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.

044765,000002:                                                                                                  ## Copyright:   Public domain.
044766,000003:                                                                                                  ## Filename:    RCS-CSM_DIGITAL_AUTOPILOT.agc
044767,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
044768,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
044769,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
044770,000007:                                                                                                  ## Assembler:   yaYUL
044771,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
044772,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
044773,000010:                                                                                                  ## Pages:       1002-1024
044774,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
044775,000012:                                                                                                  ##                              same name, using Comanche055 page images.
044776,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
044777,000014:                                                                                                  ##                              and corrected the errors found.
044778,000015:                                                                                                  ##              2017-01-18 RSB  Fixed comment-text errors noted while diff'ing
044779,000016:                                                                                                  ##                              vs Colossus 249.
044780,000017:                                                                                                  ##
044781,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
044782,000019:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
044783,000020:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
044784,000021:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
044785,000022:                                                                                                  ## consequent reduction in image quality as well) are available online at
044786,000023:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
044787,000024:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
044788,000025:                                                                                                  ## (much) higher-quality images which Paul actually created.
044789,000026:                                                                                                  ##
044790,000027:                                                                                                  ## Notations on the hardcopy document read, in part:
044791,000028:                                                                                                  ##
044792,000029:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
044793,000030:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
044794,000031:                                                                                                  ##
044795,000032:                                                                                                  ##      This AGC program shall also be referred to as
044796,000033:                                                                                                  ##                      Colossus 2A
044797,000034: 

Page 1002

044799,000036:                                                                                                  #  T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044800,000037: 
044801,000038:                                                                                                  #  START OF T5 INTERRUPT PROGRAM
044802,000039: 
044803,000040: 20,3612                                           BANK     20                                    
044804,000041: 21,2000                                           SETLOC   DAPS3                                 
044805,000042: 21,2000                                           BANK                                           
044806,000043: 
044807,000044: 21,2105                                           COUNT    21/DAPRC                              
044808,000045: 
044809,000046: 21,2105  E6,1510                                  EBANK=   KMPAC                                 
044810,000047: 21,2105           22016        REDORCS            LXCH     BANKRUPT                              #  RESTART OF AUTOPILOT COMES HERE
044811,000048: 21,2106           31465                           CA       T5PHASE                               #  ON A T5 RUPT.
044812,000049: 21,2107           00006                           EXTEND                                         
044813,000050: 21,2110           62112                           BZMF     +2                                    #  IF T5PHASE +0, -0, OR -, RESET TO -
044814,000051: 21,2111           12114                           TCF      +3                                    #  IF T5PHASE +, LEAVE IT +.  DO A FRESHDAP
044815,000052: 21,2112           45017                           CS       ONE                                   
044816,000053: 21,2113           55465                           TS       T5PHASE                               
044817,000054: 21,2114           00006                           EXTEND                                         
044818,000055: 21,2115           32121                           DCA      RCSLOC                                
044819,000056: 21,2116           53313                           DXCH     T5LOC                                 #  HOOK UP T5RUPT TO AUTOPILOT
044820,000057: 21,2117           12123                           TCF      RCSATT     +1                         
044821,000058: 21,2120  E6,1510                                  EBANK=   KMPAC                                 
044822,000059: 21,2120           02122 42066  RCSLOC             2CADR    RCSATT                                
044823,000060: 
044824,000061: 21,2122           22016        RCSATT             LXCH     BANKRUPT                              #  SAVE BB
044825,000062: 21,2123           00006                           EXTEND                                         #  SAVE Q
044826,000063: 21,2124           22012                           QXCH     QRUPT                                 
044827,000064: 21,2125           35001                           CAF      BIT15                                 #  BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044828,000065: 21,2126           00006                           EXTEND                                         #  S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
044829,000066: 21,2127           02031                           RAND     CHAN31                                #  PILOT IS FULLY ENABLED)
044830,000067: 21,2130           00006                           EXTEND                                         
044831,000068: 21,2131           12160                           BZF      SETT5                                 #  IF G/C AUTOPILOT IS FULLY ENABLED,
044832,000069:                                                                                                  #  GO TO SETT5
044833,000070: 
044834,000071: 21,2132           41501                           CS       RCSFLAGS                              #  IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044835,000072: 21,2133           75002                           MASK     BIT14                                 
044836,000073: 21,2134           27501                           ADS      RCSFLAGS                              #  SET NORATE FLAG,
044837,000074: 21,2135           34777                           CAF      POSMAX                                
044838,000075: 21,2136           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +,
044839,000076: 21,2137           35021                           CAF      ZERO                                  #  ZERO ERRORX, ERRORY, AND ERRORZ,
044840,000077: 21,2140           55567                           TS       ERRORX                                
044841,000078: 21,2141           55570                           TS       ERRORY                                
044842,000079: 21,2142           55571                           TS       ERRORZ                                
044843,000080: 21,2143           35002                           CAF      BIT14                                 
044844,000081: 21,2144           00006                           EXTEND                                         
044845,000082: 21,2145           02031                           RAND     CHAN31                                #  AND CHECK FREE FUNCTION (BIT14 CHAN31).
044846,000083: 21,2146           00006                           EXTEND                                         

Page 1003

044848,000085: 21,2147           12160                           BZF      SETT5                                 #  IF IN FREE MODE, GO TO SETT5.
044849,000086: 
044850,000087: 21,2150           55465                           TS       T5PHASE                               #  IF NOT IN FREE MODE,
044851,000088: 21,2151           37676                           CAF      OCT37766                              #  SCHEDULE REINITIALIZATION (FRESHDAP)
044852,000089: 21,2152           54030                           TS       TIME5                                 #  IN 100 MS VIA T5RUPT
044853,000090: 
044854,000091: 21,2153           02632                           TCR      ZEROJET                               #  ZERO JET CHANNELS IN 14 MS VIA ZEROJET
044855,000092: 
044856,000093: 21,2154           12350                           TCF      KMATRIX                               
044857,000094: 21,2155           37770        DELTATT            OCT      37770                                 #  80MS (TIME5)
044858,000095: 21,2156           37776        DELTATT2           OCT      37776                                 #  20MS (TIME5)
044859,000096: 21,2157           37634        ONESEK             DEC      16284      B-14                       #  1 SEC(TIME5)
044860,000097: 21,2160                        CHAN5              EQUALS   5                                     
044861,000098: 21,2160                        CHAN6              EQUALS   6                                     
044862,000099: 21,2160     7671               PRIO34A            =        PRIO34                                
044863,000100: 
044864,000101:                                                                                                  #  CHECK PHASE OF T5 PROGRAM
044865,000102: 
044866,000103:                                                                                                  #  BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 
044867,000104:                                                                                                  #  THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044868,000105:                                                                                                  #  TO ALLOW FOR THE EXECUTION OF OTHER
044869,000106:                                                                                                  #  INTERRUPTS.  T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044870,000107:                                                                                                  #  VARIABLES AT TURN ON.
044871,000108: 
044872,000109:                                                                                                  #  THE CODING OF T5PHASE IS...
044873,000110: 
044874,000111:                                                                                                  #                + = INITIALIZE T5 RCS-CSM AUTOPILOT
044875,000112:                                                                                                  #     T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044876,000113:                                                                                                  #                - = RESTART DAP
044877,000114:                                                                                                  #               -0 = PHASE1 OF THE T5 PROGRAM
044878,000115: 
044879,000116: 21,2160           11465        SETT5              CCS      T5PHASE                               
044880,000117: 21,2161           12544                           TCF      FRESHDAP                              #  TURN ON AUTOPILOT
044881,000118: 21,2162           12661                           TCF      T5PHASE2                              #  BRANCH TO PHASE2 OF PROGRAM
044882,000119: 21,2163           12546                           TCF      REDAP                                 #  RESTART AUTOPILOT
044883,000120: 
044884,000121: 21,2164           55465                           TS       T5PHASE                               #  PHASE 1  RESET  FOR PHASE 2
044885,000122: 21,2165           30030                           CA       TIME5                                 
044886,000123: 21,2166           55634                           TS       T5TIME                                #  USED IN COMPENSATING FOR DELAYS IN T5
044887,000124: 21,2167           32156                           CAF      DELTATT2                              #  RESET FOR T5RUPT IN 20MS FOR PHASE2
044888,000125: 21,2170           54030                           TS       TIME5                                 #  OF PROGRAM
044889,000126: 

Page 1004

044891,000128:                                                                                                  #  IMU STATUS CHECK
044892,000129: 
044893,000130: 21,2171           41321                           CS       IMODES33                              #  CHECK IMU STATUS
044894,000131: 21,2172           75012                           MASK     BIT6                                  #  BIT6 = 0 IMU OK
044895,000132: 21,2173           10000                           CCS      A                                     #  BIT6 = 1 NO IMU
044896,000133: 21,2174           12210                           TCF      RATEFILT                              
044897,000134: 21,2175           41501        FREECHK            CS       RCSFLAGS                              #  BIT14 INDICATES THAT RATES HAVE NOT BEEN
044898,000135: 21,2176           75002                           MASK     BIT14                                 #  INITIALIZED
044899,000136: 21,2177           27501                           ADS      RCSFLAGS                              
044900,000137: 21,2200           35002                           CAF      BIT14                                 #  NO ATTITUDE REFERENCE
044901,000138: 21,2201           55332                           TS       HOLDFLAG                              #  STOP ANY AUTOMATIC STEERING AND PREPARE
044902,000139:                                                                                                  #  TO PICK UP CDU ANGLES UPON RESUMPTION OF
044903,000140:                                                                                                  #  ATTITUDE HOLD
044904,000141: 21,2202           00006                           EXTEND                                         
044905,000142: 21,2203           02031                           RAND     CHAN31                                #  CHECK FOR FREE MODE
044906,000143: 21,2204           00006                           EXTEND                                         
044907,000144: 21,2205           12417                           BZF      KRESUME1                              #  IN FREE MODE PROVIDE FREE CONTROL ONLY
044908,000145: 21,2206           12534                           TCF      REINIT                                #  .....TILT...............................
044909,000146: 21,2207           00030        BITS4,5            OCT      30                                    
044910,000147: 
044911,000148: 21,2210           31501        RATEFILT           CA       RCSFLAGS                              #  SEE IF RATEFILTER HAS BEEN INITIALIZED
044912,000149: 21,2211           75002                           MASK     BIT14                                 
044913,000150: 21,2212           00006                           EXTEND                                         #  IF SO, PROCEED WITH RATE DERIVATION
044914,000151: 21,2213           12215                           BZF      +2                                    
044915,000152: 21,2214           12350                           TCF      KMATRIX                               #  IF NOT, SKIP RATE DERIVATION
044916,000153: 
044917,000154:                                                                                                  #        RATE FILTER     TIMING = 7.72 MS
044918,000155: 
044919,000156:                                                                                                  #  RATE FILTER EQUATIONS
044920,000157: 
044921,000158: 
044922,000159:                                                                                                  #  DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044923,000160:                                                                                                  #                                            -1
044924,000161: 
044925,000162:                                                                                                  #  ADOT = ADOT   + GAIN2 DRHO + KMJ DFT
044926,000163:                                                                                                  #             -1
044927,000164:                                                                                                  #         -       *     -     -
044928,000165:                                                                                                  #  WHERE DELRHO = AMGB (CDU - CDU  )
044929,000166:                                                                                                  #                                -1
044930,000167: 
044931,000168: 21,2215           35016                           CAF      TWO                                   
044932,000169: 21,2216           55506        DRHOLOOP           TS       SPNDX                                 
044933,000170: 21,2217           60000                           DOUBLE                                         
044934,000171: 21,2220           55507                           TS       DPNDX                                 
044935,000172: 21,2221           51507                           INDEX    DPNDX                                 
044936,000173: 21,2222           41552                           CS       DRHO                                  #  DRHO SCALED 180 DEGS
044937,000174: 21,2223           00006                           EXTEND                                         
044938,000175: 21,2224           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAIN
044939,000176: 21,2225           73077                           MP       GAIN1                                 
044940,000177: 21,2226           51507                           INDEX    DPNDX                                 
044941,000178: 21,2227           21553                           DAS      DRHO                                  #  (1 -.064) DRHO
044942,000179: 21,2230           00006                           EXTEND                                         

Page 1005

044944,000181: 21,2231           51507                           INDEX    DPNDX                                 
044945,000182: 21,2232           41534                           DCS      ADOT                                  
044946,000183: 21,2233           53511                           DXCH     KMPAC                                 #  -(.1)ADOT
044947,000184: 21,2234           35003                           CA       QUARTER                               
044948,000185: 21,2235           02042                           TC       SMALLMP                               
044949,000186: 21,2236           53511                           DXCH     KMPAC                                 
044950,000187: 21,2237           51507                           INDEX    DPNDX                                 
044951,000188: 21,2240           21553                           DAS      DRHO                                  
044952,000189: 21,2241           11506                           CCS      SPNDX                                 
044953,000190: 21,2242           12216                           TCF      DRHOLOOP                              
044954,000191: 
044955,000192: 21,2243           30032                           CA       CDUX                                  #  MEASURED BODY RATES--
044956,000193: 21,2244           57635                           XCH      RHO                                   
044957,000194: 21,2245           00006                           EXTEND                                         
044958,000195: 21,2246           21635                           MSU      RHO                                   #  -        *     -     -
044959,000196: 21,2247           40000                           COM                                            #  DELRHO = AMGB (CDU - CDU  )
044960,000197:                                                                                                  #                          -1
044961,000198: 21,2250           22007                           ZL                                             
044962,000199: 21,2251           53516                           DXCH     DELTEMPX                              
044963,000200: 21,2252           30033                           CA       CDUY                                  
044964,000201: 21,2253           57636                           XCH      RHO1                                  
044965,000202: 21,2254           00006                           EXTEND                                         
044966,000203: 21,2255           21636                           MSU      RHO1                                  
044967,000204: 21,2256           40000                           COM                                            
044968,000205: 21,2257           55502                           TS       T5TEMP                                #  (CDUY - RHO1)    SCALED 90 DEGS
044969,000206: 21,2260           00006                           EXTEND                                         
044970,000207: 21,2261           71640                           MP       AMGB1                                 
044971,000208: 21,2262           21516                           DAS      DELTEMPX                              #  DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044972,000209:                                                                                                  #  MUST BE DOUBLE PRECISION OR WILL LOSE
044973,000210:                                                                                                  #  PULSES
044974,000211: 21,2263           31641                           CA       AMGB4                                 
044975,000212: 21,2264           00006                           EXTEND                                         
044976,000213: 21,2265           71502                           MP       T5TEMP                                
044977,000214: 21,2266           53520                           DXCH     DELTEMPY                              
044978,000215: 21,2267           31643                           CA       AMGB7                                 
044979,000216: 21,2270           00006                           EXTEND                                         
044980,000217: 21,2271           71502                           MP       T5TEMP                                
044981,000218: 21,2272           53522                           DXCH     DELTEMPZ                              
044982,000219: 21,2273           30034                           CA       CDUZ                                  
044983,000220: 21,2274           57637                           XCH      RHO2                                  
044984,000221: 21,2275           00006                           EXTEND                                         
044985,000222: 21,2276           21637                           MSU      RHO2                                  
044986,000223: 21,2277           40000                           COM                                            
044987,000224: 21,2300           55502                           TS       T5TEMP                                #  (CDUZ - RHO2)    SCALED 90 DEGS
044988,000225: 21,2301           00006                           EXTEND                                         
044989,000226: 21,2302           71642                           MP       AMGB5                                 
044990,000227: 21,2303           21520                           DAS      DELTEMPY                              #  DELTEMPY = AMGB4(CDUY-RHO1)
044991,000228:                                                                                                  #                   + AMGB5(CDUZ-RHO2)
044992,000229: 21,2304           31644                           CA       AMGB8                                 
044993,000230: 21,2305           00006                           EXTEND                                         
044994,000231: 

Page 1006

044996,000233: 21,2306           71502                           MP       T5TEMP                                
044997,000234: 21,2307           21522                           DAS      DELTEMPZ                              #  DELTEMPZ = AMGB7(CDUY-RHO1)
044998,000235:                                                                                                  #                  + AMGB8(CDUZ-RHO2)
044999,000236: 21,2310           35016                           CAF      TWO                                   
045000,000237: 21,2311           55506        ADOTLOOP           TS       SPNDX                                 
045001,000238: 21,2312           60000                           DOUBLE                                         
045002,000239: 21,2313           55507                           TS       DPNDX                                 
045003,000240: 21,2314           00006                           EXTEND                                         
045004,000241: 21,2315           51507                           INDEX    DPNDX                                 
045005,000242: 21,2316           31516                           DCA      DELTEMPX                              
045006,000243: 21,2317           51507                           INDEX    DPNDX                                 
045007,000244: 21,2320           21553                           DAS      DRHO                                  
045008,000245: 21,2321           00006                           EXTEND                                         
045009,000246: 21,2322           51507                           INDEX    DPNDX                                 
045010,000247: 21,2323           31516                           DCA      DELTEMPX                              
045011,000248: 21,2324           51507                           INDEX    DPNDX                                 
045012,000249: 21,2325           21542                           DAS      MERRORX                               
045013,000250: 21,2326           51507                           INDEX    DPNDX                                 
045014,000251: 21,2327           31552                           CA       DRHO                                  
045015,000252: 21,2330           60000                           DOUBLE                                         #  N.B.
045016,000253: 21,2331           60000                           DOUBLE                                         #  N.B.
045017,000254: 21,2332           00006                           EXTEND                                         
045018,000255: 21,2333           51617                           INDEX    ATTKALMN                              #  PICK UP DESIRED FILTER GAINS
045019,000256: 21,2334           73115                           MP       GAIN2                                 
045020,000257: 21,2335           51507                           INDEX    DPNDX                                 #  ADOT   + (.16)(.1)DRHO
045021,000258: 21,2336           21534                           DAS      ADOT                                  #      -1
045022,000259: 21,2337           51506                           INDEX    SPNDX                                 #  S/C TORQUE TO INERTIA RATIO
045023,000260: 21,2340           31620                           CA       KMJ                                   #  SCALED (450)(1600)/(57.3)(16384)=1/1.3
045024,000261: 21,2341           00006                           EXTEND                                         
045025,000262: 21,2342           51506                           INDEX    SPNDX                                 
045026,000263: 21,2343           71547                           MP       DFT                                   
045027,000264: 21,2344           51507                           INDEX    DPNDX                                 
045028,000265: 21,2345           21534                           DAS      ADOT                                  #  KMJ(DFT)
045029,000266: 21,2346           11506                           CCS      SPNDX                                 
045030,000267: 21,2347           12311                           TCF      ADOTLOOP                              #  END CALCULATION OF VEHICLE RATES
045031,000268: 21,2350           31560        KMATRIX            CA       ATTSEC                                
045032,000269: 21,2351           75026                           MASK     LOW4                                  
045033,000270: 21,2352           10000                           CCS      A                                     
045034,000271: 21,2353           12361                           TCF      TENTHSEK                              
045035,000272: 21,2354           37671                           CAF      PRIO34                                #  CALL FOR 1 SEC UPDATE OF TRANSFORMATION
045036,000273: 21,2355           05134                           TC       NOVAC                                 #  MATRIX FROM GIMBAL AXES TO BODY AXES
045037,000274: 21,2356  E6,1510                                  EBANK=   KMPAC                                 
045038,000275: 21,2356           03447 44066                     2CADR    AMBGUPDT                              
045039,000276: 
045040,000277: 21,2360           34334                           CAF      NINE                                  
045041,000278: 
045042,000279: 21,2361           55560        TENTHSEK           TS       ATTSEC                                
045043,000280: 

Page 1007

045045,000282:                                                                                                  #  WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
045046,000283:                                                                                                  #  SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
045047,000284: 
045048,000285:                                                                                                  #        CDUXD = CDUXD + DELCDUX         (DOUBLE PRECISION)
045049,000286:                                                                                                  #        CDUYD = CDUYD + DELCDUY         (DOUBLE PRECISION)
045050,000287:                                                                                                  #        CDUZD = CDUZD + DELCDUZ         (DOUBLE PRECISION)
045051,000288: 
045052,000289:                                                                                                  #  THE STEERING PROGRAMS-
045053,000290:                                                                                                  #        1) ATTITUDE MANEUVER ROUTINE
045054,000291:                                                                                                  #        2) LEM TRACKING
045055,000292: 
045056,000293:                                                                                                  #  SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
045057,000294:                                                                                                  #  DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
045058,000295: 
045059,000296:                                                                                                  #  HOLDFLAG CODING-
045060,000297: 
045061,000298:                                                                                                  #        + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
045062,000299:                                                                                                  #            AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
045063,000300:                                                                                                  #            ALSO IGNORE AUTOMATIC STEERING
045064,000301:                                                                                                  #            SET = + BY
045065,000302:                                                                                                  #                1) INITIALIZATION PHASE OF AUTOPILOT
045066,000303:                                                                                                  #                2) OCCURANCE OF RHC COMMANDS
045067,000304:                                                                                                  #                3) FREE MODE
045068,000305:                                                                                                  #                4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
045069,000306:                                                                                                  #                   WHILE DOING AUTOMATIC STEERING (IN THIS CASE
045070,000307:                                                                                                  #                   HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
045071,000308:                                                                                                  #                   FUNCTIONS AS IF IT WERE.)
045072,000309:                                                                                                  #                5) S/C CONTROL SWITCH IN SCS
045073,000310:                                                                                                  #                6) IMU POWER OFF
045074,000311:                                                                                                  #       +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
045075,000312:                                                                                                  #        - = PERFORMING AUTOMATIC MANEUVER
045076,000313:                                                                                                  #       -0 = NOT USED AT PRESENT
045077,000314: 
045078,000315:                                                                                                  #  NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
045079,000316:                                                                                                  #  SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
045080,000317:                                                                                                  #  DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
045081,000318: 
045082,000319: 21,2362           41332                           CS       HOLDFLAG                              
045083,000320: 21,2363           00006                           EXTEND                                         
045084,000321: 21,2364           62411                           BZMF     DACNDLS                               #  IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
045085,000322:                                                                                                  #  COMMANDS
045086,000323: 21,2365           35016        DCDUINCR           CAF      TWO                                   
045087,000324: 21,2366           55506        DELOOP             TS       SPNDX                                 
045088,000325: 21,2367           60000                           DOUBLE                                         
045089,000326: 21,2370           55507                           TS       DPNDX                                 
045090,000327: 21,2371           00006                           EXTEND                                         
045091,000328: 21,2372           50000                           INDEX    A                                     
045092,000329: 21,2373           31647                           DCA      CDUXD                                 

Page 1008

045094,000331: 21,2374           53511                           DXCH     KMPAC                                 
045095,000332: 21,2375           00006                           EXTEND                                         
045096,000333: 21,2376           51507                           INDEX    DPNDX                                 
045097,000334: 21,2377           31576                           DCA      DELCDUX                               
045098,000335: 21,2400           02054                           TC       DPADD                                 
045099,000336: 21,2401           00006                           EXTEND                                         
045100,000337: 21,2402           31511                           DCA      KMPAC                                 
045101,000338: 21,2403           51506                           INDEX    SPNDX                                 
045102,000339: 21,2404           55572                           TS       THETADX                               
045103,000340: 21,2405           51507                           INDEX    DPNDX                                 
045104,000341: 21,2406           53647                           DXCH     CDUXD                                 
045105,000342: 21,2407           11506                           CCS      SPNDX                                 
045106,000343: 21,2410           12366                           TCF      DELOOP                                
045107,000344: 

Page 1009

045109,000346:                                                                                                  #  RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
045110,000347: 
045111,000348:                                                                                                  #  THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
045112,000349: 
045113,000350:                                                                                                  #        MODE 1) AUTOPILOT FOLLOWING ERRORS              SELECTED BY V61E
045114,000351:                                                                                                  #                GENERATED INTERNALLY BY THE AUTOPILOT
045115,000352: 
045116,000353:                                                                                                  #        MODE 2) TOTAL ATTITUDE ERRORS                   SELECTED BY V62E
045117,000354:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N22
045118,000355: 
045119,000356:                                                                                                  #        MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS         SELECTED BY V63E
045120,000357:                                                                                                  #                WITH RESPECT TO THE CONTENTS OF N17
045121,000358: 
045122,000359:                                                                                                  #  MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS.  IN THIS
045123,000360:                                                                                                  #  MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
045124,000361: 
045125,000362:                                                                                                  #  MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045126,000363:                                                                                                  #  IN N22.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045127,000364:                                                                                                  #  AS A FLY-TO INDICATOR.
045128,000365: 
045129,000366:                                                                                                  #  MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045130,000367:                                                                                                  #  IN N17.  THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045131,000368:                                                                                                  #  AS A FLY-TO INDICATOR.
045132,000369: 
045133,000370:                                                                                                  #  V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
045134,000371:                                                                                                  #  WITH THE CURRENT S/C ATTITUDE.  THIS VERB MAY BE USED AT ANY TIME.
045135,000372: 
045136,000373:                                                                                                  #  THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
045137,000374:                                                                                                  #  INITIATED VIA V46E.  MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD.  THE CREW MAY PRESET (VIA
045138,000375:                                                                                                  #  V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
045139,000376: 
045140,000377: 21,2411           41501        DACNDLS            CS       RCSFLAGS                              #  ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
045141,000378: 21,2412           75014                           MASK     BIT4                                  
045142,000379: 21,2413           00006                           EXTEND                                         
045143,000380: 21,2414           13160                           BZF      FDAIDSP2                              
045144,000381: 
045145,000382: 21,2415           27501        FDAIDSP1           ADS      RCSFLAGS                              
045146,000383: 21,2416           02420                           TC       NEEDLER                               
045147,000384: 21,2417           15333        KRESUME1           TCF      RESUME                                #  END PHASE 1
045148,000385: 

Page 1010

045150,000387:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
045151,000388: 
045152,000389:                                                                                                  #  PROGRAM DESCRIPTION:  D. KEENE  5/24/67
045153,000390: 
045154,000391:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
045155,000392:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
045156,000393:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
045157,000394:                                                                                                  #  THE DACS.
045158,000395: 
045159,000396:                                                                                                  #  CALLING SEQUENCE:
045160,000397: 
045161,000398:                                                                                                  #  DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
045162,000399:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
045163,000400: 
045164,000401:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
045165,000402:                                                                                                  #                MASK    BIT3
045166,000403:                                                                                                  #                ADS     RCSFLAGS
045167,000404: 
045168,000405:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
045169,000406: 
045170,000407:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
045171,000408:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
045172,000409:                                                                                                  #                AK2     SCALED 180 DEGREES
045173,000410: 
045174,000411:                                                                                                  #  FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
045175,000412:                                                                                                  #                (= 384 BITS IN IMU ERROR COUNTER)
045176,000413: 
045177,000414:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
045178,000415: 
045179,000416:                                                                                                  #                INHINT
045180,000417:                                                                                                  #                TC      IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
045181,000418:                                                                                                  #                CADR    NEEDLER
045182,000419:                                                                                                  #                RELINT
045183,000420: 
045184,000421:                                                                                                  #  THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
045185,000422:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
045186,000423:                                                                                                  #  NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
045187,000424: 
045188,000425:                                                                                                  #  ERASABLE USED:
045189,000426:                                                                                                  #                AK              CDUXCMD
045190,000427:                                                                                                  #                AK1             CDUYCMD
045191,000428:                                                                                                  #                AK2             CDUZCMD
045192,000429:                                                                                                  #                EDRIVEX         A,L,Q
045193,000430:                                                                                                  #                EDRIVEY         T5TEMP
045194,000431:                                                                                                  #                EDRIVEZ         SPNDX
045195,000432: 
045196,000433:                                                                                                  #  SWITCHES:     RCSFLAGS        BITS 3,2
045197,000434: 
045198,000435:                                                                                                  #  I/O CHANNELS: CHAN12          BIT 4            (COARSE ALIGN - READ ONLY)

Page 1011

045200,000437:                                                                                                  #                CHAN12          BIT 6           (IMU ERROR COUNTER ENABLE)
045201,000438:                                                                                                  #                CHAN14          BIT 13,14,15    (DAC ACTIVITY)
045202,000439: 
045203,000440:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
045204,000441:                                                                                                  #                WHERE   THETAC = COMMAND ANGLE
045205,000442:                                                                                                  #                        THETA = PRESENT ANGLE
045206,000443: 
045207,000444: 21,2420           35014        NEEDLER            CAF      BIT4                                  #  CHECK FOR COARSE ALIGN ENABLE
045208,000445: 21,2421           00006                           EXTEND                                         #  IF IN COARSE ALIGN DO NOT USE IMU
045209,000446: 21,2422           02012                           RAND     CHAN12                                #  ERROR COUNTERS.  DONT USE NEEDLES
045210,000447: 21,2423           00006                           EXTEND                                         
045211,000448: 21,2424           12431                           BZF      NEEDLER1                              
045212,000449: 21,2425           41501                           CS       RCSFLAGS                              #  SET BIT3 FOR INITIALIZATION PASS
045213,000450: 21,2426           75015                           MASK     BIT3                                  
045214,000451: 21,2427           27501                           ADS      RCSFLAGS                              
045215,000452: 21,2430           00002                           TC       Q                                     
045216,000453: 
045217,000454: 21,2431           31501        NEEDLER1           CA       RCSFLAGS                              
045218,000455: 21,2432           76211                           MASK     SIX                                   
045219,000456: 21,2433           00006                           EXTEND                                         
045220,000457: 21,2434           12471                           BZF      NEEDLES3                              
045221,000458: 21,2435           75015                           MASK     BIT3                                  
045222,000459: 21,2436           00006                           EXTEND                                         
045223,000460: 21,2437           12462                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
045224,000461: 
045225,000462: 21,2440           45012                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
045226,000463: 21,2441           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
045227,000464: 21,2442           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
045228,000465: 21,2443           45021        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
045229,000466: 21,2444           55476                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
045230,000467: 21,2445           55477                           TS       AK1                                   
045231,000468: 21,2446           55500                           TS       AK2                                   
045232,000469: 21,2447           55503                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
045233,000470: 21,2450           55504                           TS       EDRIVEY                               
045234,000471: 21,2451           55505                           TS       EDRIVEZ                               
045235,000472: 21,2452           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
045236,000473: 21,2453           54051                           TS       CDUYCMD                               
045237,000474: 21,2454           54052                           TS       CDUZCMD                               
045238,000475: 21,2455           46211                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
045239,000476: 21,2456           71501                           MASK     RCSFLAGS                              
045240,000477: 21,2457           65016                           AD       BIT2                                  
045241,000478: 21,2460           55501                           TS       RCSFLAGS                              
045242,000479: 21,2461           00002                           TC       Q                                     #  END PASS1
045243,000480: 
045244,000481: 21,2462           35012        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
045245,000482: 21,2463           00006                           EXTEND                                         
045246,000483: 21,2464           05012                           WOR      CHAN12                                
045247,000484: 21,2465           46211                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE

Page 1012

045249,000486: 21,2466           71501                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
045250,000487: 21,2467           55501                           TS       RCSFLAGS                              #  RELAY CLOSURE
045251,000488: 21,2470           00002                           TC       Q                                     
045252,000489: 
045253,000490: 21,2471           35012        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
045254,000491: 21,2472           00006                           EXTEND                                         #  IS ENABLED
045255,000492: 21,2473           02012                           RAND     CHAN12                                
045256,000493: 21,2474           00006                           EXTEND                                         #  IF NOT RECYCLE NEEDLES
045257,000494: 21,2475           12425                           BZF      NEEDLER    +5                         
045258,000495: 
045259,000496: 21,2476           35016        NEEDLES            CAF      TWO                                   
045260,000497: 21,2477           55506        DACLOOP            TS       SPNDX                                 
045261,000498: 21,2500           45003                           CS       QUARTER                               
045262,000499: 21,2501           00006                           EXTEND                                         
045263,000500: 21,2502           51506                           INDEX    SPNDX                                 
045264,000501: 21,2503           71476                           MP       AK                                    
045265,000502: 21,2504           54001                           TS       L                                     
045266,000503: 21,2505           10000                           CCS      A                                     
045267,000504: 21,2506           32542                           CA       DACLIMIT                              
045268,000505: 21,2507           12511                           TCF      +2                                    
045269,000506: 21,2510           42542                           CS       DACLIMIT                              
045270,000507: 21,2511           60001                           AD       L                                     
045271,000508: 21,2512           55502                           TS       T5TEMP                                #  OVFLO CHK
045272,000509: 21,2513           12517                           TCF      +4                                    
045273,000510: 21,2514           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
045274,000511: 21,2515           32542                           CAF      DACLIMIT                              
045275,000512: 21,2516           54001                           TS       L                                     
045276,000513: 21,2517           51506                           INDEX    SPNDX                                 
045277,000514: 21,2520           41503                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
045278,000515: 21,2521           60001                           AD       L                                     
045279,000516: 21,2522           51506                           INDEX    SPNDX                                 
045280,000517: 21,2523           26050                           ADS      CDUXCMD                               
045281,000518: 21,2524           51506                           INDEX    SPNDX                                 
045282,000519: 21,2525           23503                           LXCH     EDRIVEX                               
045283,000520: 21,2526           11506                           CCS      SPNDX                                 
045284,000521: 21,2527           12477                           TCF      DACLOOP                               
045285,000522: 21,2530           37707                           CAF      13,14,15                              
045286,000523: 21,2531           00006                           EXTEND                                         
045287,000524: 21,2532           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
045288,000525: 21,2533           00002                           TC       Q                                     
045289,000526: 
045290,000527: 21,2534           32540        REINIT             CAF      DELAY200                              #  ........TILT LOGIC
045291,000528: 21,2535           54030                           TS       TIME5                                 #  REINITIALIZE DAP IN 200MS
045292,000529: 21,2536           55465                           TS       T5PHASE                               
045293,000530: 21,2537           15333                           TCF      RESUME                                
045294,000531: 21,2540           37754        DELAY200           DEC      16364      B-14                       #  200MS
045295,000532: 
045296,000533: 21,2541           77177                           DEC      -384       B-14                       
045297,000534: 

Page 1013

045299,000536: 21,2542           37200        DACLIMIT           DEC      16000      B-14                       
045300,000537: 21,2543           00600                           DEC      384        B-14                       
045301,000538: 

Page 1014

045303,000540:                                                                                                  #  INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
045304,000541: 
045305,000542:                                                                                                  #  THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
045306,000543: 
045307,000544:                                                                                                  #        WBODY   (+1)            DFT                     TAU2
045308,000545:                                                                                                  #        WBODY1  (+1)            DFT1                    BIAS
045309,000546:                                                                                                  #        WBODY2  (+1)            DFT2                    BIAS1
045310,000547:                                                                                                  #        ADOT    (+1)            DRHO    (+1)            BIAS2
045311,000548:                                                                                                  #        ADOT1   (+1)            DRHO1   (+1)            ERRORX
045312,000549:                                                                                                  #        ADOT2   (+1)            DRHO2   (+1)            ERRORY
045313,000550:                                                                                                  #        MERRORX (+1)            ATTSEC                  ERRORZ
045314,000551:                                                                                                  #        MERRORY (+1)            TAU
045315,000552:                                                                                                  #        MERRORZ (+1)            TAU1
045316,000553: 
045317,000554: 21,2544           35017        FRESHDAP           CAF      ONE                                   #  RESET HOLDFLAG TO STOP AUTOMATIC
045318,000555: 21,2545           55332                           TS       HOLDFLAG                              #  STEERING AND PREPARE TO PICK UP AN
045319,000556:                                                                                                  #  ATTITUDE HOLD REFERENCE
045320,000557: 
045321,000558: 21,2546           04740        REDAP              TC       IBNKCALL                              #  DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
045322,000559: 21,2547           40347                           CADR     S41.2                                 #  RATES, QUADFAILS, QUAD MANAGEMENT
045323,000560: 
045324,000561: 21,2550           04740                           TC       IBNKCALL                              #  DECODE IXX, IAVG AND CONVERT
045325,000562: 21,2551           40500                           CADR     S40.14                                #  TO AUTOPILOT GAINS
045326,000563: 
045327,000564: 21,2552           32623                           CAF      NO.T5VAR                              #  NO. LOCATIONS TO BE ZEROED MINUS ONE
045328,000565: 21,2553           55506        ZEROT5             TS       SPNDX                                 #  ZERO ALL NECESSARY ERASABLE REGISTERS
045329,000566: 21,2554           35021                           CAF      ZERO                                  
045330,000567: 21,2555           51506                           INDEX    SPNDX                                 
045331,000568: 21,2556           55525                           TS       WBODY                                 
045332,000569: 21,2557           11506                           CCS      SPNDX                                 
045333,000570: 21,2560           12553                           TCF      ZEROT5                                
045334,000571: 21,2561           02632                           TCR      ZEROJET                               
045335,000572: 
045336,000573: 21,2562           45021                           CS       ZERO                                  
045337,000574: 21,2563           55633                           TS       CHANTEMP                              #  INITIALIZE MINIMUM IMPULSE CONTROL
045338,000575: 
045339,000576: 21,2564           55632                           TS       CH31TEMP                              #  INITIALIZE RHC POSITION MEMORY FOR
045340,000577:                                                                                                  #  MANUAL RATE MODES
045341,000578: 
045342,000579: 21,2565           32624                           CAF      =.24                                  
045343,000580: 21,2566           55654                           TS       SLOPE                                 #  INITIALIZE SWITCHING LOGIC SLOPE
045344,000581: 
045345,000582: 21,2567           35015                           CAF      FOUR                                  
045346,000583: 21,2570           55634                           TS       T5TIME                                #  PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
045347,000584:                                                                                                  #  60 MS.  PHASE 2 RESETS FOR PHASE 1 RUPT
045348,000585:                                                                                                  #  IN (80MS - T5TIME(40MS)).  THEREFORE
045349,000586:                                                                                                  #  PHASE 1 (RATEFILTER) BEGINS CYCLING 100
045350,000587:                                                                                                  #  MS FROM NOW AND EVERY 100MS THEREAFTER
045351,000588: 
045352,000589: 21,2571           35024                           CAF      ELEVEN                                
045353,000590: 21,2572           55617                           TS       ATTKALMN                              #  RESET TO PICK UP KALMAN FILTER GAINS
045354,000591:                                                                                                  #  TO INITIALIZE THE S/C ANGULAR RATES

Page 1015

045356,000593: 21,2573           30032                           CA       CDUX                                  
045357,000594: 21,2574           55635                           TS       RHO                                   
045358,000595: 21,2575           30033                           CA       CDUY                                  
045359,000596: 21,2576           55636                           TS       RHO1                                  
045360,000597: 21,2577           30034                           CA       CDUZ                                  
045361,000598: 21,2600           55637                           TS       RHO2                                  
045362,000599: 21,2601           35021                           CAF      ZERO                                  #  RESET AUTOPILOT TO BEGIN EXECUTING
045363,000600: 21,2602           55465                           TS       T5PHASE                               #  PHASE2 OF PROGRAM
045364,000601: 
045365,000602: 21,2603           41321                           CS       IMODES33                              #  CHECK IMU STATUS
045366,000603: 21,2604           75012                           MASK     BIT6                                  #  IF BIT6 = 0 IMU IN FINE ALIGN
045367,000604: 21,2605           10000                           CCS      A                                     #  IF BIT6 = 1 IMU NOT READY
045368,000605: 21,2606           12612                           TCF      IMUAOK                                
045369,000606: 21,2607           55617                           TS       ATTKALMN                              #  CANNOT USE IMU
045370,000607: 21,2610           32626                           CAF      RCSINITB                              #  PROVIDE FREE CONTROL ONLY
045371,000608: 21,2611           12617                           TCF      RCSSWIT                               #  DONT START UP RATE FILTER
045372,000609:                                                                                                  #  SIGNAL NO RATE FILTER
045373,000610: 
045374,000611: 21,2612           37671        IMUAOK             CAF      PRIO34                                #  START MATRIX INITIALIZATION
045375,000612: 21,2613           05134                           TC       NOVAC                                 #  BYPASS IF IMU NOT IN FINE ALIGN
045376,000613: 21,2614  E6,1510                                  EBANK=   KMPAC                                 
045377,000614: 21,2614           03447 44066                     2CADR    AMBGUPDT                              
045378,000615: 
045379,000616: 21,2616           32625                           CAF      RCSINIT                               #  CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
045380,000617: 21,2617           55501        RCSSWIT            TS       RCSFLAGS                              #  CLEAR BIT1  -INITIALIZE T6 PROGRAM
045381,000618:                                                                                                  #    SET BIT3  -INITIALIZE NEEDLES
045382,000619:                                                                                                  #  CLEAR BIT4  -RESET FOR FDAIDSP1
045383,000620: 21,2620           32627                           CAF      T5WAIT60                              #  NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
045384,000621:                                                                                                  #  ERROR COUNTER TO ZERO.
045385,000622:                                                                                                  #  (MINIMUM DELAY = 15 MS)
045386,000623: 21,2621           54030                           TS       TIME5                                 #  SINCE ATTKALMN IS +11, PROGRAM WILL THEN
045387,000624: 21,2622           05333                           TC       RESUME                                #  PICK UP THE KALMAN FILTER GAINS.  RATE
045388,000625:                                                                                                  #  FILTER WILL BEGIN OPERATING ZOOMS FROM
045389,000626:                                                                                                  #  NOW
045390,000627: 
045391,000628:                                                                                                  #  CONSTANTS USED IN INITIALIZATION PROGRAM
045392,000629: 
045393,000630: 21,2623           00044        NO.T5VAR           DEC      36         B-14                       
045394,000631: 21,2624           07534        =.24               DEC      .24                                   #  = SLOPE OF 0.6/SEC
045395,000632: 21,2625           00004        RCSINIT            OCT      00004                                 
045396,000633: 21,2626           20004        RCSINITB           OCT      20004                                 
045397,000634: 21,2627           37772        T5WAIT60           DEC      16378      B-14                       #  = 6 CS
045398,000635: 21,2630  E6,1510                                  EBANK=   KMPAC                                 
045399,000636: 21,2630           03617 36066  T6ADDR             2CADR    T6START                               
045400,000637: 
045401,000638: 21,2632           35024        ZEROJET            CAF      ELEVEN                                #  ZERO BLAST2, BLAST1, BLAST, YWORD2,
045402,000639: 21,2633           55506                           TS       SPNDX                                 #  YWORD1, PWORD2, PWORD1, RWORD2,
045403,000640: 21,2634           35021                           CAF      ZERO                                  #  AND RWORD1.
045404,000641: 

Page 1016

045406,000643: 21,2635           51506                           INDEX    SPNDX                                 
045407,000644: 21,2636           55451                           TS       RWORD1                                
045408,000645: 21,2637           11506                           CCS      SPNDX                                 
045409,000646: 21,2640           12633                           TCF      ZEROJET    +1                         
045410,000647: 
045411,000648: 21,2641           35015                           CAF      FOUR                                  
045412,000649: 21,2642           55462                           TS       BLAST1     +1                         
045413,000650: 21,2643           35024                           CAF      ELEVEN                                
045414,000651: 21,2644           55464                           TS       BLAST2     +1                         
045415,000652: 
045416,000653: 21,2645           45017                           CS       BIT1                                  
045417,000654: 21,2646           71501                           MASK     RCSFLAGS                              
045418,000655: 21,2647           55501                           TS       RCSFLAGS                              #  RESET BIT1 OF RCSFLAGS TO 0
045419,000656: 
045420,000657: 21,2650           00006                           EXTEND                                         
045421,000658: 21,2651           32631                           DCA      T6ADDR                                
045422,000659: 21,2652           53311                           DXCH     T6LOC                                 
045423,000660: 21,2653           33050                           CAF      =+14MS                                #  ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
045424,000661: 21,2654           54031                           TS       TIME6                                 
045425,000662: 21,2655           35001                           CAF      BIT15                                 
045426,000663: 21,2656           00006                           EXTEND                                         
045427,000664: 21,2657           05013                           WOR      CHAN13                                
045428,000665: 
045429,000666: 21,2660           00002                           TC       Q                                     
045430,000667: 
045431,000668: 21,2661           11617        T5PHASE2           CCS      ATTKALMN                              #  IF (+) INITIALIZE RATE ESTIMATE
045432,000669: 21,2662           13146                           TCF      KALUPDT                               
045433,000670: 
045434,000671: 21,2663           12665                           TCF      +2                                    #  ONLY IF ATTKALMN POSITIVE
045435,000672: 21,2664           12665                           TCF      +1                                    
045436,000673: 21,2665           32156                           CA       DELTATT2                              #  RESET FOR PHASE3 IN 20 MS
045437,000674: 21,2666           56030                           XCH      TIME5                                 #  (JET SELECTION LOGIC)
045438,000675: 21,2667           27634                           ADS      T5TIME                                #  TO COMPENSATE FOR DELAYS IN T5RUPT
045439,000676: 
045440,000677: 21,2670           31501                           CA       RCSFLAGS                              #  IF A HIGH RATE AUTO MANEUVER IS IN
045441,000678: 21,2671           75001                           MASK     BIT15                                 #  PROGRESS (BIT 15 OF RCSFLAGS SET), SET
045442,000679: 21,2672           00006                           EXTEND                                         #  ATTKALMN TO -1
045443,000680: 21,2673           12675                           BZF      NOHIAUTO                              #  OTHERWISE SET ATTKALMN TO 0.
045444,000681: 21,2674           45017                           CS       ONE                                   
045445,000682: 21,2675           55617        NOHIAUTO           TS       ATTKALMN                              
045446,000683: 

Page 1017

045448,000685:                                                                                                  #  MANUAL ROTATION COMMANDS
045449,000686: 
045450,000687: 21,2676           43032                           CS       OCT01760                              #  RESET FORCED FIRING BITS (BITS 10 TO 5
045451,000688: 21,2677           71501                           MASK     RCSFLAGS                              #  OF RCSFLAGS) TO ZERO
045452,000689: 21,2700           55501                           TS       RCSFLAGS                              
045453,000690: 
045454,000691: 21,2701           00006                           EXTEND                                         
045455,000692: 21,2702           00031                           READ     CHAN31                                
045456,000693: 21,2703           54001                           TS       L                                     
045457,000694: 21,2704           31632                           CA       CH31TEMP                              
045458,000695: 21,2705           00006                           EXTEND                                         
045459,000696: 21,2706           06001                           RXOR     LCHAN                                 
045460,000697: 21,2707           73036                           MASK     MANROT                                #  = OCT00077
045461,000698: 21,2710           00006                           EXTEND                                         
045462,000699: 21,2711           62724                           BZMF     NOCHANGE                              
045463,000700: 
045464,000701: 21,2712           22000                           LXCH     A                                     
045465,000702: 21,2713           55632                           TS       CH31TEMP                              #  SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
045466,000703: 
045467,000704: 21,2714           30001                           CA       L                                     
045468,000705: 21,2715           00006                           EXTEND                                         
045469,000706: 21,2716           75013                           MP       BIT5                                  #  PUT BITS 6-1 OF A IN BITS 10-5 OF L
045470,000707: 21,2717           30001                           CA       L                                     
045471,000708: 21,2720           27501                           ADS      RCSFLAGS                              #  SET FORCED FIRING BITS FOR AXES WITH
045472,000709:                                                                                                  #  WITH CHANGES IN COMMAND.  BITS 10,9 FOR
045473,000710:                                                                                                  #  ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
045474,000711:                                                                                                  #  PITCH
045475,000712: 
045476,000713: 21,2721           41501                           CS       RCSFLAGS                              #  SET RATE DAMPING FLAGS (BITS 13,12, AND
045477,000714: 21,2722           73037                           MASK     OCT16000                              #  11 OF RCSFLAGS)
045478,000715: 21,2723           27501                           ADS      RCSFLAGS                              
045479,000716: 
045480,000717: 21,2724           41632        NOCHANGE           CS       CH31TEMP                              
045481,000718: 21,2725           73036                           MASK     MANROT                                
045482,000719: 21,2726           00006                           EXTEND                                         
045483,000720: 21,2727           63250                           BZMF     AHFNOROT                              #  IF NO MANUAL COMMANDS, GO TO AHFNOROT
045484,000721: 
045485,000722: 21,2730           55332                           TS       HOLDFLAG                              #  SET HOLDFLAG +
045486,000723: 
045487,000724: 21,2731           03130                           TC       STICKCHK                              #  WHEN THE RHC IS OUT OF DETENT, PMANNDX,
045488,000725:                                                                                                  #  YMANNDX, AND RMANNDX ARE ALL SET, BY
045489,000726:                                                                                                  #  MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
045490,000727:                                                                                                  #  +, OR - ROTATION RESPECTIVELY AS
045491,000728:                                                                                                  #  COMMANDED BY THE RHC.
045492,000729: 
045493,000730:                                                                                                  #  HOWEVER, IT IS WELL TO NOTE THAT AFTER
045494,000731:                                                                                                  #  THE RHC IS RETURNED TO DETENT, THE
045495,000732:                                                                                                  #  PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
045496,000733:                                                                                                  #  STICKCHK SO PMANNDX, YMANNDX, AND
045497,000734:                                                                                                  #  RMANNDX ARE NOT RESET TO ZERO BUT RATHER
045498,000735:                                                                                                  #  LEFT SET TO THEIR LAST OUT OF DETENT

Page 1018

045500,000737:                                                                                                  #  VALUES.
045501,000738: 
045502,000739: 21,2732           40075                           CS       FLAGWRD1                              #  SET STIKFLAG TO INFORM STEERING
045503,000740: 21,2733           75002                           MASK     BIT14                                 #  PROGRAMS (P20) THAT ASTRONAUT HAS
045504,000741: 21,2734           26075                           ADS      FLAGWRD1                              #  ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
045505,000742: 
045506,000743: 21,2735           35002                           CAF      BIT14                                 
045507,000744: 21,2736           00006                           EXTEND                                         
045508,000745: 21,2737           02031                           RAND     CHAN31                                
045509,000746: 21,2740           00006                           EXTEND                                         
045510,000747: 21,2741           63051                           BZMF     FREEFUNC                              
045511,000748: 
045512,000749: 21,2742           31501                           CA       RCSFLAGS                              #  EXAMINE RCSFLAGS TO SEE IF RATE FILTER
045513,000750: 21,2743           75002                           MASK     BIT14                                 #  HAS BEEN INITIALIZED
045514,000751: 21,2744           10000                           CCS      A                                     #  IF SO, PROCEED WITH MANUAL RATE COMMANDS
045515,000752: 21,2745           12534                           TCF      REINIT                                #  .....TILT, RECYCLE TO INITIALIZE FILTER
045516,000753: 
045517,000754: 21,2746           45022                           CS       FIVE                                  #  IF MANUAL MANEUVER IS AT HIGH RATE, SET
045518,000755: 21,2747           61130                           AD       RATEINDX                              #  ATTKALMN TO -1.
045519,000756: 21,2750           00006                           EXTEND                                         #  OTHERWISE, LEAVE ATTKALMN ALONE.
045520,000757: 21,2751           62754                           BZMF     +3                                    
045521,000758: 21,2752           45017                           CS       ONE                                   
045522,000759: 21,2753           55617                           TS       ATTKALMN                              
045523,000760: 
045524,000761: 21,2754           35016                           CAF      TWO                                   #  AUTO-HOLD MANUAL ROTATION
045525,000762: 21,2755           55506        SETWBODY           TS       SPNDX                                 
045526,000763: 21,2756           60000                           DOUBLE                                         
045527,000764: 21,2757           55507                           TS       DPNDX                                 
045528,000765: 21,2760           51506                           INDEX    SPNDX                                 #  RMANNDX = 0 NO ROTATION
045529,000766: 21,2761           31656                           CA       RMANNDX                               #          = 1  + ROTATION
045530,000767: 21,2762           00006                           EXTEND                                         #          = 2  - ROTATION
045531,000768: 21,2763           13005                           BZF      NORATE                                #  IF NO ROTATION COMMAND ON THIS AXIS,
045532,000769:                                                                                                  #  GO TO NORATE.
045533,000770: 
045534,000771: 21,2764           61130                           AD       RATEINDX                              #  RATEINDX = 0  0.05 DEG/SEC
045535,000772: 21,2765           54002                           TS       Q                                     #           = 2  0.2  DEG/SEC
045536,000773: 21,2766           50002                           INDEX    Q                                     #           = 4  0.5  DEG/SEC
045537,000774: 21,2767           33037                           CA       MANTABLE   -1                         #           = 6  2.0  DEG/SEC
045538,000775: 21,2770           00006                           EXTEND                                         
045539,000776: 21,2771           75007                           MP       BIT9                                  #  MULTIPLY MANTABLE BY 2 TO THE -6
045540,000777: 21,2772           51507                           INDEX    DPNDX                                 #  TO GET COMMANDED RATE.
045541,000778: 21,2773           53526                           DXCH     WBODY                                 #  SET WBODY TO COMMANDED RATE.
045542,000779: 
045543,000780: 21,2774           31501                           CA       RCSFLAGS                              
045544,000781: 21,2775           73037                           MASK     OCT16000                              #  IS RATE DAMPING COMPLETED (BITS 13,12 AND
045545,000782: 21,2776           00006                           EXTEND                                         #  11 OF RCSFLAGS ALL ZERO.)  IF SO, GO TO
045546,000783: 21,2777           13015                           BZF      MERUPDAT                              #  MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
045547,000784:                                                                                                  #  ERROR.
045548,000785: 

Page 1019

045550,000787: 21,3000           35021        ZEROER             CA       ZERO                                  #  ZEROER ZEROS MERRORS
045551,000788: 21,3001           22007                           ZL                                             
045552,000789: 21,3002           51507                           INDEX    DPNDX                                 
045553,000790: 21,3003           53542                           DXCH     MERRORX                               
045554,000791: 21,3004           13023                           TCF      SPNDXCHK                              
045555,000792: 
045556,000793: 21,3005           22007        NORATE             ZL                                             
045557,000794: 21,3006           51507                           INDEX    DPNDX                                 
045558,000795: 21,3007           53526                           DXCH     WBODY                                 #  ZERO WBODY FOR THIS AXIS
045559,000796: 21,3010           31501                           CA       RCSFLAGS                              
045560,000797: 21,3011           73037                           MASK     OCT16000                              
045561,000798: 21,3012           00006                           EXTEND                                         #  IS RATE DAMPING COMPLETED
045562,000799: 21,3013           13023                           BZF      SPNDXCHK                              #  YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
045563,000800: 21,3014           13000                           TCF      ZEROER                                #  NO, GO TO ZEROER
045564,000801: 
045565,000802: 21,3015           50002        MERUPDAT           INDEX    Q                                     #  MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
045566,000803: 21,3016           43037                           CS       MANTABLE   -1                         #  -COMMANDED CHANGE IN ANGLE
045567,000804: 21,3017           00006                           EXTEND                                         #  THE ADDITION OF MEASURED CHANGE IN ANGLE
045568,000805: 21,3020           75011                           MP       BIT7                                  #  HAS ALREADY BEEN DONE IN THE RATE FILTER
045569,000806: 21,3021           51507                           INDEX    DPNDX                                 #  COMMANDED CHANGE IN ANGLE = WBODY TIMES
045570,000807: 21,3022           21542                           DAS      MERRORX                               #  .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
045571,000808: 
045572,000809: 21,3023           51507        SPNDXCHK           INDEX    DPNDX                                 
045573,000810: 21,3024           31541                           CA       MERRORX                               
045574,000811: 21,3025           51506                           INDEX    SPNDX                                 
045575,000812: 21,3026           55567                           TS       ERRORX                                #  ERRORX = HIGH ORDER WORD OF MERRORX
045576,000813: 21,3027           11506                           CCS      SPNDX                                 
045577,000814: 21,3030           12755                           TCF      SETWBODY                              
045578,000815: 21,3031           13441                           TCF      JETS                                  
045579,000816: 
045580,000817: 21,3032           01760        OCT01760           OCT      01760                                 #  FORCED FIRING BITS MASK
045581,000818: 
045582,000819: 21,3033           01400        OCT01400           OCT      01400                                 #  ROLL FORCED FIRING MASK       ORDER OF
045583,000820: 21,3034           00060        OCT00060           OCT      00060                                 #  PITCH FORCED FIRING MASK      DEFINITION
045584,000821: 21,3035           00300        OCT00300           OCT      00300                                 #  YAW FORCED FIRING MASK        MUST BE
045585,000822:                                                                                                  #                                PRESERVED
045586,000823:                                                                                                  #                                FOR INDEXING
045587,000824: 21,3036           00077        MANROT             OCT      77                                    
045588,000825: 21,3037           16000        OCT16000           OCT      16000                                 #  RATE DAMPING FLAGS MASK
045589,000826: 21,3040           00165        MANTABLE           DEC      .0071111                              
045590,000827: 21,3041           77612                           DEC      -.0071111                             
045591,000828: 21,3042           00722                           DEC      .028444                               
045592,000829: 21,3043           77055                           DEC      -0.028444                             
045593,000830: 21,3044           02215                           DEC      .071111                               
045594,000831: 21,3045           75562                           DEC      -.071111                              
045595,000832: 21,3046           11064                           DEC      .284444                               
045596,000833: 21,3047           66713                           DEC      -.284444                              
045597,000834: 21,3050           00027        =+14MS             DEC      23         B-14                       
045598,000835: 21,3051           51656        FREEFUNC           INDEX    RMANNDX                               #  ACCELERATION

Page 1020

045600,000837: 21,3052           33063                           CA       FREETAU                               #  COMMANDS
045601,000838: 21,3053           55561                           TS       TAU                                   
045602,000839: 21,3054           51657                           INDEX    PMANNDX                               
045603,000840: 21,3055           33063                           CA       FREETAU                               #  FREETAU       0 SEC
045604,000841: 21,3056           55562                           TS       TAU1                                  #  +1            +0.10 SEC
045605,000842: 21,3057           51660                           INDEX    YMANNDX                               #  +2            -0.10 SEC
045606,000843: 21,3060           33063                           CA       FREETAU                               #  (+3)          0 SEC
045607,000844: 21,3061           55563                           TS       TAU2                                  
045608,000845: 21,3062           13067                           TCF      T6PROGM                               
045609,000846: 
045610,000847: 21,3063           00000        FREETAU            DEC      0          B-14                       
045611,000848: 21,3064           00740                           DEC      480        B-14                       
045612,000849: 21,3065           77037                           DEC      -480       B-14                       
045613,000850: 21,3066           00000                           DEC      0          B-14                       
045614,000851: 
045615,000852: 21,3067           35021        T6PROGM            CAF      ZERO                                  #  FOR MANUAL ROTATIONS
045616,000853: 21,3070           55567                           TS       ERRORX                                
045617,000854: 21,3071           55570                           TS       ERRORY                                
045618,000855: 21,3072           55571                           TS       ERRORZ                                
045619,000856: 21,3073           13757                           TCF      T6PROG                                
045620,000857: 

Page 1021

045622,000859: 21,3074           06604                           DEC      .2112                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
045623,000860: 21,3075           32703                           DEC      .8400                                 #  FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
045624,000861: 21,3076           06604                           DEC      .2112                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045625,000862: 21,3077           02031        GAIN1              DEC      .0640                                 #  KALMAN FILTER GAINS FOR INITIALIZATION
045626,000863: 21,3100           12132                           DEC      .3180                                 #  OF ATTITUDE RATES
045627,000864: 21,3101           13030                           DEC      .3452                                 
045628,000865: 21,3102           14047                           DEC      .3774                                 
045629,000866: 21,3103           15241                           DEC      .4161                                 
045630,000867: 21,3104           16650                           DEC      .4634                                 
045631,000868: 21,3105           20555                           DEC      .5223                                 
045632,000869: 21,3106           23065                           DEC      .5970                                 
045633,000870: 21,3107           26137                           DEC      .6933                                 
045634,000871: 21,3110           32053                           DEC      .8151                                 
045635,000872: 21,3111           35712                           DEC      .9342                                 
045636,000873: 
045637,000874: 21,3112           00435                           DEC      .0174                                 #  FILTER GAIN FOR TRANSLATION, LEM ON
045638,000875: 21,3113           13412                           DEC      .3600                                 #  FILTER GAIN FOR TRANSLATION (WN)(WN)DT
045639,000876: 21,3114           00435                           DEC      .0174                                 #  FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045640,000877: 21,3115           00032        GAIN2              DEC      .0016                                 #  SCALED 10
045641,000878: 21,3116           01350                           DEC      .0454                                 
045642,000879: 21,3117           01575                           DEC      .0545                                 
045643,000880: 21,3120           02103                           DEC      .0666                                 
045644,000881: 21,3121           02523                           DEC      .0832                                 
045645,000882: 21,3122           03327                           DEC      .1069                                 
045646,000883: 21,3123           04432                           DEC      .1422                                 
045647,000884: 21,3124           06264                           DEC      .1985                                 
045648,000885: 21,3125           11351                           DEC      .2955                                 
045649,000886: 21,3126           17324                           DEC      .4817                                 
045650,000887: 21,3127           33622                           DEC      .8683                                 
045651,000888: 21,3130           55502        STICKCHK           TS       T5TEMP                                
045652,000889: 21,3131           76214                           MASK     THREE                                 #  INDECES FOR MANUAL ROTATION
045653,000890: 21,3132           55657                           TS       PMANNDX                               
045654,000891: 21,3133           31502                           CA       T5TEMP                                
045655,000892: 21,3134           00006                           EXTEND                                         #  MAN RATE  0   0 RATE (DP)
045656,000893: 21,3135           75003                           MP       QUARTER                               #           +1   + RATE (DP)
045657,000894: 21,3136           55502                           TS       T5TEMP                                #           +2   - RATE (DP)
045658,000895: 21,3137           76214                           MASK     THREE                                 #          (+3)  0 RATE (DP)
045659,000896: 21,3140           55660                           TS       YMANNDX                               
045660,000897: 21,3141           31502                           CA       T5TEMP                                
045661,000898: 21,3142           00006                           EXTEND                                         
045662,000899: 21,3143           75003                           MP       QUARTER                               
045663,000900: 21,3144           55656                           TS       RMANNDX                               
045664,000901: 21,3145           00002                           TC       Q                                     
045665,000902: 21,3146           55617        KALUPDT            TS       ATTKALMN                              #  INITIALIZATION OF ATTITUDE RATES USING
045666,000903:                                                                                                  #  KALMAN FILTER TAKES 1.1 SEC
045667,000904: 
045668,000905: 21,3147           32155                           CA       DELTATT                               #  =1SEC - 80MS
045669,000906: 21,3150           61634                           AD       T5TIME                                #  + DELAYS

Page 1022

045671,000908: 21,3151           54030                           TS       TIME5                                 
045672,000909: 21,3152           13155                           TCF      +3                                    
045673,000910: 21,3153           32156                           CAF      DELTATT2                              #  SAFETY PLAY TO ASSURE
045674,000911: 21,3154           54030                           TS       TIME5                                 #  A T5RUPT
045675,000912: 
045676,000913: 21,3155           45021        KRESUME2           CS       ZERO                                  #  RESET FOR PHASE1
045677,000914: 21,3156           55465                           TS       T5PHASE                               #  RESUME INTERRUPTED PROGRAM
045678,000915: 21,3157           15333                           TCF      RESUME                                
045679,000916: 
045680,000917: 21,3160           45014        FDAIDSP2           CS       BIT4                                  #  RESET FOR FDAIDSP1
045681,000918: 21,3161           71501                           MASK     RCSFLAGS                              
045682,000919: 21,3162           55501                           TS       RCSFLAGS                              
045683,000920: 
045684,000921: 21,3163           40074                           CS       FLAGWRD0                              #  ON - DISPLAY ONE OF THE TOTAL ATTITUDE
045685,000922: 21,3164           75007                           MASK     BIT9                                  #  ERRORS
045686,000923: 21,3165           00006                           EXTEND                                         
045687,000924: 21,3166           13175                           BZF      FDAITOTL                              
045688,000925: 21,3167           00006                           EXTEND                                         
045689,000926: 21,3170           41570                           DCS      ERRORX                                #  OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
045690,000927: 21,3171           53477                           DXCH     AK                                    
045691,000928: 21,3172           41571                           CS       ERRORZ                                
045692,000929: 21,3173           55500                           TS       AK2                                   
045693,000930: 21,3174           15333                           TCF      RESUME                                #  END PHASE 1
045694,000931: 
045695,000932: 21,3175           30105        FDAITOTL           CA       FLAGWRD9                              
045696,000933: 21,3176           75012                           MASK     BIT6                                  
045697,000934: 21,3177           00006                           EXTEND                                         
045698,000935: 21,3200           13243                           BZF      WRTN17                                #  IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045699,000936:                                                                                                  #  IF SO, GO TO WRTN17
045700,000937: 21,3201           00006        WRTN22             EXTEND                                         #  OTHERWISE, CONTINUE ON TO WRTN22 AND
045701,000938: 21,3202           31157                           DCA      CTHETA                                #  GET SET TO COMPUTE TOTAL ATTITUDE
045702,000939: 21,3203           53514                           DXCH     WTEMP                                 #  ERROR WRT N22 BY PICKING UP THE THREE
045703,000940: 21,3204           31155                           CA       CPHI                                  #  COMPONENTS OF N22
045704,000941: 
045705,000942: 21,3205           00006        GETAKS             EXTEND                                         #  COMPUTE TOTAL ATTITUDE ERROR FOR
045706,000943: 21,3206           20032                           MSU      CDUX                                  #  DISPLAY ON FDAI ERROR NEEDLES
045707,000944: 21,3207           55476                           TS       AK                                    
045708,000945: 21,3210           31513                           CA       WTEMP                                 
045709,000946: 21,3211           00006                           EXTEND                                         
045710,000947: 21,3212           20033                           MSU      CDUY                                  
045711,000948: 21,3213           55502                           TS       T5TEMP                                
045712,000949: 21,3214           00006                           EXTEND                                         
045713,000950: 21,3215           71640                           MP       AMGB1                                 
045714,000951: 21,3216           27476                           ADS      AK                                    
045715,000952: 21,3217           31502                           CA       T5TEMP                                
045716,000953: 21,3220           00006                           EXTEND                                         
045717,000954: 21,3221           71641                           MP       AMGB4                                 

Page 1023

045719,000956: 21,3222           55477                           TS       AK1                                   
045720,000957: 21,3223           31502                           CA       T5TEMP                                
045721,000958: 21,3224           00006                           EXTEND                                         
045722,000959: 21,3225           71643                           MP       AMGB7                                 
045723,000960: 21,3226           55500                           TS       AK2                                   
045724,000961: 21,3227           31514                           CA       WTEMP      +1                         
045725,000962: 21,3230           00006                           EXTEND                                         
045726,000963: 21,3231           20034                           MSU      CDUZ                                  
045727,000964: 21,3232           55502                           TS       T5TEMP                                
045728,000965: 21,3233           00006                           EXTEND                                         
045729,000966: 21,3234           71642                           MP       AMGB5                                 
045730,000967: 21,3235           27477                           ADS      AK1                                   
045731,000968: 21,3236           31502                           CA       T5TEMP                                
045732,000969: 21,3237           00006                           EXTEND                                         
045733,000970: 21,3240           71644                           MP       AMGB8                                 
045734,000971: 21,3241           27500                           ADS      AK2                                   
045735,000972: 21,3242           15333                           TCF      RESUME                                #  END PHASE1 OF RCS DAP
045736,000973: 
045737,000974: 21,3243           00006        WRTN17             EXTEND                                         #  GET SET TO COMPUTE TOTAL ASTRONAUT
045738,000975: 21,3244           31335                           DCA      CPHIX      +1                         #  ATTITUDE ERROR WRT N17 BY PICKING UP
045739,000976: 21,3245           53514                           DXCH     WTEMP                                 #  THE THREE COMPONENTS OF N17
045740,000977: 21,3246           31333                           CA       CPHIX                                 
045741,000978: 21,3247           13205                           TCF      GETAKS                                
045742,000979: 

Page 1024 This page is empty.

045745,000982: 
045746,000983: 

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