Source Code
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These source-code files are part of a reconstructed copy of Skylark 048, the
Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the
Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.
They have been created via disassembly of binary dumps of the original core rope
memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551,
2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules
was provided by the New Mexico Museum of Space History, who we are much indebted to.
The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as
a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations
for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document
contains pseudocode of essentially all of Skylark, using original program labels which
have been copied for this source reconstruction.
Since only binary dumps (rather than listings) of Skylark are available as source material,
all comments and labels are approximate.
They have been taken from the Programmed Guidance Equations or other AGC programs where
possible, or, in some places, written from scratch to match what we believe would have
been in the original listing.
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040003,000002: ## Copyright: Public domain.
040004,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
040005,000004: ## Purpose: A section of Skylark revision 048.
040006,000005: ## It is part of the source code for the Apollo Guidance Computer (AGC)
040007,000006: ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of
040008,000007: ## this software are available; instead, this file was created via
040009,000008: ## disassembly of dumps of the core rope modules actually flown on
040010,000009: ## Skylab-2. Access to these modules was provided by the New Mexico
040011,000010: ## Museum of Space History.
040012,000011: ## Assembler: yaYUL
040013,000012: ## Contact: Ron Burkey <info@sandroid.org>.
040014,000013: ## Website: www.ibiblio.org/apollo/index.html
040015,000014: ## Mod history: 2023-09-04 MAS Created from Artemis 072.
040016,000015: ## 2024-03-05 MAS Updated for Skylark 48.
040017,000016:
040018,000017:
040019,000018: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
040020,000019: # START OF T5 INTERRUPT PROGRAM
040021,000020:
040022,000021: 21,2000 SETLOC DAPS3
040023,000022: 21,2000 BANK
040024,000023:
040025,000024: 21,2043 COUNT* $$/DAPRC
040026,000025: 21,2043 E6,1537 EBANK= KMPAC
040027,000026: 21,2043 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
040028,000027: 21,2044 31513 CA T5PHASE # ON A T5 RUPT.
040029,000028: 21,2045 00006 EXTEND
040030,000029: 21,2046 62050 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
040031,000030: 21,2047 12052 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
040032,000031: 21,2050 45001 CS ONE
040033,000032: 21,2051 55513 TS T5PHASE
040034,000033: 21,2052 00006 EXTEND
040035,000034: 21,2053 32057 DCA RCSLOC
040036,000035: 21,2054 52113 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
040037,000036: 21,2055 12061 TCF RCSATT +1
040038,000037: 21,2056 E6,1537 EBANK= KMPAC
040039,000038: 21,2056 02060 42066 RCSLOC 2CADR RCSATT
040040,000039:
040041,000040:
040042,000041: 21,2060 22016 RCSATT LXCH BANKRUPT # SAVE BB
040043,000042: 21,2061 00006 +1 EXTEND # SAVE Q
040044,000043: 21,2062 22012 QXCH QRUPT
040045,000044: 21,2063 34763 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
040046,000045: 21,2064 05627 TC C31BTCHK # S/C CONT SW IS IN CMC (I.E. IF G/C DAP
040047,000046: 21,2065 12110 TCF SETT5 # IS FULLY ENABLED). IF SO8
040048,000047: # GO TO SETT5
040049,000048:
040050,000049: 21,2066 41530 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
040051,000050: 21,2067 74764 MASK BIT14
040052,000051: 21,2070 27530 ADS RCSFLAGS # SET NORATE FLAG,
040053,000052: 21,2071 34761 CAF POSMAX
040054,000053: 21,2072 55330 TS HOLDFLAG # SET HOLDFLAG +,
040055,000054: 21,2073 35003 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
040056,000055: 21,2074 55620 TS ERRORX
040057,000056: 21,2075 55621 TS ERRORY
040058,000057: 21,2076 55622 TS ERRORZ
040059,000058: 21,2077 34764 CAF BIT14
040060,000059: 21,2100 05627 TC C31BTCHK # AND CHECK FREE FUNCTION (BIT14 CHAN31)
040061,000060: 21,2101 12110 TCF SETT5
040062,000061: 21,2102 55513 TS T5PHASE # IF NOT IN FREE MODE,
040063,000062: 21,2103 37661 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
040064,000063: 21,2104 54030 TS TIME5 # IN 100 MS VIA T5RUPT
040065,000064:
040066,000065: 21,2105 02515 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
040067,000066: 21,2106 12275 TCF KMATRIX
040068,000067: 21,2107 37770 DELTATT OCT 37770 # 80MS (TIME5)
040069,000068: 21,2110 7663 DELTATT2 = OCT37776 # 20 MS (TIME5)
040070,000069:
040071,000070: # CHECK PHASE OF T5 PROGRAM
040072,000071:
040073,000072: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
040074,000073: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
040075,000074: # TO ALLOW FOR THE EXECUTION OF OTHER
040076,000075: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
040077,000076: # VARIABLES AT TURN ON.
040078,000077: # THE CODING OF T5PHASE IS...
040079,000078:
040080,000079: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
040081,000080: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
040082,000081: # - = RESTART DAP
040083,000082: # -0 = PHASE1 OF THE T5 PROGRAM
040084,000083:
040085,000084: 21,2110 11513 SETT5 CCS T5PHASE
040086,000085: 21,2111 12353 TCF FRESHDAP # TURN ON AUTOPILOT
040087,000086: 21,2112 12553 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
040088,000087: 21,2113 12355 TCF REDAP # RESTART AUTOPILOT
040089,000088:
040090,000089: 21,2114 55513 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
040091,000090: 21,2115 30030 CA TIME5
040092,000091: 21,2116 55665 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
040093,000092: 21,2117 37663 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
040094,000093: 21,2120 54030 TS TIME5 # OF PROGRAM
040095,000094:
040096,000095:
040097,000096: # IMU STATUS CHECK
040098,000097:
040099,000098: 21,2121 41324 CS IMODES33 # CHECK IMU STATUS
040100,000099: 21,2122 74774 MASK NOIMUDAP # BIT6 = 0 IMU OK
040101,000100: 21,2123 10000 CCS A # BIT6 = 1 NO IMU
040102,000101: 21,2124 12135 TCF RATEFILT
040103,000102: 21,2125 41530 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
040104,000103: 21,2126 74764 MASK BIT14 # INITIALIZED
040105,000104: 21,2127 27530 ADS RCSFLAGS
040106,000105: 21,2130 34764 CAF BIT14 # NO ATTITUDE REFERENCE
040107,000106: 21,2131 55330 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
040108,000107: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
040109,000108: # ATTITUDE HOLD
040110,000109: 21,2132 05627 TC C31BTCHK # CHECK FOR FREE MODE
040111,000110: 21,2133 12345 TCF KRESUME1 # IN FREE, PROVIDE FREE CONTROL ONLY
040112,000111: 21,2134 12346 TCF REINIT # .....TILT...............................
040113,000112: 21,2135 5012 BITS4,5 = BITS4&5
040114,000113:
040115,000114: 21,2135 31530 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
040116,000115: 21,2136 74764 MASK BIT14
040117,000116: 21,2137 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
040118,000117: 21,2140 12142 BZF +2
040119,000118: 21,2141 12275 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
040120,000119:
040121,000120: # RATE FILTER TIMING = 7.72 MS
040122,000121:
040123,000122: # RATE FILTER EQUATIONS
040124,000123: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
040125,000124: # -1
040126,000125: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
040127,000126: # -1
040128,000127: # - * - -
040129,000128: # WHERE DELRHO = AMGB (CDU - CDU )
040130,000129: # -1
040131,000130:
040132,000131: 21,2142 35000 +2 CAF TWO
040133,000132: 21,2143 55535 DRHOLOOP TS SPNDX
040134,000133: 21,2144 60000 DOUBLE
040135,000134: 21,2145 55536 TS DPNDX
040136,000135: 21,2146 51536 INDEX DPNDX
040137,000136: 21,2147 41601 CS DRHO # DRHO SCALED 180 DEGS
040138,000137: 21,2150 00006 EXTEND
040139,000138: 21,2151 51650 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
040140,000139: 21,2152 73063 MP GAIN1
040141,000140: 21,2153 51536 INDEX DPNDX
040142,000141: 21,2154 21602 DAS DRHO # (1 -.064) DRHO
040143,000142: 21,2155 00006 EXTEND
040144,000143: 21,2156 51536 INDEX DPNDX
040145,000144: 21,2157 41563 DCS ADOT
040146,000145: 21,2160 53540 DXCH KMPAC # -(.1)ADOT
040147,000146: 21,2161 34765 CA QUARTER
040148,000147: 21,2162 02000 TC SMALLMP
040149,000148: 21,2163 53540 DXCH KMPAC
040150,000149: 21,2164 51536 INDEX DPNDX
040151,000150: 21,2165 21602 DAS DRHO
040152,000151: 21,2166 11535 CCS SPNDX
040153,000152: 21,2167 12143 TCF DRHOLOOP
040154,000153:
040155,000154: 21,2170 30032 CA CDUX # MEASURED BODY RATES--
040156,000155: 21,2171 57666 XCH RHO
040157,000156: 21,2172 00006 EXTEND
040158,000157: 21,2173 21666 MSU RHO # - * - -
040159,000158: 21,2174 40000 COM # DELRHO = AMGB (CDU - CDU )
040160,000159: # -1
040161,000160: 21,2175 22007 ZL
040162,000161: 21,2176 53545 DXCH DELTEMPX
040163,000162: 21,2177 30033 CA CDUY
040164,000163: 21,2200 57667 XCH RHO1
040165,000164: 21,2201 00006 EXTEND
040166,000165: 21,2202 21667 MSU RHO1
040167,000166: 21,2203 40000 COM
040168,000167: 21,2204 55531 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
040169,000168: 21,2205 00006 EXTEND
040170,000169: 21,2206 71671 MP AMGB1
040171,000170: 21,2207 21545 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
040172,000171: # MUST BE DOUBLE PRECISION OR WILL LOSE
040173,000172: # PULSES
040174,000173: 21,2210 31672 CA AMGB4
040175,000174: 21,2211 00006 EXTEND
040176,000175: 21,2212 71531 MP T5TEMP
040177,000176: 21,2213 53547 DXCH DELTEMPY
040178,000177: 21,2214 31674 CA AMGB7
040179,000178: 21,2215 00006 EXTEND
040180,000179: 21,2216 71531 MP T5TEMP
040181,000180: 21,2217 53551 DXCH DELTEMPZ
040182,000181: 21,2220 30034 CA CDUZ
040183,000182: 21,2221 57670 XCH RHO2
040184,000183: 21,2222 00006 EXTEND
040185,000184: 21,2223 21670 MSU RHO2
040186,000185: 21,2224 40000 COM
040187,000186: 21,2225 55531 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
040188,000187: 21,2226 00006 EXTEND
040189,000188: 21,2227 71673 MP AMGB5
040190,000189: 21,2230 21547 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
040191,000190: # + AMGB5(CDUZ-RHO2)
040192,000191: 21,2231 31675 CA AMGB8
040193,000192: 21,2232 00006 EXTEND
040194,000193: 21,2233 71531 MP T5TEMP
040195,000194: 21,2234 21551 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
040196,000195: # + AMGB8(CDUZ-RHO2)
040197,000196: 21,2235 35000 CAF TWO
040198,000197: 21,2236 55535 ADOTLOOP TS SPNDX
040199,000198: 21,2237 60000 DOUBLE
040200,000199: 21,2240 55536 TS DPNDX
040201,000200: 21,2241 00006 EXTEND
040202,000201: 21,2242 51536 INDEX DPNDX
040203,000202: 21,2243 31545 DCA DELTEMPX
040204,000203: 21,2244 51536 INDEX DPNDX
040205,000204: 21,2245 21602 DAS DRHO
040206,000205: 21,2246 00006 EXTEND
040207,000206: 21,2247 51536 INDEX DPNDX
040208,000207: 21,2250 31545 DCA DELTEMPX
040209,000208: 21,2251 51536 INDEX DPNDX
040210,000209: 21,2252 21571 DAS MERRORX
040211,000210: 21,2253 51536 INDEX DPNDX
040212,000211: 21,2254 31601 CA DRHO
040213,000212: 21,2255 60000 DOUBLE # N.B.
040214,000213: 21,2256 60000 DOUBLE # N.B.
040215,000214: 21,2257 00006 EXTEND
040216,000215: 21,2260 51650 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
040217,000216: 21,2261 73103 MP GAIN2
040218,000217: 21,2262 51536 INDEX DPNDX # ADOT + (.16)(.1)DRHO
040219,000218: 21,2263 21563 DAS ADOT # -1
040220,000219: 21,2264 51535 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
040221,000220: 21,2265 31651 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
040222,000221: 21,2266 00006 EXTEND
040223,000222: 21,2267 51535 INDEX SPNDX
040224,000223: 21,2270 71576 MP DFT
040225,000224: 21,2271 51536 INDEX DPNDX
040226,000225: 21,2272 21563 DAS ADOT # KMJ(DFT)
040227,000226: 21,2273 11535 CCS SPNDX
040228,000227: 21,2274 12236 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
040229,000228: 21,2275 31607 KMATRIX CA ATTSEC
040230,000229: 21,2276 75010 MASK LOW4
040231,000230: 21,2277 10000 CCS A
040232,000231: 21,2300 12306 TCF TENTHSEK
040233,000232: 21,2301 37656 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
040234,000233: 21,2302 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
040235,000234: 21,2303 E6,1537 EBANK= KMPAC
040236,000235: 21,2303 03522 44066 2CADR AMBGUPDT
040237,000236:
040238,000237: 21,2305 34322 CAF NINE
040239,000238:
040240,000239: 21,2306 55607 TENTHSEK TS ATTSEC
040241,000240:
040242,000241: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
040243,000242: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
040244,000243:
040245,000244: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
040246,000245: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
040247,000246: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
040248,000247:
040249,000248: # THE STEERING PROGRAMS-
040250,000249: # 1) ATTITUDE MANEUVER ROUTINE
040251,000250: # 2) LEM TRACKING
040252,000251:
040253,000252: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
040254,000253: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
040255,000254:
040256,000255: # HOLDFLAG CODING-
040257,000256:
040258,000257: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
040259,000258: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
040260,000259: # ALSO IGNORE AUTOMATIC STEERING
040261,000260: # SET = + BY
040262,000261: # 1) INITIALIZATION PHASE OF AUTOPILOT
040263,000262: # 2) OCCURANCE OF RHC COMMANDS
040264,000263: # 3) FREE MODE
040265,000264: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
040266,000265: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
040267,000266: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
040268,000267: # FUNCTIONS AS IF IT WERE.)
040269,000268: # 5) S/C CONTROL SWITCH IN SCS
040270,000269: # 6) IMU POWER OFF
040271,000270: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
040272,000271: # - = PERFORMING AUTOMATIC MANEUVER
040273,000272: # -0 = NOT USED AT PRESENT
040274,000273:
040275,000274: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
040276,000275: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
040277,000276: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
040278,000277:
040279,000278:
040280,000279: 21,2307 41330 CS HOLDFLAG
040281,000280: 21,2310 00006 EXTEND
040282,000281: 21,2311 62336 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
040283,000282: # COMMANDS
040284,000283: 21,2312 35000 DCDUINCR CAF TWO
040285,000284: 21,2313 55535 DELOOP TS SPNDX
040286,000285: 21,2314 60000 DOUBLE
040287,000286: 21,2315 55536 TS DPNDX
040288,000287: 21,2316 00006 EXTEND
040289,000288: 21,2317 50000 INDEX A
040290,000289: 21,2320 31700 DCA CDUXD
040291,000290: 21,2321 53540 DXCH KMPAC
040292,000291: 21,2322 00006 EXTEND
040293,000292: 21,2323 51536 INDEX DPNDX
040294,000293: 21,2324 31627 DCA DELCDUX
040295,000294: 21,2325 02012 TC DPADD
040296,000295: 21,2326 00006 EXTEND
040297,000296: 21,2327 31540 DCA KMPAC
040298,000297: 21,2330 51535 INDEX SPNDX
040299,000298: 21,2331 55623 TS THETADX
040300,000299: 21,2332 51536 INDEX DPNDX
040301,000300: 21,2333 53700 DXCH CDUXD
040302,000301: 21,2334 11535 CCS SPNDX
040303,000302: 21,2335 12313 TCF DELOOP
040304,000303:
040305,000304:
040306,000305: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
040307,000306:
040308,000307: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
040309,000308:
040310,000309: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
040311,000310: # GENERATED INTERNALLY BY THE AUTOPILOT
040312,000311:
040313,000312: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
040314,000313: # WITH RESPECT TO THE CONTENTS OF N22
040315,000314:
040316,000315: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
040317,000316: # WITH RESPECT TO THE CONTENTS OF N17
040318,000317:
040319,000318: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
040320,000319: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
040321,000320:
040322,000321: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
040323,000322: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
040324,000323: # AS A FLY-TO INDICATOR.
040325,000324:
040326,000325: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
040327,000326: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
040328,000327: # AS A FLY-TO INDICATOR.
040329,000328:
040330,000329: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
040331,000330: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
040332,000331:
040333,000332: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
040334,000333: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
040335,000334: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
040336,000335:
040337,000336: 21,2336 41530 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
040338,000337: 21,2337 74776 MASK BIT4
040339,000338: 21,2340 00006 EXTEND
040340,000339: 21,2341 13146 BZF GOFDAI2
040341,000340:
040342,000341: 21,2342 27530 FDAIDSP1 ADS RCSFLAGS
040343,000342: 21,2343 04725 TC IBNKCALL
040344,000343: 21,2344 31660 CADR NEEDLER
040345,000344: 21,2345 15336 KRESUME1 TCF RESUME # END PHASE 1
040346,000345:
040347,000346:
040348,000347: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
040349,000348:
040350,000349: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
040351,000350:
040352,000351: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
040353,000352: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
040354,000353: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
040355,000354: # THE DACS.
040356,000355:
040357,000356:
040358,000357: # CALLING SEQUENCE:
040359,000358:
040360,000359: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
040361,000360: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
040362,000361:
040363,000362: # CS RCSFLAGS IN EBANK6
040364,000363: # MASK BIT3
040365,000364: # ADS RCSFLAGS
040366,000365:
040367,000366: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
040368,000367:
040369,000368: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
040370,000369: # AK1 SCALED 180 DEGREES TO CHANGE
040371,000370: # AK2 SCALED 180 DEGREES
040372,000371:
040373,000372: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
040374,000373: # (= 384 BITS IN IMU ERROR COUNTER)
040375,000374:
040376,000375: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
040377,000376:
040378,000377: # INHINT
040379,000378: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
040380,000379: # CADR NEEDLER
040381,000380: # RELINT
040382,000381:
040383,000382: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
040384,000383: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
040385,000384: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
040386,000385:
040387,000386: # ERASABLE USED:
040388,000387: # AK CDUXCMD
040389,000388: # AK1 CDUYCMD
040390,000389: # AK2 CDUZCMD
040391,000390: # EDRIVEX A,L,Q
040392,000391: # EDRIVEY T5TEMP
040393,000392: # EDRIVEZ SPNDX
040394,000393:
040395,000394: # SWITCHES: RCSFLAGS BITS 3,2
040396,000395:
040397,000396: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
040398,000397: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
040399,000398: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
040400,000399:
040401,000400: # SIGN CONVENTION< AK = THETAC - THETA
040402,000401: # WHERE THETAC = COMMAND ANGLE
040403,000402: # THETA = PRESENT ANGLE
040404,000403: 14,2000 SETLOC DAPS9
040405,000404: 14,2000 BANK
040406,000405: 14,3660 COUNT* $$/DAPRC
040407,000406:
040408,000407: 14,3660 34776 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
040409,000408: 14,3661 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
040410,000409: 14,3662 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
040411,000410: 14,3663 00006 EXTEND
040412,000411: 14,3664 13671 BZF NEEDLER1
040413,000412: 14,3665 41530 RCSINT CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
040414,000413: 14,3666 74777 MASK BIT3
040415,000414: 14,3667 27530 ADS RCSFLAGS
040416,000415: 14,3670 00002 TC Q
040417,000416:
040418,000417: 14,3671 31530 NEEDLER1 CA RCSFLAGS
040419,000418: 14,3672 76211 MASK SIX
040420,000419: 14,3673 00006 EXTEND
040421,000420: 14,3674 13731 BZF NEEDLES3
040422,000421: 14,3675 74777 MASK BIT3
040423,000422: 14,3676 00006 EXTEND
040424,000423: 14,3677 13722 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
040425,000424:
040426,000425: 14,3700 44774 CS BIT6 # FIRST PASS BIT3 = 1
040427,000426: 14,3701 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
040428,000427: 14,3702 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
040429,000428: 14,3703 45003 NEEDLE11 CS ZERO # ENABLING COUNTERS.
040430,000429: 14,3704 55525 TS AK # ZERO THE INPUTS ON FIRST PASS
040431,000430: 14,3705 55526 TS AK1
040432,000431: 14,3706 55527 TS AK2
040433,000432: 14,3707 55532 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
040434,000433: 14,3710 55533 TS EDRIVEY
040435,000434: 14,3711 55534 TS EDRIVEZ
040436,000435: 14,3712 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
040437,000436: 14,3713 54051 TS CDUYCMD
040438,000437: 14,3714 54052 TS CDUZCMD
040439,000438: 14,3715 46211 CS SIX # RESET RCSFLAGS FOR PASS2
040440,000439: 14,3716 71530 MASK RCSFLAGS
040441,000440: 14,3717 65000 AD BIT2
040442,000441: 14,3720 55530 TS RCSFLAGS
040443,000442: 14,3721 00002 TC Q # END PASS1
040444,000443:
040445,000444: 14,3722 34774 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
040446,000445: 14,3723 00006 EXTEND
040447,000446: 14,3724 05012 WOR CHAN12
040448,000447: 14,3725 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
040449,000448: 14,3726 71530 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
040450,000449: 14,3727 55530 TS RCSFLAGS # RELAY CLOSURE
040451,000450: 14,3730 00002 TC Q
040452,000451:
040453,000452:
040454,000453: 14,3731 34774 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
040455,000454: 14,3732 00006 EXTEND # IS ENABLED
040456,000455: 14,3733 02012 RAND CHAN12
040457,000456: 14,3734 00006 EXTEND # IF NOT RECYCLE NEEDLES
040458,000457: 14,3735 13665 BZF RCSINT
040459,000458: 14,3736 35000 NEEDLES CAF TWO
040460,000459: 14,3737 55535 DACLOOP TS SPNDX
040461,000460: 14,3740 44765 CS QUARTER
040462,000461: 14,3741 00006 EXTEND
040463,000462: 14,3742 51535 INDEX SPNDX
040464,000463: 14,3743 71525 MP AK
040465,000464: 14,3744 54001 TS L
040466,000465: 14,3745 10000 CCS A
040467,000466: 14,3746 33775 CA DACLIMIT
040468,000467: 14,3747 13751 TCF +2
040469,000468: 14,3750 43775 CS DACLIMIT
040470,000469: 14,3751 60001 AD L
040471,000470: 14,3752 55531 TS T5TEMP # OVFLO CHK
040472,000471: 14,3753 13757 TCF OVSPOT
040473,000472: 14,3754 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
040474,000473: 14,3755 33775 CAF DACLIMIT
040475,000474: 14,3756 54001 TS L
040476,000475: 14,3757 51535 OVSPOT INDEX SPNDX
040477,000476: 14,3760 41532 CS EDRIVEX # CURRENT VALUE OF DAC
040478,000477: 14,3761 60001 AD L
040479,000478: 14,3762 51535 INDEX SPNDX
040480,000479: 14,3763 26050 ADS CDUXCMD
040481,000480: 14,3764 51535 INDEX SPNDX
040482,000481: 14,3765 23532 LXCH EDRIVEX
040483,000482: 14,3766 11535 CCS SPNDX
040484,000483: 14,3767 13737 TCF DACLOOP
040485,000484: 14,3770 37673 CAF 13,14,15
040486,000485: 14,3771 00006 EXTEND
040487,000486: 14,3772 05014 DRIVEDAC WOR CHAN14 # SET DAC ACTIVITY BITS
040488,000487: 14,3773 00002 TC Q
040489,000488:
040490,000489: 14,3774 77177 DEC -384 B-14
040491,000490: 14,3775 37200 DACLIMIT DEC 16000 B-14
040492,000491: 14,3776 00600 DEC 384 B-14
040493,000492:
040494,000493: 21,2000 SETLOC DAPS3
040495,000494: 21,2000 BANK
040496,000495: 21,2346 COUNT* $$/DAPRC
040497,000496:
040498,000497: 21,2346 32352 REINIT CAF DELAY200 # ........TILT LOGIC
040499,000498: 21,2347 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
040500,000499: 21,2350 55513 TS T5PHASE
040501,000500: 21,2351 15336 TCF RESUME
040502,000501: 21,2352 37754 DELAY200 DEC 16364 B-14 # 200MS
040503,000502:
040504,000503:
040505,000504: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
040506,000505:
040507,000506: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
040508,000507:
040509,000508: # WBODY (+1) DFT TAU2
040510,000509: # WBODY1 (+1) DFT1 BIAS
040511,000510: # WBODY2 (+1) DFT2 BIAS1
040512,000511: # ADOT (+1) DRHO (+1) BIAS2
040513,000512: # ADOT1 (+1) DRHO1 (+1) ERRORX
040514,000513: # ADOT2 (+1) DRHO2 (+1) ERRORY
040515,000514: # MERRORX (+1) ATTSEC ERRORZ
040516,000515: # MERRORY (+1) TAU
040517,000516: # MERRORZ (+1) TAU1
040518,000517:
040519,000518: 21,2353 35001 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
040520,000519: 21,2354 55330 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
040521,000520: # ATTITUDE HOLD REFERENCE
040522,000521:
040523,000522: 21,2355 30077 REDAP CA FLAGWRD3
040524,000523: 21,2356 74774 MASK 45/46BIT
040525,000524: 21,2357 00006 EXTEND
040526,000525: 21,2360 12362 BZF +2
040527,000526: 21,2361 12434 TCF DKDLOAD
040528,000527: 21,2362 54001 TS L
040529,000528: 21,2363 53476 DXCH WHICHDAP
040530,000529:
040531,000530: 21,2364 04725 TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
040532,000531: 21,2365 40420 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
040533,000532:
040534,000533: 21,2366 04725 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
040535,000534: 21,2367 40551 CADR S40.14 # TO AUTOPILOT GAINS
040536,000535:
040537,000536: 21,2370 32472 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS 2
040538,000537: # NO.T5VAR MUST BE ODD *************
040539,000538: 21,2371 10000 ZEROT5 CCS A
040540,000539: 21,2372 55535 TS SPNDX
040541,000540: 21,2373 35003 CAF ZERO
040542,000541: 21,2374 54001 TS L
040543,000542: 21,2375 51535 INDEX SPNDX
040544,000543: 21,2376 53556 DXCH WBODY +1
040545,000544: 21,2377 11535 CCS SPNDX
040546,000545: 21,2400 12371 TCF ZEROT5
040547,000546: 21,2401 55554 TS WBODY # ZERO LAST (FIRST) ONE
040548,000547:
040549,000548: 21,2402 02515 TC ZEROJET
040550,000549: 21,2403 45003 CS ZERO
040551,000550: 21,2404 55664 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
040552,000551:
040553,000552: 21,2405 55663 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
040554,000553: # MANUAL RATE MODES
040555,000554:
040556,000555: 21,2406 51475 INDEX WHICHDAP
040557,000556: 21,2407 32473 CAF =.24
040558,000557: 21,2410 55705 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
040559,000558:
040560,000559: 21,2411 34777 CAF FOUR
040561,000560: 21,2412 55665 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
040562,000561: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
040563,000562: # IN (80MS - T5TIME(40MS)). THEREFORE
040564,000563: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
040565,000564: # MS FROM NOW AND EVERY 100MS THEREAFTER
040566,000565: 21,2413 35006 CAF ELEVEN
040567,000566: 21,2414 55650 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
040568,000567: # TO INITIALIZE THE S/C ANGULAR RATES
040569,000568: 21,2415 30032 CA CDUX
040570,000569: 21,2416 55666 TS RHO
040571,000570: 21,2417 30033 CA CDUY
040572,000571: 21,2420 55667 TS RHO1
040573,000572: 21,2421 30034 CA CDUZ
040574,000573: 21,2422 55670 TS RHO2
040575,000574: 21,2423 35003 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
040576,000575: 21,2424 55513 TS T5PHASE # PHASE2 OF PROGRAM
040577,000576:
040578,000577: 21,2425 41324 CS IMODES33 # CHECK IMU STATUS
040579,000578: 21,2426 74774 MASK NOIMUDAP # IF BIT6 =0 IMU IN FINE ALIGN
040580,000579: 21,2427 10000 CCS A # IF BIT6 = 1 IMU NOT READY
040581,000580: 21,2430 12461 TCF IMUAOK
040582,000581: 21,2431 55650 TS ATTKALMN # CANNOT USE IMU
040583,000582: 21,2432 32475 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
040584,000583: 21,2433 12466 TCF RCSSWIT # DONT START UP RATE FILTER
040585,000584: # SIGNAL NO RATE FILTER
040586,000585:
040587,000586: 21,2434 35000 DKDLOAD CAF TWO
040588,000587: 21,2435 54001 TS L
040589,000588: 21,2436 35001 CAF ONE
040590,000589: 21,2437 53476 DXCH WHICHDAP
040591,000590:
040592,000591: 21,2440 00006 EXTEND
040593,000592: 21,2441 31444 DCA KMJDCKD
040594,000593: 21,2442 53652 DXCH KMJ
040595,000594:
040596,000595: 21,2443 00006 EXTEND
040597,000596: 21,2444 31446 DCA KMJ2DCKD
040598,000597: 21,2445 53654 DXCH KMJ2
040599,000598:
040600,000599: 21,2446 00006 EXTEND
040601,000600: 21,2447 31450 DCA J/M1DCKD
040602,000601: 21,2450 53656 DXCH J/M1
040603,000602:
040604,000603: 21,2451 31474 CA DKDB
040605,000604: 21,2452 55706 TS ADB
040606,000605: 21,2453 34763 CA NEGMAX
040607,000606: 21,2454 55463 TS DAPZRUPT
040608,000607: 21,2455 32460 CA OCT240
040609,000608: 21,2456 55456 TS TIMEHOLD
040610,000609: 21,2457 12370 TCF ZEROT5 -1
040611,000610:
040612,000611: 21,2460 00240 OCT240 OCT 240
040613,000612:
040614,000613: 21,2461 37656 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
040615,000614: 21,2462 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
040616,000615: 21,2463 E6,1537 EBANK= KMPAC
040617,000616: 21,2463 03522 44066 2CADR AMBGUPDT
040618,000617:
040619,000618: 21,2465 34777 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
040620,000619: 21,2466 55530 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
040621,000620: # SET BIT3 -INITIALIZE NEEDLES
040622,000621: # CLEAR BIT4 -RESET FOR FDAIDSP1
040623,000622: 21,2467 32476 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
040624,000623: # ERROR COUNTER TO ZERO.
040625,000624: # (MINIMUM DELAY = 15 MS)
040626,000625: 21,2470 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
040627,000626: 21,2471 05336 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
040628,000627: # FILTER WILL BEGIN OPERATING ZOOMS FROM
040629,000628: # NOW
040630,000629:
040631,000630: # CONSTANTS USED IN INITIALIZATION PROGRAM
040632,000631:
040633,000632:
040634,000633: 21,2472 00045 NO.T5VAR DEC 37 B-14 # NO. OF LOCATIONS TO BE ZEROED
040635,000634: # MINUS 2...MUST BE ODD
040636,000635:
040637,000636: # FOR AN EVEN NUMBER OF VARIABLES TO BE ZEROED....
040638,000637: # * SET NO.T5VAR EQUAL TO NUMBER OF VARIABLES MINUS 1
040639,000638: # * DO DXCH WBODY INSTEAD OF WBODY + 1
040640,000639: # * DELETE TS WBODY
040641,000640:
040642,000641: 21,2473 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
040643,000642: 21,2474 03656 DEC .12 # = SLOPE OF 0.3/SEC
040644,000643: 21,2475 4777 RCSINIT = BIT3
040645,000644: 21,2475 20004 RCSINITB OCT 20004
040646,000645:
040647,000646:
040648,000647: 21,2476 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
040649,000648: 21,2477 E6,1537 EBANK= KMPAC
040650,000649: 21,2477 03644 36066 T6ADDR 2CADR T6START
040651,000650:
040652,000651: 21,2501 35003 DKDZERO CAF ZERO
040653,000652: 21,2502 55661 TS 5WORD
040654,000653: 21,2503 55662 TS 6WORD
040655,000654: 21,2504 55466 TS 5AXW
040656,000655: 21,2505 55467 TS 5BXW
040657,000656: 21,2506 55465 TS INHIBIT
040658,000657: 21,2507 34771 CAF BIT9
040659,000658: 21,2510 55660 TS NEXT6INT
040660,000659: 21,2511 12534 TCF ZOT
040661,000660:
040662,000661: 21,2512 62524 -75DEGS DEC -.41666 # -75 DEGS IN REVS * 2
040663,000662:
|
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The name of the following label is a guess.
|
040665,000664: 21,2513 44777 DOCKED CS FOUR
040666,000665: 21,2514 12612 TCF NOHIAUTO
040667,000666:
040668,000667:
040669,000668: 21,2515 35006 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
040670,000669: 21,2516 55535 +1 TS SPNDX # YWORD1,PWORD2,PWORD1,RWORD2,
040671,000670: 21,2517 35003 CAF ZERO # AND RWORD1.
040672,000671: 21,2520 51535 INDEX SPNDX
040673,000672: 21,2521 55477 TS RWORD1
040674,000673: 21,2522 11535 CCS SPNDX
040675,000674: 21,2523 12516 TCF ZEROJET +1
040676,000675:
040677,000676: 21,2524 51475 INDEX WHICHDAP
040678,000677: 21,2525 12526 TCF +1
040679,000678: 21,2526 12530 TCF +2
040680,000679: 21,2527 12501 TCF DKDZERO
040681,000680:
040682,000681: 21,2530 34777 CAF FOUR
040683,000682: 21,2531 55510 TS BLAST1 +1
040684,000683: 21,2532 35006 CAF ELEVEN
040685,000684: 21,2533 55512 TS BLAST2 +1
040686,000685:
040687,000686: 21,2534 45001 ZOT CS BIT1
040688,000687: 21,2535 71530 MASK RCSFLAGS
040689,000688: 21,2536 55530 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
040690,000689:
040691,000690: 21,2537 00006 EXTEND
040692,000691: 21,2540 32500 DCA T6ADDR
040693,000692: 21,2541 52111 DXCH T6LOC
040694,000693: 21,2542 34626 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
040695,000694: 21,2543 54031 TS TIME6
040696,000695: 21,2544 00006 EXTEND
040697,000696: 21,2545 22070 QXCH RUPTREG1
040698,000697: 21,2546 04553 TC C13STALL
040699,000698: 21,2547 34763 CAF BIT15
040700,000699: 21,2550 00006 EXTEND
040701,000700: 21,2551 05013 WOR CHAN13
040702,000701:
040703,000702: 21,2552 00070 TC RUPTREG1
040704,000703:
040705,000704: 21,2553 11650 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
040706,000705: 21,2554 13134 TCF KALUPDT
040707,000706:
040708,000707:
040709,000708: 21,2555 12557 TCF +2 # ONLY IF ATTKALMN POSITIVE
040710,000709: 21,2556 12557 TCF +1
040711,000710: 21,2557 37663 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
040712,000711: 21,2560 56030 XCH TIME5 # (JET SELECTION LOGIC )
040713,000712: 21,2561 27665 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
040714,000713:
040715,000714:
040716,000715: 21,2562 10034 CCS CDUZ
040717,000716: 21,2563 12567 TCF GIMBY # +(
040718,000717: 21,2564 12601 TCF OKGIMB # +0
040719,000718: 21,2565 12567 TCF GIMBY # -N
040720,000719: 21,2566 12601 TCF OKGIMB # -0
040721,000720: 21,2567 62512 GIMBY AD -75DEGS
040722,000721: 21,2570 00006 EXTEND
040723,000722: 21,2571 62601 BZMF OKGIMB
040724,000723:
040725,000724: 21,2572 07710 TC UPFLAG # ATTITUDE HOLD WHEN MIDDLE GIMBAL ANGLE
040726,000725: 21,2573 00020 ADRES STIKFLAG # GREATER THAN 75 DEGREES
040727,000726: 21,2574 11330 CCS HOLDFLAG
040728,000727: 21,2575 12601 TCF OKGIMB
040729,000728: 21,2576 12601 TCF OKGIMB
040730,000729: 21,2577 35003 CAF ZERO
040731,000730: 21,2600 55330 TS HOLDFLAG
040732,000731:
040733,000732: 21,2601 51475 OKGIMB INDEX WHICHDAP
040734,000733: 21,2602 12603 TCF +1
040735,000734: 21,2603 12605 TCF +2
040736,000735: 21,2604 12513 TCF DOCKED
040737,000736:
040738,000737: 21,2605 31530 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
040739,000738: 21,2606 74763 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
040740,000739: 21,2607 00006 EXTEND # ATTKALMN TO -1
040741,000740: 21,2610 12612 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
040742,000741: 21,2611 45001 CS ONE
040743,000742: 21,2612 55650 NOHIAUTO TS ATTKALMN
040744,000743:
040745,000744:
040746,000745: # MANUAL ROTATION COMMANDS
040747,000746:
040748,000747: 21,2613 43001 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
040749,000748: 21,2614 71530 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
040750,000749: 21,2615 55530 TS RCSFLAGS
040751,000750:
040752,000751: 21,2616 00006 EXTEND
040753,000752: 21,2617 00031 READ CHAN31
040754,000753: 21,2620 54001 TS L
040755,000754: 21,2621 31663 CA CH31TEMP
040756,000755: 21,2622 00006 EXTEND
040757,000756: 21,2623 06001 RXOR LCHAN
040758,000757: 21,2624 73005 MASK MANROT # = OCT00077
040759,000758: 21,2625 00006 EXTEND
040760,000759: 21,2626 62646 BZMF NOCHANGE
040761,000760:
040762,000761: 21,2627 22000 LXCH A
040763,000762: 21,2630 55663 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
040764,000763:
040765,000764: 21,2631 30001 CA L
040766,000765: 21,2632 00006 EXTEND
040767,000766: 21,2633 74775 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
040768,000767: 21,2634 30001 CA L
040769,000768: 21,2635 27530 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
040770,000769: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
040771,000770: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
040772,000771: # PITCH
040773,000772:
040774,000773: 21,2636 41530 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
040775,000774: 21,2637 75067 MASK OCT16000 # 11 OF RCSFLAGS)
040776,000775: 21,2640 27530 ADS RCSFLAGS
040777,000776:
040778,000777: 21,2641 51475 INDEX WHICHDAP
040779,000778: 21,2642 12643 TCF +1
040780,000779: 21,2643 12646 TCF NOCHANGE
040781,000780:
040782,000781: 21,2644 45003 CS ZERO
040783,000782: 21,2645 55465 TS INHIBIT
040784,000783:
040785,000784: 21,2646 41663 NOCHANGE CS CH31TEMP
040786,000785: 21,2647 73005 MASK MANROT
040787,000786: 21,2650 00006 EXTEND
040788,000787: 21,2651 63150 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
040789,000788:
040790,000789: 21,2652 55330 TS HOLDFLAG # SET HOLDFLAG +
040791,000790:
040792,000791: 21,2653 03116 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
040793,000792: # YMANNDX, AND RMANNDX ARE ALL SET, BY
040794,000793: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
040795,000794: # +, OR - ROTATION RESPECTIVELY AS
040796,000795: # COMMANDED BY THE RHC.
040797,000796:
040798,000797: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
040799,000798: # THE RHC IS RETURNED TO DETENT, THE
040800,000799: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
040801,000800: # STICKCHK SO PMANNDX, YMANNDX, AND
040802,000801: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
040803,000802: # LEFT SET TO THEIR LAST OUT OF DETENT
040804,000803: # VALUES.
040805,000804:
040806,000805: 21,2654 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
040807,000806: 21,2655 74764 MASK STIKBIT # PROGRAMS (P20) THAT ASTRONAUT HAS
040808,000807: 21,2656 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
040809,000808:
040810,000809: 21,2657 34764 CAF BIT14
040811,000810: 21,2660 05627 TC C31BTCHK
040812,000811: 21,2661 13016 TCF FREEFUNC
040813,000812: 21,2662 31530 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
040814,000813: 21,2663 74764 MASK BIT14 # HAS BEEN INITIALIZED
040815,000814: 21,2664 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
040816,000815: 21,2665 12346 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
040817,000816:
040818,000817: 21,2666 45004 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
040819,000818: 21,2667 60767 AD RATEINDX # ATTKALMN TO -1.
040820,000819: 21,2670 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
040821,000820: 21,2671 62674 BZMF +3
040822,000821: 21,2672 45001 CS ONE
040823,000822: 21,2673 55650 TS ATTKALMN
040824,000823:
040825,000824:
040826,000825: 21,2674 35000 CAF TWO # AUTO-HOLD MANUAL ROTATION
040827,000826: 21,2675 55535 SETWBODY TS SPNDX
040828,000827: 21,2676 60000 DOUBLE
040829,000828: 21,2677 55536 TS DPNDX
040830,000829: 21,2700 51535 INDEX SPNDX # RMANNDX = 0 NO ROTATION
040831,000830: 21,2701 31707 CA RMANNDX # = 1 + ROTATION
040832,000831: 21,2702 00006 EXTEND # = 2 - ROTATION
040833,000832: 21,2703 12731 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
040834,000833: # GO TO NORATE.
040835,000834:
040836,000835: 21,2704 51475 INDEX WHICHDAP
040837,000836: 21,2705 12706 TCF +1
040838,000837: 21,2706 12710 TCF +2
040839,000838: 21,2707 12762 TCF GETDKRAT
040840,000839:
040841,000840: 21,2710 60767 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
040842,000841: 21,2711 54002 TS Q # = 2 0.2 DEG/SEC
040843,000842: 21,2712 50002 INDEX Q # = 4 0.5 DEG/SEC
040844,000843: 21,2713 33005 CA MANTABLE -1 # = 6 2.0 DEG/SEC
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|
The name of the following label is a guess.
|
040846,000845: 21,2714 00006 WBODYSET EXTEND
040847,000846: 21,2715 74771 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
040848,000847: 21,2716 51536 INDEX DPNDX # TO GET COMMANDED RATE.
040849,000848: 21,2717 53555 DXCH WBODY # SET WBODY TO COMMANDED RATE.
040850,000849:
040851,000850: 21,2720 31530 CA RCSFLAGS
040852,000851: 21,2721 75067 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
040853,000852: 21,2722 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
040854,000853: 21,2723 12741 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
040855,000854: # ERROR.
040856,000855:
040857,000856: 21,2724 35003 ZEROER CA ZERO # ZEROER ZEROS MERRORS
040858,000857: 21,2725 22007 ZL
040859,000858: 21,2726 51536 INDEX DPNDX
040860,000859: 21,2727 53571 DXCH MERRORX
040861,000860: 21,2730 12753 TCF SPNDXCHK
040862,000861:
040863,000862: 21,2731 22007 NORATE ZL
040864,000863: 21,2732 51536 INDEX DPNDX
040865,000864: 21,2733 53555 DXCH WBODY # ZERO WBODY FOR THIS AXIS
040866,000865: 21,2734 31530 CA RCSFLAGS
040867,000866: 21,2735 75067 MASK OCT16000
040868,000867: 21,2736 00006 EXTEND # IS RATE DAMPING COMPLETED
040869,000868: 21,2737 12753 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
040870,000869: 21,2740 12724 TCF ZEROER # NO, GO TO ZEROER
040871,000870:
040872,000871: 21,2741 51475 MERUPDAT INDEX WHICHDAP
040873,000872: 21,2742 12743 TCF +1
040874,000873: 21,2743 12745 TCF +2
040875,000874: 21,2744 12771 TCF GETDKCMD
040876,000875:
040877,000876: 21,2745 50002 INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
040878,000877: 21,2746 43005 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
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|
The name of the following label is a guess.
|
040880,000879: 21,2747 00006 UPDATMER EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
040881,000880: 21,2750 74773 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
040882,000881: 21,2751 51536 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
040883,000882: 21,2752 21571 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
040884,000883:
040885,000884: 21,2753 51536 SPNDXCHK INDEX DPNDX
040886,000885: 21,2754 31570 CA MERRORX
040887,000886: 21,2755 51535 INDEX SPNDX
040888,000887: 21,2756 55620 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
040889,000888: 21,2757 11535 CCS SPNDX
040890,000889: 21,2760 12675 TCF SETWBODY
040891,000890: 21,2761 13366 TCF JETS
040892,000891:
040893,000892: 21,2762 50000 GETDKRAT INDEX A
040894,000893: 21,2763 12763 TCF +0
040895,000894: 21,2764 12767 TCF +3
040896,000895:
040897,000896: 21,2765 41473 CS DKRATE
040898,000897: 21,2766 12714 TCF WBODYSET
040899,000898:
040900,000899: 21,2767 31473 CA DKRATE
040901,000900: 21,2770 12714 TCF WBODYSET
040902,000901:
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|
The name of the following function is a guess.
|
040904,000903: 21,2771 51535 GETDKCMD INDEX SPNDX
040905,000904: 21,2772 51707 INDEX RMANNDX
040906,000905: 21,2773 12773 TCF +0
040907,000906: 21,2774 12777 TCF +3
040908,000907:
040909,000908: 21,2775 31473 CA DKRATE
040910,000909: 21,2776 12747 TCF UPDATMER
040911,000910:
040912,000911: 21,2777 41473 CS DKRATE
040913,000912: 21,3000 12747 TCF UPDATMER
040914,000913:
040915,000914: 21,3001 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
040916,000915:
040917,000916: 21,3002 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
040918,000917: 21,3003 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
040919,000918: 21,3004 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
040920,000919: # PRESERVED
040921,000920: # FOR INDEXING
040922,000921: 21,3005 00077 MANROT OCT 77
040923,000922: 21,3006 5067 OCT16000 = PRIO16 # RATE DAMPING FLAGS MASK
040924,000923: 21,3006 00165 MANTABLE DEC .0071111
040925,000924: 21,3007 77612 DEC -.0071111
040926,000925: 21,3010 00722 DEC .028444
040927,000926: 21,3011 77055 DEC -0.028444
040928,000927: 21,3012 02215 DEC .071111
040929,000928: 21,3013 75562 DEC -.071111
040930,000929: 21,3014 11064 DEC .284444
040931,000930: 21,3015 66713 DEC -.284444
040932,000931: 21,3016 4626 =+14MS = DEC23
040933,000932: 21,3016 31530 FREEFUNC CA RCSFLAGS
040934,000933: 21,3017 00006 EXTEND
040935,000934: 21,3020 74767 MP BIT11 # SHIFT RIGHT 4 BITS
040936,000935: 21,3021 55531 TS T5TEMP
040937,000936: 21,3022 41663 CS CH31TEMP
040938,000937: 21,3023 71531 MASK T5TEMP # A= COMPLEMENT OF NEW CH 31 COMMANDS
040939,000938: 21,3024 51475 INDEX WHICHDAP
040940,000939: 21,3025 13026 TCF +1
040941,000940: 21,3026 13176 TCF RHCMINP
040942,000941:
040943,000942: 21,3027 73005 DKRHCIMP MASK MANROT
040944,000943: 21,3030 03116 TC STICKCHK
040945,000944: 21,3031 51707 INDEX RMANNDX
040946,000945: 21,3032 34616 CAF 200MST6 -1
040947,000946: 21,3033 55610 TS TAU
040948,000947: 21,3034 51710 INDEX PMANNDX
040949,000948: 21,3035 34616 CAF 200MST6 -1
040950,000949: 21,3036 55611 TS TAU1
040951,000950: 21,3037 55707 TS TAUZ
040952,000951: 21,3040 51711 INDEX YMANNDX
040953,000952: 21,3041 34616 CAF 200MST6 -1
040954,000953: 21,3042 55612 TS TAU2
040955,000954: 21,3043 40000 COM
040956,000955: 21,3044 55710 TS TAUY
040957,000956:
040958,000957: 21,3045 35003 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
040959,000958: 21,3046 55620 TS ERRORX
040960,000959: 21,3047 55621 TS ERRORY
040961,000960: 21,3050 55622 TS ERRORZ
040962,000961: 21,3051 13740 TCF T6PROG
040963,000962:
040964,000963:
040965,000964: 21,3052 00000 FREETAU DEC 0 B-14
040966,000965: 21,3053 00740 DEC 480 B-14
040967,000966: 21,3054 77037 DEC -480 B-14
040968,000967: 21,3055 00000 DEC 0 B-14
040969,000968:
040970,000969:
040971,000970: 21,3056 02031 DEC .0640
040972,000971: 21,3057 02031 DEC .0640
040973,000972: 21,3060 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
040974,000973: 21,3061 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
040975,000974: 21,3062 06604 DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
040976,000975: 21,3063 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
040977,000976: 21,3064 12132 DEC .3180 # OF ATTITUDE RATES
040978,000977: 21,3065 13030 DEC .3452
040979,000978: 21,3066 14047 DEC .3774
040980,000979: 21,3067 15241 DEC .4161
040981,000980: 21,3070 16650 DEC .4634
040982,000981: 21,3071 20555 DEC .5223
040983,000982: 21,3072 23065 DEC .5970
040984,000983: 21,3073 26137 DEC .6933
040985,000984: 21,3074 32053 DEC .8151
040986,000985: 21,3075 35712 DEC .9342
040987,000986:
040988,000987: 21,3076 00032 DEC .0016
040989,000988: 21,3077 00032 DEC .0016
040990,000989: 21,3100 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
040991,000990: 21,3101 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
040992,000991: 21,3102 00435 DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
040993,000992: 21,3103 00032 GAIN2 DEC .0016 # SCALED 10
040994,000993: 21,3104 01350 DEC .0454
040995,000994: 21,3105 01575 DEC .0545
040996,000995: 21,3106 02103 DEC .0666
040997,000996: 21,3107 02523 DEC .0832
040998,000997: 21,3110 03327 DEC .1069
040999,000998: 21,3111 04432 DEC .1422
041000,000999: 21,3112 06264 DEC .1985
041001,001000: 21,3113 11351 DEC .2955
041002,001001: 21,3114 17324 DEC .4817
041003,001002: 21,3115 33622 DEC .8683
041004,001003: 21,3116 55531 STICKCHK TS T5TEMP
041005,001004: 21,3117 76214 MASK THREE # INDECES FOR MANUAL ROTATION
041006,001005: 21,3120 55710 TS PMANNDX
041007,001006: 21,3121 31531 CA T5TEMP
041008,001007: 21,3122 00006 EXTEND # MAN RATE 0 0 RATE (DP)
041009,001008: 21,3123 74765 MP QUARTER # +1 +RATE (DP)
041010,001009: 21,3124 55531 TS T5TEMP # +2 -RATE (DP)
041011,001010: 21,3125 76214 MASK THREE # (+3) 0 RATE (DP)
041012,001011: 21,3126 55711 TS YMANNDX
041013,001012: 21,3127 31531 CA T5TEMP
041014,001013: 21,3130 00006 EXTEND
041015,001014: 21,3131 74765 MP QUARTER
041016,001015: 21,3132 55707 TS RMANNDX
041017,001016: 21,3133 00002 TC Q
041018,001017:
041019,001018: 21,3134 55650 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
041020,001019: # KALMAN FILTER TAKES 1.1 SEC
041021,001020:
041022,001021: 21,3135 32107 CA DELTATT # =1SEC - 80MS
041023,001022: 21,3136 61665 AD T5TIME # + DELAYS
041024,001023: 21,3137 54030 TS TIME5
041025,001024: 21,3140 13143 TCF +3
041026,001025: 21,3141 37663 CAF DELTATT2 # SAFETY PLAY TO ASSURE
041027,001026: 21,3142 54030 TS TIME5 # A T5RUPT
041028,001027:
041029,001028:
041030,001029: 21,3143 45003 KRESUME2 CS ZERO # RESET FOR PHASE1
041031,001030: 21,3144 55513 TS T5PHASE # RESUME INTERRUPTED PROGRAM
041032,001031: 21,3145 15336 TCF RESUME
041033,001032:
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|
The name of the following function is a guess.
|
041035,001034: 21,3146 04725 GOFDAI2 TC IBNKCALL
041036,001035: 21,3147 41561 CADR FDAIDSP2
041037,001036:
041038,001037: 20,2000 SETLOC DAPS2
041039,001038: 20,2000 BANK
041040,001039: 20,3561 COUNT* $$/DAPRC
041041,001040:
041042,001041: 20,3561 44776 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
041043,001042: 20,3562 71530 MASK RCSFLAGS
041044,001043: 20,3563 55530 TS RCSFLAGS
041045,001044:
041046,001045: 20,3564 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
041047,001046: 20,3565 74771 MASK NEEDLBIT # ERRORS
041048,001047: 20,3566 00006 EXTEND
041049,001048: 20,3567 13576 BZF FDAITOTL
041050,001049: 20,3570 00006 EXTEND
041051,001050: 20,3571 41621 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
041052,001051: 20,3572 53526 DXCH AK
041053,001052: 20,3573 41622 CS ERRORZ
041054,001053: 20,3574 55527 TS AK2
041055,001054: 20,3575 15336 TCF RESUME # END PHASE 1
041056,001055:
041057,001056:
041058,001057: 20,3576 30105 FDAITOTL CA FLAGWRD9
041059,001058: 20,3577 74774 MASK N2217BIT
041060,001059: 20,3600 00006 EXTEND
041061,001060: 20,3601 13644 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
041062,001061: # IF SO, GO TO WRTN17
041063,001062: 20,3602 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
041064,001063: 20,3603 31301 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
041065,001064: 20,3604 53543 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
041066,001065: 20,3605 31277 CA CPHI # COMPONENTS OF N22
041067,001066:
041068,001067: 20,3606 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
041069,001068: 20,3607 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
041070,001069: 20,3610 55525 TS AK
041071,001070: 20,3611 31542 CA WTEMP
041072,001071: 20,3612 00006 EXTEND
041073,001072: 20,3613 20033 MSU CDUY
041074,001073: 20,3614 55531 TS T5TEMP
041075,001074: 20,3615 00006 EXTEND
041076,001075: 20,3616 71671 MP AMGB1
041077,001076: 20,3617 27525 ADS AK
041078,001077: 20,3620 31531 CA T5TEMP
041079,001078: 20,3621 00006 EXTEND
041080,001079: 20,3622 71672 MP AMGB4
041081,001080: 20,3623 55526 TS AK1
041082,001081: 20,3624 31531 CA T5TEMP
041083,001082: 20,3625 00006 EXTEND
041084,001083: 20,3626 71674 MP AMGB7
041085,001084: 20,3627 55527 TS AK2
041086,001085: 20,3630 31543 CA WTEMP +1
041087,001086: 20,3631 00006 EXTEND
041088,001087: 20,3632 20034 MSU CDUZ
041089,001088: 20,3633 55531 TS T5TEMP
041090,001089: 20,3634 00006 EXTEND
041091,001090: 20,3635 71673 MP AMGB5
041092,001091: 20,3636 27526 ADS AK1
041093,001092: 20,3637 31531 CA T5TEMP
041094,001093: 20,3640 00006 EXTEND
041095,001094: 20,3641 71675 MP AMGB8
041096,001095: 20,3642 27527 ADS AK2
041097,001096: 20,3643 15336 TCF RESUME # END PHASE1 OF RCS DAP
041098,001097:
041099,001098: 20,3644 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
041100,001099: 20,3645 31010 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
041101,001100: 20,3646 53543 DXCH WTEMP # THE THREE COMPONENTS OF N17
041102,001101: 20,3647 31006 CA CPHIX
041103,001102: 20,3650 13606 TCF GETAKS
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc