He believes what is in error is that"conscience legitimizes actions that contravene divine commandments."   The real problem with this thinking is that any "divine commandment"  must have been received and interpreted by human mind.  We humans, all of us not just bishops or theologians, but also standard laity sensus fidelium have God-given gifts and talents that are not up to the (poor) judgement of authoritarian mind sets.  The whole concept of infallible knowledge or commandments are an excuse for the magisterium to not listen to the whispers of the Holy Spirit in each and every generation from the minds and hearts of each and every person.    This is dogma in error....