB  Fixed comment-text errors noted while diff'ing
044764,000016:                                                                                                  ##                              vs Colossus 249.
044765,000017:                                                                                                  ##
044766,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
044767,000019:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
044768,000020:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
044769,000021:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
044770,000022:                                                                                                  ## consequent reduction in image quality as well) are available online at
044771,000023:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
044772,000024:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
044773,000025:                                                                                                  ## (much) higher-quality images which Paul actually created.
044774,000026:                                                                                                  ##
044775,000027:                                                                                                  ## Notations on the hardcopy document read, in part:
044776,000028:                                                                                                  ##
044777,000029:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
044778,000030:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
044779,000031:                                                                                                  ##
044780,000032:                                                                                                  ##      This AGC program shall also be referred to as
044781,000033:                                                                                                  ##                      Colossus 2A
044782,000034: 

Page 1002

044784,000036:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044785,000037: 
044786,000038:                                                                                                  #  START OF T5 INTERRUPT PROGRAM
044787,000039: 
044788,000040: 20,3612                                           BANK     20                                    
044789,000041: 21,2000                                           SETLOC   DAPS3                                 
044790,000042: 21,2000                                           BANK                                           
044791,000043: 
044792,000044: 21,2105                                           COUNT    21/DAPRC                              
044793,000045: 
044794,000046: 21,2105  E6,1510                                  EBANK=   KMPAC                                 
044795,000047: 21,2105           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
044796,000048: 21,2106           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
044797,000049: 21,2107           00006                           EXTEND                                         
044798,000050: 21,2110           62112                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
044799,000051: 21,2111           12114                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
044800,000052: 21,2112           45017                           CS       ONE                                   
044801,000053: 21,2113           55465                           TS       T5PHASE                               
044802,000054: 21,2114           00006                           EXTEND                                         
044803,000055: 21,2115           32121                           DCA      RCSLOC                                
044804,000056: 21,2116           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
044805,000057: 21,2117           12123                           TCF      RCSATT     +1                         
044806,000058: 21,2120  E6,1510                                  EBANK=   KMPAC                                 
044807,000059: 21,2120           02122 42066  RCSLOC             2CADR    RCSATT                                
044808,000060: 
044809,000061: 21,2122           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
044810,000062: 21,2123           00006                           EXTEND                                         #  SAVE Q
044811,000063: 21,2124           22012                           QXCH     QRUPT                                 
044812,000064: 21,2125           35001                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044813,000065: 21,2126           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
044814,000066: 21,2127           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
044815,000067: 21,2130           00006                           EXTEND                                         
044816,000068: 21,2131           12160                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
044817,000069:                                                                                                  #  GO TO SETT5
044818,000070: 
044819,000071: 21,2132           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044820,000072: 21,2133           75002                           MASK     BIT14                                 
044821,000073: 21,2134           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
044822,000074: 21,2135           34777                           CAF      POSMAX                                
044823,000075: 21,2136           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
044824,000076: 21,2137           35021                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
044825,000077: 21,2140           55567                           TS       ERRORX                                
044826,000078: 21,2141           55570                           TS       ERRORY                                
044827,000079: 21,2142           55571                           TS       ERRORZ                                
044828,000080: 21,2143           35002                           CAF      BIT14                                 
044829,000081: 21,2144           00006                           EXTEND                                         
044830,000082: 21,2145           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
044831,000083: 21,2146           00006                           EXTEND                                         

Page 1003

044833,000085: 21,2147           12160                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
044834,000086: 
044835,000087: 21,2150           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
044836,000088: 21,2151           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
044837,000089: 21,2152           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
044838,000090: 
044839,000091: 21,2153           02632                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
044840,000092: 
044841,000093: 21,2154           12350                           TCF      KMATRIX                               
044842,000094: 21,2155           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
044843,000095: 21,2156           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
044844,000096: 21,2157           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
044845,000097: 21,2160                        CHAN5              EQUALS   5                                     
044846,000098: 21,2160                        CHAN6              EQUALS   6                                     
044847,000099: 21,2160     7671               PRIO34A            =        PRIO34                                
044848,000100: 
044849,000101:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
044850,000102: 
044851,000103:                                                                                                  #  BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 
044852,000104:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044853,000105:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
044854,000106:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044855,000107:                                                                                                  #  VARIABLES AT TURN ON.
044856,000108: 
044857,000109:                                                                                                  #  THE CODING OF T5PHASE IS...
044858,000110: 
044859,000111:                                                                                                  #                + = INITIALIZE T5 RCS-CSM AUTOPILOT
044860,000112:                                                                                                  #     T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044861,000113:                                                                                                  #                - = RESTART DAP
044862,000114:                                                                                                  #               -0 = PHASE1 OF THE T5 PROGRAM
044863,000115: 
044864,000116: 21,2160           11465        SETT5              CCS      T5PHASE                               
044865,000117: 21,2161           12544                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
044866,000118: 21,2162           12661                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
044867,000119: 21,2163           12546                           TCF      REDAP                                 #  RESTART AUTOPILOT
044868,000120: 
044869,000121: 21,2164           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
044870,000122: 21,2165           30030                           CA       TIME5                                 
044871,000123: 21,2166           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
044872,000124: 21,2167           32156                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
044873,000125: 21,2170           54030                           TS       TIME5                                 #  OF PROGRAM
044874,000126: 

Page 1004

044876,000128:                                                                                                  #  IMU STATUS CHECK
044877,000129: 
044878,000130: 21,2171           41321                           CS       IMODES33                              #  CHECK IMU STATUS
044879,000131: 21,2172           75012                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
044880,000132: 21,2173           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
044881,000133: 21,2174           12210                           TCF      RATEFILT                              
044882,000134: 21,2175           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
044883,000135: 21,2176           75002                           MASK     BIT14                                 #  INITIALIZED
044884,000136: 21,2177           27501                           ADS      RCSFLAGS                              
044885,000137: 21,2200           35002                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
044886,000138: 21,2201           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
044887,000139:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
044888,000140:                                                                                                  #  ATTITUDE HOLD
044889,000141: 21,2202           00006                           EXTEND                                         
044890,000142: 21,2203           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
044891,000143: 21,2204           00006                           EXTEND                                         
044892,000144: 21,2205           12417                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
044893,000145: 21,2206           12534                           TCF      REINIT                                #  .....TILT...............................
044894,000146: 21,2207           00030        BITS4,5            OCT      30                                    
044895,000147: 
044896,000148: 21,2210           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
044897,000149: 21,2211           75002                           MASK     BIT14                                 
044898,000150: 21,2212           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
044899,000151: 21,2213           12215                           BZF      +2                                    
044900,000152: 21,2214           12350                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
044901,000153: 
044902,000154:                                                                                                  #        RATE FILTER     TIMING = 7.72 MS
044903,000155: 
044904,000156:                                                                                                  #  RATE FILTER EQUATIONS
044905,000157: 
044906,000158: 
044907,000159:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044908,000160:                                                                                                  #                                            -1
044909,000161: 
044910,000162:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
044911,000163:                                                                                                  #             -1
044912,000164:                                                                                                  #         -       *     -     -
044913,000165:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
044914,000166:                                                                                                  #                                -1
044915,000167: 
044916,000168: 21,2215           35016                           CAF      TWO                                   
044917,000169: 21,2216           55506        DRHOLOOP           TS       SPNDX                                 
044918,000170: 21,2217           60000                           DOUBLE                                         
044919,000171: 21,2220           55507                           TS       DPNDX                                 
044920,000172: 21,2221           51507                           INDEX    DPNDX                                 
044921,000173: 21,2222           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
044922,000174: 21,2223           00006                           EXTEND                                         
044923,000175: 21,2224           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
044924,000176: 21,2225           73077                           MP       GAIN1                                 
044925,000177: 21,2226           51507                           INDEX    DPNDX                                 
044926,000178: 21,2227           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
044927,000179: 21,2230           00006                           EXTEND                                         

Page 1005

044929,000181: 21,2231           51507                           INDEX    DPNDX                                 
044930,000182: 21,2232           41534                           DCS      ADOT                                  
044931,000183: 21,2233           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
044932,000184: 21,2234           35003                           CA       QUARTER                               
044933,000185: 21,2235           02042                           TC       SMALLMP                               
044934,000186: 21,2236           53511                           DXCH     KMPAC                                 
044935,000187: 21,2237           51507                           INDEX    DPNDX                                 
044936,000188: 21,2240           21553                           DAS      DRHO                                  
044937,000189: 21,2241           11506                           CCS      SPNDX                                 
044938,000190: 21,2242           12216                           TCF      DRHOLOOP                              
044939,000191: 
044940,000192: 21,2243           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
044941,000193: 21,2244           57635                           XCH      RHO                                   
044942,000194: 21,2245           00006                           EXTEND                                         
044943,000195: 21,2246           21635                           MSU      RHO                                   #  -        *     -     -
044944,000196: 21,2247           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
044945,000197:                                                                                                  #                          -1
044946,000198: 21,2250           22007                           ZL                                             
044947,000199: 21,2251           53516                           DXCH     DELTEMPX                              
044948,000200: 21,2252           30033                           CA       CDUY                                  
044949,000201: 21,2253           57636                           XCH      RHO1                                  
044950,000202: 21,2254           00006                           EXTEND                                         
044951,000203: 21,2255           21636                           MSU      RHO1                                  
044952,000204: 21,2256           40000                           COM                                            
044953,000205: 21,2257           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
044954,000206: 21,2260           00006                           EXTEND                                         
044955,000207: 21,2261           71640                           MP       AMGB1                                 
044956,000208: 21,2262           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044957,000209:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
044958,000210:                                                                                                  #  PULSES
044959,000211: 21,2263           31641                           CA       AMGB4                                 
044960,000212: 21,2264           00006                           EXTEND                                         
044961,000213: 21,2265           71502                           MP       T5TEMP                                
044962,000214: 21,2266           53520                           DXCH     DELTEMPY                              
044963,000215: 21,2267           31643                           CA       AMGB7                                 
044964,000216: 21,2270           00006                           EXTEND                                         
044965,000217: 21,2271           71502                           MP       T5TEMP                                
044966,000218: 21,2272           53522                           DXCH     DELTEMPZ                              
044967,000219: 21,2273           30034                           CA       CDUZ                                  
044968,000220: 21,2274           57637                           XCH      RHO2                                  
044969,000221: 21,2275           00006                           EXTEND                                         
044970,000222: 21,2276           21637                           MSU      RHO2                                  
044971,000223: 21,2277           40000                           COM                                            
044972,000224: 21,2300           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
044973,000225: 21,2301           00006                           EXTEND                                         
044974,000226: 21,2302           71642                           MP       AMGB5                                 
044975,000227: 21,2303           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
044976,000228:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
044977,000229: 21,2304           31644                           CA       AMGB8                                 
044978,000230: 21,2305           00006                           EXTEND                                         
044979,000231: 

Page 1006

044981,000233: 21,2306           71502                           MP       T5TEMP                                
044982,000234: 21,2307           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)
044983,000235:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
044984,000236: 21,2310           35016                           CAF      TWO                                   
044985,000237: 21,2311           55506        ADOTLOOP           TS       SPNDX                                 
044986,000238: 21,2312           60000                           DOUBLE                                         
044987,000239: 21,2313           55507                           TS       DPNDX                                 
044988,000240: 21,2314           00006                           EXTEND                                         
044989,000241: 21,2315           51507                           INDEX    DPNDX                                 
044990,000242: 21,2316           31516                           DCA      DELTEMPX                              
044991,000243: 21,2317           51507                           INDEX    DPNDX                                 
044992,000244: 21,2320           21553                           DAS      DRHO                                  
044993,000245: 21,2321           00006                           EXTEND                                         
044994,000246: 21,2322           51507                           INDEX    DPNDX                                 
044995,000247: 21,2323           31516                           DCA      DELTEMPX                              
044996,000248: 21,2324           51507                           INDEX    DPNDX                                 
044997,000249: 21,2325           21542                           DAS      MERRORX                               
044998,000250: 21,2326           51507                           INDEX    DPNDX                                 
044999,000251: 21,2327           31552                           CA       DRHO                                  
045000,000252: 21,2330           60000                           DOUBLE                                         #  N.B.
045001,000253: 21,2331           60000                           DOUBLE                                         #  N.B.
045002,000254: 21,2332           00006                           EXTEND                                         
045003,000255: 21,2333           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
045004,000256: 21,2334           73115                           MP       GAIN2                                 
045005,000257: 21,2335           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
045006,000258: 21,2336           21534                           DAS      ADOT                                  #      -1
045007,000259: 21,2337           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
045008,000260: 21,2340           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
045009,000261: 21,2341           00006                           EXTEND                                         
045010,000262: 21,2342           51506                           INDEX    SPNDX                                 
045011,000263: 21,2343           71547                           MP       DFT                                   
045012,000264: 21,2344           51507                           INDEX    DPNDX                                 
045013,000265: 21,2345           21534                           DAS      ADOT                                  #  KMJ(DFT)
045014,000266: 21,2346           11506                           CCS      SPNDX                                 
045015,000267: 21,2347           12311                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
045016,000268: 21,2350           31560        KMATRIX            CA       ATTSEC                                
045017,000269: 21,2351           75026                           MASK     LOW4                                  
045018,000270: 21,2352           10000                           CCS      A                                     
045019,000271: 21,2353           12361                           TCF      TENTHSEK                              
045020,000272: 21,2354           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
045021,000273: 21,2355           05134                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
045022,000274: 21,2356  E6,1510                                  EBANK=   KMPAC                                 
045023,000275: 21,2356           03447 44066                     2CADR    AMBGUPDT                              
045024,000276: 
045025,000277: 21,2360           34334                           CAF      NINE                                  
045026,000278: 
045027,000279: 21,2361           55560        TENTHSEK           TS       ATTSEC                                
045028,000280: 

Page 1007

045030,000282:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
045031,000283:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
045032,000284: 
045033,000285:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
045034,000286:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
045035,000287:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
045036,000288: 
045037,000289:                                                                                                  #  THE STEERING PROGRAMS-
045038,000290:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
045039,000291:                                                                                                  #        2) LEM TRACKING
045040,000292: 
045041,000293:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
045042,000294:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
045043,000295: 
045044,000296:                                                                                                  #  HOLDFLAG CODING-
045045,000297: 
045046,000298:                                                                                                  #        + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
045047,000299:                                                                                                  #            AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
045048,000300:                                                                                                  #            ALSO IGNORE AUTOMATIC STEERING
045049,000301:                                                                                                  #            SET = + BY
045050,000302:                                                                                                  #                1) INITIALIZATION PHASE OF AUTOPILOT
045051,000303:                                                                                                  #                2) OCCURANCE OF RHC COMMANDS
045052,000304:                                                                                                  #                3) FREE MODE
045053,000305:                                                                                                  #                4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
045054,000306:                                                                                                  #                   WHILE DOING AUTOMATIC STEERING (IN THIS CASE
045055,000307:                                                                                                  #                   HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
045056,000308:                                                                                                  #                   FUNCTIONS AS IF IT WERE.)
045057,000309:                                                                                                  #                5) S/C CONTROL SWITCH IN SCS
045058,000310:                                                                                                  #                6) IMU POWER OFF
045059,000311:                                                                                                  #       +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
045060,000312:                                                                                                  #        - = PERFORMING AUTOMATIC MANEUVER
045061,000313:                                                                                                  #       -0 = NOT USED AT PRESENT
045062,000314: 
045063,000315:                                                                                                  #  NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
045064,000316:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
045065,000317:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
045066,000318: 
045067,000319: 21,2362           41332                           CS       HOLDFLAG                              
045068,000320: 21,2363           00006                           EXTEND                                         
045069,000321: 21,2364           62411                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
045070,000322:                                                                                                  #  COMMANDS
045071,000323: 21,2365           35016        DCDUINCR           CAF      TWO                                   
045072,000324: 21,2366           55506        DELOOP             TS       SPNDX                                 
045073,000325: 21,2367           60000                           DOUBLE                                         
045074,000326: 21,2370           55507                           TS       DPNDX                                 
045075,000327: 21,2371           00006                           EXTEND                                         
045076,000328: 21,2372           50000                           INDEX    A                                     
045077,000329: 21,2373           31647                           DCA      CDUXD                                 

Page 1008

045079,000331: 21,2374           53511                           DXCH     KMPAC                                 
045080,000332: 21,2375           00006                           EXTEND                                         
045081,000333: 21,2376           51507                           INDEX    DPNDX                                 
045082,000334: 21,2377           31576                           DCA      DELCDUX                               
045083,000335: 21,2400           02054                           TC       DPADD                                 
045084,000336: 21,2401           00006                           EXTEND                                         
045085,000337: 21,2402           31511                           DCA      KMPAC                                 
045086,000338: 21,2403           51506                           INDEX    SPNDX                                 
045087,000339: 21,2404           55572                           TS       THETADX                               
045088,000340: 21,2405           51507                           INDEX    DPNDX                                 
045089,000341: 21,2406           53647                           DXCH     CDUXD                                 
045090,000342: 21,2407           11506                           CCS      SPNDX                                 
045091,000343: 21,2410           12366                           TCF      DELOOP                                
045092,000344: 

Page 1009

045094,000346:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
045095,000347: 
045096,000348:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
045097,000349: 
045098,000350:                                                                                                  #        MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
045099,000351:                                                                                                  #                GENERATED INTERNALLY BY THE AUTOPILOT
045100,000352: 
045101,000353:                                                                                                  #        MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
045102,000354:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N22
045103,000355: 
045104,000356:                                                                                                  #        MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
045105,000357:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N17
045106,000358: 
045107,000359:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
045108,000360:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
045109,000361: 
045110,000362:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045111,000363:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045112,000364:                                                                                                  #  AS A FLY-TO INDICATOR.
045113,000365: 
045114,000366:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045115,000367:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045116,000368:                                                                                                  #  AS A FLY-TO INDICATOR.
045117,000369: 
045118,000370:                                                                                                  #  V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
045119,000371:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
045120,000372: 
045121,000373:                                                                                                  #  THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
045122,000374:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
045123,000375:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
045124,000376: 
045125,000377: 21,2411           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
045126,000378: 21,2412           75014                           MASK     BIT4                                  
045127,000379: 21,2413           00006                           EXTEND                                         
045128,000380: 21,2414           13160                           BZF      FDAIDSP2                              
045129,000381: 
045130,000382: 21,2415           27501        FDAIDSP1           ADS      RCSFLAGS                              
045131,000383: 21,2416           02420                           TC       NEEDLER                               
045132,000384: 21,2417           15333        KRESUME1           TCF      RESUME                                #  END PHASE 1
045133,000385: 

Page 1010

045135,000387:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
045136,000388: 
045137,000389:                                                                                                  #  PROGRAM DESCRIPTION:  D. KEENE  5/24/67
045138,000390: 
045139,000391:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
045140,000392:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
045141,000393:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
045142,000394:                                                                                                  #  THE DACS.
045143,000395: 
045144,000396:                                                                                                  #  CALLING SEQUENCE:
045145,000397: 
045146,000398:                                                                                                  #  DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
045147,000399:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
045148,000400: 
045149,000401:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
045150,000402:                                                                                                  #                MASK    BIT3
045151,000403:                                                                                                  #                ADS     RCSFLAGS
045152,000404: 
045153,000405:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
045154,000406: 
045155,000407:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
045156,000408:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
045157,000409:                                                                                                  #                AK2     SCALED 180 DEGREES
045158,000410: 
045159,000411:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
045160,000412:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
045161,000413: 
045162,000414:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
045163,000415: 
045164,000416:                                                                                                  #                INHINT
045165,000417:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
045166,000418:                                                                                                  #                CADR    NEEDLER
045167,000419:                                                                                                  #                RELINT
045168,000420: 
045169,000421:                                                                                                  #  THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
045170,000422:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
045171,000423:                                                                                                  #  NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
045172,000424: 
045173,000425:                                                                                                  #  ERASABLE USED:
045174,000426:                                                                                                  #                AK              CDUXCMD
045175,000427:                                                                                                  #                AK1             CDUYCMD
045176,000428:                                                                                                  #                AK2             CDUZCMD
045177,000429:                                                                                                  #                EDRIVEX         A,L,Q
045178,000430:                                                                                                  #                EDRIVEY         T5TEMP
045179,000431:                                                                                                  #                EDRIVEZ         SPNDX
045180,000432: 
045181,000433:                                                                                                  #  SWITCHES:     RCSFLAGS        BITS 3,2
045182,000434: 
045183,000435:                                                                                                  #  I/O CHANNELS: CHAN12          BIT 4            (COARSE ALIGN - READ ONLY)

Page 1011

045185,000437:                                                                                                  #                CHAN12          BIT 6           (IMU ERROR COUNTER ENABLE)
045186,000438:                                                                                                  #                CHAN14          BIT 13,14,15    (DAC ACTIVITY)
045187,000439: 
045188,000440:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
045189,000441:                                                                                                  #                WHERE   THETAC = COMMAND ANGLE
045190,000442:                                                                                                  #                        THETA = PRESENT ANGLE
045191,000443: 
045192,000444: 21,2420           35014        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
045193,000445: 21,2421           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
045194,000446: 21,2422           02012                           RAND     CHAN12                                #  ERROR COUNTERS.  DONT USE NEEDLES
045195,000447: 21,2423           00006                           EXTEND                                         
045196,000448: 21,2424           12431                           BZF      NEEDLER1                              
045197,000449: 21,2425           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
045198,000450: 21,2426           75015                           MASK     BIT3                                  
045199,000451: 21,2427           27501                           ADS      RCSFLAGS                              
045200,000452: 21,2430           00002                           TC       Q                                     
045201,000453: 
045202,000454: 21,2431           31501        NEEDLER1           CA       RCSFLAGS                              
045203,000455: 21,2432           76211                           MASK     SIX                                   
045204,000456: 21,2433           00006                           EXTEND                                         
045205,000457: 21,2434           12471                           BZF      NEEDLES3                              
045206,000458: 21,2435           75015                           MASK     BIT3                                  
045207,000459: 21,2436           00006                           EXTEND                                         
045208,000460: 21,2437           12462                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
045209,000461: 
045210,000462: 21,2440           45012                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
045211,000463: 21,2441           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
045212,000464: 21,2442           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
045213,000465: 21,2443           45021        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
045214,000466: 21,2444           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
045215,000467: 21,2445           55477                           TS       AK1                                   
045216,000468: 21,2446           55500                           TS       AK2                                   
045217,000469: 21,2447           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
045218,000470: 21,2450           55504                           TS       EDRIVEY                               
045219,000471: 21,2451           55505                           TS       EDRIVEZ                               
045220,000472: 21,2452           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
045221,000473: 21,2453           54051                           TS       CDUYCMD                               
045222,000474: 21,2454           54052                           TS       CDUZCMD                               
045223,000475: 21,2455           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
045224,000476: 21,2456           71501                           MASK     RCSFLAGS                              
045225,000477: 21,2457           65016                           AD       BIT2                                  
045226,000478: 21,2460           55501                           TS       RCSFLAGS                              
045227,000479: 21,2461           00002                           TC       Q                                     #  END PASS1
045228,000480: 
045229,000481: 21,2462           35012        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
045230,000482: 21,2463           00006                           EXTEND                                         
045231,000483: 21,2464           05012                           WOR      CHAN12                                
045232,000484: 21,2465           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1012

045234,000486: 21,2466           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
045235,000487: 21,2467           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
045236,000488: 21,2470           00002                           TC       Q                                     
045237,000489: 
045238,000490: 21,2471           35012        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
045239,000491: 21,2472           00006                           EXTEND                                         #  IS ENABLED
045240,000492: 21,2473           02012                           RAND     CHAN12                                
045241,000493: 21,2474           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
045242,000494: 21,2475           12425                           BZF      NEEDLER    +5                         
045243,000495: 
045244,000496: 21,2476           35016        NEEDLES            CAF      TWO                                   
045245,000497: 21,2477           55506        DACLOOP            TS       SPNDX                                 
045246,000498: 21,2500           45003                           CS       QUARTER                               
045247,000499: 21,2501           00006                           EXTEND                                         
045248,000500: 21,2502           51506                           INDEX    SPNDX                                 
045249,000501: 21,2503           71476                           MP       AK                                    
045250,000502: 21,2504           54001                           TS       L                                     
045251,000503: 21,2505           10000                           CCS      A                                     
045252,000504: 21,2506           32542                           CA       DACLIMIT                              
045253,000505: 21,2507           12511                           TCF      +2                                    
045254,000506: 21,2510           42542                           CS       DACLIMIT                              
045255,000507: 21,2511           60001                           AD       L                                     
045256,000508: 21,2512           55502                           TS       T5TEMP                                #  OVFLO CHK
045257,000509: 21,2513           12517                           TCF      +4                                    
045258,000510: 21,2514           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
045259,000511: 21,2515           32542                           CAF      DACLIMIT                              
045260,000512: 21,2516           54001                           TS       L                                     
045261,000513: 21,2517           51506                           INDEX    SPNDX                                 
045262,000514: 21,2520           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
045263,000515: 21,2521           60001                           AD       L                                     
045264,000516: 21,2522           51506                           INDEX    SPNDX                                 
045265,000517: 21,2523           26050                           ADS      CDUXCMD                               
045266,000518: 21,2524           51506                           INDEX    SPNDX                                 
045267,000519: 21,2525           23503                           LXCH     EDRIVEX                               
045268,000520: 21,2526           11506                           CCS      SPNDX                                 
045269,000521: 21,2527           12477                           TCF      DACLOOP                               
045270,000522: 21,2530           37707                           CAF      13,14,15                              
045271,000523: 21,2531           00006                           EXTEND                                         
045272,000524: 21,2532           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
045273,000525: 21,2533           00002                           TC       Q                                     
045274,000526: 
045275,000527: 21,2534           32540        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
045276,000528: 21,2535           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
045277,000529: 21,2536           55465                           TS       T5PHASE                               
045278,000530: 21,2537           15333                           TCF      RESUME                                
045279,000531: 21,2540           37754        DELAY200           DEC      16364      B-14                       #  200MS
045280,000532: 
045281,000533: 21,2541           77177                           DEC      -384       B-14                       
045282,000534: 

Page 1013

045284,000536: 21,2542           37200        DACLIMIT           DEC      16000      B-14                       
045285,000537: 21,2543           00600                           DEC      384        B-14                       
045286,000538: 

Page 1014

045288,000540:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
045289,000541: 
045290,000542:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
045291,000543: 
045292,000544:                                                                                                  #        WBODY   (+1)            DFT                     TAU2
045293,000545:                                                                                                  #        WBODY1  (+1)            DFT1                    BIAS
045294,000546:                                                                                                  #        WBODY2  (+1)            DFT2                    BIAS1
045295,000547:                                                                                                  #        ADOT    (+1)            DRHO    (+1)            BIAS2
045296,000548:                                                                                                  #        ADOT1   (+1)            DRHO1   (+1)            ERRORX
045297,000549:                                                                                                  #        ADOT2   (+1)            DRHO2   (+1)            ERRORY
045298,000550:                                                                                                  #        MERRORX (+1)            ATTSEC                  ERRORZ
045299,000551:                                                                                                  #        MERRORY (+1)            TAU
045300,000552:                                                                                                  #        MERRORZ (+1)            TAU1
045301,000553: 
045302,000554: 21,2544           35017        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
045303,000555: 21,2545           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
045304,000556:                                                                                                  #  ATTITUDE HOLD REFERENCE
045305,000557: 
045306,000558: 21,2546           04740        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
045307,000559: 21,2547           40347                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
045308,000560: 
045309,000561: 21,2550           04740                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
045310,000562: 21,2551           40500                           CADR     S40.14                                #  TO AUTOPILOT GAINS
045311,000563: 
045312,000564: 21,2552           32623                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
045313,000565: 21,2553           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
045314,000566: 21,2554           35021                           CAF      ZERO                                  
045315,000567: 21,2555           51506                           INDEX    SPNDX                                 
045316,000568: 21,2556           55525                           TS       WBODY                                 
045317,000569: 21,2557           11506                           CCS      SPNDX                                 
045318,000570: 21,2560           12553                           TCF      ZEROT5                                
045319,000571: 21,2561           02632                           TCR      ZEROJET                               
045320,000572: 
045321,000573: 21,2562           45021                           CS       ZERO                                  
045322,000574: 21,2563           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
045323,000575: 
045324,000576: 21,2564           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
045325,000577:                                                                                                  #  MANUAL RATE MODES
045326,000578: 
045327,000579: 21,2565           32624                           CAF      =.24                                  
045328,000580: 21,2566           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
045329,000581: 
045330,000582: 21,2567           35015                           CAF      FOUR                                  
045331,000583: 21,2570           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
045332,000584:                                                                                                  #  60 MS.  PHASE 2 RESETS FOR PHASE 1 RUPT
045333,000585:                                                                                                  #  IN (80MS - T5TIME(40MS)).  THEREFORE
045334,000586:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
045335,000587:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER
045336,000588: 
045337,000589: 21,2571           35024                           CAF      ELEVEN                                
045338,000590: 21,2572           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
045339,000591:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES

Page 1015

045341,000593: 21,2573           30032                           CA       CDUX                                  
045342,000594: 21,2574           55635                           TS       RHO                                   
045343,000595: 21,2575           30033                           CA       CDUY                                  
045344,000596: 21,2576           55636                           TS       RHO1                                  
045345,000597: 21,2577           30034                           CA       CDUZ                                  
045346,000598: 21,2600           55637                           TS       RHO2                                  
045347,000599: 21,2601           35021                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
045348,000600: 21,2602           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
045349,000601: 
045350,000602: 21,2603           41321                           CS       IMODES33                              #  CHECK IMU STATUS
045351,000603: 21,2604           75012                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
045352,000604: 21,2605           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
045353,000605: 21,2606           12612                           TCF      IMUAOK                                
045354,000606: 21,2607           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
045355,000607: 21,2610           32626                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
045356,000608: 21,2611           12617                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
045357,000609:                                                                                                  #  SIGNAL NO RATE FILTER
045358,000610: 
045359,000611: 21,2612           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
045360,000612: 21,2613           05134                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
045361,000613: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
045362,000614: 21,2614           03447 44066                     2CADR    AMBGUPDT                              
045363,000615: 
045364,000616: 21,2616           32625                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
045365,000617: 21,2617           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
045366,000618:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
045367,000619:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
045368,000620: 21,2620           32627                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
045369,000621:                                                                                                  #  ERROR COUNTER TO ZERO.
045370,000622:                                                                                                  #  (MINIMUM DELAY = 15 MS)
045371,000623: 21,2621           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
045372,000624: 21,2622           05333                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS.  RATE
045373,000625:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
045374,000626:                                                                                                  #  NOW
045375,000627: 
045376,000628:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
045377,000629: 
045378,000630: 21,2623           00044        NO.T5VAR           DEC      36         B-14                       
045379,000631: 21,2624           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
045380,000632: 21,2625           00004        RCSINIT            OCT      00004                                 
045381,000633: 21,2626           20004        RCSINITB           OCT      20004                                 
045382,000634: 21,2627           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
045383,000635: 21,2630  E6,1510                                  EBANK=   KMPAC                                 
045384,000636: 21,2630           03617 36066  T6ADDR             2CADR    T6START                               
045385,000637: 
045386,000638: 21,2632           35024        ZEROJET            CAF      ELEVEN                                #  ZERO BLAST2, BLAST1, BLAST, YWORD2,
045387,000639: 21,2633           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
045388,000640: 21,2634           35021                           CAF      ZERO                                  #  AND RWORD1.
045389,000641: 

Page 1016

045391,000643: 21,2635           51506                           INDEX    SPNDX                                 
045392,000644: 21,2636           55451                           TS       RWORD1                                
045393,000645: 21,2637           11506                           CCS      SPNDX                                 
045394,000646: 21,2640           12633                           TCF      ZEROJET    +1                         
045395,000647: 
045396,000648: 21,2641           35015                           CAF      FOUR                                  
045397,000649: 21,2642           55462                           TS       BLAST1     +1                         
045398,000650: 21,2643           35024                           CAF      ELEVEN                                
045399,000651: 21,2644           55464                           TS       BLAST2     +1                         
045400,000652: 
045401,000653: 21,2645           45017                           CS       BIT1                                  
045402,000654: 21,2646           71501                           MASK     RCSFLAGS                              
045403,000655: 21,2647           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
045404,000656: 
045405,000657: 21,2650           00006                           EXTEND                                         
045406,000658: 21,2651           32631                           DCA      T6ADDR                                
045407,000659: 21,2652           53311                           DXCH     T6LOC                                 
045408,000660: 21,2653           33050                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
045409,000661: 21,2654           54031                           TS       TIME6                                 
045410,000662: 21,2655           35001                           CAF      BIT15                                 
045411,000663: 21,2656           00006                           EXTEND                                         
045412,000664: 21,2657           05013                           WOR      CHAN13                                
045413,000665: 
045414,000666: 21,2660           00002                           TC       Q                                     
045415,000667: 
045416,000668: 21,2661           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
045417,000669: 21,2662           13146                           TCF      KALUPDT                               
045418,000670: 
045419,000671: 21,2663           12665                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
045420,000672: 21,2664           12665                           TCF      +1                                    
045421,000673: 21,2665           32156                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
045422,000674: 21,2666           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC)
045423,000675: 21,2667           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
045424,000676: 
045425,000677: 21,2670           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
045426,000678: 21,2671           75001                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
045427,000679: 21,2672           00006                           EXTEND                                         #  ATTKALMN TO -1
045428,000680: 21,2673           12675                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
045429,000681: 21,2674           45017                           CS       ONE                                   
045430,000682: 21,2675           55617        NOHIAUTO           TS       ATTKALMN                              
045431,000683: 

Page 1017

045433,000685:                                                                                                  #  MANUAL ROTATION COMMANDS
045434,000686: 
045435,000687: 21,2676           43032                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
045436,000688: 21,2677           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
045437,000689: 21,2700           55501                           TS       RCSFLAGS                              
045438,000690: 
045439,000691: 21,2701           00006                           EXTEND                                         
045440,000692: 21,2702           00031                           READ     CHAN31                                
045441,000693: 21,2703           54001                           TS       L                                     
045442,000694: 21,2704           31632                           CA       CH31TEMP                              
045443,000695: 21,2705           00006                           EXTEND                                         
045444,000696: 21,2706           06001                           RXOR     LCHAN                                 
045445,000697: 21,2707           73036                           MASK     MANROT                                #  = OCT00077
045446,000698: 21,2710           00006                           EXTEND                                         
045447,000699: 21,2711           62724                           BZMF     NOCHANGE                              
045448,000700: 
045449,000701: 21,2712           22000                           LXCH     A                                     
045450,000702: 21,2713           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
045451,000703: 
045452,000704: 21,2714           30001                           CA       L                                     
045453,000705: 21,2715           00006                           EXTEND                                         
045454,000706: 21,2716           75013                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
045455,000707: 21,2717           30001                           CA       L                                     
045456,000708: 21,2720           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
045457,000709:                                                                                                  #  WITH CHANGES IN COMMAND.  BITS 10,9 FOR
045458,000710:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
045459,000711:                                                                                                  #  PITCH
045460,000712: 
045461,000713: 21,2721           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12, AND
045462,000714: 21,2722           73037                           MASK     OCT16000                              #  11 OF RCSFLAGS)
045463,000715: 21,2723           27501                           ADS      RCSFLAGS                              
045464,000716: 
045465,000717: 21,2724           41632        NOCHANGE           CS       CH31TEMP                              
045466,000718: 21,2725           73036                           MASK     MANROT                                
045467,000719: 21,2726           00006                           EXTEND                                         
045468,000720: 21,2727           63250                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
045469,000721: 
045470,000722: 21,2730           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
045471,000723: 
045472,000724: 21,2731           03130                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
045473,000725:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
045474,000726:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
045475,000727:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
045476,000728:                                                                                                  #  COMMANDED BY THE RHC.
045477,000729: 
045478,000730:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
045479,000731:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
045480,000732:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
045481,000733:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
045482,000734:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
045483,000735:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1018

045485,000737:                                                                                                  #  VALUES.
045486,000738: 
045487,000739: 21,2732           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
045488,000740: 21,2733           75002                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
045489,000741: 21,2734           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
045490,000742: 
045491,000743: 21,2735           35002                           CAF      BIT14                                 
045492,000744: 21,2736           00006                           EXTEND                                         
045493,000745: 21,2737           02031                           RAND     CHAN31                                
045494,000746: 21,2740           00006                           EXTEND                                         
045495,000747: 21,2741           63051                           BZMF     FREEFUNC                              
045496,000748: 
045497,000749: 21,2742           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
045498,000750: 21,2743           75002                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
045499,000751: 21,2744           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
045500,000752: 21,2745           12534                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
045501,000753: 
045502,000754: 21,2746           45022                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
045503,000755: 21,2747           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
045504,000756: 21,2750           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
045505,000757: 21,2751           62754                           BZMF     +3                                    
045506,000758: 21,2752           45017                           CS       ONE                                   
045507,000759: 21,2753           55617                           TS       ATTKALMN                              
045508,000760: 
045509,000761: 21,2754           35016                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
045510,000762: 21,2755           55506        SETWBODY           TS       SPNDX                                 
045511,000763: 21,2756           60000                           DOUBLE                                         
045512,000764: 21,2757           55507                           TS       DPNDX                                 
045513,000765: 21,2760           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
045514,000766: 21,2761           31656                           CA       RMANNDX                               #          = 1  + ROTATION
045515,000767: 21,2762           00006                           EXTEND                                         #          = 2  - ROTATION
045516,000768: 21,2763           13005                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
045517,000769:                                                                                                  #  GO TO NORATE.
045518,000770: 
045519,000771: 21,2764           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
045520,000772: 21,2765           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
045521,000773: 21,2766           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
045522,000774: 21,2767           33037                           CA       MANTABLE   -1                         #           = 6  2.0  DEG/SEC
045523,000775: 21,2770           00006                           EXTEND                                         
045524,000776: 21,2771           75007                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
045525,000777: 21,2772           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
045526,000778: 21,2773           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
045527,000779: 
045528,000780: 21,2774           31501                           CA       RCSFLAGS                              
045529,000781: 21,2775           73037                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
045530,000782: 21,2776           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
045531,000783: 21,2777           13015                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
045532,000784:                                                                                                  #  ERROR.
045533,000785: 

Page 1019

045535,000787: 21,3000           35021        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
045536,000788: 21,3001           22007                           ZL                                             
045537,000789: 21,3002           51507                           INDEX    DPNDX                                 
045538,000790: 21,3003           53542                           DXCH     MERRORX                               
045539,000791: 21,3004           13023                           TCF      SPNDXCHK                              
045540,000792: 
045541,000793: 21,3005           22007        NORATE             ZL                                             
045542,000794: 21,3006           51507                           INDEX    DPNDX                                 
045543,000795: 21,3007           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
045544,000796: 21,3010           31501                           CA       RCSFLAGS                              
045545,000797: 21,3011           73037                           MASK     OCT16000                              
045546,000798: 21,3012           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045547,000799: 21,3013           13023                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
045548,000800: 21,3014           13000                           TCF      ZEROER                                #  NO, GO TO ZEROER
045549,000801: 
045550,000802: 21,3015           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
045551,000803: 21,3016           43037                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
045552,000804: 21,3017           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
045553,000805: 21,3020           75011                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
045554,000806: 21,3021           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
045555,000807: 21,3022           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
045556,000808: 
045557,000809: 21,3023           51507        SPNDXCHK           INDEX    DPNDX                                 
045558,000810: 21,3024           31541                           CA       MERRORX                               
045559,000811: 21,3025           51506                           INDEX    SPNDX                                 
045560,000812: 21,3026           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
045561,000813: 21,3027           11506                           CCS      SPNDX                                 
045562,000814: 21,3030           12755                           TCF      SETWBODY                              
045563,000815: 21,3031           13441                           TCF      JETS                                  
045564,000816: 
045565,000817: 21,3032           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
045566,000818: 
045567,000819: 21,3033           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
045568,000820: 21,3034           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
045569,000821: 21,3035           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
045570,000822:                                                                                                  #                                PRESERVED
045571,000823:                                                                                                  #                                FOR INDEXING
045572,000824: 21,3036           00077        MANROT             OCT      77                                    
045573,000825: 21,3037           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
045574,000826: 21,3040           00165        MANTABLE           DEC      .0071111                              
045575,000827: 21,3041           77612                           DEC      -.0071111                             
045576,000828: 21,3042           00722                           DEC      .028444                               
045577,000829: 21,3043           77055                           DEC      -0.028444                             
045578,000830: 21,3044           02215                           DEC      .071111                               
045579,000831: 21,3045           75562                           DEC      -.071111                              
045580,000832: 21,3046           11064                           DEC      .284444                               
045581,000833: 21,3047           66713                           DEC      -.284444                              
045582,000834: 21,3050           00027        =+14MS             DEC      23         B-14                       
045583,000835: 21,3051           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 1020

045585,000837: 21,3052           33063                           CA       FREETAU                               #  COMMANDS
045586,000838: 21,3053           55561                           TS       TAU                                   
045587,000839: 21,3054           51657                           INDEX    PMANNDX                               
045588,000840: 21,3055           33063                           CA       FREETAU                               #  FREETAU       0 SEC
045589,000841: 21,3056           55562                           TS       TAU1                                  #  +1            +0.10 SEC
045590,000842: 21,3057           51660                           INDEX    YMANNDX                               #  +2            -0.10 SEC
045591,000843: 21,3060           33063                           CA       FREETAU                               #  (+3)          0 SEC
045592,000844: 21,3061           55563                           TS       TAU2                                  
045593,000845: 21,3062           13067                           TCF      T6PROGM                               
045594,000846: 
045595,000847: 21,3063           00000        FREETAU            DEC      0          B-14                       
045596,000848: 21,3064           00740                           DEC      480        B-14                       
045597,000849: 21,3065           77037                           DEC      -480       B-14                       
045598,000850: 21,3066           00000                           DEC      0          B-14                       
045599,000851: 
045600,000852: 21,3067           35021        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
045601,000853: 21,3070           55567                           TS       ERRORX                                
045602,000854: 21,3071           55570                           TS       ERRORY                                
045603,000855: 21,3072           55571                           TS       ERRORZ                                
045604,000856: 21,3073           13757                           TCF      T6PROG                                
045605,000857: 

Page 1021

045607,000859: 21,3074           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
045608,000860: 21,3075           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
045609,000861: 21,3076           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045610,000862: 21,3077           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
045611,000863: 21,3100           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
045612,000864: 21,3101           13030                           DEC      .3452                                 
045613,000865: 21,3102           14047                           DEC      .3774                                 
045614,000866: 21,3103           15241                           DEC      .4161                                 
045615,000867: 21,3104           16650                           DEC      .4634                                 
045616,000868: 21,3105           20555                           DEC      .5223                                 
045617,000869: 21,3106           23065                           DEC      .5970                                 
045618,000870: 21,3107           26137                           DEC      .6933                                 
045619,000871: 21,3110           32053                           DEC      .8151                                 
045620,000872: 21,3111           35712                           DEC      .9342                                 
045621,000873: 
045622,000874: 21,3112           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
045623,000875: 21,3113           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
045624,000876: 21,3114           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045625,000877: 21,3115           00032        GAIN2              DEC      .0016                                 #  SCALED 10
045626,000878: 21,3116           01350                           DEC      .0454                                 
045627,000879: 21,3117           01575                           DEC      .0545                                 
045628,000880: 21,3120           02103                           DEC      .0666                                 
045629,000881: 21,3121           02523                           DEC      .0832                                 
045630,000882: 21,3122           03327                           DEC      .1069                                 
045631,000883: 21,3123           04432                           DEC      .1422                                 
045632,000884: 21,3124           06264                           DEC      .1985                                 
045633,000885: 21,3125           11351                           DEC      .2955                                 
045634,000886: 21,3126           17324                           DEC      .4817                                 
045635,000887: 21,3127           33622                           DEC      .8683                                 
045636,000888: 21,3130           55502        STICKCHK           TS       T5TEMP                                
045637,000889: 21,3131           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
045638,000890: 21,3132           55657                           TS       PMANNDX                               
045639,000891: 21,3133           31502                           CA       T5TEMP                                
045640,000892: 21,3134           00006                           EXTEND                                         #  MAN RATE  0   0 RATE (DP)
045641,000893: 21,3135           75003                           MP       QUARTER                               #           +1   + RATE (DP)
045642,000894: 21,3136           55502                           TS       T5TEMP                                #           +2   - RATE (DP)
045643,000895: 21,3137           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
045644,000896: 21,3140           55660                           TS       YMANNDX                               
045645,000897: 21,3141           31502                           CA       T5TEMP                                
045646,000898: 21,3142           00006                           EXTEND                                         
045647,000899: 21,3143           75003                           MP       QUARTER                               
045648,000900: 21,3144           55656                           TS       RMANNDX                               
045649,000901: 21,3145           00002                           TC       Q                                     
045650,000902: 21,3146           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
045651,000903:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
045652,000904: 
045653,000905: 21,3147           32155                           CA       DELTATT                               #  =1SEC - 80MS
045654,000906: 21,3150           61634                           AD       T5TIME                                #  + DELAYS

Page 1022

045656,000908: 21,3151           54030                           TS       TIME5                                 
045657,000909: 21,3152           13155                           TCF      +3                                    
045658,000910: 21,3153           32156                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
045659,000911: 21,3154           54030                           TS       TIME5                                 #  A T5RUPT
045660,000912: 
045661,000913: 21,3155           45021        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
045662,000914: 21,3156           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
045663,000915: 21,3157           15333                           TCF      RESUME                                
045664,000916: 
045665,000917: 21,3160           45014        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
045666,000918: 21,3161           71501                           MASK     RCSFLAGS                              
045667,000919: 21,3162           55501                           TS       RCSFLAGS                              
045668,000920: 
045669,000921: 21,3163           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
045670,000922: 21,3164           75007                           MASK     BIT9                                  #  ERRORS
045671,000923: 21,3165           00006                           EXTEND                                         
045672,000924: 21,3166           13175                           BZF      FDAITOTL                              
045673,000925: 21,3167           00006                           EXTEND                                         
045674,000926: 21,3170           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
045675,000927: 21,3171           53477                           DXCH     AK                                    
045676,000928: 21,3172           41571                           CS       ERRORZ                                
045677,000929: 21,3173           55500                           TS       AK2                                   
045678,000930: 21,3174           15333                           TCF      RESUME                                #  END PHASE 1
045679,000931: 
045680,000932: 21,3175           30105        FDAITOTL           CA       FLAGWRD9                              
045681,000933: 21,3176           75012                           MASK     BIT6                                  
045682,000934: 21,3177           00006                           EXTEND                                         
045683,000935: 21,3200           13243                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045684,000936:                                                                                                  #  IF SO, GO TO WRTN17
045685,000937: 21,3201           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
045686,000938: 21,3202           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
045687,000939: 21,3203           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
045688,000940: 21,3204           31155                           CA       CPHI                                  #  COMPONENTS OF N22
045689,000941: 
045690,000942: 21,3205           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
045691,000943: 21,3206           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
045692,000944: 21,3207           55476                           TS       AK                                    
045693,000945: 21,3210           31513                           CA       WTEMP                                 
045694,000946: 21,3211           00006                           EXTEND                                         
045695,000947: 21,3212           20033                           MSU      CDUY                                  
045696,000948: 21,3213           55502                           TS       T5TEMP                                
045697,000949: 21,3214           00006                           EXTEND                                         
045698,000950: 21,3215           71640                           MP       AMGB1                                 
045699,000951: 21,3216           27476                           ADS      AK                                    
045700,000952: 21,3217           31502                           CA       T5TEMP                                
045701,000953: 21,3220           00006                           EXTEND                                         
045702,000954: 21,3221           71641                           MP       AMGB4                                 

Page 1023

045704,000956: 21,3222           55477                           TS       AK1                                   
045705,000957: 21,3223           31502                           CA       T5TEMP                                
045706,000958: 21,3224           00006                           EXTEND                                         
045707,000959: 21,3225           71643                           MP       AMGB7                                 
045708,000960: 21,3226           55500                           TS       AK2                                   
045709,000961: 21,3227           31514                           CA       WTEMP      +1                         
045710,000962: 21,3230           00006                           EXTEND                                         
045711,000963: 21,3231           20034                           MSU      CDUZ                                  
045712,000964: 21,3232           55502                           TS       T5TEMP                                
045713,000965: 21,3233           00006                           EXTEND                                         
045714,000966: 21,3234           71642                           MP       AMGB5                                 
045715,000967: 21,3235           27477                           ADS      AK1                                   
045716,000968: 21,3236           31502                           CA       T5TEMP                                
045717,000969: 21,3237           00006                           EXTEND                                         
045718,000970: 21,3240           71644                           MP       AMGB8                                 
045719,000971: 21,3241           27500                           ADS      AK2                                   
045720,000972: 21,3242           15333                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
045721,000973: 
045722,000974: 21,3243           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
045723,000975: 21,3244           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
045724,000976: 21,3245           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
045725,000977: 21,3246           31333                           CA       CPHIX                                 
045726,000978: 21,3247           13205                           TCF      GETAKS                                
045727,000979: 

Page 1024 This page is empty.

045730,000982: 
045731,000983: 

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