Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

021645,000002:                                                                                                  ## Copyright:   Public domain.
021646,000003:                                                                                                  ## Filename:    P20-P25.agc
021647,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
021648,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
021649,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
021650,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
021651,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
021652,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
021653,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
021654,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
021655,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
021656,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
021657,000014:                                                                                                  ##              the original YUL assembler.
021658,000015:                                                                                                  ##
021659,000016:                                                                                                  ## Assembler:   yaYUL
021660,000017:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>.
021661,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
021662,000019:                                                                                                  ## Pages:       0492-0613
021663,000020:                                                                                                  ## Mod history: 2009-05-26 OH   Transcribed from page images.
021664,000021:                                                                                                  ##              2009-06-05 RSB  Corrected a typos.
021665,000022:                                                                                                  ##              2009-06-06 RSB  Added a missing instruction, and a block
021666,000023:                                                                                                  ##                              of 3 missing instructions.
021667,000024:                                                                                                  ##              2009-06-07 RSB  Fixed a misprint.
021668,000025:                                                                                                  ##              2009-06-07 RSB  Changed the construct "2DEC E-6 B12" 
021669,000026:                                                                                                  ##                              (which isn't legal in yaYUL) to
021670,000027:                                                                                                  ##                              "2DEC 1.0 E-6 B12".
021671,000028:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
021672,000029:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
021673,000030:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
021674,000031:                                                                                                  ##                              and corrected the errors found.
021675,000032:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021676,000033:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
021677,000034:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021678,000035:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021679,000036:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
021680,000037: 
021681,000038:                                                                                                  ## This source code has been transcribed or otherwise adapted from
021682,000039:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
021683,000040:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021684,000041:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
021685,000042:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
021686,000043:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
021687,000044:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
021688,000045:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
021689,000046:                                                                                                  ## actually created.
021690,000047:                                                                                                  ##
021691,000048:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
021692,000049:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
021693,000050:                                                                                                  ## the listing from which it was transcribed. It has been verified to
021694,000051:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
021695,000052:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
021696,000053:                                                                                                  ##
021697,000054:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
021698,000055:                                                                                                  ##
021699,000056:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
021700,000057: 

Page 492

021702,000059:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021703,000060: 
021704,000061:                                                                                                  #  PROGRAM DESCRIPTION
021705,000062: 
021706,000063:                                                                                                  #        MOD NO - 2
021707,000064:                                                                                                  #        BY P. VOLANTE
021708,000065: 
021709,000066:                                                                                                  #  FUNCTIONAL DESCRIPTION
021710,000067: 
021711,000068:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021712,000069:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
021713,000070:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021714,000071:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
021715,000072: 
021716,000073:                                                                                                  #  CALLING SEQUENCE -
021717,000074: 
021718,000075:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
021719,000076: 
021720,000077:                                                                                                  #  SUBROUTINES CALLED
021721,000078: 
021722,000079:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
021723,000080:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
021724,000081:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
021725,000082:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
021726,000083:                                                                                                  #        LS202   (RANGE LIMIT TEST)
021727,000084:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
021728,000085:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
021729,000086:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
021730,000087:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
021731,000088:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
021732,000089: 
021733,000090:                                                                                                  #  NORMAL EXIT MODES -
021734,000091: 
021735,000092:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021736,000093:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021737,000094: 
021738,000095:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021739,000096: 
021740,000097:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
021741,000098: 
021742,000099:                                                                                                  #  OUTPUT
021743,000100: 
021744,000101:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021745,000102: 
021746,000103:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021747,000104: 
021748,000105:                                                                                                  #  FLAGS SET + RESET
021749,000106: 
021750,000107:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021751,000108: 
021752,000109:                                                                                                  #  DEBRIS
021753,000110: 
021754,000111:                                                                                                  #        CENTRALS - A,Q,L
021755,000112: 
021756,000113: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021757,000114: 
021758,000115: 33,2045                                           BANK     33                                    
021759,000116: 24,2000                                           SETLOC   P20S                                  
021760,000117: 24,2000                                           BANK                                           
021761,000118: 
021762,000119: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021763,000120: 24,2000                                           COUNT*   $$/P20                                
021764,000121: 24,2000  24,2000               PROG22             =        PROG20                                
021765,000122: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021766,000123: 24,2001           00004                           OCT      4                                     
021767,000124: 24,2002           05022                           OCT      05022                                 
021768,000125: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021769,000126: 24,2004           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 493

021771,000128: 24,2005           02007                           TC       ORBCHGO                               #  YES
021772,000129: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021773,000130: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021774,000131: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021775,000132: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021776,000133: 24,2012           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021777,000134: 24,2013           32311                           CAF      OCT00012                              
021778,000135: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021779,000136: 24,2015           20633                           CADR     GOPERF4                               
021780,000137: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021781,000138: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021782,000139: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021783,000140: 24,2021           42312        ORBCHG1            CS       P22ONE                                
021784,000141: 24,2022           61145                           AD       OPTION2                               
021785,000142: 24,2023           00006                           EXTEND                                         
021786,000143: 24,2024           12040                           BZF      PROG20A                               
021787,000144: 24,2025           32315                           CAF      V06N33*                               
021788,000145: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021789,000146: 24,2027           20476                           CADR     GOFLASH                               #  TIME OF LAUNCH
021790,000147: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021791,000148: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021792,000149: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021793,000150: 24,2033           06037        ORBCHG2            TC       INTPRET                               
021794,000151: 24,2034           77650                           GOTO                                           
021795,000152: 24,2035           64217                                    ORBCHG3                               
021796,000153: 32,2217                                           BANK     32                                    
021797,000154: 32,2000                                           SETLOC   P20S4                                 
021798,000155: 32,2000                                           BANK                                           
021799,000156: 32,2217                                           COUNT*   $$/P20                                
021800,000157: 
021801,000158: 32,2217           77624        ORBCHG3            CALL                                           
021802,000159: 32,2220           27414                                    INTSTALL                              
021803,000160: 32,2221           77745                           DLOAD                                          
021804,000161: 32,2222           03442                                    TIG                                   
021805,000162: 32,2223           03661                           STORE    LNCHTM                                
021806,000163: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021807,000164: 32,2225           43014                           CLEAR    CLEAR                                 
021808,000165: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021809,000166: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021810,000167: 32,2230           43014                           CLEAR    CLEAR                                 
021811,000168: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021812,000169: 32,2232           01675                                    D6OR9FLG                              
021813,000170: 32,2233           77624                           CALL                                           
021814,000171: 32,2234           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021815,000172: 32,2235           77624                           CALL                                           
021816,000173: 32,2236           11244                                    GRP2PC                                
021817,000174: 32,2237           77775                           VLOAD                                          
021818,000175: 32,2240           00017                                    RATT1                                 
021819,000176: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021820,000177: 32,2242           00015                                    TAT                                   

Page 494

021822,000179: 32,2243           34041                           STCALL   TDEC1                                 
021823,000180: 32,2244           27414                                    INTSTALL                              
021824,000181: 32,2245           43014                           SET      CLEAR                                 
021825,000182: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021826,000183: 32,2247           01673                                    INTYPFLG                              
021827,000184: 32,2250           43014                           CLEAR    BOFF                                  
021828,000185: 32,2251           01676                                    DIM0FLAG                              
021829,000186: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021830,000187: 32,2253           64257                                    NOWMATX                               #  NO
021831,000188: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021832,000189: 32,2255           01476                                    DIM0FLAG                              
021833,000190: 32,2256           01475                                    D6OR9FLG                              
021834,000191: 32,2257           77624        NOWMATX            CALL                                           
021835,000192: 32,2260           27134                                    INTEGRV                               #  CSM INTEGRATION
021836,000193: 32,2261           77624                           CALL                                           
021837,000194: 32,2262           11244                                    GRP2PC                                
021838,000195: 32,2263           77775                           VLOAD                                          
021839,000196: 32,2264           00025                                    VATT1                                 
021840,000197: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021841,000198: 32,2266           00017                                    RATT1                                 
021842,000199: 32,2267           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
021843,000200: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021844,000201: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021845,000202: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021846,000203: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021847,000204: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021848,000205: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021849,000206: 32,2276           27637                           STOVL    UCSM                                  
021850,000207: 32,2277           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021851,000208: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021852,000209: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021853,000210: 32,2302           77752                           SL1                                            
021854,000211: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021855,000212: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021856,000213: 32,2305           10314                                    ONEB-2                                
021857,000214: 32,2306           77766                           SQRT                                           
021858,000215: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021859,000216: 32,2310           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021860,000217: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021861,000218: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021862,000219: 32,2313           77676                           VCOMP                                          
021863,000220: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021864,000221: 32,2315           45014                           CLEAR    CALL                                  
021865,000222: 32,2316           03666                                    RVSW                                  
021866,000223: 32,2317           24732                                    TIMETHET                              
021867,000224: 32,2320           77676                           VCOMP                                          
021868,000225: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021869,000226: 32,2322           77745                           DLOAD                                          
021870,000227: 32,2323           00037                                    T                                     
021871,000228: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 495

021873,000230: 32,2325           03645                                    NEWVEL                                
021874,000231: 32,2326           77646                           ABVAL                                          
021875,000232: 32,2327           24025                           STOVL    20D                                   
021876,000233: 32,2330           00001                                    0D                                    
021877,000234: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021878,000235: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021879,000236: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021880,000237: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021881,000238: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021882,000239: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021883,000240: 32,2337           00025                                    20D                                   
021884,000241: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021885,000242: 32,2341           11244                                    GRP2PC                                
021886,000243: 32,2342           77624                           CALL                                           
021887,000244: 32,2343           27414                                    INTSTALL                              
021888,000245: 32,2344           44345                           DLOAD    BDSU                                  
021889,000246: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021890,000247: 32,2346           03661                                    LNCHTM                                
021891,000248: 32,2347           25517                           STOVL    TET                                   
021892,000249: 32,2350           03653                                    NEWPOS                                
021893,000250: 32,2351           01535                           STORE    RCV                                   
021894,000251: 32,2352           25503                           STOVL    RRECT                                 
021895,000252: 32,2353           03665                                    NCSMVEL                               
021896,000253: 32,2354           35511                           STCALL   VRECT                                 
021897,000254: 32,2355           23455                                    MINIRECT                              
021898,000255: 32,2356           45174                           AXT,2    CALL                                  
021899,000256: 32,2357           00002                                    2                                     
021900,000257: 32,2360           26661                                    ATOPCSM                               
021901,000258: 32,2361           77624                           CALL                                           
021902,000259: 32,2362           27423                                    INTWAKE0                              
021903,000260: 32,2363           77776                           EXIT                                           
021904,000261: 32,2364           04616                           TC       BANKCALL                              
021905,000262: 32,2365           50040                           CADR     PROG20A                               
021906,000263: 
021907,000264: 24,2036                                           BANK     24                                    
021908,000265: 24,2000                                           SETLOC   P20S                                  
021909,000266: 24,2000                                           BANK                                           
021910,000267: 24,2036                                           COUNT*   $$/P20                                
021911,000268: 
021912,000269: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
021913,000270: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021914,000271: 24,2040           04616        PROG20A            TC       BANKCALL                              
021915,000272: 24,2041           11254                           CADR     R02BOTH                               
021916,000273: 24,2042           05504                           TC       UPFLAG                                
021917,000274: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021918,000275: 24,2044           05504                           TC       UPFLAG                                
021919,000276: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021920,000277: 24,2046           05504                           TC       UPFLAG                                
021921,000278: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021922,000279: 24,2050           05516                           TC       DOWNFLAG                              
021923,000280: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 496

021925,000282: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021926,000283: 24,2053           00040                           ADRES    ACMODFLG                              
021927,000284: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021928,000285: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021929,000286: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021930,000287: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021931,000288: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021932,000289: 24,2061           00041                           ADRES    LOSCMFLG                              
021933,000290: 24,2062           06011                           TC       CLRADMOD                              
021934,000291: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021935,000292: 24,2064           04022                           OCT      04022                                 
021936,000293: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021937,000294: 24,2066           55462                           TS       MARKCTR                               
021938,000295: 24,2067           06037                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021939,000296: 24,2070           77634                           RTB                                            
021940,000297: 24,2071           21573                                    LOADTIME                              
021941,000298: 24,2072           34041                           STCALL   TDEC1                                 
021942,000299: 24,2073           51255                                    LPS20.1                               
021943,000300: 24,2074           77624                           CALL                                           
021944,000301: 24,2075           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
021945,000302: 24,2076           77776                           EXIT                                           
021946,000303: 24,2077           50154                           INDEX    MPAC                                  
021947,000304: 24,2100           02101                           TC       +1                                    
021948,000305: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021949,000306: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021950,000307: 24,2103           04616                           TC       BANKCALL                              
021951,000308: 24,2104           21562                           CADR     PRIOLARM                              
021952,000309: 24,2105           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021953,000310: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021954,000311: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021955,000312: 24,2110           05155                           TC       ENDOFJOB                              
021956,000313: 
021957,000314: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021958,000315: 24,2112           04022                           OCT      04022                                 
021959,000316: 24,2113           02667                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021960,000317: 24,2114           02117                           TC       P20LEMB                               
021961,000318: 24,2115           04616                           TC       BANKCALL                              
021962,000319: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021963,000320: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021964,000321: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021965,000322: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021966,000323: 24,2122           37714                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021967,000324: 24,2123           05146                           TC       PRIOCHNG                              
021968,000325: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021969,000326: 24,2125           74747                           MASK     TRACKBIT                              
021970,000327: 24,2126           00006                           EXTEND                                         
021971,000328: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021972,000329: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021973,000330: 24,2131           00006                           EXTEND                                         

Page 497

021975,000332: 24,2132           02033                           RAND     CHAN33                                
021976,000333: 24,2133           00006                           EXTEND                                         
021977,000334: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021978,000335: 
021979,000336: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021980,000337: 24,2136           61011                           AD       MODREG                                #  MAJOR MODE IS 20
021981,000338: 24,2137           00006                           EXTEND                                         
021982,000339: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES - OK TO DO PLEASE PERFORM
021983,000340: 
021984,000341: 24,2141           67746                           AD       NEG2                                  #  ALSO CHECK FOR P22
021985,000342: 24,2142           00006                           EXTEND                                         
021986,000343: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021987,000344: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021988,000345: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021989,000346: 24,2146           21562                           CADR     PRIOLARM                              
021990,000347: 24,2147           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021991,000348: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021992,000349: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021993,000350: 24,2152           05155                           TC       ENDOFJOB                              
021994,000351: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021995,000352: 24,2154           04616                           TC       BANKCALL                              
021996,000353: 24,2155           20623                           CADR     GOPERF1                               
021997,000354: 24,2156           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021998,000355: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021999,000356: 24,2160           02667                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
022000,000357: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
022001,000358: 24,2162           03135                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
022002,000359: 
022003,000360: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
022004,000361: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
022005,000362: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
022006,000363: 
022007,000364: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
022008,000365: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
022009,000366: 
022010,000367: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022011,000368: 24,2171           74737                           MASK     RCDU0BIT                              
022012,000369: 24,2172           00006                           EXTEND                                         
022013,000370: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
022014,000371: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
022015,000372: 24,2175           70076                           MASK     FLAGWRD2                              
022016,000373: 24,2176           00006                           EXTEND                                         
022017,000374: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
022018,000375: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
022019,000376: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 498

022021,000378: 24,2202           05516                           TC       DOWNFLAG                              
022022,000379: 24,2203           00040                           ADRES    ACMODFLG                              
022023,000380: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022024,000381: 
022025,000382: 24,2205           32304        P20LEMB4           CAF      250DEC                                
022026,000383: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022027,000384: 24,2207           01735                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
022028,000385: 24,2210           02170                           TC       P20LEMB3                              
022029,000386: 
022030,000387: 24,2211           06037        P20LEMC3           TC       INTPRET                               
022031,000388: 24,2212           77634                           RTB                                            
022032,000389: 24,2213           21573                                    LOADTIME                              
022033,000390: 24,2214           34041                           STCALL   TDEC1                                 
022034,000391: 24,2215           50316                                    UPPSV                                 
022035,000392: 24,2216           77776        P20LEMC4           EXIT                                           
022036,000393: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
022037,000394: 24,2220           04022                           OCT      04022                                 
022038,000395: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
022039,000396: 24,2222           74745                           MASK     RNDVZBIT                              
022040,000397: 24,2223           00006                           EXTEND                                         
022041,000398: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
022042,000399: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022043,000400: 24,2226           74747                           MASK     TRACKBIT                              
022044,000401: 24,2227           00006                           EXTEND                                         
022045,000402: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
022046,000403: 24,2231           02674        P20LEMF            TC       R21LEM                                
022047,000404: 
022048,000405: 24,2232           32304        P20LEMWT           CAF      250DEC                                
022049,000406: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
022050,000407: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
022051,000408: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022052,000409: 24,2236           74747                           MASK     TRACKBIT                              
022053,000410: 24,2237           00006                           EXTEND                                         
022054,000411: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
022055,000412: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
022056,000413: 24,2242           40072                           OCT      40072                                 
022057,000414: 24,2243           05155                           TC       ENDOFJOB                              
022058,000415: 
022059,000416: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
022060,000417: 24,2245           74745                           MASK     RNDVZBIT                              
022061,000418: 24,2246           00006                           EXTEND                                         
022062,000419: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
022063,000420: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022064,000421: 24,2251           74747                           MASK     TRACKBIT                              
022065,000422: 24,2252           00006                           EXTEND                                         
022066,000423: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 499

022068,000425: 24,2254           37714                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
022069,000426: 24,2255           05105                           TC       FINDVAC                               
022070,000427: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
022071,000428: 24,2256           02627 50067                     2CADR    R22LEM42                              
022072,000429: 
022073,000430: 24,2260           05261                           TC       TASKOVER                              
022074,000431: 
022075,000432: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
022076,000433: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
022077,000434: 
022078,000435: 24,2263           02244                           TC       P20LEMC1                              
022079,000436: 
022080,000437: 24,2264           32666        P20LEMD            CAF      1500DEC                               
022081,000438: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
022082,000439: 24,2266           02270                           ADRES    P20LEMD1                              
022083,000440: 24,2267           05155                           TC       ENDOFJOB                              
022084,000441: 
022085,000442: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022086,000443: 24,2271           74747                           MASK     TRACKBIT                              
022087,000444: 24,2272           10000                           CCS      A                                     
022088,000445: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
022089,000446: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
022090,000447: 24,2275           02734                           DEC      1500       B-14                       
022091,000448: 24,2276           02270                           TC       P20LEMD1                              
022092,000449: 
022093,000450: 24,2277           37714        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
022094,000451: 24,2300           05105                           TC       FINDVAC                               
022095,000452: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
022096,000453: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
022097,000454: 
022098,000455: 24,2303           05261                           TC       TASKOVER                              
022099,000456: 
022100,000457: 24,2304           00372        250DEC             DEC      250        B-14                       
022101,000458: 24,2305           00526        ALRM526            OCT      00526                                 
022102,000459: 24,2306           00201        OCT201             OCT      00201                                 
022103,000460: 24,2307           00514        ALRM514            OCT      514                                   
022104,000461: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
022105,000462: 24,2311           00012        OCT00012           OCT      00012                                 
022106,000463: 24,2312           00001        P22ONE             OCT      00001                                 
022107,000464: 24,2313           10000 00000  ONEB-2             2DEC     1.0        B-2                        
022108,000465: 
022109,000466: 24,2315           01441        V06N33*            VN       0633                                  
022110,000467: 24,2316           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
022111,000468: 24,2317           01757                                    LS21X                                 #        TO PRESENT TIME
022112,000469: 24,2320           27414                                    INTSTALL                              
022113,000470: 24,2321           77624                           CALL                                           

Page 500

022115,000472: 24,2322           26644                                    SETIFLGS                              
022116,000473: 24,2323           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT
022117,000474: 24,2324           02756                                    RENDWFLG                              
022118,000475: 24,2325           50336                                    UPPSV1                                
022119,000476: 24,2326           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
022120,000477: 24,2327           43014                           BON      SET                                   
022121,000478: 24,2330           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
022122,000479: 24,2331           50333                                    UPPSV5                                
022123,000480: 24,2332           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
022124,000481: 24,2333           77614        UPPSV5             BOF                                            
022125,000482: 24,2334           00747                                    VEHUPFLG                              
022126,000483: 24,2335           50370                                    UPPSV3                                
022127,000484: 24,2336           77614        UPPSV1             SET                                            
022128,000485: 24,2337           01474                                    VINTFLAG                              
022129,000486: 24,2340           77624                           CALL                                           
022130,000487: 24,2341           27134                                    INTEGRV                               
022131,000488: 24,2342           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
022132,000489: 24,2343           11244                                    GRP2PC                                #  TO PROTECT INTEGRATION
022133,000490: 24,2344           77624                           CALL                                           
022134,000491: 24,2345           27414                                    INTSTALL                              
022135,000492: 24,2346           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
022136,000493: 24,2347           01571                                    TETCSM                                
022137,000494: 24,2350           01674                                    VINTFLAG                              
022138,000495: 24,2351           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
022139,000496: 24,2352           26644                                    SETIFLGS                              #        WITHOUT W-MATRIX
022140,000497: 24,2353           34041                           STCALL   TDEC1                                 
022141,000498: 24,2354           27134                                    INTEGRV                               
022142,000499: 24,2355           77214                           BOFF     VLOAD                                 
022143,000500: 24,2356           04347                                    SURFFLAG                              
022144,000501: 24,2357           50216                                    P20LEMC4                              
022145,000502: 24,2360           01661                                    RCVLEM                                
022146,000503: 24,2361           77742                           VSR2                                           
022147,000504: 24,2362           26352                           STOVL    LMPOS                                 
022148,000505: 24,2363           01667                                    VCVLEM                                
022149,000506: 24,2364           77742                           VSR2                                           
022150,000507: 24,2365           02360                           STORE    LMVEL                                 
022151,000508: 24,2366           77650                           GOTO                                           
022152,000509: 24,2367           01757                                    LS21X                                 
022153,000510: 
022154,000511: 24,2370           45014        UPPSV3             CLEAR    CALL                                  
022155,000512: 24,2371           01674                                    VINTFLAG                              
022156,000513: 24,2372           27134                                    INTEGRV                               
022157,000514: 24,2373           77624                           CALL                                           
022158,000515: 24,2374           11244                                    GRP2PC                                
022159,000516: 24,2375           77624                           CALL                                           
022160,000517: 24,2376           27414                                    INTSTALL                              
022161,000518: 24,2377           71214                           SET      DLOAD                                 
022162,000519: 24,2400           01474                                    VINTFLAG                              
022163,000520: 24,2401           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.

Page 501

022165,000522: 24,2402           77650                           GOTO                                           
022166,000523: 24,2403           50351                                    UPPSV4                                
022167,000524: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
022168,000525: 24,2404                                           COUNT*   $$/P22                                
022169,000526: 

Page 502

022171,000528:                                                                                                  #  PROGRAM DESCRIPTION
022172,000529: 
022173,000530:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
022174,000531:                                                                                                  #        MOD NO - 3
022175,000532:                                                                                                  #        BY P. VOLANTE
022176,000533: 
022177,000534:                                                                                                  #  FUNCTIONAL DESCRIPTION
022178,000535: 
022179,000536:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022180,000537:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022181,000538:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022182,000539:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022183,000540: 
022184,000541:                                                                                                  #  CALLING SEQUENCE -
022185,000542: 
022186,000543:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
022187,000544: 
022188,000545:                                                                                                  #  SUBROUTINES CALLED -
022189,000546: 
022190,000547:                                                                                                  #        BANKCALL                                        FLAGUP
022191,000548:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
022192,000549:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
022193,000550:                                                                                                  #        TASKOVER                                        FINDVAC
022194,000551: 
022195,000552:                                                                                                  #  NORMAL EXIT MODES -
022196,000553: 
022197,000554:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
022198,000555:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022199,000556: 
022200,000557:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022201,000558: 
022202,000559:                                                                                                  #        NONE
022203,000560: 
022204,000561:                                                                                                  #  OUTPUT
022205,000562: 
022206,000563:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022207,000564: 
022208,000565:                                                                                                  #  FLAGS SET + RESET
022209,000566: 
022210,000567:                                                                                                  #        TRACKFLG, P25FLAG
022211,000568: 
022212,000569:                                                                                                  #  DEBRIS
022213,000570: 
022214,000571:                                                                                                  #        NONE
022215,000572: 
022216,000573: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
022217,000574: 24,2404                                           COUNT*   $$/P25                                
022218,000575: 24,2404           05327        PROG25             TC       2PHSCHNG                              
022219,000576: 24,2405           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
022220,000577: 24,2406           05022                           OCT      05022                                 
022221,000578: 24,2407           26000                           OCT      26000                                 #  PRIORITY 26
022222,000579: 
022223,000580: 24,2410           04616                           TC       BANKCALL                              
022224,000581: 24,2411           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
022225,000582: 24,2412           05504                           TC       UPFLAG                                
022226,000583: 24,2413           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
022227,000584: 24,2414           05504                           TC       UPFLAG                                
022228,000585: 24,2415           00006                           ADRES    P25FLAG                               #  SET P25FLAG
022229,000586: 24,2416           05353        P25LEM1            TC       PHASCHNG                              
022230,000587: 24,2417           04022                           OCT      04022                                 
022231,000588: 24,2420           34743                           CAF      P25FLBIT                              
022232,000589: 24,2421           70074                           MASK     STATE                                 #  IS P25FLAG SET
022233,000590: 24,2422           00006                           EXTEND                                         
022234,000591: 24,2423           15155                           BZF      ENDOFJOB                              
022235,000592: 24,2424           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022236,000593: 24,2425           70075                           MASK     STATE      +1                         
022237,000594: 24,2426           00006                           EXTEND                                         

Page 503

022239,000596: 24,2427           12437                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
022240,000597: 24,2430           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
022241,000598: 24,2431           55745                           TS       R65CNTR                               
022242,000599: 24,2432           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
022243,000600: 24,2433           46123                           CADR     R65LEM                                
022244,000601: 24,2434           02416                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
022245,000602: 24,2435           05353        P25LEMWT           TC       PHASCHNG                              
022246,000603: 24,2436           00112                           OCT      00112                                 
022247,000604: 24,2437           32450        P25LMWT1           CAF      60SCNDS                               
022248,000605: 24,2440           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
022249,000606: 24,2441           02443                           ADRES    P25LEM2                               
022250,000607: 24,2442           05155                           TC       ENDOFJOB                              
022251,000608: 24,2443           35024        P25LEM2            CAF      PRIO14                                
022252,000609: 24,2444           05105                           TC       FINDVAC                               
022253,000610: 24,2445  E7,1456                                  EBANK=   LOSCOUNT                              
022254,000611: 24,2445           02416 50067                     2CADR    P25LEM1                               
022255,000612: 
022256,000613: 24,2447           05261                           TC       TASKOVER                              
022257,000614: 24,2450           13560        60SCNDS            DEC      6000       B-14                       
022258,000615: 

Page 504

022260,000617:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
022261,000618:                                                                                                  #  PROGRAM DESCRIPTION
022262,000619: 
022263,000620:                                                                                                  #        MOD NO - 2
022264,000621:                                                                                                  #        BY P VOLANTE
022265,000622: 
022266,000623:                                                                                                  #  FUNCTIONAL DESCRIPTION
022267,000624: 
022268,000625:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022269,000626:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022270,000627: 
022271,000628:                                                                                                  #  CALLING SEQUENCE -
022272,000629: 
022273,000630:                                                                                                  #        TC      BANKCALL
022274,000631:                                                                                                  #        CADR    R22LEM
022275,000632: 
022276,000633:                                                                                                  #  SUBROUTINES CALLED -
022277,000634: 
022278,000635:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
022279,000636:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
022280,000637:                                                                                                  #        LSR22.3         R61LEM
022281,000638: 
022282,000639:                                                                                                  #  NORMAL EXIT MODES -
022283,000640: 
022284,000641:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
022285,000642:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022286,000643:                                                                                                  #        R22 WILL TERMINATE SELF.
022287,000644: 
022288,000645:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022289,000646: 
022290,000647:                                                                                                  #        PRIORITY ALARM
022291,000648:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022292,000649: 
022293,000650:                                                                                                  #  OUTPUT
022294,000651: 
022295,000652:                                                                                                  #        SEE OUTPUT FROM LSR22.3
022296,000653: 
022297,000654:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022298,000655: 
022299,000656:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
022300,000657: 
022301,000658:                                                                                                  #  FLAGS SET + RESET
022302,000659: 
022303,000660:                                                                                                  #        NOANGFLG
022304,000661: 
022305,000662:                                                                                                  #  DEBRIS
022306,000663: 
022307,000664:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
022308,000665: 
022309,000666: 24,2451  E7,1737                                  EBANK=   LRS22.1X                              
022310,000667: 24,2451                                           COUNT*   $$/R22                                
022311,000668: 24,2451           05353        R22LEM             TC       PHASCHNG                              
022312,000669: 24,2452           04022                           OCT      04022                                 
022313,000670: 24,2453           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
022314,000671: 24,2454           70074                           MASK     STATE                                 
022315,000672: 24,2455           00006                           EXTEND                                         
022316,000673: 24,2456           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
022317,000674: 24,2457           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022318,000675: 24,2460           70075                           MASK     STATE      +1                         
022319,000676: 24,2461           00006                           EXTEND                                         
022320,000677: 24,2462           12636                           BZF      R22WAIT                               #  NO WAIT
022321,000678: 24,2463           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
022322,000679: 24,2464           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
022323,000680: 24,2465           02012                           RAND     CHAN12                                
022324,000681: 24,2466           00006                           EXTEND                                         
022325,000682: 24,2467           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
022326,000683: 24,2470           34752                           CAF      BIT2                                  #  YES
022327,000684: 24,2471           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
022328,000685: 24,2472           02033                           RAND     CHAN33                                

Page 505

022330,000687: 24,2473           00006                           EXTEND                                         
022331,000688: 24,2474           12476                           BZF      +2                                    #  YES CONTINUE
022332,000689: 24,2475           02135                           TC       P20LEMB5                              #  NO - SET IT
022333,000690: 24,2476           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022334,000691: 24,2477           74737                           MASK     RCDU0BIT                              
022335,000692: 24,2500           00006                           EXTEND                                         
022336,000693: 24,2501           12627                           BZF      R22LEM42                              #  CDUS BEING ZEROED
022337,000694: 24,2502           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS, AN EXTRA RADAR
022338,000695: 24,2503           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
022339,000696: 24,2504           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
022340,000697: 24,2505           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
022341,000698: 24,2506           50154                           INDEX    MPAC                                  
022342,000699: 24,2507           02510                           TC       +1                                    
022343,000700: 24,2510           02531                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
022344,000701: 24,2511           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
022345,000702: 24,2512           32663                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
022346,000703: 24,2513           04616                           TC       BANKCALL                              
022347,000704: 24,2514           21562                           CADR     PRIOLARM                              
022348,000705: 24,2515           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022349,000706: 24,2516           02521                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
022350,000707: 24,2517           02512                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
022351,000708: 24,2520           05155                           TC       ENDOFJOB                              
022352,000709: 
022353,000710: 24,2521           05353        R22LEM1            TC       PHASCHNG                              
022354,000711: 24,2522           04022                           OCT      04022                                 
022355,000712: 24,2523           32664                           CAF      V06N05                                #  DISPLAY DELTA THETA
022356,000713: 24,2524           04616                           TC       BANKCALL                              
022357,000714: 24,2525           20507                           CADR     PRIODSP                               
022358,000715: 24,2526           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022359,000716: 24,2527           02531                           TC       R22LEM2                               #  PROC (OK CONTINUE)
022360,000717: 24,2530           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
022361,000718: 24,2531           05353        R22LEM2            TC       PHASCHNG                              
022362,000719: 24,2532           04022                           OCT      04022                                 
022363,000720: 24,2533           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022364,000721: 24,2534           02551                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
022365,000722: 24,2535           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
022366,000723: 24,2536           74747                           MASK     TRACKBIT                              
022367,000724: 24,2537           00006                           EXTEND                                         
022368,000725: 24,2540           12636                           BZF      R22WAIT                               #  NO - WAIT
022369,000726: 24,2541           04616                           TC       BANKCALL                              #  YES
022370,000727: 24,2542           51333                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022371,000728: 24,2543           50154                           INDEX    MPAC                                  
022372,000729: 24,2544           02545                           TC       +1                                    
022373,000730: 24,2545           02551                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
022374,000731: 24,2546           04616                           TC       BANKCALL                              
022375,000732: 24,2547           46116                           CADR     R61LEM                                
022376,000733: 24,2550           02636                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
022377,000734: 24,2551           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
022378,000735: 24,2552           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 506

022380,000737: 24,2553           00006                           EXTEND                                         
022381,000738: 24,2554           12627                           BZF      R22LEM42                              #  BRANCH - YES
022382,000739: 24,2555           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
022383,000740: 24,2556           74745                           MASK     UPDATBIT                              
022384,000741: 24,2557           00006                           EXTEND                                         
022385,000742: 24,2560           12627                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
022386,000743: 24,2561           37714                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
022387,000744: 24,2562           55056                           TS       PHSPRDT2                              
022388,000745: 
022389,000746: 24,2563           06037                           TC       INTPRET                               
022390,000747: 24,2564           77650                           GOTO                                           
022391,000748: 24,2565           54412                                    LSR22.3                               
022392,000749: 24,2566           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
022393,000750: 24,2567           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
022394,000751: 24,2570           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
022395,000752: 24,2571           12622                           TCF      R22LEM44                              
022396,000753: 24,2572           77776        R22LEM96           EXIT                                           
022397,000754: 24,2573           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
022398,000755: 24,2574           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
022399,000756: 24,2575           05353                           TC       PHASCHNG                              
022400,000757: 24,2576           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
022401,000758: 24,2577           37715                           CAF      PRIO27                                #  PROTECT DISPLAY
022402,000759: 24,2600           05072                           TC       NOVAC                                 
022403,000760: 24,2601  E7,1746                                  EBANK=   N49FLAG                               
022404,000761: 24,2601           02644 50067                     2CADR    N49DSP                                
022405,000762: 
022406,000763: 24,2603           06037                           TC       INTPRET                               
022407,000764: 24,2604           77735                           SLOAD                                          
022408,000765: 24,2605           03747                                    N49FLAG                               
022409,000766: 24,2606           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
022410,000767: 24,2607           50604                                    -3                                    #  SETTING CHANGED - BRANCH - NO
022411,000768: 24,2610           50616                                    R22LEM7                               #  PROCEED
022412,000769: 24,2611           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
022413,000770: 24,2612           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022414,000771: 24,2613           02636                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
022415,000772: 24,2614           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
022416,000773: 24,2615           02632                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
022417,000774: 24,2616           77624        R22LEM7            CALL                                           #  PROCEED
022418,000775: 24,2617           11244                                    GRP2PC                                #  PHASE CHANGE AND
022419,000776: 24,2620           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
022420,000777: 24,2621           55431                                    ASTOK                                 
022421,000778: 24,2622           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
022422,000779: 24,2623           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022423,000780: 24,2624           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
022424,000781: 24,2625           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
022425,000782: 24,2626           02632                           TC       R22LEM45                              #  R65COUNTER = 5
022426,000783: 24,2627           02667        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022427,000784: 24,2630           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
022428,000785: 24,2631           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
022429,000786: 24,2632           55745        R22LEM45           TS       R65CNTR                               

Page 507

022431,000788: 24,2633           04616                           TC       BANKCALL                              
022432,000789: 24,2634           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
022433,000790: 24,2635           02451                           TC       R22LEM                                
022434,000791: 24,2636           32666        R22WAIT            CAF      1500DEC                               
022435,000792: 24,2637           02233                           TC       P20LEMWT   +1                         
022436,000793: 
022437,000794: 24,2640           35000        R22LEM46           CAF      2SECS                                 
022438,000795: 24,2641           04616                           TC       BANKCALL                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
022439,000796: 24,2642           01735                           CADR     DELAYJOB                              
022440,000797: 24,2643           02451                           TC       R22LEM                                
022441,000798: 
022442,000799: 24,2644           32665        N49DSP             CAF      V06N49NB                              
022443,000800: 24,2645           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
022444,000801: 24,2646           20507                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022445,000802: 24,2647           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
022446,000803: 24,2650           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
022447,000804: 24,2651           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
022448,000805: 24,2652           05155                           TC       ENDOFJOB                              
022449,000806: 24,2653           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
022450,000807: 24,2654           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
022451,000808: 24,2655           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
022452,000809: 24,2656           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
022453,000810: 24,2657           04616                           TC       BANKCALL                              #  BAD DATA
022454,000811: 24,2660           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
022455,000812: 24,2661           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
022456,000813: 24,2662           02451                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
022457,000814: 
022458,000815: 24,2663           00525        ALRM525            OCT      00525                                 
022459,000816: 24,2664           01405        V06N05             VN       00605                                 
022460,000817: 24,2665           01461        V06N49NB           VN       00649                                 
022461,000818: 24,2666           02734        1500DEC            DEC      1500       B-14                       
022462,000819: 
022463,000820:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022464,000821:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
022465,000822:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
022466,000823: 
022467,000824: 24,2667                                           COUNT*   $$/P22                                
022468,000825: 24,2667           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
022469,000826: 24,2670           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
022470,000827: 24,2671           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
022471,000828: 24,2672           24002                           INCR     Q                                     #  NOT SET
022472,000829: 24,2673           00002                           TC       Q                                     #  RETURN
022473,000830: 

Page 508

022475,000832:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
022476,000833:                                                                                                  #  PROGRAM DESCRIPTION
022477,000834: 
022478,000835:                                                                                                  #        MOD NO - 2
022479,000836:                                                                                                  #        BY P VOLANTE
022480,000837: 
022481,000838:                                                                                                  #  FUNCTIONAL DESCRIPTION
022482,000839: 
022483,000840:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022484,000841:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
022485,000842: 
022486,000843:                                                                                                  #  CALLING SEQUENCE -
022487,000844: 
022488,000845:                                                                                                  #        TC      BANKCALL
022489,000846:                                                                                                  #        CADR    R21LEM
022490,000847: 
022491,000848:                                                                                                  #  SUBROUTINES CALLED -
022492,000849: 
022493,000850:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
022494,000851:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
022495,000852:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
022496,000853:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
022497,000854: 
022498,000855:                                                                                                  #  NORMAL EXIT MODES
022499,000856:                                                                                                  #        
022500,000857:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022501,000858:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022502,000859: 
022503,000860:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022504,000861: 
022505,000862:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022506,000863:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022507,000864:                                                                                                  #        ACQUISITION
022508,000865: 
022509,000866:                                                                                                  #  OUTPUT
022510,000867: 
022511,000868:                                                                                                  #        SEE LPS20.1, RRDESSM
022512,000869: 
022513,000870:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022514,000871: 
022515,000872:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022516,000873: 
022517,000874:                                                                                                  #  FLAGS SET + RESET
022518,000875: 
022519,000876:                                                                                                  #        LOSCMFLG        LOKONSW
022520,000877: 
022521,000878:                                                                                                  #  DEBRIS
022522,000879: 
022523,000880:                                                                                                  #        SEE LPS20.1, RRDESSM
022524,000881: 
022525,000882: 24,2674  E7,1456                                  EBANK=   LOSCOUNT                              
022526,000883: 24,2674                                           COUNT*   $$/R21                                
022527,000884: 24,2674           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
022528,000885: 24,2675           00006                           EXTEND                                         
022529,000886: 24,2676           03012                           WAND     CHAN12                                
022530,000887: 24,2677           02667                           TC       LUNSFCHK                              
022531,000888: 24,2700           02705                           TC       R21LEM5                               
022532,000889: 24,2701           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
022533,000890: 24,2702           55107                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022534,000891: 24,2703           55110                           TS       TANG       +1                         
022535,000892: 24,2704           02715                           TC       R21LEM6                               
022536,000893: 24,2705           34740        R21LEM5            CAF      BIT12                                 
022537,000894: 24,2706           70110                           MASK     RADMODES                              
022538,000895: 24,2707           10000                           CCS      A                                     
022539,000896: 24,2710           02725                           TC       R21LEM10                              
022540,000897: 24,2711           34735                           CAF      BIT15                                 
022541,000898: 24,2712           55107                           TS       TANG                                  
022542,000899: 24,2713           44736                           CS       HALF                                  
022543,000900: 24,2714           55110                           TS       TANG       +1                         
022544,000901: 

Page 509

022546,000903: 24,2715           05516        R21LEM6            TC       DOWNFLAG                              
022547,000904: 24,2716           00012                           ADRES    LOKONSW                               
022548,000905: 24,2717           04616                           TC       BANKCALL                              
022549,000906: 24,2720           52475                           CADR     RRDESNB                               
022550,000907: 24,2721           02722                           TC       +1                                    
022551,000908: 24,2722           04616                           TC       BANKCALL                              
022552,000909: 24,2723           17714                           CADR     RADSTALL                              
022553,000910: 24,2724           02760                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
022554,000911: 24,2725           05504        R21LEM10           TC       UPFLAG                                
022555,000912: 24,2726           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
022556,000913: 24,2727           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
022557,000914: 24,2730           55114                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
022558,000915: 24,2731           36245        R21LEM2            CAF      THREE                                 
022559,000916: 24,2732           55456                           TS       LOSCOUNT                              
022560,000917: 24,2733           06037        R21LEM1            TC       INTPRET                               
022561,000918: 24,2734           43234                           RTB      DAD                                   
022562,000919: 24,2735           21573                                    LOADTIME                              
022563,000920: 24,2736           11120                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022564,000921: 24,2737           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
022565,000922: 24,2740           51255                                    LPS20.1                               
022566,000923: 24,2741           77776                           EXIT                                           
022567,000924: 24,2742           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
022568,000925: 24,2743           00012                           ADRES    LOKONSW                               
022569,000926: 24,2744           05516                           TC       DOWNFLAG                              
022570,000927: 24,2745           00126                           ADRES    NORRMON                               
022571,000928: 24,2746           06037                           TC       INTPRET                               
022572,000929: 24,2747           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
022573,000930: 24,2750           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
022574,000931: 24,2751           77776                           EXIT                                           
022575,000932: 24,2752           02777                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
022576,000933:                                                                                                  #  ON LUNAR SURFACE
022577,000934: 24,2753           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
022578,000935: 24,2754           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
022579,000936: 24,2755           17714                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022580,000937: 24,2756           02760                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022581,000938: 24,2757           02767                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022582,000939: 24,2760           32775        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
022583,000940: 24,2761           04616                           TC       BANKCALL                              
022584,000941: 24,2762           21562                           CADR     PRIOLARM                              
022585,000942: 24,2763           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022586,000943: 24,2764           02772                           TC       R21SRCH                               #  PROC
022587,000944: 24,2765           02211                           TC       P20LEMC3                              
022588,000945: 24,2766           05155                           TC       ENDOFJOB                              
022589,000946: 24,2767           05516        R21END             TC       DOWNFLAG                              
022590,000947: 24,2770           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
022591,000948: 24,2771           03121                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022592,000949: 24,2772           05353        R21SRCH            TC       PHASCHNG                              
022593,000950: 24,2773           04022                           OCT      04022                                 
022594,000951: 24,2774           03206                           TC       R24LEM                                #  SEARCH ROUTINE
022595,000952: 24,2775           00503        ALRM503            OCT      00503                                 

Page 510

022597,000954: 24,2776           00527        ALRM527            OCT      527                                   
022598,000955: 
022599,000956: 24,2777           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
022600,000957: 24,3000           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
022601,000958: 24,3001           05504                           TC       UPFLAG                                
022602,000959: 24,3002           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
022603,000960: 24,3003           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
022604,000961: 24,3004           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
022605,000962: 24,3005           06037                           TC       INTPRET                               
022606,000963: 24,3006           77634        R21LEM12           RTB                                            
022607,000964: 24,3007           21573                                    LOADTIME                              
022608,000965: 24,3010           77615                           DAD                                            
022609,000966: 24,3011           11116                                    TENSEC                                #  TIME T = T + 10 SECS.
022610,000967: 24,3012           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022611,000968: 24,3013           34041                           STCALL   TDEC1                                 
022612,000969: 24,3014           51255                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022613,000970: 24,3015           77624                           CALL                                           
022614,000971: 24,3016           52373                                    RRDESSM                               
022615,000972: 24,3017           77776                           EXIT                                           
022616,000973: 24,3020           03033                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022617,000974: 24,3021           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022618,000975: 24,3022           06027                           TC       KILLTASK                              
022619,000976: 24,3023           52573                           CADR     BEGDES                                
022620,000977: 24,3024           06037                           TC       INTPRET                               
022621,000978: 24,3025           77614                           BOF                                            
022622,000979: 24,3026           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022623,000980: 24,3027           51043                                    R21LEMB                               #  NO - GO TO CONTINUOUS DESIGNATE
022624,000981: 24,3030           77614                           CLRGO                                          
022625,000982: 24,3031           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
022626,000983: 24,3032           51037                                    R21LEM7    +1                         
022627,000984: 24,3033           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022628,000985: 24,3034           03036                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
022629,000986: 24,3035           03105                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
022630,000987: 24,3036           55423        R21LEM7            TS       REPOSCNT                              
022631,000988: 24,3037           06037                           TC       INTPRET                               
022632,000989: 24,3040           52145                           DLOAD    GOTO                                  
022633,000990: 24,3041           03425                                    REPOSTM                               
022634,000991: 24,3042           51010                                    R21LEM12   +2                         
022635,000992: 24,3043           77745        R21LEMB            DLOAD                                          
022636,000993: 24,3044           03425                                    REPOSTM                               
022637,000994: 24,3045           34041                           STCALL   TDEC1                                 
022638,000995: 24,3046           50316                                    UPPSV                                 
022639,000996: 24,3047           77776                           EXIT                                           
022640,000997: 24,3050           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022641,000998: 24,3051           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022642,000999: 24,3052           05516                           TC       DOWNFLAG                              
022643,001000: 24,3053           00012                           ADRES    LOKONSW                               
022644,001001: 24,3054           05504                           TC       UPFLAG                                
022645,001002: 24,3055           00126                           ADRES    NORRMON                               

Page 511

022647,001004: 24,3056           04616                           TC       BANKCALL                              
022648,001005: 24,3057           52475                           CADR     RRDESNB                               
022649,001006: 24,3060           03061                           TC       +1                                    
022650,001007: 24,3061           06037                           TC       INTPRET                               
022651,001008: 24,3062           44234                           RTB      BDSU                                  
022652,001009: 24,3063           21573                                    LOADTIME                              #  COMPUTE DELTA TIME
022653,001010: 24,3064           03425                                    REPOSTM                               #  FOR LONGCALL
022654,001011: 24,3065           03427                           STORE    DELTATM                               
022655,001012: 24,3066           77776                           EXIT                                           
022656,001013: 24,3067           00006                           EXTEND                                         
022657,001014: 24,3070           31427                           DCA      DELTATM                               
022658,001015: 24,3071           05277                           TC       LONGCALL                              
022659,001016: 24,3072  E7,1456                                  EBANK=   LOSCOUNT                              
022660,001017: 24,3072           03075 50067                     2CADR    R21LEM9                               
022661,001018: 
022662,001019: 24,3074           05155                           TC       ENDOFJOB                              
022663,001020: 24,3075           06027        R21LEM9            TC       KILLTASK                              
022664,001021: 24,3076           52602                           CADR     STDESIG                               
022665,001022: 24,3077           06011                           TC       CLRADMOD                              
022666,001023: 24,3100           37714                           CAF      PRIO26                                
022667,001024: 24,3101           05105                           TC       FINDVAC                               
022668,001025: 24,3102  E7,1456                                  EBANK=   LOSCOUNT                              
022669,001026: 24,3102           02725 50067                     2CADR    R21LEM10                              
022670,001027: 
022671,001028: 24,3104           05261                           TC       TASKOVER                              
022672,001029: 24,3105           33114        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
022673,001030: 24,3106           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022674,001031: 24,3107           21562                           CADR     PRIOLARM                              #  600 SECS.
022675,001032: 24,3110           06022                           TC       GOTOV56                               
022676,001033: 24,3111           06022                           TC       GOTOV56                               
022677,001034: 24,3112           06022                           TC       GOTOV56                               
022678,001035: 24,3113           05155                           TC       ENDOFJOB                              
022679,001036: 24,3114           00530        ALRM530            OCT      00530                                 
022680,001037: 24,3115           00000 01750  TENSEC             2DEC     1000       B-28                       
022681,001038: 
022682,001039: 24,3117           00000 00062  HALFSEC            2DEC     50         B-28                       
022683,001040: 
022684,001041: 24,3121           05353        R21DISP            TC       PHASCHNG                              
022685,001042: 24,3122           04022                           OCT      04022                                 
022686,001043: 24,3123           33134                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022687,001044: 24,3124           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022688,001045: 24,3125           20710                           CADR     GOPERF2R                              
022689,001046: 24,3126           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022690,001047: 24,3127           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022691,001048: 24,3130           03123                           TC       -5                                    #  ENTER ILLEGAL
022692,001049: 24,3131           34745                           CAF      BIT7                                  
022693,001050: 24,3132           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022694,001051: 24,3133           05155                           TC       ENDOFJOB                              
022695,001052: 

Page 512

022697,001054: 24,3134           01510        V06N72PV           VN       00672                                 
022698,001055: 

Page 513

022700,001057:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022701,001058:                                                                                                  #  PROGRAM DESCRIPTION
022702,001059: 
022703,001060:                                                                                                  #        MOD NO - 2
022704,001061:                                                                                                  #        BY P VOLANTE
022705,001062: 
022706,001063:                                                                                                  #  FUNCTIONAL DESCRIPTION
022707,001064: 
022708,001065:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022709,001066: 
022710,001067:                                                                                                  #  CALLING SEQUENCE -
022711,001068: 
022712,001069:                                                                                                  #        TC      R23LEM
022713,001070: 
022714,001071:                                                                                                  #  SUBROUTINES CALLED
022715,001072: 
022716,001073:                                                                                                  #        BANKCALL        R61LEM
022717,001074:                                                                                                  #        SETMINDB        GOPERF1
022718,001075: 
022719,001076:                                                                                                  #  NORMAL EXIT MODES -
022720,001077: 
022721,001078:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
022722,001079:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
022723,001080:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 +P20
022724,001081: 
022725,001082:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022726,001083: 
022727,001084:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022728,001085: 
022729,001086:                                                                                                  #  OUTPUT
022730,001087: 
022731,001088:                                                                                                  #        N.A.
022732,001089: 
022733,001090:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
022734,001091: 
022735,001092:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022736,001093: 
022737,001094: 24,3135     1143                                  EBANK=   GENRET                                
022738,001095: 24,3135                                           COUNT*   $$/R23                                
022739,001096: 24,3135           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022740,001097: 24,3136           00126                           ADRES    NORRMON                               
022741,001098: 24,3137           00004                           INHINT                                         
022742,001099: 24,3140           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022743,001100: 24,3141           40140                           CADR     SETMINDB                              
022744,001101: 24,3142           00003                           RELINT                                         
022745,001102: 24,3143           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022746,001103: 24,3144           00006                           EXTEND                                         
022747,001104: 24,3145           05012                           WOR      CHAN12                                
022748,001105: 24,3146           33205                           CAF      OCT205                                
022749,001106: 24,3147           04616                           TC       BANKCALL                              
022750,001107: 24,3150           20623                           CADR     GOPERF1                               
022751,001108: 24,3151           03176                           TC       R23LEM2                               #  TERMINATE
022752,001109: 24,3152           03154                           TC       R23LEM11                              #  PROCEDE
022753,001110: 24,3153           03201                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
022754,001111: 24,3154           00004        R23LEM11           INHINT                                         
022755,001112: 24,3155           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022756,001113: 24,3156           00035                           ADRES    CDUT                                  
022757,001114: 24,3157           03166                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022758,001115: 24,3160           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022759,001116: 24,3161           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022760,001117: 24,3162           00003                           RELINT                                         
022761,001118: 24,3163           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022762,001119: 24,3164           00126                           ADRES    NORRMON                               
022763,001120: 24,3165           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022764,001121: 24,3166           00003        OUTOFLIM           RELINT                                         

Page 514

022766,001123: 24,3167           33204                           CAF      OCT501PV                              
022767,001124: 24,3170           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022768,001125: 24,3171           21562                           CADR     PRIOLARM                              #  LIMITS
022769,001126: 24,3172           03176                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022770,001127: 24,3173           03167                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022771,001128: 24,3174           03201                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
022772,001129: 24,3175           05155                           TC       ENDOFJOB                              
022773,001130: 24,3176           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022774,001131: 24,3177           00126                           ADRES    NORRMON                               
022775,001132: 24,3200           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
022776,001133: 24,3201           04616        R23LEM3            TC       BANKCALL                              
022777,001134: 24,3202           46116                           CADR     R61LEM                                
022778,001135: 24,3203           03143                           TC       R23LEM1                               
022779,001136: 
022780,001137: 24,3204           00501        OCT501PV           OCT      501                                   
022781,001138: 24,3205           00205        OCT205             OCT      205                                   
022782,001139: 

Page 515

022784,001141:                                                                                                  #  SEARCH ROUTINE R24LEM
022785,001142:                                                                                                  #  PROGRAM DESCRIPTION
022786,001143: 
022787,001144:                                                                                                  #        MOD NO - 2
022788,001145:                                                                                                  #        BY P. VOLANTE
022789,001146: 
022790,001147:                                                                                                  #  FUNCTIONAL DESCRIPTION
022791,001148: 
022792,001149:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022793,001150:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022794,001151:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022795,001152: 
022796,001153:                                                                                                  #  CALLING SEQUENCE
022797,001154: 
022798,001155:                                                                                                  #        CAF     PRIONN
022799,001156:                                                                                                  #        TC      FINDVAC
022800,001157:                                                                                                  #        EBANK=  DATAGOOD
022801,001158:                                                                                                  #        2CADR   R24LEM
022802,001159: 
022803,001160:                                                                                                  #  SUBROUTINES CALLED
022804,001161: 
022805,001162:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
022806,001163:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
022807,001164:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
022808,001165: 
022809,001166:                                                                                                  #  NORMAL EXIT MODES -
022810,001167: 
022811,001168:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
022812,001169:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022813,001170:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022814,001171: 
022815,001172:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022816,001173: 
022817,001174:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022818,001175: 
022819,001176:                                                                                                  #  OUTPUT -
022820,001177: 
022821,001178:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
022822,001179: 
022823,001180:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022824,001181: 
022825,001182:                                                                                                  #        SEE INPUT FOR LSR24.1
022826,001183: 
022827,001184:                                                                                                  #  FLAGS SET + RESET
022828,001185: 
022829,001186:                                                                                                  #        SRCHOPT, ACMODFLG
022830,001187: 
022831,001188: 24,3206  E7,1733                                  EBANK=   DATAGOOD                              
022832,001189: 24,3206                                           COUNT*   $$/R24                                
022833,001190: 24,3206           05504        R24LEM             TC       UPFLAG                                
022834,001191: 24,3207           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022835,001192: 24,3210           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022836,001193: 24,3211           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022837,001194: 24,3212           34755        R24LEM1            CAF      ZERO                                  
022838,001195: 24,3213           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022839,001196: 24,3214           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022840,001197: 24,3215           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022841,001198: 24,3216           05353        R24LEM2            TC       PHASCHNG                              
022842,001199: 24,3217           04022                           OCT      04022                                 
022843,001200: 24,3220           33254                           CAF      V16N80                                
022844,001201: 24,3221           04616                           TC       BANKCALL                              
022845,001202: 24,3222           20504                           CADR     PRIODSPR                              
022846,001203: 24,3223           06022                           TC       GOTOV56                               
022847,001204: 24,3224           03230                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022848,001205: 
022849,001206: 24,3225           03234                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 516

022851,001208: 24,3226           04616                           TC       BANKCALL                              
022852,001209: 24,3227           55442                           CADR     LRS24.1                               
022853,001210: 24,3230           06027        R24END             TC       KILLTASK                              
022854,001211: 24,3231           55643                           CADR     CALLDGCH                              
022855,001212: 24,3232           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022856,001213: 24,3233           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022857,001214: 
022858,001215:    6011                                           BLOCK    3                                     
022859,001216:    6000                                           SETLOC   FFTAG6                                
022860,001217:    6000                                           BANK                                           
022861,001218:    6011                                           COUNT*   $$/R24                                
022862,001219: 
022863,001220:    6011           46021        CLRADMOD           CS       BIT10+15                              
022864,001221:    6012           00004                           INHINT                                         
022865,001222:    6013           70110                           MASK     RADMODES                              
022866,001223:    6014           54110                           TS       RADMODES                              
022867,001224:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022868,001225:    6016           00006                           EXTEND                                         
022869,001226:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022870,001227: 
022871,001228:    6020           00002                           TC       Q                                     
022872,001229: 
022873,001230:    6021           41000        BIT10+15           OCT      41000                                 
022874,001231: 24,3234                                           BANK     24                                    
022875,001232: 24,2000                                           SETLOC   P20S                                  
022876,001233: 24,2000                                           BANK                                           
022877,001234: 24,3234                                           COUNT*   $$/R24                                
022878,001235: 
022879,001236: 24,3234           05353        R24LEM3            TC       PHASCHNG                              
022880,001237: 24,3235           04022                           OCT      04022                                 
022881,001238: 24,3236           06027                           TC       KILLTASK                              
022882,001239: 24,3237           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022883,001240: 24,3240           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
022884,001241: 24,3241           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
022885,001242: 24,3242           34774                           CAF      .5SEC                                 
022886,001243: 24,3243           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022887,001244: 24,3244           01735                           CADR     DELAYJOB                              
022888,001245: 24,3245           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022889,001246: 24,3246           03251                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
022890,001247: 24,3247           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022891,001248: 24,3250           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022892,001249: 24,3251           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022893,001250: 24,3252           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022894,001251:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022895,001252: 24,3253           03216                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022896,001253: 
022897,001254: 24,3254           04120        V16N80             VN       01680                                 
022898,001255: 

Page 517

022900,001257:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022901,001258:                                                                                                  #  PROGRAM DESCRIPTION
022902,001259: 
022903,001260:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
022904,001261:                                                                                                  #        MOD BY: P VOLANTE   SDC
022905,001262: 
022906,001263:                                                                                                  #  FUNCTIONAL DESCRIPTION -
022907,001264: 
022908,001265:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022909,001266:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022910,001267:                                                                                                  #        ATTITUDE.
022911,001268: 
022912,001269:                                                                                                  #  CALLING SEQUENCE -
022913,001270: 
022914,001271:                                                                                                  #        TC      BANKCALL
022915,001272:                                                                                                  #        CADR    R61LEM
022916,001273: 
022917,001274:                                                                                                  #  SUBROUTINES CALLED
022918,001275: 
022919,001276:                                                                                                  #        LPS20.1         VECPOINT
022920,001277:                                                                                                  #        KALCMAN3
022921,001278: 
022922,001279:                                                                                                  #  NORMAL EXIT MODES -
022923,001280: 
022924,001281:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022925,001282: 
022926,001283:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022927,001284: 
022928,001285:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022929,001286:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022930,001287: 
022931,001288:                                                                                                  #  OUTPUT -
022932,001289: 
022933,001290:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022934,001291: 
022935,001292:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022936,001293: 
022937,001294:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022938,001295: 
022939,001296:                                                                                                  #  FLAGS SET + RESET
022940,001297: 
022941,001298:                                                                                                  #        3AXISFLG
022942,001299: 
022943,001300:                                                                                                  #  DEBRIS
022944,001301: 
022945,001302:                                                                                                  #        SEE SUBROUTINES
022946,001303: 
022947,001304: 23,2000                                           SETLOC   R61                                   
022948,001305: 23,2000                                           BANK                                           
022949,001306: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022950,001307: 23,2116                                           COUNT*   $$/R61                                
022951,001308: 23,2116           04645        R61LEM             TC       MAKECADR                              
022952,001309: 23,2117           55143                           TS       GENRET                                
022953,001310: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022954,001311: 23,2121           00024                           ADRES    R61FLAG                               
022955,001312: 23,2122           02127                           TC       R61C+L01                              
022956,001313: 23,2123           04645        R65LEM             TC       MAKECADR                              
022957,001314: 23,2124           55143                           TS       GENRET                                
022958,001315: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022959,001316: 23,2126           00024                           ADRES    R61FLAG                               
022960,001317: 23,2127           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
022961,001318: 23,2130           70075                           MASK     STATE      +1                         
022962,001319: 23,2131           00006                           EXTEND                                         
022963,001320: 23,2132           12271                           BZF      R65WAIT                               #  NOT SET
022964,001321: 23,2133           06037        R61C+L03           TC       INTPRET                               
022965,001322: 23,2134           77775                           VLOAD                                          

Page 518

022967,001324: 23,2135           06514                                    HIUNITZ                               
022968,001325: 23,2136           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022969,001326: 23,2137           43234        R61LEM1            RTB      DAD                                   
022970,001327: 23,2140           21573                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022971,001328: 23,2141           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022972,001329: 23,2142           34041                           STCALL   TDEC1                                 
022973,001330: 23,2143           51255                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022974,001331: 23,2144           77775                           VLOAD                                          
022975,001332: 23,2145           01102                                    RRTARGET                              
022976,001333: 23,2146           03773                           STORE    POINTVSM                              
022977,001334: 23,2147           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022978,001335: 23,2150           46277                                    READCDUD                              
022979,001336: 23,2151           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022980,001337: 23,2152           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022981,001338: 23,2153           77776                           EXIT                                           
022982,001339: 23,2154           05353                           TC       PHASCHNG                              
022983,001340: 23,2155           04022                           OCT      04022                                 
022984,001341: 23,2156           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022985,001342: 23,2157           70075                           MASK     FLAGWRD1                              
022986,001343: 23,2160           00006                           EXTEND                                         
022987,001344: 23,2161           12271                           BZF      R65WAIT                               
022988,001345: 23,2162           04616                           TC       BANKCALL                              
022989,001346: 23,2163           54255                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022990,001347: 23,2164           10000                           CCS      A                                     
022991,001348: 23,2165           02257                           TC       R61C+L04                              #  NOT IN AUTO
022992,001349: 23,2166           06037                           TC       INTPRET                               
022993,001350: 23,2167           45175                           VLOAD    CALL                                  
022994,001351: 23,2170           01102                                    RRTARGET                              
022995,001352: 23,2171           47646                                    CDU*SMNB                              
022996,001353: 23,2172           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022997,001354: 23,2173           00162                                    MPAC       +5                         
022998,001355: 23,2174           06275                                    COS15DEG                              
022999,001356: 23,2175           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
023000,001357: 23,2176           46213                                    R61C+L05                              #  PHI GRE 10DEG
023001,001358: 23,2177  E6,1635                                  EBANK=   CDUXD                                 
023002,001359: 23,2177           35015                           CAF      EBANK6                                
023003,001360: 23,2200           54003                           TS       EBANK                                 
023004,001361: 23,2201           00004                           INHINT                                         
023005,001362: 23,2202           00006                           EXTEND                                         
023006,001363: 23,2203           30322                           DCA      CPHI                                  
023007,001364: 23,2204           53636                           DXCH     CDUXD                                 
023008,001365: 23,2205           30323                           CA       CPSI                                  
023009,001366: 23,2206           55637                           TS       CDUZD                                 
023010,001367: 23,2207           00003                           RELINT                                         
023011,001368: 23,2210  E7,1456                                  EBANK=   LOSCOUNT                              
023012,001369: 23,2210           35016                           CAF      EBANK7                                
023013,001370: 23,2211           54003                           TS       EBANK                                 
023014,001371: 23,2212           02236                           TC       R61C+L06                              
023015,001372: 23,2213           77776        R61C+L05           EXIT                                           
023016,001373: 23,2214           00004                           INHINT                                         

Page 519

023018,001375: 23,2215           04674                           TC       IBNKCALL                              
023019,001376: 23,2216           40153                           FCADR    ZATTEROR                              
023020,001377: 23,2217           04674                           TC       IBNKCALL                              
023021,001378: 23,2220           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
023022,001379: 23,2221           05516                           TC       DOWNFLAG                              
023023,001380: 23,2222           00124                           ADRES    3AXISFLG                              
023024,001381: 23,2223           05504                           TC       UPFLAG                                
023025,001382: 23,2224           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
023026,001383: 23,2225           04616                           TC       BANKCALL                              
023027,001384: 23,2226           54123                           CADR     R60LEM                                
023028,001385: 23,2227           00004                           INHINT                                         
023029,001386: 23,2230           04674                           TC       IBNKCALL                              
023030,001387: 23,2231           40123                           FCADR    RESTORDB                              
023031,001388: 23,2232           05353                           TC       PHASCHNG                              
023032,001389: 23,2233           04022                           OCT      04022                                 
023033,001390: 23,2234           05516                           TC       DOWNFLAG                              
023034,001391: 23,2235           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
023035,001392: 23,2236           30075        R61C+L06           CA       FLAGWRD1                              
023036,001393: 23,2237           74742                           MASK     R61FLBIT                              
023037,001394: 23,2240           10000                           CCS      A                                     
023038,001395: 23,2241           02262                           TC       R61C+L4                               
023039,001396: 23,2242           11745                           CCS      R65CNTR                               
023040,001397: 23,2243           02245                           TC       +2                                    
023041,001398: 23,2244           02262                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
023042,001399: 23,2245           55745                           TS       R65CNTR                               
023043,001400: 23,2246           32276                           CAF      06SEC                                 
023044,001401: 23,2247           05173                           TC       TWIDDLE                               
023045,001402: 23,2250           02252                           ADRES    R61C+L2                               
023046,001403: 23,2251           05155                           TC       ENDOFJOB                              
023047,001404: 23,2252           37714        R61C+L2            CAF      PRIO26                                
023048,001405: 23,2253           05105                           TC       FINDVAC                               
023049,001406: 23,2254  E7,1456                                  EBANK=   LOSCOUNT                              
023050,001407: 23,2254           02127 46067                     2CADR    R61C+L01                              
023051,001408: 
023052,001409: 23,2256           05261                           TC       TASKOVER                              
023053,001410: 23,2257           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
023054,001411: 23,2260           54266                           CADR     BALLANGS                              
023055,001412: 23,2261           02236                           TC       R61C+L06                              
023056,001413: 23,2262           31143        R61C+L4            CAE      GENRET                                
023057,001414: 23,2263           14640                           TCF      BANKJUMP                              #  EXIT R61
023058,001415: 23,2264           32273        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
023059,001416: 23,2265           70074                           MASK     STATE                                 
023060,001417: 23,2266           00006                           EXTEND                                         
023061,001418: 23,2267           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
023062,001419: 23,2270           02236                           TC       R61C+L06                              #  YES EXIT ROUTINE
023063,001420: 23,2271           04635        R65WAIT            TC       POSTJUMP                              
023064,001421: 23,2272           50232                           CADR     P20LEMWT                              
023065,001422: 
023066,001423: 23,2273           00500        BIT7+9PV           OCT      00500                                 

Page 520

023068,001425: 23,2274           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
023069,001426: 
023070,001427: 23,2276           01130        06SEC              DEC      600        B-14                       
023071,001428: 23,2277                        PHI                EQUALS   20D                                   
023072,001429: 23,2277           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
023073,001430: 23,2300           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
023074,001431: 23,2301           56003                           XCH      EBANK                                 
023075,001432: 23,2302           54070                           TS       RUPTREG1                              
023076,001433: 23,2303  E6,1635                                  EBANK=   CDUXD                                 
023077,001434: 23,2303           31635                           CA       CDUXD                                 
023078,001435: 23,2304           54154                           TS       MPAC                                  
023079,001436: 23,2305           00006                           EXTEND                                         
023080,001437: 23,2306           31637                           DCA      CDUYD                                 
023081,001438: 23,2307           52156                           DXCH     MPAC       +1                         
023082,001439: 23,2310           30070                           CA       RUPTREG1                              
023083,001440: 23,2311           54003                           TS       EBANK                                 
023084,001441: 23,2312           00003                           RELINT                                         
023085,001442: 23,2313           16477                           TCF      TMODE                                 
023086,001443:    4512                                           BLOCK    02                                    
023087,001444:    4000                                           SETLOC   RADARFF                               
023088,001445:    4000                                           BANK                                           
023089,001446: 
023090,001447:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
023091,001448:    4512                                           COUNT*   $$/RRSUB                              
023092,001449: 

Page 521

023094,001451:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023095,001452:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
023096,001453: 
023097,001454:    4512           00006        MAGSUB             EXTEND                                         
023098,001455:    4513           64515                           BZMF     +2                                    
023099,001456:    4514           14516                           TCF      +2                                    
023100,001457:    4515           40000                           COM                                            
023101,001458: 
023102,001459:    4516           50002                           INDEX    Q                                     
023103,001460:    4517           60000                           AD       0                                     
023104,001461:    4520           00006                           EXTEND                                         
023105,001462:    4521           66741                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
023106,001463:    4522           16737                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
023107,001464: 

Page 522

023109,001466:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                                                        ARE IN THE LIMITS OF THE CURRENT MODE.
023110,001467: 
023111,001468:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023112,001469: 
023113,001470:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023114,001471:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
023115,001472:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
023116,001473:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023117,001474:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
023118,001475: 
023119,001476:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023120,001477:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
023121,001478:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023122,001479:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
023123,001480: 
023124,001481:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023125,001482:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
023126,001483:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023127,001484:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
023128,001485:                                                                                                  #        TO L +3.
023129,001486: 
023130,001487:                                                                                                  #  CALLING SEQUENCE:
023131,001488: 
023132,001489:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
023133,001490:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
023134,001491: 
023135,001492:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023136,001493: 
023137,001494:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023138,001495:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023139,001496:                                                                                                  #        CURRENT EBANK).
023140,001497: 
023141,001498:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
023142,001499: 
023143,001500:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023144,001501: 
023145,001502:                                                                                                  #  ALARMS_  NONE
023146,001503: 
023147,001504:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023148,001505:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023149,001506: 
023150,001507:    4523           00006        RRLIMCHK           EXTEND                                         
023151,001508:    4524           50002                           INDEX    Q                                     
023152,001509:    4525           50000                           INDEX    0                                     
023153,001510:    4526           30001                           DCA      0                                     
023154,001511:    4527           24002                           INCR     Q                                     
023155,001512:    4530           52062                           DXCH     ITEMP1                                
023156,001513:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
023157,001514: 
023158,001515:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023159,001516:    4533           70110                           MASK     RADMODES                              
023160,001517:    4534           10000                           CCS      A                                     
023161,001518:    4535           14550                           TCF      MODE2CHK                              
023162,001519: 
023163,001520:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 523

023165,001522:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
023166,001523:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023167,001524:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
023168,001525: 
023169,001526:    4542           34562                           CAF      5.5DEGS                               
023170,001527:    4543           60062                           AD       ITEMP2                                #  S
023171,001528:    4544           04512                           TC       MAGSUB                                
023172,001529:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
023173,001530:    4546           00001                           TC       L                                     
023174,001531:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
023175,001532: 
023176,001533:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
023177,001534:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
023178,001535:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
023179,001536:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
023180,001537:    4554           00001                           TC       L                                     
023181,001538: 
023182,001539:    4555           30061                           CA       ITEMP1                                
023183,001540:    4556           04512                           TC       MAGSUB                                
023184,001541:    4557           51615                           DEC      -.69444                               #  125 DEGS
023185,001542: 
023186,001543:    4560           50001        RRLIMOK            INDEX    L                                     
023187,001544:    4561           00001                           TC       L                                     #  ( = TC 1 )
023188,001545: 
023189,001546:    4562           00765        5.5DEGS            DEC      .03056                                
023190,001547:    4563           16450        82DEGS             DEC      .45556                                
023191,001548: 

Page 524

023193,001550:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                         . IF EITHER:
023194,001551: 
023195,001552:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023196,001553:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
023197,001554:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023198,001555:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023199,001556:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023200,001557:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023201,001558:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
023202,001559:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023203,001560:                                                                                                  #                   8,5)
023204,001561:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
023205,001562:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023206,001563:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023207,001564:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023208,001565:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023209,001566:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
023210,001567:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023211,001568:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023212,001569:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
023213,001570:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023214,001571:                                                                                                  #                   WITH EITHER THE AL
023215,001572: 
023216,001573:                                                                                                  #  CALLING SEQUENCE:
023217,001574: 
023218,001575:                                                                                                  #        L       TC      SETTRKF
023219,001576: 
023220,001577:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
023221,001578: 
023222,001579:                                                                                                  #  SUBROUTINES CALLED_  NONE
023223,001580: 
023224,001581:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023225,001582: 
023226,001583:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
023227,001584: 
023228,001585:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                          ED.
023229,001586: 
023230,001587:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
023231,001588:    4565           71303                           MASK     IMODES33                              
023232,001589:    4566           10000                           CCS      A                                     
023233,001590:    4567           00002                           TC       Q                                     
023234,001591: 
023235,001592:    4570           34744        RRTRKF             CA       BIT8                                  
023236,001593:    4571           54001                           TS       L                                     
023237,001594: 
023238,001595:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
023239,001596:    4573           70110                           MASK     RADMODES                              
023240,001597:    4574           00006                           EXTEND                                         
023241,001598:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
023242,001599: 
023243,001600:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
023244,001601:    4577           70110                           MASK     RADMODES                              

Page 525

023246,001603:    4600           10000                           CCS      A                                     
023247,001604:    4601           30001        TRKFLON            CA       L                                     
023248,001605:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
023249,001606:    4603           70001                           MASK     L                                     
023250,001607:    4604           00006                           EXTEND                                         
023251,001608:    4605           16742                           BZF      TCQ                                   #  NO CHANGE.
023252,001609: 
023253,001610:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
023254,001611:    4607           00006                           EXTEND                                         
023255,001612:    4610           06001                           RXOR     LCHAN                                 
023256,001613:    4611           74733                           MASK     POSMAX                                
023257,001614:    4612           64735                           AD       BIT15                                 
023258,001615:    4613           55036                           TS       DSPTAB     +11D                       
023259,001616:    4614           00002                           TC       Q                                     
023260,001617: 
023261,001618:    4615           10102        13,7,2             OCT      10102                                 
023262,001619:    4616                        ENDRMODF           EQUALS                                         
023263,001620: 

Page 526

023265,001622:                                                                                                  #  PROGRAM NAME_  RRTURNON
023266,001623: 
023267,001624:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023268,001625: 
023269,001626:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023270,001627:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023271,001628:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023272,001629:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
023273,001630:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023274,001631:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023275,001632:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
023276,001633:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
023277,001634:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023278,001635:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023279,001636:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
023280,001637:                                                                                                  #        TO TASKOVER.
023281,001638: 
023282,001639:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023283,001640:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
023284,001641:                                                                                                  #  THE RR (STATE BIT 7).
023285,001642: 
023286,001643:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023287,001644: 
023288,001645:                                                                                                  #        RADMODES, STATE
023289,001646: 
023290,001647:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023291,001648: 
023292,001649:                                                                                                  #  JOBS OR TASKS INITIATED_
023293,001650:                                                                                                  #        
023294,001651:                                                                                                  #        NONE
023295,001652: 
023296,001653:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
023297,001654: 
023298,001655:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
023299,001656: 
023300,001657: 24,3255                                           BANK     24                                    
023301,001658: 25,2000                                           SETLOC   P20S1                                 
023302,001659: 25,2000                                           BANK                                           
023303,001660: 
023304,001661: 25,2062  E7,1456                                  EBANK=   LOSCOUNT                              
023305,001662: 25,2062                                           COUNT*   $$/RSUB                               
023306,001663: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
023307,001664: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023308,001665: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
023309,001666: 25,2065           44753                           CS       TURNONBT                              
023310,001667: 25,2066           70110                           MASK     RADMODES                              
023311,001668: 25,2067           54110                           TS       RADMODES                              
023312,001669: 25,2070           15261                           TCF      TASKOVER                              

Page 527

023314,001671:                                                                                                  #  PROGRAM NAME_  RRZEROSB
023315,001672: 
023316,001673:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023317,001674:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023318,001675:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023319,001676:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
023320,001677:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023321,001678:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
023322,001679:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023323,001680:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023324,001681:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
023325,001682:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
023326,001683:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023327,001684:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
023328,001685:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023329,001686:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023330,001687:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
023331,001688:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023332,001689: 
023333,001690:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
023334,001691: 
023335,001692:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023336,001693: 
023337,001694:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
023338,001695: 
023339,001696:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
023340,001697: 
023341,001698:                                                                                                  #  JOBS OR TASKS INITIATED_
023342,001699: 
023343,001700:                                                                                                  #        NONE
023344,001701: 
023345,001702:                                                                                                  #  ALARMS_  TRACKER FAIL
023346,001703: 
023347,001704:                                                                                                  #  EXIT_  L +1 (ALWAYS)
023348,001705: 
023349,001706: 25,2071           00006        RRZEROSB           EXTEND                                         
023350,001707: 25,2072           23315                           QXCH     RRRET                                 
023351,001708: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
023352,001709: 25,2074           00006                           EXTEND                                         #  COMING HERE.
023353,001710: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
023354,001711: 25,2076           05221                           TC       FIXDELAY                              
023355,001712: 25,2077           00002                           DEC      2          B-14                       
023356,001713: 
023357,001714: 25,2100           34755                           CAF      ZERO                                  
023358,001715: 25,2101           54035                           TS       CDUT                                  
023359,001716: 25,2102           54036                           TS       CDUS                                  
023360,001717: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
023361,001718: 25,2104           00006                           EXTEND                                         
023362,001719: 25,2105           03012                           WAND     CHAN12                                
023363,001720: 25,2106           05221                           TC       FIXDELAY                              
023364,001721: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
023365,001722: 
023366,001723: 25,2110           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 528

023368,001725: 25,2111           70110                           MASK     RADMODES                              
023369,001726: 25,2112           54110                           TS       RADMODES                              
023370,001727: 
023371,001728: 25,2113           30035                           CA       CDUT                                  
023372,001729: 25,2114           04512                           TC       MAGSUB                                
023373,001730: 25,2115           57777                           DEC      -.5                                   
023374,001731: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
023375,001732: 
023376,001733: 25,2117           34755                           CAF      ZERO                                  
023377,001734: 25,2120           12122                           TCF      +2                                    
023378,001735: 25,2121           34740                           CAF      ANTENBIT                              
023379,001736: 25,2122           56110                           XCH      RADMODES                              
023380,001737: 25,2123           77741                           MASK     -BIT12                                
023381,001738: 25,2124           26110                           ADS      RADMODES                              
023382,001739: 
023383,001740: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
023384,001741: 
023385,001742: 25,2126           01315                           TC       RRRET                                 #  DONE.
023386,001743: 
023387,001744: 25,2127     7741               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
023388,001745: 

Page 529

023390,001747:                                                                                                  #  PROGRAM NAME_  DORREPOS
023391,001748: 
023392,001749:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023393,001750: 
023394,001751:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023395,001752:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
023396,001753:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023397,001754:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023398,001755:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
023399,001756:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023400,001757:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
023401,001758:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023402,001759:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
023403,001760:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023404,001761:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
023405,001762:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
023406,001763:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023407,001764:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
023408,001765:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023409,001766:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023410,001767:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
023411,001768:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023412,001769:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
023413,001770:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023414,001771:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023415,001772:                                                                                                  #        TASKOVER.
023416,001773: 
023417,001774:                                                                                                  #  CALLING SEQUENCE:
023418,001775: 
023419,001776:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023420,001777:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
023421,001778: 
023422,001779:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023423,001780: 
023424,001781:                                                                                                  #        RADMODES
023425,001782: 
023426,001783:                                                                                                  #  SUBROUTINES CALLED_
023427,001784: 
023428,001785:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
023429,001786: 
023430,001787:                                                                                                  #  JOBS OR TASKS INITIATED_
023431,001788: 
023432,001789:                                                                                                  #        NONE
023433,001790: 
023434,001791:                                                                                                  #  ALARMS-  NONE
023435,001792: 
023436,001793:                                                                                                  #  EXIT_  TASKOVER, BEGDES
023437,001794: 
023438,001795: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
023439,001796: 
023440,001797:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023441,001798: 
023442,001799: 25,2130           05221                           TC       FIXDELAY                              
023443,001800: 25,2131           00002                           DEC      2          B-14                       
023444,001801: 
023445,001802: 25,2132           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 530

023447,001804: 25,2133           70110                           MASK     RADMODES                              
023448,001805: 25,2134           10000                           CCS      A                                     
023449,001806: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
023450,001807: 25,2136           02241                           TC       RRTONLY                               
023451,001808: 
023452,001809: 25,2137           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
023453,001810: 25,2140           70110                           MASK     RADMODES                              
023454,001811: 25,2141           10000                           CCS      A                                     
023455,001812: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
023456,001813: 25,2143           02244                           TC       RRSONLY                               
023457,001814: 
023458,001815: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
023459,001816:                                                                                                  #  REQUESTED DURING REPOSITION.
023460,001817: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
023461,001818: 25,2146           54110                           TS       RADMODES                              
023462,001819: 25,2147           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
023463,001820: 25,2150           10000                           CCS      A                                     
023464,001821: 25,2151           12573                           TCF      BEGDES                                
023465,001822: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
023466,001823: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
023467,001824: 25,2154           03012                           WAND     CHAN12                                
023468,001825: 25,2155           15261                           TCF      TASKOVER                              
023469,001826: 
023470,001827: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
023471,001828: 25,2157           00006                           EXTEND                                         
023472,001829: 25,2160           02012                           RAND     CHAN12                                
023473,001830: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
023474,001831: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
023475,001832: 
023476,001833: 25,2163           54112                           TS       LASTYCMD                              
023477,001834: 25,2164           54113                           TS       LASTXCMD                              
023478,001835: 25,2165           34752                           CAF      BIT2                                  
023479,001836: 25,2166           00006                           EXTEND                                         
023480,001837: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
023481,001838: 25,2170           00002                           TC       Q                                     

Page 531

023483,001840:                                                                                                  #  PROGRAM NAME_  REMODE                                                         IVES SHAFT TO -45, AND FINALLY DRIVES
023484,001841: 
023485,001842:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       S DONE WITH SINGLE AXIS ROTATIONS (SEE
023486,001843:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
023487,001844:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023488,001845:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023489,001846:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023490,001847:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023491,001848:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
023492,001849:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
023493,001850:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
023494,001851:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023495,001852:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
023496,001853:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023497,001854:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
023498,001855:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023499,001856:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023500,001857:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
023501,001858:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023502,001859:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
023503,001860:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
023504,001861:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023505,001862: 
023506,001863:                                                                                                  #  CALLING SEQUENCE:
023507,001864: 
023508,001865:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023509,001866:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023510,001867:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023511,001868:                                                                                                  #        OTHER MODE.
023512,001869: 
023513,001870:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023514,001871: 
023515,001872:                                                                                                  #        RADMODES
023516,001873: 
023517,001874:                                                                                                  #  SUBROUTINES CALLED_
023518,001875: 
023519,001876:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023520,001877: 
023521,001878:                                                                                                  #  JOBS OR TASKS INITIATED_
023522,001879: 
023523,001880:                                                                                                  #        NONE
023524,001881: 
023525,001882:                                                                                                  #  ALARMS_  NONE
023526,001883: 
023527,001884:                                                                                                  #  EXIT_  STDESIG
023528,001885: 
023529,001886: 25,2171           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
023530,001887: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
023531,001888: 25,2173           10000                           CCS      A                                     
023532,001889: 25,2174           34735                           CAF      BIT15                                 
023533,001890: 25,2175           02241                           TC       RRTONLY                               
023534,001891: 
023535,001892: 25,2176           37740                           CAF      -45DEGSR                              
023536,001893: 25,2177           02244                           TC       RRSONLY                               

Page 532

023538,001895: 25,2200           40110                           CS       RADMODES                              
023539,001896: 25,2201           74740                           MASK     ANTENBIT                              
023540,001897: 25,2202           10000                           CCS      A                                     
023541,001898: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
023542,001899: 25,2204           62231                           AD       -50DEGSR                              
023543,001900: 25,2205           02241                           TC       RRTONLY                               
023544,001901: 
023545,001902: 25,2206           40110                           CS       RADMODES                              
023546,001903: 25,2207           74740                           MASK     ANTENBIT                              
023547,001904: 25,2210           10000                           CCS      A                                     
023548,001905: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
023549,001906: 25,2212           02241                           TC       RRTONLY                               
023550,001907: 
023551,001908: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
023552,001909: 25,2214           74740                           MASK     ANTENBIT                              
023553,001910: 25,2215           10000                           CCS      A                                     
023554,001911: 25,2216           44736                           CS       HALF                                  
023555,001912: 25,2217           02244                           TC       RRSONLY                               
023556,001913: 
023557,001914: 25,2220           02233                           TC       RMODINV                               
023558,001915: 
023559,001916: 25,2221           44736                           CS       REMODBIT                              #  END OF REMODE.
023560,001917: 25,2222           70110                           MASK     RADMODES                              
023561,001918: 25,2223           54110                           TS       RADMODES                              
023562,001919: 
023563,001920: 25,2224           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
023564,001921: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
023565,001922: 25,2226           00006                           EXTEND                                         
023566,001923: 25,2227           13555                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
023567,001924: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
023568,001925: 25,2231     7740               -45DEGSR           =        13,14,15                              
023569,001926: 25,2231           67070        -50DEGSR           DEC      -.27778                               
023570,001927: 25,2232           61615        -80DEGSR           DEC      -.44444                               
023571,001928: 
023572,001929: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
023573,001930: 25,2234           34740                           CAF      ANTENBIT                              
023574,001931: 25,2235           00006                           EXTEND                                         
023575,001932: 25,2236           06001                           RXOR     LCHAN                                 
023576,001933: 25,2237           54110                           TS       RADMODES                              
023577,001934: 25,2240           00002                           TC       Q                                     
023578,001935: 

Page 533

023580,001937:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
023581,001938: 
023582,001939:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023583,001940: 
023584,001941:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023585,001942:                                                                                                  #        RR MANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
023586,001943:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023587,001944:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
023588,001945:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
023589,001946:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023590,001947:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023591,001948:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
023592,001949:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023593,001950:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
023594,001951:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
023595,001952:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023596,001953:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023597,001954:                                                                                                  #        REPEATED.
023598,001955: 
023599,001956:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
023600,001957:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
023601,001958:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
023602,001959:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
023603,001960:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023604,001961: 
023605,001962:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023606,001963: 
023607,001964:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
023608,001965: 
023609,001966:                                                                                                  #  SUBROUTINES CALLED_
023610,001967: 
023611,001968:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
023612,001969: 
023613,001970:                                                                                                  #  JOBS OR TASKS INITIATED_
023614,001971: 
023615,001972:                                                                                                  #        NONE
023616,001973: 
023617,001974:                                                                                                  #  ALARMS_  NONE
023618,001975: 
023619,001976:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023620,001977:                                                                                                  #        BITS 14, 11)
023621,001978:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023622,001979: 
023623,001980: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
023624,001981: 25,2242           34755                           CAF      ZERO                                  
023625,001982: 25,2243           12246                           TCF      RR1AXIS                               
023626,001983: 
023627,001984: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023628,001985: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023629,001986: 
023630,001987: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
023631,001988: 25,2247           00006                           EXTEND                                         
023632,001989: 25,2250           23315                           QXCH     RRRET                                 
023633,001990: 25,2251           12254                           TCF      RR1AX2                                
023634,001991: 

Page 534

023636,001993: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
023637,001994: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
023638,001995: 
023639,001996: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
023640,001997: 25,2255           77710                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
023641,001998: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
023642,001999: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
023643,002000: 
023644,002001: 25,2260           31316                           CA       RDES                                  
023645,002002: 25,2261           00006                           EXTEND                                         
023646,002003: 25,2262           51317                           INDEX    RRINDEX                               
023647,002004: 25,2263           20035                           MSU      CDUT                                  
023648,002005: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023649,002006: 25,2265           00006                           EXTEND                                         
023650,002007: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023651,002008: 25,2267           54001                           TS       L                                     
023652,002009: 25,2270           30110                           CA       RADMODES                              
023653,002010: 25,2271           74752                           MASK     AUTOMBIT                              
023654,002011: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023655,002012: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023656,002013: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023657,002014: 
023658,002015: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023659,002016: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
023660,002017: 
023661,002018: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023662,002019: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
023663,002020: 25,2301           56001                           XCH      L                                     
023664,002021: 25,2302           53110                           DXCH     TANG                                  
023665,002022: 
023666,002023: 25,2303           02306                           TC       RROUT                                 
023667,002024: 
023668,002025: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023669,002026: 
023670,002027: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023671,002028: 

Page 535

023673,002030:                                                                                                  #  PROGRAM NAME_  RROUT                                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023674,002031: 
023675,002032:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023676,002033: 
023677,002034:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023678,002035:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
023679,002036:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023680,002037:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023681,002038:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023682,002039:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023683,002040:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
023684,002041:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023685,002042:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023686,002043:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023687,002044:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023688,002045:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023689,002046:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023690,002047: 
023691,002048:                                                                                                  #  CALLING SEQUENCE:
023692,002049:                                                                                                  #        
023693,002050:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023694,002051:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
023695,002052: 
023696,002053:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023697,002054: 
023698,002055:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023699,002056:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023700,002057: 
023701,002058:                                                                                                  #  SUBROUTINES CALLED_
023702,002059: 
023703,002060:                                                                                                  #        MAGSUB
023704,002061: 
023705,002062:                                                                                                  #  JOBS OR TASKS INITIATED_
023706,002063: 
023707,002064:                                                                                                  #        NONE
023708,002065: 
023709,002066:                                                                                                  #  ALARMS_  NONE
023710,002067: 
023711,002068:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                           SIRED VALUES. RUPT MUST BE INHIBITED.
023712,002069: 
023713,002070: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023714,002071: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
023715,002072: 25,2310           54062        RROUT2             TS       ITEMP2                                
023716,002073: 25,2311           50000                           INDEX    A                                     
023717,002074: 25,2312           31107                           CA       TANG                                  
023718,002075: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023719,002076: 
023720,002077: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023721,002078: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
023722,002079: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023723,002080: 
023724,002081: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023725,002082: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023726,002083: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023727,002084: 25,2322           40000                           COM                                            

Page 536

023729,002086: 25,2323           60061                           AD       ITEMP1                                
023730,002087: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023731,002088: 25,2325           50062                           INDEX    ITEMP2                                
023732,002089: 25,2326           54053                           TS       CDUTCMD                               
023733,002090: 
023734,002091: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023735,002092: 25,2330           12310                           TCF      RROUT2                                
023736,002093: 
023737,002094: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023738,002095: 25,2332           00006                           EXTEND                                         
023739,002096: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023740,002097: 25,2334           00001                           TC       L                                     #  RETURN.
023741,002098: 
023742,002099: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023743,002100: 25,2336           42315                           CS       -RRLIMIT                              
023744,002101: 25,2337           12341                           TCF      +2                                    
023745,002102: 25,2340           32315                           CA       -RRLIMIT                              
023746,002103: 25,2341           54061                           TS       ITEMP1                                
023747,002104: 25,2342           12320                           TCF      SETRRCTR   +1                         
023748,002105: 

Page 537

023750,002107:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023751,002108: 
023752,002109: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023753,002110: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023754,002111: 25,2345           10000                           CCS      A                                     
023755,002112: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023756,002113: 
023757,002114: 25,2347           00004                           INHINT                                         
023758,002115: 25,2350           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023759,002116: 25,2351           70110                           MASK     RADMODES                              
023760,002117: 25,2352           64737                           AD       RCDU0BIT                              
023761,002118: 25,2353           54110                           TS       RADMODES                              
023762,002119: 
023763,002120: 25,2354           34753                           CAF      ONE                                   
023764,002121: 25,2355           05203                           TC       WAITLIST                              
023765,002122: 25,2356  E7,1456                                  EBANK=   LOSCOUNT                              
023766,002123: 25,2356           02370 52067                     2CADR    RRZ2                                  
023767,002124: 
023768,002125: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023769,002126: 25,2361           74752                           MASK     AUTOMBIT                              
023770,002127: 25,2362           10000                           CCS      A                                     
023771,002128: 25,2363           12366                           TCF      ROADBACK                              
023772,002129: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023773,002130: 25,2365           00510                           OCT      510                                   
023774,002131: 25,2366           00003        ROADBACK           RELINT                                         
023775,002132: 25,2367           14631                           TCF      SWRETURN                              
023776,002133: 
023777,002134: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023778,002135: 25,2371           13546                           TCF      ENDRADAR                              
023779,002136: 
023780,002137: 25,2372           02001        BIT11+1            OCT      02001                                 
023781,002138: 

Page 538

023783,002140:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                        R (HALF-UNIT) IN RRTARGET. REMODES IF
023784,002141: 
023785,002142:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023786,002143: 
023787,002144:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023788,002145:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023789,002146:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023790,002147:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023791,002148:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023792,002149:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023793,002150:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023794,002151:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023795,002152:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023796,002153:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023797,002154:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023798,002155:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
023799,002156:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
023800,002157:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023801,002158:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023802,002159:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023803,002160:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023804,002161:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023805,002162:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
023806,002163:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023807,002164:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023808,002165:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023809,002166: 
023810,002167:                                                                                                  #  CALLING SEQUENCE:
023811,002168: 
023812,002169:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023813,002170:                                                                                                  #        L+1     RRDESSM
023814,002171:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
023815,002172:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
023816,002173: 
023817,002174:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023818,002175: 
023819,002176:                                                                                                  #        RRTARGET, RADMODES
023820,002177: 
023821,002178:                                                                                                  #  SUBROUTINES CALLED_
023822,002179: 
023823,002180:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023824,002181:                                                                                                  #        PART OF), RMODINV
023825,002182: 
023826,002183:                                                                                                  #  JOBS OR TASKS INITIATED_
023827,002184: 
023828,002185:                                                                                                  #        NONE
023829,002186: 
023830,002187:                                                                                                  #  ALARMS_  NONE
023831,002188: 
023832,002189:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023833,002190:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023834,002191:                                                                                                  #  TO L+3 FROM STARTDES)                                                         CAN BE DONE IN PRESENT VEH ATTITUDE.
023835,002192: 
023836,002193: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
023837,002194: 25,2374           01113                                    DESRET                                

Page 539

023839,002196: 25,2375           00271                                    RRNBSW                                
023840,002197: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023841,002198: 25,2377           47537                                    CDUTRIG                               
023842,002199: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023843,002200: 25,2401           01102                                    RRTARGET                              
023844,002201: 25,2402           47671                                    *SMNB*                                
023845,002202: 
023846,002203: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023847,002204: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
023848,002205: 25,2405           77776                           EXIT                                           
023849,002206: 
023850,002207: 25,2406           00004                           INHINT                                         
023851,002208: 25,2407           04523                           TC       RRLIMCHK                              
023852,002209: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023853,002210: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
023854,002211: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023855,002212: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023856,002213: 25,2414           40104                           CS       FLAGWRD8                              
023857,002214: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023858,002215: 25,2416           00006                           EXTEND                                         
023859,002216: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023860,002217: 25,2420           02461                           TC       TRYSWS                                
023861,002218: 
023862,002219: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023863,002220: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023864,002221: 25,2423           00006                           EXTEND                                         
023865,002222: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
023866,002223: 25,2425           30074                           CA       STATE                                 
023867,002224: 25,2426           74745                           MASK     RNDVZBIT                              
023868,002225: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
023869,002226: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023870,002227: 25,2431           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
023871,002228: 

Page 540

023873,002230:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
023874,002231: 
023875,002232:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
023876,002233:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023877,002234:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023878,002235:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023879,002236:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023880,002237:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023881,002238:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023882,002239:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023883,002240:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023884,002241:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
023885,002242:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023886,002243:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
023887,002244:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023888,002245:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023889,002246:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023890,002247:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023891,002248:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023892,002249:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023893,002250:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023894,002251:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023895,002252:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023896,002253: 
023897,002254:                                                                                                  #  CALLING SEQUENCE:
023898,002255: 
023899,002256:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023900,002257: 
023901,002258:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023902,002259: 
023903,002260:                                                                                                  #        RADMODES, (SEE DODES)
023904,002261: 
023905,002262:                                                                                                  #  SUBROUTINES CALLED_
023906,002263: 
023907,002264:                                                                                                  #        SETRRECR, WAITLIST
023908,002265: 
023909,002266:                                                                                                  #  JOBS OR TASKS INITIATED_
023910,002267: 
023911,002268:                                                                                                  #        BEGDES
023912,002269: 
023913,002270:                                                                                                  #  ALARMS_  NONE
023914,002271: 
023915,002272:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023916,002273:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
023917,002274: 
023918,002275: 25,2432           25113        STARTDES           INCR     DESRET                                
023919,002276: 25,2433           40110                           CS       RADMODES                              
023920,002277: 25,2434           74742                           MASK     DESIGBIT                              
023921,002278: 25,2435           26110                           ADS      RADMODES                              
023922,002279: 25,2436           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023923,002280: 25,2437           10000                           CCS      A                                     
023924,002281: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023925,002282: 
023926,002283: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 541

023928,002285: 25,2442           34752                           CAF      TWO                                   
023929,002286: 25,2443           05203                           TC       WAITLIST                              
023930,002287: 25,2444  E7,1456                                  EBANK=   LOSCOUNT                              
023931,002288: 25,2444           02573 52067                     2CADR    BEGDES                                
023932,002289: 
023933,002290: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023934,002291: 25,2447           00006                           EXTEND                                         
023935,002292: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
023936,002293: 25,2451           05155                           TC       ENDOFJOB                              #  NO
023937,002294: 25,2452           00003        DESRTRN            RELINT                                         
023938,002295: 25,2453           25113                           INCR     DESRET                                
023939,002296: 25,2454           31113                           CA       DESRET                                
023940,002297: 25,2455           14640                           TCF      BANKJUMP                              
023941,002298: 
023942,002299: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023943,002300: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023944,002301: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023945,002302: 

Page 542

023947,002304:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023948,002305: 
023949,002306: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023950,002307: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023951,002308: 25,2463           01111                           ADRES    MODEB                                 
023952,002309: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023953,002310: 
023954,002311: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
023955,002312: 25,2466           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023956,002313: 25,2467           26110                           ADS      RADMODES                              
023957,002314: 
023958,002315: 25,2470           12412                           TCF      OKDESSM                               
023959,002316: 
023960,002317: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023961,002318: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
023962,002319: 25,2473           12456                           TCF      NORDSTAL                              
023963,002320: 
023964,002321: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
023965,002322: 

Page 543

023967,002324:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023968,002325:                                                                                                  #  TANG AND TANG +1.
023969,002326: 
023970,002327: 25,2475           04645        RRDESNB            TC       MAKECADR                              
023971,002328: 25,2476           55113                           TS       DESRET                                
023972,002329: 
023973,002330: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023974,002331: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023975,002332: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023976,002333: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
023977,002334: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023978,002335: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023979,002336: 25,2505           01107                           ADRES    TANG                                  
023980,002337: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023981,002338: 
023982,002339: 25,2507           00003        OKDESNB            RELINT                                         
023983,002340: 25,2510           00006                           EXTEND                                         
023984,002341: 25,2511           31110                           DCA      TANG                                  
023985,002342: 25,2512           53753                           DXCH     TANGNB                                
023986,002343: 25,2513           06037                           TC       INTPRET                               
023987,002344: 
023988,002345: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
023989,002346: 25,2515           46041                                    RRNB                                  
023990,002347: 25,2516           01102                           STORE    RRTARGET                              
023991,002348: 
023992,002349: 25,2517           77414                           SET      EXIT                                  
023993,002350: 25,2520           00071                                    RRNBSW                                
023994,002351: 
023995,002352: 25,2521           00004                           INHINT                                         
023996,002353: 25,2522           12433                           TCF      STARTDES   +1                         
023997,002354: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023998,002355: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023999,002356: 25,2525           01107                           ADRES    TANG                                  
024000,002357: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
024001,002358: 
024002,002359: 25,2527           02233                           TC       RMODINV                               
024003,002360: 25,2530           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
024004,002361: 25,2531           26110                           ADS      RADMODES                              
024005,002362: 25,2532           12507                           TCF      OKDESNB                               
024006,002363: 
024007,002364: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
024008,002365: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
024009,002366: 25,2535           00502                           OCT      502                                   
024010,002367: 25,2536           06011                           TC       CLRADMOD                              
024011,002368: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
024012,002369: 
024013,002370: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024014,002371: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
024015,002372: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
024016,002373: 25,2543           00006                           EXTEND                                         

Page 544

024018,002375: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
024019,002376: 25,2545           30001                           DCA      0                                     
024020,002377: 25,2546           52062                           DXCH     ITEMP1                                
024021,002378: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
024022,002379: 
024023,002380: 25,2550           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
024024,002381: 25,2551           70110                           MASK     RADMODES                              
024025,002382: 25,2552           10000                           CCS      A                                     
024026,002383: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
024027,002384: 25,2554           30061                           CA       ITEMP1                                
024028,002385: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
024029,002386: 25,2556           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
024030,002387: 25,2557           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
024031,002388: 
024032,002389: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
024033,002390: 25,2561           00006                           EXTEND                                         
024034,002391: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024035,002392: 25,2563           64562                           AD       5.5DEGS                               
024036,002393: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
024037,002394: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
024038,002395: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
024039,002396: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
024040,002397: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024041,002398: 25,2571           12564                           TCF      SHAFTLIM                              
024042,002399: 
024043,002400: 25,2572           03512        20.5DEGS           DEC      .11389                                
024044,002401: 

Page 545

024046,002403:                                                                                                  #  PROGRAM NAME_  BEGDES
024047,002404: 
024048,002405:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024049,002406: 
024050,002407:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024051,002408:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
024052,002409:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
024053,002410:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024054,002411:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024055,002412:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
024056,002413:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024057,002414:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
024058,002415:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024059,002416:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024060,002417:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024061,002418:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024062,002419:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024063,002420:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024064,002421:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024065,002422:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
024066,002423:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024067,002424:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024068,002425:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024069,002426:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024070,002427:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024071,002428:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
024072,002429:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024073,002430:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024074,002431:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024075,002432: 
024076,002433:                                                                                                  #  CALLING SEQUENCE:
024077,002434: 
024078,002435:                                                                                                  #        WAITLIST CALL FROM STARTDES
024079,002436:                                                                                                  #        TCF BEGDES FROM DORREPOS
024080,002437:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
024081,002438: 
024082,002439:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024083,002440:                                                                                                  #        DESCOUNT, RADMODES
024084,002441: 
024085,002442:                                                                                                  #  SUBROUTINES CALLED_
024086,002443:                                                                                                  #        ENDRADAR, FINDVAC
024087,002444: 
024088,002445:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
024089,002446: 
024090,002447:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024091,002448:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024092,002449: 
024093,002450:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024094,002451:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024095,002452:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024096,002453: 
024097,002454: 25,2573           40110        BEGDES             CS       RADMODES                              

Page 546

024099,002456: 25,2574           74736                           MASK     REMODBIT                              
024100,002457: 25,2575           10000                           CCS      A                                     
024101,002458: 25,2576           02602                           TC       STDESIG                               
024102,002459: 25,2577           02171                           TC       REMODE                                
024103,002460: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
024104,002461: 25,2601           00062                           DEC      50         B-14                       
024105,002462: 
024106,002463: 25,2602           34741        STDESIG            CAF      REPOSBIT                              
024107,002464: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024108,002465: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
024109,002466: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
024110,002467: 
024111,002468: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
024112,002469: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
024113,002470: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024114,002471: 25,2611           12630                           TCF      MOREDES    +1                         
024115,002472: 
024116,002473: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
024117,002474: 25,2613           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024118,002475: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
024119,002476: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
024120,002477: 
024121,002478: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
024122,002479: 25,2617           12627                           TCF      MOREDES                               
024123,002480: 
024124,002481: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024125,002482: 25,2621           00006                           EXTEND                                         
024126,002483: 25,2622           03012                           WAND     CHAN12                                
024127,002484: 25,2623           44742        BADDES             CS       DESIGBIT                              #  REMOVE DESIGNATE FLAG
024128,002485: 25,2624           70110                           MASK     RADMODES                              
024129,002486: 25,2625           54110                           TS       RADMODES                              
024130,002487: 25,2626           13562                           TCF      RDBADEND                              
024131,002488: 
024132,002489: 25,2627           55114        MOREDES            TS       DESCOUNT                              
024133,002490: 25,2630           37714                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
024134,002491: 25,2631           05105                           TC       FINDVAC                               
024135,002492: 25,2632  E7,1456                                  EBANK=   LOSCOUNT                              
024136,002493: 25,2632           02636 52067                     2CADR    DODES                                 
024137,002494: 
024138,002495: 25,2634           12600                           TCF      DESLOOP                               
024139,002496: 
024140,002497: 25,2635           20002        B14+B2             OCT      20002                                 
024141,002498: 

Page 547

024143,002500:                                                                                                  #  PROGRAM NAME_  DODES
024144,002501: 
024145,002502:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024146,002503: 
024147,002504:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024148,002505:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024149,002506:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024150,002507:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
024151,002508:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024152,002509:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
024153,002510:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
024154,002511:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024155,002512:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
024156,002513:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
024157,002514:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024158,002515:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
024159,002516:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024160,002517:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024161,002518:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024162,002519:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024163,002520:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
024164,002521:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024165,002522:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024166,002523:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024167,002524:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
024168,002525:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024169,002526:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024170,002527:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024171,002528:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024172,002529:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
024173,002530:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024174,002531:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024175,002532:                                                                                                  #        CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024176,002533:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024177,002534:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
024178,002535:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024179,002536:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024180,002537:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
024181,002538:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024182,002539:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024183,002540:                                                                                                  #        VIA ENDOFJOB.
024184,002541: 
024185,002542:                                                                                                  #  CALLING SEQUENCE:
024186,002543: 
024187,002544:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024188,002545: 
024189,002546:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024190,002547: 
024191,002548:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024192,002549:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024193,002550: 
024194,002551:                                                                                                  #  SUBROUTINES CALLED_
024195,002552: 
024196,002553:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 548

024198,002555: 
024199,002556:                                                                                                  #  JOBS OR TASKS INITIATED_
024200,002557: 
024201,002558:                                                                                                  #        NONE
024202,002559: 
024203,002560:                                                                                                  #  ALARMS_  NONE
024204,002561: 
024205,002562:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
024206,002563: 
024207,002564: 25,2636           00006        DODES              EXTEND                                         
024208,002565: 25,2637           30036                           DCA      CDUT                                  
024209,002566: 25,2640           53110                           DXCH     TANG                                  
024210,002567: 
024211,002568: 25,2641           06037                           TC       INTPRET                               
024212,002569: 
024213,002570: 25,2642           77201                           SETPD    VLOAD                                 
024214,002571: 25,2643           00001                                    0                                     
024215,002572: 25,2644           01102                                    RRTARGET                              
024216,002573: 25,2645           74214                           BON      VXSC                                  
024217,002574: 25,2646           00311                                    RRNBSW                                
024218,002575: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
024219,002576: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
024220,002577: 25,2651           63372                           VSL1     PDVL                                  
024221,002578: 25,2652           01761                                    LOSVEL                                
024222,002579: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
024223,002580: 25,2654           13072                                    MCTOMS                                
024224,002581: 25,2655           45056                           UNIT     CALL                                  
024225,002582: 25,2656           47537                                    CDUTRIG                               
024226,002583: 25,2657           77624                           CALL                                           
024227,002584: 25,2660           47671                                    *SMNB*                                
024228,002585: 
024229,002586: 25,2661           14041        DONBRD             STODL    32D                                   
024230,002587: 25,2662           01111                                    TANG       +1                         
024231,002588: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
024232,002589: 25,2664           21576                                    CDULOGIC                              #        (-SIN(S)).
024233,002590: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
024234,002591: 25,2666           41546                           COS      PUSH                                  
024235,002592: 25,2667           65205                           DMP      PDDL                                  
024236,002593: 25,2670           00041                                    32D                                   
024237,002594: 25,2671           00045                                    36D                                   
024238,002595: 25,2672           44205                           DMP      BDSU                                  
024239,002596: 25,2673           00001                                    0                                     
024240,002597: 25,2674           77626                           STADR                                          
024241,002598: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
024242,002599: 
024243,002600: 25,2676           47135                           SLOAD    RTB                                   
024244,002601: 25,2677           01110                                    TANG                                  
024245,002602: 25,2700           21576                                    CDULOGIC                              
024246,002603: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
024247,002604: 25,2702           73525                           PDDL     SIN                                   
024248,002605: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
024249,002606: 25,2704           00003                                    2                                     

Page 549

024251,002608: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
024252,002609: 25,2706           00005                                    4                                     #                        (   COS(T)   )
024253,002610: 25,2707           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
024254,002611: 25,2710           00007                                    6                                     
024255,002612: 25,2711           00001                                    0                                     
024256,002613: 25,2712           55552                           SL1      VDEF                                  
024257,002614: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
024258,002615: 25,2714           00041                                    32D                                   
024259,002616: 

Page 550

024261,002618:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
024262,002619:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024263,002620: 
024264,002621: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
024265,002622: 25,2716           00006                           EXTEND                                         
024266,002623: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024267,002624: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
024268,002625: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
024269,002626: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
024270,002627: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
024271,002628: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
024272,002629: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
024273,002630: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
024274,002631: 25,2727           41110                 +3        CS       TANG       +1                         
024275,002632: 25,2730           00006                           EXTEND                                         
024276,002633: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024277,002634: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
024278,002635: 25,2733           06037                           TC       INTPRET                               
024279,002636: 
024280,002637: 25,2734           41345                           DLOAD    DMP                                   
024281,002638: 25,2735           00003                                    2                                     #  COS(S).
024282,002639: 25,2736           00005                                    4                                     #  COS(T).
024283,002640: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
024284,002641: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
024285,002642: 25,2741           00001                                    0                                     #  SIN(S).
024286,002643: 25,2742           72405                           DMP      SL1                                   
024287,002644: 25,2743           00005                                    4                                     #  COS(T).
024288,002645: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
024289,002646: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
024290,002647: 25,2746           52751                                    +3                                    
024291,002648: 25,2747           77624                           CALL                                           
024292,002649: 25,2750           47673                                    *NBSM*                                #  GET URR IN SM AXES.
024293,002650: 25,2751           77441                           DOT      EXIT                                  
024294,002651: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
024295,002652: 
024296,002653: 25,2753           00006                           EXTEND                                         
024297,002654: 25,2754           43070                           DCS      COS1/2DG                              
024298,002655: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
024299,002656: 25,2756           10154                           CCS      MPAC                                  
024300,002657: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
024301,002658: 25,2760           12762                           TCF      +2                                    
024302,002659: 25,2761           34753                           CA       ONE                                   
024303,002660: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 551

024305,002662:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024306,002663: 
024307,002664: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024308,002665: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
024309,002666: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
024310,002667: 25,2766           13017                           TCF      DORROUT                               
024311,002668: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024312,002669: 25,2770           13000                           TCF      DGOODCHK                              
024313,002670: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024314,002671: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
024315,002672: 25,2773           10000                           CCS      A                                     
024316,002673: 25,2774           13005                           TCF      RRDESDUN                              
024317,002674: 
024318,002675: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
024319,002676: 25,2776           00006                           EXTEND                                         
024320,002677: 25,2777           05012                           WOR      CHAN12                                
024321,002678: 
024322,002679: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
024323,002680: 25,3001           00006                           EXTEND                                         
024324,002681: 25,3002           02033                           RAND     CHAN33                                
024325,002682: 25,3003           10000                           CCS      A                                     
024326,002683: 25,3004           13017                           TCF      DORROUT                               
024327,002684: 
024328,002685: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024329,002686: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
024330,002687: 25,3007           00004                           INHINT                                         
024331,002688: 25,3010           54110                           TS       RADMODES                              
024332,002689: 
024333,002690: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
024334,002691: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
024335,002692: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
024336,002693: 25,3014           00006                           EXTEND                                         
024337,002694: 25,3015           03012                           WAND     CHAN12                                
024338,002695: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
024339,002696: 
024340,002697: 25,3017           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024341,002698: 25,3020           77712                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024342,002699: 25,3021           00006                           EXTEND                                         
024343,002700: 25,3022           13041                           BZF      NOTP20                                
024344,002701: 25,3023           06037                           TC       INTPRET                               
024345,002702: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
024346,002703: 25,3025           01102                                    RRTARGET                              
024347,002704: 25,3026           01767                                    MLOSV                                 
024348,002705: 25,3027           41572                           VSL1     PUSH                                  
024349,002706: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
024350,002707: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
024351,002708: 25,3032           13072                                    MCTOMS                                
024352,002709: 25,3033           53362                           VSR1     VAD                                   
024353,002710: 25,3034           77656                           UNIT                                           
024354,002711: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 552

024356,002713: 25,3036           00045                                    36D                                   
024357,002714: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
024358,002715: 25,3040           77776                           EXIT                                           
024359,002716: 25,3041           00004        NOTP20             INHINT                                         
024360,002717: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
024361,002718: 25,3043           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
024362,002719: 25,3044           10000                           CCS      A                                     
024363,002720: 25,3045           02306                           TC       RROUT                                 
024364,002721: 
024365,002722: 25,3046           30076                           CA       FLAGWRD2                              
024366,002723: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
024367,002724: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
024368,002725: 25,3051           15155                           BZF      ENDOFJOB                              
024369,002726: 25,3052           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
024370,002727: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
024371,002728: 25,3054           00004                           INHINT                                         
024372,002729: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
024373,002730: 25,3056           52602                           CADR     DESLOOP    +2                         
024374,002731: 25,3057           00003                           RELINT                                         
024375,002732: 25,3060           10067                           CCS      NEWJOB                                
024376,002733: 25,3061           05122                           TC       CHANG1                                
024377,002734: 25,3062           04616                           TC       BANKCALL                              
024378,002735: 25,3063           50731                           CADR     R21LEM2                               
024379,002736: 
024380,002737: 25,3064           55456        DODESEND           TS       LOSCOUNT                              
024381,002738: 25,3065           05155                           TC       ENDOFJOB                              
024382,002739: 
024383,002740: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
024384,002741: 25,3067     7712               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
024385,002742: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
024386,002743: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
024387,002744: 

Page 553

024389,002746:                                                                                                  #  RADAR READ INITIALIZATION
024390,002747: 
024391,002748:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024392,002749: 
024393,002750: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
024394,002751: 25,3074           00017        ALLREAD            OCT      17                                    
024395,002752: 
024396,002753: 25,3075           03114        LRVELZ             TC       INITREAD                              
024397,002754: 25,3076           00016                           OCT      16                                    
024398,002755: 
024399,002756: 25,3077           03114        LRVELY             TC       INITREAD                              
024400,002757: 25,3100           00015                           OCT      15                                    
024401,002758: 
024402,002759: 25,3101           03114        LRVELX             TC       INITREAD                              
024403,002760: 25,3102           00014                           OCT      14                                    
024404,002761: 
024405,002762: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
024406,002763: 25,3104           00012                           OCT      12                                    
024407,002764: 
024408,002765: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
024409,002766: 25,3106           00011                           OCT      11                                    
024410,002767: 
024411,002768:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024412,002769:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024413,002770: 
024414,002771: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
024415,002772: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
024416,002773: 25,3111           51105                           INDEX    TIMEHOLD                              
024417,002774: 25,3112           13075                           TCF      LRVELZ                                
024418,002775: 

Page 554

024420,002777: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
024421,002778: 25,3114           00004        INITREAD           INHINT                                         
024422,002779: 
024423,002780: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
024424,002781: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024425,002782: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
024426,002783: 25,3120           53106                           DXCH     TIMEHOLD                              
024427,002784: 
024428,002785: 25,3121           10000                           CCS      A                                     
024429,002786: 25,3122           55111                           TS       NSAMP                                 
024430,002787: 25,3123           64753                           AD       ONE                                   
024431,002788:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024432,002789:                                                                                                  #                DOUBLE
024433,002790: 25,3124           55100                           TS       SAMPLIM                               
024434,002791: 
024435,002792: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
024436,002793: 25,3126           00006                           EXTEND                                         
024437,002794: 25,3127           02033                           RAND     CHAN33                                
024438,002795: 25,3130           55113                           TS       OLDATAGD                              
024439,002796: 
024440,002797: 25,3131           43074                           CS       ALLREAD                               
024441,002798: 25,3132           00006                           EXTEND                                         
024442,002799: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
024443,002800: 
024444,002801: 25,3134           50002                           INDEX    Q                                     
024445,002802: 25,3135           30000                           CAF      0                                     
024446,002803: 25,3136           00006                           EXTEND                                         
024447,002804: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
024448,002805: 
024449,002806: 25,3140           00006                           EXTEND                                         
024450,002807: 25,3141           30025                           DCA      TIME2                                 
024451,002808: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
024452,002809: 
024453,002810: 25,3143           34755                           CAF      ZERO                                  
024454,002811: 25,3144           54001                           TS       L                                     
024455,002812: 25,3145           53102                           DXCH     SAMPLSUM                              
024456,002813: 25,3146           12366                           TCF      ROADBACK                              
024457,002814: 
024458,002815: 25,3147           00230        DGBITS             OCT      230                                   
024459,002816: 

Page 555

024461,002818:                                                                                                  #  RADAR RUPT READER
024462,002819: 
024463,002820:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
024464,002821: 
024465,002822: 25,2000                                           SETLOC   RADARUPT                              
024466,002823: 25,2000                                           BANK                                           
024467,002824: 
024468,002825: 25,3150                                           COUNT*   $$/RRUPT                              
024469,002826: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
024470,002827: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
024471,002828: 25,3152           54016                           TS       BANKRUPT                              
024472,002829: 25,3153           00006                           EXTEND                                         
024473,002830: 25,3154           22012                           QXCH     QRUPT                                 
024474,002831: 
024475,002832: 25,3155           34757                           CAF      SEVEN                                 
024476,002833: 25,3156           00006                           EXTEND                                         
024477,002834: 25,3157           02013                           RAND     CHAN13                                
024478,002835: 25,3160           55335                           TS       DNINDEX                               
024479,002836: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
024480,002837: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024481,002838: 25,3163           30046                           CA       RNRAD                                 
024482,002839: 25,3164           51335                           INDEX    DNINDEX                               
024483,002840: 25,3165           55332                           TS       DNRRANGE   -1                         
024484,002841: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
024485,002842: 25,3167           13211                           TCF      PLENTY                                
024486,002843: 25,3170           13174                           TCF      NOMORE                                
024487,002844: 25,3171           05567                           TC       ALARM                                 
024488,002845: 25,3172           00520                           OCT      520                                   
024489,002846: 25,3173           05270                           TC       RESUME                                
024490,002847: 
024491,002848: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
024492,002849: 25,3175           74735                           MASK     LRBYBIT                               
024493,002850: 25,3176           00006                           EXTEND                                         
024494,002851: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
024495,002852: 
024496,002853: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
024497,002854: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
024498,002855: 25,3202           00006                           EXTEND                                         
024499,002856: 25,3203           13206                           BZF      BADRAD                                
024500,002857: 
024501,002858: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
024502,002859: 25,3205           00521                           OCT      521                                   
024503,002860: 25,3206           44753        BADRAD             CS       ONE                                   
024504,002861: 25,3207           55100                           TS       SAMPLIM                               
024505,002862: 25,3210           03560                           TC       RDBADEND   -2                         
024506,002863: 25,3211           55100        PLENTY             TS       SAMPLIM                               
024507,002864: 25,3212           34751                           CAF      BIT3                                  
024508,002865: 25,3213           00006                           EXTEND                                         
024509,002866: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
024510,002867: 25,3215           00006                           EXTEND                                         

Page 556

024512,002869: 25,3216           13276                           BZF      RENDRAD                               
024513,002870: 
024514,002871: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
024515,002872: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
024516,002873: 25,3221           00006                           EXTEND                                         
024517,002874: 25,3222           06033                           RXOR     CHAN33                                
024518,002875: 25,3223           74746                           MASK     BIT6                                  
024519,002876: 25,3224           00006                           EXTEND                                         
024520,002877: 25,3225           13231                           BZF      VELCHK                                
024521,002878: 
024522,002879: 25,3226           05567                           TC       ALARM                                 
024523,002880: 25,3227           00522                           OCT      522                                   
024524,002881: 25,3230           03206                           TC       BADRAD                                
024525,002882: 
024526,002883: 25,3231           36245        VELCHK             CAF      BIN3                                  #  = 00003 OCT
024527,002884: 25,3232           00006                           EXTEND                                         
024528,002885: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
024529,002886: 25,3234           76245                           MASK     BIN3                                  
024530,002887: 25,3235           00006                           EXTEND                                         
024531,002888: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
024532,002889: 
024533,002890: 25,3237           34733                           CAF      POSMAX                                
024534,002891: 25,3240           70046                           MASK     RNRAD                                 
024535,002892: 25,3241           62000                           AD       LVELBIAS                              
024536,002893: 25,3242           54001                           TS       L                                     
024537,002894: 25,3243           30046                           CAE      RNRAD                                 
024538,002895: 25,3244           60000                           DOUBLE                                         
024539,002896: 25,3245           74753                           MASK     BIT1                                  
024540,002897: 25,3246           52064                           DXCH     ITEMP3                                
024541,002898: 
024542,002899: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024543,002900: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
024544,002901:                                                                                                  #  INDEPENDENT OF DATA GOOD.
024545,002902: 
024546,002903: 25,3251           11111                           CCS      NSAMP                                 
024547,002904: 25,3252           03262                           TC       NOEND                                 
024548,002905: 25,3253           44753        GOODRAD            CS       ONE                                   
024549,002906: 25,3254           55100                           TS       SAMPLIM                               
024550,002907: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024551,002908: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
024552,002909: 25,3257           54110                           TS       RADMODES                              
024553,002910: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
024554,002911: 25,3261           03553                           TC       RGOODEND   -2                         
024555,002912: 
024556,002913: 25,3262           55111        NOEND              TS       NSAMP                                 
024557,002914: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
024558,002915: 25,3264           13266                           TCF      +2                                    
024559,002916: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
024560,002917: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
024561,002918: 25,3267           00006                           EXTEND                                         

Page 557

024563,002920: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
024564,002921: 25,3271           05270                           TC       RESUME                                
024565,002922: 
024566,002923: 
024567,002924: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
024568,002925: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024569,002926: 
024570,002927: 25,3274           34743                           CAF      BIT9                                  
024571,002928: 25,3275           03320                           TC       SCALECHK   -1                         
024572,002929: 
024573,002930: 25,3276           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
024574,002931: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
024575,002932: 25,3300           10000                           CCS      A                                     
024576,002933: 25,3301           13206                           TCF      BADRAD                                
024577,002934: 
024578,002935: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
024579,002936: 25,3303           74745                           MASK     RCDUFBIT                              
024580,002937: 25,3304           10000                           CCS      A                                     
024581,002938: 25,3305           13206                           TCF      BADRAD                                
024582,002939: 
024583,002940: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
024584,002941: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024585,002942: 
024586,002943: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
024587,002944: 25,3311           00006                           EXTEND                                         
024588,002945: 25,3312           02013                           RAND     CHAN13                                
024589,002946: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
024590,002947: 25,3314           10000                           CCS      A                                     
024591,002948: 25,3315           13317                           TCF      +2                                    
024592,002949: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
024593,002950: 25,3317           34751                           CAF      BIT3                                  
024594,002951: 25,3320           54001                           TS       L                                     
024595,002952: 
024596,002953: 25,3321           00006        SCALECHK           EXTEND                                         
024597,002954: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024598,002955: 25,3323           56001                           XCH      L                                     
024599,002956: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024600,002957: 25,3325           00006                           EXTEND                                         
024601,002958: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024602,002959: 25,3327           10000                           CCS      A                                     
024603,002960: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
024604,002961: 
024605,002962: 25,3331           34733        RADIN              CAF      POSMAX                                
024606,002963: 25,3332           70046                           MASK     RNRAD                                 
024607,002964: 25,3333           54064                           TS       ITEMP4                                
024608,002965: 
024609,002966: 25,3334           30046                           CAE      RNRAD                                 
024610,002967: 25,3335           60000                           DOUBLE                                         
024611,002968: 25,3336           74753                           MASK     BIT1                                  
024612,002969: 25,3337           54063                           TS       ITEMP3                                

Page 558

024614,002971: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
024615,002972: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
024616,002973: 
024617,002974: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
024618,002975: 25,3343           42002                           DCS      RDOTBIAS                              
024619,002976: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
024620,002977: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
024621,002978: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
024622,002979: 25,3347           03253                           TC       GOODRAD                               
024623,002980: 
024624,002981: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
024625,002982: 25,3351           64753                           AD       BIT1                                  
024626,002983: 25,3352           00006                           EXTEND                                         
024627,002984: 25,3353           06001                           RXOR     LCHAN                                 
024628,002985: 25,3354           54110                           TS       RADMODES                              
024629,002986: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
024630,002987: 25,3356           00006                           EXTEND                                         
024631,002988: 25,3357           02033                           RAND     CHAN33                                
024632,002989: 25,3360           55113                           TS       OLDATAGD                              
024633,002990: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
024634,002991: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
024635,002992: 25,3363           13206                           TCF      BADRAD                                
024636,002993: 
024637,002994:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024638,002995: 
024639,002996: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
024640,002997: 25,3365           74741                           MASK     R77FLBIT                              
024641,002998: 25,3366           10000                           CCS      A                                     
024642,002999: 25,3367           00002                           TC       Q                                     #  NOT R77
024643,003000: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
024644,003001: 25,3371           70110                           MASK     RADMODES                              
024645,003002: 25,3372           54001                           TS       L                                     
024646,003003: 25,3373           33401                           CA       BITS5,8                               
024647,003004: 25,3374           00006                           EXTEND                                         
024648,003005: 25,3375           02033                           RAND     CHAN33                                
024649,003006: 25,3376           60001                           AD       L                                     
024650,003007: 25,3377           54110                           TS       RADMODES                              
024651,003008: 25,3400           03553                           TC       RGOODEND   -2                         
024652,003009: 25,3401           00220        BITS5,8            OCT      220                                   
024653,003010: 

Page 559

024655,003012:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024656,003013: 
024657,003014: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
024658,003015: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
024659,003016: 25,3404           13345                           TCF      DGCHECK2                              
024660,003017: 
024661,003018: 25,3405           31335                           CA       DNINDEX                               
024662,003019: 25,3406           74751                           MASK     BIT3                                  
024663,003020: 25,3407           10000                           CCS      A                                     
024664,003021: 25,3410           13417                           TCF      LRSCK                                 
024665,003022: 
024666,003023: 25,3411           52064                           DXCH     ITEMP3                                
024667,003024: 25,3412           20001                           DDOUBL                                         
024668,003025: 25,3413           20001                           DDOUBL                                         
024669,003026: 25,3414           20001                           DDOUBL                                         
024670,003027: 25,3415           52064                           DXCH     ITEMP3                                
024671,003028: 
024672,003029: 25,3416           13345                           TCF      DGCHECK2                              
024673,003030: 
024674,003031: 25,3417           10063        LRSCK              CCS      ITEMP3                                
024675,003032: 25,3420           13431                           TCF      +11                                   
024676,003033: 25,3421           40064                           CS       ITEMP4                                
024677,003034: 25,3422           63441                           AD       HISCALIM                              
024678,003035: 25,3423           00006                           EXTEND                                         
024679,003036: 25,3424           63431                           BZMF     +5                                    
024680,003037: 
024681,003038: 25,3425           40107                           CS       FLGWRD11                              
024682,003039: 25,3426           74751                           MASK     SCABBIT                               
024683,003040: 25,3427           26107                           ADS      FLGWRD11                              
024684,003041: 25,3430           13434                           TCF      +4                                    
024685,003042: 
024686,003043: 25,3431           44751                           CS       SCABBIT                               
024687,003044: 25,3432           70107                           MASK     FLGWRD11                              
024688,003045: 25,3433           54107                           TS       FLGWRD11                              
024689,003046: 
024690,003047: 25,3434           00006                           EXTEND                                         
024691,003048: 25,3435           30064                           DCA      ITEMP3                                
024692,003049: 25,3436           20001                           DDOUBL                                         
024693,003050: 25,3437           20001                           DDOUBL                                         
024694,003051: 25,3440           13344                           TCF      DASAMPL                               
024695,003052: 
024696,003053: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT *****************************

Page 560

024698,003055: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024699,003056: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024700,003057: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
024701,003058: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
024702,003059: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024703,003060: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024704,003061: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024705,003062: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024706,003063: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024707,003064: 25,3453           60001                           AD       L                                     
024708,003065: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024709,003066: 25,3455           03263                           TC       RESAMPLE                              
024710,003067: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024711,003068: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
024712,003069: 25,3460           00002                           TC       Q                                     
024713,003070: 
024714,003071: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024715,003072: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024716,003073: 25,3463           60061                           AD       ITEMP1                                
024717,003074: 25,3464           54110                           TS       RADMODES                              
024718,003075: 
024719,003076: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024720,003077: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
024721,003078: 25,3467           03616                           TC       RADLITES                              
024722,003079: 25,3470           13174                           TCF      NOMORE                                

Page 561

024724,003081:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024725,003082: 
024726,003083: 25,2000                                           SETLOC   P20S1                                 
024727,003084: 25,2000                                           BANK                                           
024728,003085: 
024729,003086: 25,3471                                           COUNT*   $$/RSUB                               
024730,003087: 25,3471           00004        LRPOS2             INHINT                                         
024731,003088: 
024732,003089: 25,3472           40110                           CS       RADMODES                              
024733,003090: 25,3473           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024734,003091: 25,3474           26110                           ADS      RADMODES                              
024735,003092: 
024736,003093: 25,3475           34745                           CAF      BIT7                                  
024737,003094: 25,3476           00006                           EXTEND                                         
024738,003095: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024739,003096: 25,3500           00006                           EXTEND                                         
024740,003097: 25,3501           13530                           BZF      RADNOOP                               
024741,003098: 
024742,003099: 25,3502           34737                           CAF      BIT13                                 
024743,003100: 25,3503           00006                           EXTEND                                         
024744,003101: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024745,003102: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024746,003103: 25,3506           05203                           TC       WAITLIST                              
024747,003104: 25,3507  E7,1456                                  EBANK=   LOSCOUNT                              
024748,003105: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
024749,003106: 
024750,003107: 25,3511           02366                           TC       ROADBACK                              
024751,003108: 
024752,003109: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
024753,003110: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024754,003111: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024755,003112: 
024756,003113: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024757,003114: 25,3516           00006                           EXTEND                                         
024758,003115: 25,3517           02033                           RAND     CHAN33                                
024759,003116: 25,3520           00006                           EXTEND                                         
024760,003117: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024761,003118: 
024762,003119: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024763,003120: 25,3523           13512                           TCF      LRPOSNXT                              
024764,003121: 
024765,003122: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024766,003123: 25,3525           00006                           EXTEND                                         
024767,003124: 25,3526           03012                           WAND     CHAN12                                
024768,003125: 25,3527           13562                           TCF      RDBADEND                              
024769,003126: 
024770,003127: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024771,003128: 25,3531           05203                           TC       WAITLIST                              
024772,003129: 25,3532  E7,1456                                  EBANK=   LOSCOUNT                              
024773,003130: 25,3532           03555 52067                     2CADR    RGOODEND                              

Page 562

024775,003132: 25,3534           02366                           TC       ROADBACK                              
024776,003133: 
024777,003134: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024778,003135: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024779,003136: 
024780,003137: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
024781,003138: 25,3540           00006                           EXTEND                                         
024782,003139: 25,3541           03012                           WAND     CHAN12                                
024783,003140: 25,3542           13555                           TCF      RGOODEND                              
024784,003141: 
024785,003142: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024786,003143: 25,3544           13512                           TCF      LRPOSNXT                              
024787,003144: 25,3545           01130        6SECS              DEC      600        B-14                       

Page 563

024789,003146:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
024790,003147: 
024791,003148: 25,3546           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024792,003149: 25,3547           70110                           MASK     RADMODES                              
024793,003150: 25,3550           10000                           CCS      A                                     
024794,003151: 25,3551           13555                           TCF      RGOODEND                              
024795,003152: 25,3552           13562                           TCF      RDBADEND                              
024796,003153: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024797,003154: 25,3554           54734                           TS       RUPTAGN                               
024798,003155: 
024799,003156: 25,3555           34752        RGOODEND           CAF      TWO                                   
024800,003157: 25,3556           04635                           TC       POSTJUMP                              
024801,003158: 25,3557           17665                           CADR     GOODEND                               
024802,003159: 
024803,003160: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024804,003161: 25,3561           54734                           TS       RUPTAGN                               
024805,003162: 25,3562           34752        RDBADEND           CAF      TWO                                   
024806,003163: 25,3563           04635                           TC       POSTJUMP                              
024807,003164: 25,3564           17662                           CADR     BADEND                                
024808,003165: 
024809,003166: 25,3565     6245               BIN3               EQUALS   THREE                                 
024810,003167: 

Page 564

024812,003169:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024813,003170:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024814,003171: 
024815,003172:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024816,003173:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024817,003174:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024818,003175:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024819,003176: 
024820,003177:                                                                                                  #  CALLING SEQUENCE      CALL
024821,003178:                                                                                                  #                                LPS20.1
024822,003179: 
024823,003180:                                                                                                  #  SUBROUTINES CALLED_
024824,003181:                                                                                                  #        LEMPREC, CSMPREC
024825,003182: 
024826,003183:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
024827,003184: 
024828,003185:                                                                                                  #  ERROR EXITS_  NONE
024829,003186: 
024830,003187:                                                                                                  #  ALARMS_  NONE
024831,003188: 
024832,003189:                                                                                                  #  OUTPUT_
024833,003190:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024834,003191:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024835,003192:                                                                                                  #        RRNBSW CLEARED
024836,003193: 
024837,003194:                                                                                                  #  INITIALIZED ERASEABLE
024838,003195:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024839,003196:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
024840,003197: 
024841,003198:                                                                                                  #  DEBRIS_
024842,003199:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024843,003200: 
024844,003201: 23,2314                                           BANK     23                                    
024845,003202: 24,2000                                           SETLOC   P20S                                  
024846,003203: 24,2000                                           BANK                                           

Page 565

024848,003205: 24,3255                                           COUNT*   $$/LPS20                              
024849,003206: 
024850,003207: 24,3255           43020        LPS20.1            STQ      BOFF                                  
024851,003208: 24,3256           01757                                    LS21X                                 
024852,003209: 24,3257           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024853,003210: 24,3260           51264                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024854,003211: 24,3261           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024855,003212: 24,3262           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024856,003213: 24,3263           51274                                    CSMINT                                
024857,003214: 24,3264           77624        LMINT              CALL                                           
024858,003215: 24,3265           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
024859,003216: 24,3266           77775                           VLOAD                                          
024860,003217: 24,3267           00001                                    RATT                                  
024861,003218: 24,3270           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024862,003219: 24,3271           00007                                    VATT                                  
024863,003220: 24,3272           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024864,003221: 24,3273           00015                                    TAT                                   
024865,003222: 24,3274           34041        CSMINT             STCALL   TDEC1                                 
024866,003223: 24,3275           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM
024867,003224: 24,3276           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024868,003225: 24,3277           00007                                    VATT                                  
024869,003226: 24,3300           02360                                    LMVEL                                 
024870,003227: 24,3301           76521                           MXV      VSL1                                  
024871,003228: 24,3302           01734                                    REFSMMAT                              
024872,003229: 24,3303           77776                           EXIT                                           
024873,003230: 24,3304           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024874,003231: 24,3305           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024875,003232: 24,3306           06037                           TC       INTPRET                               
024876,003233: 24,3307           25761                           STOVL    LOSVEL                                
024877,003234: 24,3310           00001                                    RATT                                  
024878,003235: 24,3311           43051                           VSU      BOFF                                  
024879,003236: 24,3312           02352                                    LMPOS                                 
024880,003237: 24,3313           00350                                    RNDVZFLG                              
024881,003238: 24,3314           51321                                    NOTSHIFT                              
024882,003239: 24,3315           77604                           BOVB                                           
024883,003240: 24,3316           57753                                    TCDANZIG                              
024884,003241: 24,3317           77661                           VSL                                            
024885,003242: 24,3320           20212                                    9D                                    
024886,003243: 24,3321           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024887,003244: 24,3322           50102                                    526ALARM                              #  THAN 400 N. M.
024888,003245: 24,3323           76521                           MXV      VSL1                                  
024889,003246: 24,3324           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024890,003247: 24,3325           15102                           STODL    RRTARGET                              
024891,003248: 24,3326           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024892,003249: 24,3327           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024893,003250: 24,3330           77614                           CLRGO                                          
024894,003251: 24,3331           00231                                    RRNBSW                                
024895,003252: 24,3332           01757                                    LS21X                                 
024896,003253: 

Page 566

024898,003255:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
024899,003256:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024900,003257: 
024901,003258:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024902,003259:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024903,003260: 
024904,003261:                                                                                                  #  CALLING SEQUENCE      CALL
024905,003262:                                                                                                  #                                LPS20.2
024906,003263: 
024907,003264:                                                                                                  #  SUBROUTINES CALLED_  NONE
024908,003265: 
024909,003266:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024910,003267: 
024911,003268:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024912,003269: 
024913,003270:                                                                                                  #  ALARMS_  NONE
024914,003271: 
024915,003272:                                                                                                  #  OUTPUT_  NONE
024916,003273: 
024917,003274:                                                                                                  #  INITIALIZED ERASEABLE_
024918,003275:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024919,003276: 
024920,003277:                                                                                                  #  DEBRIS
024921,003278:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024922,003279: 
024923,003280: 25,2000                                           SETLOC   P20S1                                 
024924,003281: 25,2000                                           BANK                                           
024925,003282: 25,3565                                           COUNT*   $$/LPS20                              
024926,003283: 
024927,003284: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
024928,003285: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024929,003286: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
024930,003287: 25,3570           77644                           BPL                                            
024931,003288: 25,3571           53574                                    TOFAR                                 
024932,003289: 25,3572           43535                           SLOAD    RVQ                                   
024933,003290: 25,3573           06522                                    ZERO/SP                               
024934,003291: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
024935,003292: 25,3575           13577                                    ONE/SP                                
024936,003293: 25,3576           00001        ONE/SP             DEC      1          B-14                       

Page 567

024938,003295: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024939,003296: 

Page 568

024941,003298:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024942,003299:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024943,003300: 
024944,003301:                                                                                                  #  FUNCTIONAL DESCRIPTION
024945,003302:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024946,003303:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024947,003304:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024948,003305:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024949,003306: 
024950,003307:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024951,003308: 
024952,003309:                                                                                                  #  SUBROUTINES CALLED:
024953,003310:                                                                                                  #        RRRDOT          LPS20.1
024954,003311:                                                                                                  #        RRRANGE         BANKCALL
024955,003312:                                                                                                  #        RADSTALL        CDULOGIC
024956,003313:                                                                                                  #        RRNB            SMNB
024957,003314: 
024958,003315:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024959,003316: 
024960,003317:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024961,003318:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024962,003319:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024963,003320: 
024964,003321:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024965,003322:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024966,003323: 
024967,003324:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024968,003325:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024969,003326: 
024970,003327:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024971,003328:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024972,003329:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024973,003330:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024974,003331:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024975,003332:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024976,003333: 
024977,003334:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024978,003335:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 569

024980,003337:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024981,003338:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024982,003339:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024983,003340: 
024984,003341:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024985,003342: 
024986,003343: 32,2366                                           BANK     32                                    
024987,003344: 32,2000                                           SETLOC   LRS22                                 
024988,003345: 32,2000                                           BANK                                           
024989,003346: 32,2366                                           COUNT*   $$/LRS22                              
024990,003347: 
024991,003348: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024992,003349: 32,2367           55737                           TS       LRS22.1X                              
024993,003350: 32,2370           05516                           TC       DOWNFLAG                              
024994,003351: 32,2371           00120                           ADRES    RNGSCFLG                              
024995,003352: 32,2372           00004                           INHINT                                         
024996,003353: 32,2373           34751                           CAF      BIT3                                  
024997,003354: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024998,003355: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024999,003356: 32,2376           54001                           TS       L                                     
025000,003357: 32,2377           44751                           CS       RRRSBIT                               
025001,003358: 32,2400           70110                           MASK     RADMODES                              
025002,003359: 32,2401           60001                           AD       L                                     
025003,003360: 32,2402           54110                           TS       RADMODES                              
025004,003361: 32,2403           00003                           RELINT                                         
025005,003362: 32,2404           04616        READRDOT           TC       BANKCALL                              
025006,003363: 32,2405           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
025007,003364: 32,2406           04616                           TC       BANKCALL                              
025008,003365: 32,2407           17714                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
025009,003366: 32,2410           12542                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
025010,003367: 
025011,003368: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
025012,003369: 32,2412           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
025013,003370: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
025014,003371: 32,2414           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
025015,003372: 32,2415           53747                           DXCH     RDOTMSAV                              
025016,003373: 32,2416           00006                           EXTEND                                         
025017,003374: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
025018,003375: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
025019,003376: 32,2421           30032                           CA       CDUX                                  
025020,003377: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
025021,003378: 32,2423           00006                           EXTEND                                         
025022,003379: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
025023,003380: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
025024,003381: 32,2426           00006                           EXTEND                                         
025025,003382: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025026,003383: 32,2430           53110                           DXCH     TANG                                  

Page 570

025028,003385: 32,2431           00003                           RELINT                                         
025029,003386: 32,2432           04616                           TC       BANKCALL                              
025030,003387: 32,2433           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
025031,003388: 32,2434           04616                           TC       BANKCALL                              
025032,003389: 32,2435           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
025033,003390: 32,2436           02536                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
025034,003391: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
025035,003392: 32,2440           53334                           DXCH     DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
025036,003393: 32,2441           53761                           DXCH     RANGRDOT                              
025037,003394: 32,2442           52162                           DXCH     MPAC       +5                         
025038,003395: 32,2443           53755                           DXCH     MKTIME                                #  MARK TIME
025039,003396: 32,2444           52160                           DXCH     MPAC       +3                         
025040,003397: 32,2445           53460                           DXCH     AIG                                   #  CDUY, CDUZ
025041,003398: 32,2446           00006                           EXTEND                                         
025042,003399: 32,2447           31110                           DCA      TANG                                  #  PRESERVE TANG
025043,003400: 32,2450           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
025044,003401: 32,2451           30156                           CA       MPAC       +2                         
025045,003402: 32,2452           55461                           TS       AOG                                   #  CDUX
025046,003403: 32,2453           06037                           TC       INTPRET                               
025047,003404: 32,2454           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
025048,003405: 32,2455           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
025049,003406: 32,2456           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
025050,003407: 32,2457           20217                                    14D                                   #  FT./SECOND PER BIT
025051,003408: 32,2460           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
025052,003409: 32,2461           03751                           STORE    RDOTM                                 
025053,003410: 32,2462           47135                           SLOAD    RTB                                   
025054,003411: 32,2463           01110                                    TANG                                  #  GET TRUNION ANGLE
025055,003412: 32,2464           21576                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
025056,003413: 32,2465           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
025057,003414: 32,2466           47135                           SLOAD    RTB                                   
025058,003415: 32,2467           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
025059,003416: 32,2470           21576                                    CDULOGIC                              
025060,003417: 32,2471           17736                           STODL    RRSHAFT                               
025061,003418: 32,2472           01102                                    SAMPLSUM                              
025062,003419: 32,2473           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
025063,003420: 32,2474           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
025064,003421: 32,2475           37757                           STCALL   RM                                    
025065,003422: 32,2476           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
025066,003423: 32,2477           17741                           STODL    RRBORSIT                              #  AND SAVE
025067,003424: 32,2500           00025                                    20D                                   
025068,003425: 32,2501           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
025069,003426: 32,2502           51255                                    LPS20.1                               
025070,003427: 32,2503           77776                           EXIT                                           
025071,003428: 32,2504           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
025072,003429: 32,2505           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
025073,003430: 32,2506           31460                           CA       AMG                                   
025074,003431: 32,2507           54770                           TS       CDUSPOT    +2                         
025075,003432: 32,2510           31461                           CA       AOG                                   
025076,003433: 32,2511           54772                           TS       CDUSPOT    +4                         
025077,003434: 32,2512           06037                           TC       INTPRET                               

Page 571

025079,003436: 32,2513           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
025080,003437: 32,2514           01102                                    RRTARGET                              
025081,003438: 32,2515           47651                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
025082,003439: 32,2516           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
025083,003440: 32,2517           03741                                    RRBORSIT                              
025084,003441: 32,2520           65552                           SL1      ACOS                                  #  BETWEEN THEM
025085,003442: 32,2521           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
025086,003443: 32,2522           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
025087,003444: 32,2523           24546                                    THREEDEG                              
025088,003445: 32,2524           64531                                    NORMEXIT                              #  YES - NORMAL EXIT
025089,003446: 
025090,003447: 32,2525           77776                           EXIT                                           #  ERROR EXIT 2
025091,003448: 32,2526           34752                           CAF      BIT2                                  #  SET ERROR CODE
025092,003449: 32,2527           54154                           TS       MPAC                                  
025093,003450: 32,2530           12534                           TCF      OUT22.1                               
025094,003451: 
025095,003452: 32,2531           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
025096,003453: 32,2532           34755                           CAF      ZERO                                  
025097,003454: 32,2533           54154                           TS       MPAC                                  
025098,003455: 32,2534           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
025099,003456: 32,2535           04640                           TC       BANKJUMP                              
025100,003457: 32,2536           30101        CHEXERR            CAE      FLAGWRD5                              
025101,003458: 32,2537           74742                           MASK     RNGSCBIT                              
025102,003459: 32,2540           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
025103,003460: 32,2541           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
025104,003461: 
025105,003462: 32,2542           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
025106,003463: 32,2543           54154                           TS       MPAC                                  
025107,003464: 32,2544           02534                           TC       OUT22.1                               
025108,003465: 32,2545           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
025109,003466: 
025110,003467: 32,2547     1101               RRLOSVEC           EQUALS   RRTARGET                              
025111,003468: 

Page 572

025113,003470:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025114,003471:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
025115,003472: 
025116,003473:                                                                                                  #  FUNCTIONAL DESCRIPTION-

Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003

025118,003475:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025119,003476: 
025120,003477:                                                                                                  #  CALLING SEQUENCE-  BANKCALL FOR LRS22.2
025121,003478: 
025122,003479:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
025123,003480: 
025124,003481:                                                                                                  #  NORMAL EXIT-  RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025125,003482: 
025126,003483:                                                                                                  #  ERROR EXIT-  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025127,003484: 
025128,003485:                                                                                                  #  ALARMS-  NONE                                                             IN THE AUTO MODE
025129,003486: 
025130,003487:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
025131,003488:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
025132,003489:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
025133,003490:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
025134,003491: 
025135,003492:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025136,003493: 
025137,003494: 24,2000                                           SETLOC   P20S                                  
025138,003495: 24,2000                                           BANK                                           
025139,003496: 24,3333           04645        LRS22.2            TC       MAKECADR                              
025140,003497: 24,3334           55737                           TS       LRS22.1X                              
025141,003498: 24,3335           06037                           TC       INTPRET                               
025142,003499:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
025143,003500: 24,3336           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
025144,003501: 24,3337           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
025145,003502:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
025146,003503:                                                                                                  #  IN NAV BASE AXES)
025147,003504: 24,3340           50025                           DSU      BMN                                   
025148,003505: 24,3341           11355                                    30DEG                                 
025149,003506: 24,3342           51347                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
025150,003507: 24,3343           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
025151,003508: 24,3344           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
025152,003509: 24,3345           54154                           TS       MPAC                                  
025153,003510: 24,3346           13352                           TCF      OUT22.2                               
025154,003511: 24,3347           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
025155,003512: 

Page 573

025157,003514: 24,3350           34755                           CAF      ZERO                                  
025158,003515: 24,3351           54154                           TS       MPAC                                  
025159,003516: 24,3352           31737        OUT22.2            CAE      LRS22.1X                              
025160,003517: 24,3353           04640                           TC       BANKJUMP                              
025161,003518: 
025162,003519: 24,3354           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
025163,003520: 

Page 574

025165,003522:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
025166,003523:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
025167,003524:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
025168,003525: 
025169,003526:                                                                                                  #  FUNCTIONAL DESCRIPTION
025170,003527:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025171,003528:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025172,003529:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025173,003530: 
025174,003531:                                                                                                  #  CALLING SEQUENCE
025175,003532:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
025176,003533:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
025177,003534:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025178,003535:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025179,003536:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025180,003537:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
025181,003538: 
025182,003539:                                                                                                  #  SUBROUTINES CALLED
025183,003540:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
025184,003541:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
025185,003542: 
025186,003543:                                                                                                  #  OUTPUT
025187,003544:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025188,003545:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
025189,003546:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025190,003547:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025191,003548:                                                                                                  #        UPDATED W-MATRIX
025192,003549: 
025193,003550:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025194,003551:                                                                                                  #        LM AND CSM STATE VECTORS
025195,003552:                                                                                                  #        W-MATRIX
025196,003553:                                                                                                  #        MARK TIME IN MKTIME
025197,003554:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025198,003555:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
025199,003556:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
025200,003557:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
025201,003558:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
025202,003559:                                                                                                  #                        MIDDLE IN AMG
025203,003560:                                                                                                  #                        OUTER IN AOG
025204,003561:                                                                                                  #        REFSMMAT
025205,003562:                                                                                                  #        RENDWFLG
025206,003563:                                                                                                  #        NOANGFLG
025207,003564:                                                                                                  #        VEHUPFLG
025208,003565: 
025209,003566:                                                                                                  #  DEBRIS
025210,003567:                                                                                                  #        PUSHLIST -- ALL
025211,003568:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 575

025213,003570:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
025214,003571: 
025215,003572: 13,2207                                           BANK     13                                    
025216,003573: 26,2000                                           SETLOC   P20S3                                 
025217,003574: 26,2000                                           BANK                                           
025218,003575: 
025219,003576: 26,2412  E7,1456                                  EBANK=   LOSCOUNT                              
025220,003577: 26,2412                                           COUNT*   $$/LSR22                              
025221,003578: 26,2412           77624        LSR22.3            CALL                                           
025222,003579: 26,2413           11244                                    GRP2PC                                
025223,003580: 26,2414           43014                           BON      SET                                   
025224,003581: 26,2415           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
025225,003582: 26,2416           55200                                    LSR22.4                               #  YES
025226,003583: 26,2417           02466                                    DMENFLG                               
025227,003584: 26,2420           45014                           BOFF     CALL                                  
025228,003585: 26,2421           00747                                    VEHUPFLG                              
025229,003586: 26,2422           54454                                    DOLEM                                 
025230,003587: 26,2423           27414                                    INTSTALL                              
025231,003588: 26,2424           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
025232,003589: 26,2425           01674                                    VINTFLAG                              
025233,003590: 26,2426           26644                                    SETIFLGS                              
025234,003591: 26,2427           77624                           CALL                                           
025235,003592: 26,2430           55242                                    INTGRCAL                              
025236,003593: 26,2431           77624                           CALL                                           
025237,003594: 26,2432           11244                                    GRP2PC                                
025238,003595: 26,2433           77624                           CALL                                           
025239,003596: 26,2434           27414                                    INTSTALL                              
025240,003597: 26,2435           43014                           CLEAR    BOFF                                  
025241,003598: 26,2436           01676                                    DIM0FLAG                              
025242,003599: 26,2437           02756                                    RENDWFLG                              
025243,003600: 26,2440           54444                                    NOTWCSM                               
025244,003601: 26,2441           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
025245,003602: 26,2442           01476                                    DIM0FLAG                              
025246,003603: 26,2443           01475                                    D6OR9FLG                              
025247,003604: 26,2444           43014        NOTWCSM            SET      CLEAR                                 
025248,003605: 26,2445           01474                                    VINTFLAG                              
025249,003606: 26,2446           01673                                    INTYPFLG                              
025250,003607: 26,2447           45014                           SET      CALL                                  
025251,003608: 26,2450           01472                                    STATEFLG                              
025252,003609: 26,2451           55242                                    INTGRCAL                              
025253,003610: 26,2452           77650                           GOTO                                           
025254,003611: 26,2453           54504                                    MARKTEST                              
025255,003612: 26,2454           77624        DOLEM              CALL                                           
025256,003613: 26,2455           27414                                    INTSTALL                              
025257,003614: 26,2456           45014                           SET      CALL                                  
025258,003615: 26,2457           01474                                    VINTFLAG                              
025259,003616: 26,2460           26644                                    SETIFLGS                              
025260,003617: 26,2461           77624                           CALL                                           
025261,003618: 26,2462           55242                                    INTGRCAL                              

Page 576

025263,003620: 26,2463           77624                           CALL                                           
025264,003621: 26,2464           11244                                    GRP2PC                                
025265,003622: 26,2465           77624                           CALL                                           
025266,003623: 26,2466           27414                                    INTSTALL                              
025267,003624: 26,2467           43014                           CLEAR    BOFF                                  
025268,003625: 26,2470           01676                                    DIM0FLAG                              
025269,003626: 26,2471           02756                                    RENDWFLG                              
025270,003627: 26,2472           54476                                    NOTWLEM                               
025271,003628: 26,2473           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
025272,003629: 26,2474           01476                                    DIM0FLAG                              
025273,003630: 26,2475           01475                                    D6OR9FLG                              
025274,003631: 26,2476           43014        NOTWLEM            CLEAR    CLEAR                                 
025275,003632: 26,2477           01673                                    INTYPFLG                              
025276,003633: 26,2500           01674                                    VINTFLAG                              
025277,003634: 26,2501           45014                           SET      CALL                                  
025278,003635: 26,2502           01472                                    STATEFLG                              
025279,003636: 26,2503           55242                                    INTGRCAL                              
025280,003637: 26,2504           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
025281,003638: 26,2505           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
025282,003639: 26,2506           54510                                    RANGEBQ                               
025283,003640: 26,2507           55251                                    WLINIT                                #  YES - REINITIALIZE
025284,003641: 26,2510           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
025285,003642: 26,2511           04307                                    SURFFLAG                              
025286,003643: 26,2512           54520                                    RANGEBQ1                              
025287,003644: 26,2513           34755                           CA       ZERO                                  
025288,003645: 26,2514           55745                           TS       R65CNTR                               
025289,003646: 26,2515           04616                           TC       BANKCALL                              
025290,003647: 26,2516           46123                           CADR     R65LEM                                
025291,003648: 26,2517           06037                           TC       INTPRET                               
025292,003649: 26,2520           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
025293,003650: 26,2521           00000                                    0                                     
025294,003651: 26,2522           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
025295,003652: 26,2523           54526                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
025296,003653: 26,2524           77714                           INCR,2                                         
025297,003654: 26,2525           00002                                    2                                     
025298,003655: 26,2526           45134        SETX2              SXA,2    CALL                                  
025299,003656: 26,2527           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025300,003657: 26,2530           11244                                    GRP2PC                                
025301,003658: 26,2531           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
025302,003659: 26,2532           00001                                    1                                     
025303,003660: 26,2533           03745                                    WHCHREAD                              
025304,003661: 26,2534           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
025305,003662: 26,2535           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
025306,003663: 26,2536           20635                                    28D                                   
025307,003664: 26,2537           77634                           RTB                                            
025308,003665: 26,2540           21633                                    TPMODE                                #  AND SAVE IN 20D
025309,003666: 26,2541           00025                           STORE    20D                                   
025310,003667: 26,2542           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
025311,003668: 26,2543           55333                                    GETULC                                #  B-VECTORS FOR RANGE
025312,003669: 26,2544           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 577

025314,003671: 26,2545           00707                                    VEHUPFLG                              
025315,003672: 26,2546           54547                                    +1                                    
025316,003673: 26,2547           27525                           STOVL    BVECTOR                               
025317,003674: 26,2550           06522                                    ZEROVECS                              
025318,003675: 26,2551           03533                           STORE    BVECTOR    +6                         #  B1
025319,003676: 26,2552           17541                           STODL    BVECTOR    +12D                       #  B2
025320,003677: 26,2553           00045                                    36D                                   
025321,003678: 26,2554           44257                           SRR*     BDSU                                  
025322,003679: 26,2555           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
025323,003680: 26,2556           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
025324,003681: 26,2557           77657                           SLR*                                           
025325,003682: 26,2560           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
025326,003683: 26,2561           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
025327,003684: 26,2562           00045                                    36D                                   #  RLC B-29/B-27
025328,003685: 26,2563           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
025329,003686: 26,2564           00047                                    X1                                    
025330,003687: 26,2565           53605                           DMP      SR*                                   
025331,003688: 26,2566           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
025332,003689: 26,2567           20577                                    0          -2,1                       #  UNNORMALIZE
025333,003690: 26,2570           53657                           SR*      SR*                                   
025334,003691: 26,2571           20601                                    0,1                                   
025335,003692: 26,2572           57176                                    0,2                                   
025336,003693: 26,2573           47057                           SR*      RTB                                   
025337,003694: 26,2574           57176                                    0,2                                   
025338,003695: 26,2575           21633                                    TPMODE                                
025339,003696: 26,2576           02707                           STORE    VARIANCE                              #  B-40
025340,003697: 26,2577           76276                           DCOMP    TAD                                   
025341,003698: 26,2600           00025                                    20D                                   #  B-40
025342,003699: 26,2601           72240                           BMN      TLOAD                                 
025343,003700: 26,2602           54605                                    QOK                                   
025344,003701: 26,2603           00025                                    20D                                   #  B-40
025345,003702: 26,2604           02707                           STORE    VARIANCE                              
025346,003703: 26,2605           77624        QOK                CALL                                           
025347,003704: 26,2606           55401                                    LGCUPDTE                              
025348,003705: 
025349,003706: 26,2607           45131                           SSP      CALL                                  
025350,003707: 26,2610           03746                                    WHCHREAD                              
025351,003708: 26,2611           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
025352,003709: 26,2612           11244                                    GRP2PC                                
025353,003710: 26,2613           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
025354,003711: 26,2614           55333                                    GETULC                                
025355,003712: 26,2615           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
025356,003713: 26,2616           00045                                    36D                                   #  AND SHIFT TO B-23
025357,003714: 26,2617           57202                                    0          -4,2                       
025358,003715: 26,2620           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
025359,003716: 26,2621           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
025360,003717: 26,2622           00707                                    VEHUPFLG                              
025361,003718: 26,2623           54624                                    +1                                    
025362,003719: 26,2624           77761                           VXSC                                           
025363,003720: 26,2625           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 578

025365,003722: 26,2626           27533                           STOVL    BVECTOR    +6                         
025366,003723: 26,2627           01653                                    NUVLEM                                
025367,003724: 26,2630           53257                           VSR*     VAD                                   
025368,003725: 26,2631           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025369,003726: 26,2632           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
025370,003727: 26,2633           53715                           PDVL     VSR*                                  #  VL TO PD6
025371,003728: 26,2634           01601                                    NUVCSM                                
025372,003729: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025373,003730: 26,2636           52255                           VAD      VSU                                   
025374,003731: 26,2637           01615                                    VCVCSM                                
025375,003732: 26,2640           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
025376,003733: 26,2641           00001                                    0                                     
025377,003734: 26,2642           00007                                    6                                     
025378,003735: 26,2643           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
025379,003736: 26,2644           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
025380,003737: 26,2645           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
025381,003738: 26,2646           01773                                    RATEVAR                               
025382,003739: 26,2647           02707                           STORE    VARIANCE                              
025383,003740: 26,2650           54335                           SLOAD    SR                                    
025384,003741: 26,2651           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
025385,003742: 26,2652           20621                                    16D                                   #  SHIFT TO DP (B-4)
025386,003743: 26,2653           00031                           STORE    24D                                   #  AND SAVE IN 24D
025387,003744: 26,2654           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
025388,003745: 26,2655           02707                                    VARIANCE                              
025389,003746: 26,2656           54662                                    VOK                                   #  BRANCH - NO
025390,003747: 26,2657           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
025391,003748: 26,2660           00031                                    24D                                   
025392,003749: 26,2661           02707                           STORE    VARIANCE                              
025393,003750: 26,2662           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
025394,003751: 26,2663           53725                           PDDL     SLR*                                  #  TO B-10/B-8
025395,003752: 26,2664           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
025396,003753: 26,2665           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
025397,003754: 26,2666           77625                           DSU                                            
025398,003755: 26,2667           77675                           DMPR                                           
025399,003756: 26,2670           00045                                    36D                                   
025400,003757: 26,2671           27547                           STOVL    DELTAQ                                #  B-33
025401,003758: 26,2672           00001                                    0                                     #  NOW GET B0
025402,003759: 26,2673           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
025403,003760: 26,2674           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
025404,003761: 26,2675           00707                                    VEHUPFLG                              
025405,003762: 26,2676           54677                                    +1                                    
025406,003763: 26,2677           77657                           VSR*                                           
025407,003764: 26,2700           57200                                    0          -2,2                       #  SCALED B-5
025408,003765: 26,2701           27525                           STOVL    BVECTOR                               
025409,003766: 26,2702           06522                                    ZEROVECS                              
025410,003767: 26,2703           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
025411,003768: 26,2704           27541                           STOVL    BVECTOR    +12D                       
025412,003769: 26,2705           03525                                    BVECTOR                               
025413,003770: 26,2706           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
025414,003771: 26,2707           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 579

025416,003773: 26,2710           51575                           VLOAD    ABVAL                                 
025417,003774: 26,2711           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
025418,003775: 26,2712           71301                           NORM     DLOAD                                 
025419,003776: 26,2713           00027                                    22D                                   #  SHIFT COUNT IN 22D
025420,003777: 26,2714           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
025421,003778: 26,2715           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
025422,003779: 26,2716           00025                                    20D                                   
025423,003780: 26,2717           54723                                    VOK1                                  
025424,003781: 26,2720           52150                           LXA,1    GOTO                                  
025425,003782: 26,2721           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
025426,003783: 26,2722           54725                                    VOK2                                  
025427,003784: 26,2723           77750        VOK1               LXA,1                                          
025428,003785: 26,2724           00024                                    20D                                   
025429,003786: 26,2725           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
025430,003787: 26,2726           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
025431,003788: 26,2727           20201                                    0,1                                   
025432,003789: 26,2730           27525                           STOVL    BVECTOR                               
025433,003790: 26,2731           03533                                    BVECTOR    +6                         
025434,003791: 26,2732           77657                           VSL*                                           
025435,003792: 26,2733           20201                                    0,1                                   
025436,003793: 26,2734           17533                           STODL    BVECTOR    +6                         
025437,003794: 26,2735           03547                                    DELTAQ                                
025438,003795: 26,2736           77657                           SL*                                            
025439,003796: 26,2737           20201                                    0,1                                   
025440,003797: 26,2740           03547                           STORE    DELTAQ                                
025441,003798: 26,2741           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
025442,003799: 26,2742           00045                                    36D                                   
025443,003800: 26,2743           20200                                    0          -1,1                       
025444,003801: 26,2744           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
025445,003802: 26,2745           02707                                    VARIANCE                              
025446,003803: 26,2746           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025447,003804: 26,2747           21633                                    TPMODE                                
025448,003805: 26,2750           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
025449,003806: 26,2751           55401                                    LGCUPDTE                              
025450,003807: 
025451,003808: 26,2752           77624                           CALL                                           
025452,003809: 26,2753           11244                                    GRP2PC                                
025453,003810: 26,2754           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
025454,003811: 26,2755           04307                                    SURFFLAG                              
025455,003812: 26,2756           55176                                    RENDEND                               #  NO
025456,003813: 26,2757  E7,1457                                  EBANK=   AIG                                   
025457,003814: 26,2757           33332        MXMYMZ             CAF      AIGBANK                               
025458,003815: 26,2760           54006                           TS       BBANK                                 
025459,003816: 26,2761           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
025460,003817: 26,2762           54766                           TS       CDUSPOT                               
025461,003818: 26,2763           31460                           CA       AMG                                   
025462,003819: 26,2764           54770                           TS       CDUSPOT    +2                         
025463,003820: 26,2765           31461                           CA       AOG                                   
025464,003821: 26,2766           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025465,003822: 26,2767           06037                           TC       INTPRET                               

Page 580

025467,003824: 26,2770           45175                           VLOAD    CALL                                  
025468,003825: 26,2771           06520                                    UNITX                                 
025469,003826: 26,2772           47664                                    TRG*NBSM                              
025470,003827: 26,2773           76505                           VXM      VSL1                                  
025471,003828: 26,2774           01734                                    REFSMMAT                              
025472,003829: 26,2775           27677                           STOVL    MX                                    
025473,003830: 26,2776           06516                                    UNITY                                 
025474,003831: 26,2777           77624                           CALL                                           
025475,003832: 26,3000           47673                                    *NBSM*                                
025476,003833: 26,3001           76505                           VXM      VSL1                                  
025477,003834: 26,3002           01734                                    REFSMMAT                              
025478,003835: 26,3003           27705                           STOVL    MY                                    
025479,003836: 26,3004           06514                                    UNITZ                                 
025480,003837: 26,3005           77624                           CALL                                           
025481,003838: 26,3006           47673                                    *NBSM*                                
025482,003839: 26,3007           76505                           VXM      VSL1                                  
025483,003840: 26,3010           01734                                    REFSMMAT                              
025484,003841: 26,3011           37713        SHAFTBQ            STCALL   MZ                                    
025485,003842: 26,3012           55361                                    RADARANG                              
025486,003843: 26,3013           45131                           SSP      CALL                                  #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025487,003844: 26,3014           03746                                    WHCHREAD                              
025488,003845: 26,3015           00003                           DEC      3          B-14                       
025489,003846: 26,3016           11244                                    GRP2PC                                
025490,003847: 26,3017           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025491,003848: 26,3020           03724                                    ULC                                   
025492,003849: 26,3021           03677                                    MX                                    
025493,003850: 26,3022           77752                           SL1                                            
025494,003851: 26,3023           24023                           STOVL    SINTH                                 #  18D
025495,003852: 26,3024           03724                                    ULC                                   
025496,003853: 26,3025           72441                           DOT      SL1                                   
025497,003854: 26,3026           03713                                    MZ                                    
025498,003855: 26,3027           34021                           STCALL   COSTH                                 #  16D
025499,003856: 26,3030           26510                                    ARCTAN                                
025500,003857: 26,3031           41221                           BDSU     DMP                                   
025501,003858: 26,3032           03736                                    RRSHAFT                               
025502,003859: 26,3033           15441                                    2PI/8                                 
025503,003860: 26,3034           41472                           SL3R     PUSH                                  
025504,003861: 26,3035           52545                           DLOAD    SL3                                   
025505,003862: 26,3036           01701                                    X789                                  
025506,003863: 26,3037           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025507,003864: 26,3040           56176                                    0,2                                   
025508,003865: 26,3041           53605                           DMP      SRR*                                  
025509,003866: 26,3042           03722                                    RXZ                                   
025510,003867: 26,3043           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025511,003868: 26,3044           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
025512,003869: 26,3045           03724                                    ULC                                   
025513,003870: 26,3046           76435                           VXV      VSL1                                  
025514,003871: 26,3047           03705                                    MY                                    
025515,003872: 26,3050           77656                           UNIT                                           
025516,003873: 26,3051           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED

Page 581

025518,003875: 26,3052           00747                                    VEHUPFLG                              
025519,003876: 26,3053           55054                                    +1                                    
025520,003877: 26,3054           27525                           STOVL    BVECTOR                               
025521,003878: 26,3055           06522                                    ZEROVECS                              
025522,003879: 26,3056           03533                           STORE    BVECTOR    +6                         
025523,003880: 26,3057           17541                           STODL    BVECTOR    +12D                       
025524,003881: 26,3060           03722                                    RXZ                                   
025525,003882: 26,3061           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025526,003883: 26,3062           20577                                    0          -2,1                       
025527,003884: 26,3063           56176                                    0,2                                   
025528,003885: 26,3064           03541                           STORE    BVECTOR    +12D                       
025529,003886: 26,3065           77735                           SLOAD                                          
025530,003887: 26,3066           02011                                    SHAFTVAR                              
025531,003888: 26,3067           41215                           DAD      DMP                                   
025532,003889: 26,3070           15436                                    IMUVAR                                #  RAD**2 B12
025533,003890: 26,3071           03722                                    RXZ                                   
025534,003891: 26,3072           41257                           SRR*     DMP                                   
025535,003892: 26,3073           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025536,003893: 26,3074           03722                                    RXZ                                   
025537,003894: 26,3075           53657                           SR*      SR*                                   
025538,003895: 26,3076           20577                                    0          -2,1                       
025539,003896: 26,3077           57176                                    0,2                                   
025540,003897: 26,3100           47057                           SR*      RTB                                   
025541,003898: 26,3101           57176                                    0,2                                   
025542,003899: 26,3102           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025543,003900: 26,3103           36707                           STCALL   VARIANCE                              #  B-40
025544,003901: 26,3104           55401                                    LGCUPDTE                              
025545,003902: 
025546,003903: 26,3105           77624                           CALL                                           
025547,003904: 26,3106           11244                                    GRP2PC                                
025548,003905: 26,3107           77624        TRUNBQ             CALL                                           
025549,003906: 26,3110           55361                                    RADARANG                              
025550,003907: 26,3111           45131                           SSP      CALL                                  #  STORE TRUNNION CODE (4) FOR R3 IN N49
025551,003908: 26,3112           03746                                    WHCHREAD                              
025552,003909: 26,3113           00004                           DEC      4          B-14                       
025553,003910: 26,3114           11244                                    GRP2PC                                
025554,003911: 26,3115           47375                           VLOAD    VXV                                   
025555,003912: 26,3116           03724                                    ULC                                   
025556,003913: 26,3117           03705                                    MY                                    
025557,003914: 26,3120           47372                           VSL1     VXV                                   
025558,003915: 26,3121           03724                                    ULC                                   
025559,003916: 26,3122           77772                           VSL1                                           #  (ULC X MY) X ULC
025560,003917: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025561,003918: 26,3124           00747                                    VEHUPFLG                              
025562,003919: 26,3125           55126                                    +1                                    
025563,003920: 26,3126           27525                           STOVL    BVECTOR                               
025564,003921: 26,3127           06522                                    ZEROVECS                              
025565,003922: 26,3130           03533                           STORE    BVECTOR    +6                         
025566,003923: 26,3131           17541                           STODL    BVECTOR    +12D                       
025567,003924: 26,3132           03722                                    RXZ                                   

Page 582

025569,003926: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025570,003927: 26,3134           20577                                    0          -2,1                       
025571,003928: 26,3135           56176                                    0,2                                   
025572,003929: 26,3136           03543                           STORE    BVECTOR    +14D                       
025573,003930: 26,3137           77735                           SLOAD                                          
025574,003931: 26,3140           02012                                    TRUNVAR                               
025575,003932: 26,3141           41215                           DAD      DMP                                   
025576,003933: 26,3142           15436                                    IMUVAR                                
025577,003934: 26,3143           03722                                    RXZ                                   
025578,003935: 26,3144           41257                           SRR*     DMP                                   
025579,003936: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025580,003937: 26,3146           03722                                    RXZ                                   
025581,003938: 26,3147           53657                           SR*      SR*                                   
025582,003939: 26,3150           20577                                    0          -2,1                       
025583,003940: 26,3151           57176                                    0,2                                   
025584,003941: 26,3152           47057                           SR*      RTB                                   
025585,003942: 26,3153           57176                                    0,2                                   
025586,003943: 26,3154           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025587,003944: 26,3155           16707                           STODL    VARIANCE                              
025588,003945: 26,3156           03732                                    SINTHETA                              
025589,003946: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
025590,003947: 26,3160           03734                                    RRTRUN                                
025591,003948: 26,3161           56405                           DMP      SL3R                                  
025592,003949: 26,3162           15441                                    2PI/8                                 
025593,003950: 26,3163           52525                           PDDL     SL3                                   
025594,003951: 26,3164           01703                                    X789       +2                         
025595,003952: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025596,003953: 26,3166           56176                                    0,2                                   
025597,003954: 26,3167           53605                           DMP      SRR*                                  
025598,003955: 26,3170           03722                                    RXZ                                   
025599,003956: 26,3171           21601                                    0,1                                   
025600,003957: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
025601,003958: 26,3173           55401                                    LGCUPDTE                              
025602,003959: 26,3174           77624                           CALL                                           
025603,003960: 26,3175           11244                                    GRP2PC                                
025604,003961: 26,3176           77650        RENDEND            GOTO                                           
025605,003962: 26,3177           50566                                    R22LEM93                              
025606,003963: 
025607,003964:                                                                                                  #  FUNCTIONAL DESCRIPTION
025608,003965:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025609,003966:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025610,003967:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025611,003968: 
025612,003969:                                                                                                  #  SUBROUTINES CALLED
025613,003970:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
025614,003971:                                                                                                  #        INTEGRV         GETULC          INCORP2
025615,003972: 
025616,003973:                                                                                                  #  OUTPUT
025617,003974:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
025618,003975:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR

Page 583

025620,003977:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025621,003978:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025622,003979:                                                                                                  #        UPDATED W-MATRIX
025623,003980: 
025624,003981:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025625,003982:                                                                                                  #        LM AND CSM STATE VECTORS
025626,003983:                                                                                                  #        W-MATRIX
025627,003984:                                                                                                  #        MARK TIME IN MKTIME
025628,003985:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025629,003986:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
025630,003987:                                                                                                  #        VEHUPFLG
025631,003988: 
025632,003989: 26,3200           77624        LSR22.4            CALL                                           
025633,003990: 26,3201           27414                                    INTSTALL                              
025634,003991: 26,3202           43014                           SET      CLEAR                                 
025635,003992: 26,3203           01472                                    STATEFLG                              
025636,003993: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025637,003994: 26,3205           77624                           CALL                                           
025638,003995: 26,3206           55242                                    INTGRCAL                              
025639,003996: 26,3207           77624                           CALL                                           
025640,003997: 26,3210           11244                                    GRP2PC                                
025641,003998: 26,3211           45014                           CLEAR    CALL                                  
025642,003999: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025643,004000: 26,3213           27414                                    INTSTALL                              
025644,004001: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025645,004002: 26,3215           03463                                    MARKCTR                               
025646,004003: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025647,004004: 26,3217           43014                           CLEAR    SET                                   
025648,004005: 26,3220           01675                                    D6OR9FLG                              
025649,004006: 26,3221           01476                                    DIM0FLAG                              
025650,004007: 26,3222           43014                           SET      CLEAR                                 
025651,004008: 26,3223           01474                                    VINTFLAG                              
025652,004009: 26,3224           01673                                    INTYPFLG                              
025653,004010: 26,3225           77624                           CALL                                           
025654,004011: 26,3226           55242                                    INTGRCAL                              
025655,004012: 26,3227           77650                           GOTO                                           
025656,004013: 26,3230           54510                                    RANGEBQ                               
025657,004014: 
025658,004015: 26,3231           77624        INITWMX6           CALL                                           
025659,004016: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025660,004017: 26,3233           45014                           SET      CALL                                  
025661,004018: 26,3234           01474                                    VINTFLAG                              
025662,004019: 26,3235           26644                                    SETIFLGS                              
025663,004020: 26,3236           77624                           CALL                                           
025664,004021: 26,3237           55242                                    INTGRCAL                              
025665,004022: 26,3240           77650                           GOTO                                           
025666,004023: 26,3241           54510                                    RANGEBQ                               
025667,004024: 
025668,004025:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV

Page 584

025670,004027: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025671,004028: 26,3243           03675                                    IGRET                                 
025672,004029: 26,3244           03755                                    MKTIME                                
025673,004030: 26,3245           34041                           STCALL   TDEC1                                 
025674,004031: 26,3246           27134                                    INTEGRV                               
025675,004032: 26,3247           77650                           GOTO                                           
025676,004033: 26,3250           03675                                    IGRET                                 
025677,004034: 
025678,004035:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025679,004036:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025680,004037: 
025681,004038: 26,3251  E5,1400                                  EBANK=   W                                     
025682,004039: 26,3251           77776        WLINIT             EXIT                                           
025683,004040: 26,3252           33331                           CAF      WBANK                                 
025684,004041: 26,3253           54006                           TS       BBANK                                 
025685,004042: 26,3254           33437                           CAF      WSIZE                                 
025686,004043: 26,3255           55257                           TS       W.IND                                 
025687,004044: 26,3256           34755                           CAF      ZERO                                  
025688,004045: 26,3257           51257                           INDEX    W.IND                                 
025689,004046: 26,3260           55400                           TS       W                                     
025690,004047: 26,3261           11257                           CCS      W.IND                                 
025691,004048: 26,3262           03255                           TC       -5                                    
025692,004049: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025693,004050: 26,3264           54006                           TS       BBANK                                 
025694,004051: 26,3265           06037                           TC       INTPRET                               
025695,004052: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
025696,004053: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025697,004054: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025698,004055: 26,3271           02001                                    WRENDPOS                              
025699,004056: 26,3272           77650                           GOTO                                           
025700,004057: 26,3273           55276                                    WPOSTORE                              
025701,004058: 26,3274           77735        WLSRFPOS           SLOAD                                          
025702,004059: 26,3275           02007                                    WSURFPOS                              
025703,004060: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025704,004061: 26,3277           20606                                    5                                     
025705,004062: 26,3300           02401                           STORE    W                                     
025706,004063: 26,3301           02411                           STORE    W          +8D                        
025707,004064: 26,3302           02421                           STORE    W          +16D                       
025708,004065: 26,3303           67214                           BON      SLOAD                                 
025709,004066: 26,3304           04307                                    SURFFLAG                              
025710,004067: 26,3305           55311                                    WLSRFVEL                              
025711,004068: 26,3306           02002                                    WRENDVEL                              
025712,004069: 26,3307           77650                           GOTO                                           
025713,004070: 26,3310           55313                                    WVELSTOR                              
025714,004071: 26,3311           77735        WLSRFVEL           SLOAD                                          
025715,004072: 26,3312           02010                                    WSURFVEL                              
025716,004073: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025717,004074: 26,3314           02521                           STORE    W          +80D                       
025718,004075: 26,3315           02531                           STORE    W          +88D                       
025719,004076: 26,3316           77735                           SLOAD                                          

Page 585

025721,004078: 26,3317           02003                                    WSHAFT                                
025722,004079: 26,3320           02621                           STORE    W          +144D                      
025723,004080: 26,3321           77735                           SLOAD                                          
025724,004081: 26,3322           02004                                    WTRUN                                 
025725,004082: 26,3323           02631                           STORE    W          +152D                      
025726,004083: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025727,004084: 26,3325           02476                                    RENDWFLG                              
025728,004085: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025729,004086: 26,3327           00000                                    0                                     
025730,004087: 26,3330           77616                           RVQ                                            
025731,004088: 
025732,004089: 26,3331  E5,1400                                  EBANK=   W                                     
025733,004090: 26,3331           54065        WBANK              BBCON    WLINIT                                
025734,004091: 26,3332  E7,1457                                  EBANK=   AIG                                   
025735,004092: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025736,004093: 
025737,004094:                                                                                                  #  GETULC
025738,004095: 
025739,004096:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025740,004097:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025741,004098:                                                                                                  #  MAGNITUDE IN 36D.
025742,004099: 
025743,004100: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025744,004101: 26,3334           00001                                    0                                     
025745,004102: 26,3335           01645                                    DELTALEM                              
025746,004103: 26,3336           77754                           LXA,2                                          
025747,004104: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025748,004105: 26,3340           53257                           VSR*     VAD                                   
025749,004106: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025750,004107: 26,3342           01661                                    RCVLEM                                
025751,004108: 26,3343           53715                           PDVL     VSR*                                  
025752,004109: 26,3344           01573                                    DELTACSM                              
025753,004110: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025754,004111: 26,3346           52255                           VAD      VSU                                   
025755,004112: 26,3347           01607                                    RCVCSM                                
025756,004113: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025757,004114: 26,3351           21724                                    NORMUNX1                              
025758,004115: 26,3352           17724                           STODL    ULC                                   
025759,004116: 26,3353           00045                                    36D                                   
025760,004117: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025761,004118: 26,3355           20201                                    0,1                                   
025762,004119: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025763,004120: 26,3357           03724                                    ULC                                   
025764,004121: 26,3360           77616                           RVQ                                            
025765,004122: 
025766,004123:                                                                                                  #  RADARANG
025767,004124: 
025768,004125:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025769,004126:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025770,004127:                                                                                                  #  OUTPUT
025771,004128:                                                                                                  #        ULC IN ULC, PD0

Page 586

025773,004130:                                                                                                  #        RLC IN PD36D
025774,004131:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
025775,004132:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)
025776,004133: 
025777,004134: 26,3361           45020        RADARANG           STQ      CALL                                  
025778,004135: 26,3362           03675                                    RDRET                                 
025779,004136: 26,3363           55333                                    GETULC                                
025780,004137: 26,3364           50276                           VCOMP    DOT                                   
025781,004138: 26,3365           03705                                    MY                                    
025782,004139: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025783,004140: 26,3367           03732                           STORE    SINTHETA                              
025784,004141: 26,3370           44316                           DSQ      BDSU                                  
025785,004142: 26,3371           06512                                    DP1/4TH                               #  1-(SIN THETA)**2
025786,004143: 26,3372           41366                           SQRT     DMP                                   
025787,004144: 26,3373           00045                                    36D                                   
025788,004145: 26,3374           60352                           SL1      NORM                                  
025789,004146: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025790,004147: 26,3376           03722                           STORE    RXZ                                   
025791,004148: 26,3377           77650                           GOTO                                           #  EXIT
025792,004149: 26,3400           03675                                    RDRET                                 
025793,004150: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025794,004151: 26,3402           03675                                    LGRET                                 
025795,004152: 26,3403           46531                                    INCORP1                               
025796,004153: 26,3404           51575                           VLOAD    ABVAL                                 
025797,004154: 26,3405           02673                                    DELTAX     +6                         
025798,004155: 26,3406           53754                           LXA,2    SRR*                                  
025799,004156: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025800,004157: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025801,004158: 26,3411           24317                           STOVL    R22DISP    +2                         
025802,004159: 26,3412           02665                                    DELTAX                                
025803,004160: 26,3413           53646                           ABVAL    SRR*                                  
025804,004161: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025805,004162: 26,3415           00315                           STORE    R22DISP                               
025806,004163: 26,3416           54335                           SLOAD    SR                                    
025807,004164: 26,3417           02005                                    RMAX                                  
025808,004165: 26,3420           20613                                    10D                                   
025809,004166: 26,3421           50025                           DSU      BMN                                   
025810,004167: 26,3422           00315                                    R22DISP                               
025811,004168: 26,3423           50572                                    R22LEM96                              #  GO DISPLAY
025812,004169: 26,3424           45335                           SLOAD    DSU                                   
025813,004170: 26,3425           02006                                    VMAX                                  
025814,004171: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025815,004172: 26,3427           77640                           BMN                                            
025816,004173: 26,3430           50572                                    R22LEM96                              #  GO DISPLAY
025817,004174: 26,3431           77624        ASTOK              CALL                                           
025818,004175: 26,3432           46743                                    INCORP2                               
025819,004176: 26,3433           77650                           GOTO                                           
025820,004177: 26,3434           03675                                    LGRET                                 
025821,004178: 26,3435           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
025822,004179: 
025823,004180: 26,3437           00241        WSIZE              DEC      161        B-14                       

Page 587

025825,004182: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025826,004183: 
025827,004184: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              

Page 588

025829,004186: 
025830,004187:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
025831,004188:                                                                                                  #  MOD NO 0                      BY P VOLANTE   SDC              DATE 1-15-67
025832,004189: 
025833,004190:                                                                                                  #  FUNCTIONAL DESCRIPTION
025834,004191: 
025835,004192:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025836,004193:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025837,004194:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025838,004195:                                                                                                  #  ATTITUDE MANEUVER.
025839,004196: 
025840,004197:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025841,004198: 
025842,004199:                                                                                                  #  SUBROUTINES CALLED
025843,004200: 
025844,004201:                                                                                                  #        LEMCONIC        R61LEM
025845,004202:                                                                                                  #        CSMCONIC        RRDESSM
025846,004203:                                                                                                  #        JOBDELAY        FLAGDOWN
025847,004204:                                                                                                  #        WAITLIST        FLAGUP
025848,004205:                                                                                                  #        RRNB            BANKCALL
025849,004206: 
025850,004207:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025851,004208: 
025852,004209:                                                                                                  #  OUTPUT
025853,004210: 
025854,004211:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
025855,004212:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
025856,004213:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025857,004214: 
025858,004215:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025859,004216: 
025860,004217:                                                                                                  #        SEARCH FLAG MUST BE SET
025861,004218:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025862,004219: 
025863,004220:                                                                                                  #  DEBRIS
025864,004221: 
025865,004222:                                                                                                  #        RLMSRCH         UXVECT
025866,004223:                                                                                                  #        VXRLM           UYVECT
025867,004224:                                                                                                  #        LOSDESRD        NSRCHPNT
025868,004225:                                                                                                  #        DATAGOOD        OMEGAD
025869,004226:                                                                                                  #        MPAC            PUSHLIST
025870,004227: 
025871,004228: 26,3442                                           COUNT*   $$/LRS24                              
025872,004229: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025873,004230: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025874,004231: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025875,004232: 26,3445           00006                           EXTEND                                         

Page 589

025877,004234: 26,3446           05012                           WOR      CHAN12                                
025878,004235: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025879,004236: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025880,004237: 26,3451           00006                           EXTEND                                         
025881,004238: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025882,004239: 
025883,004240: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025884,004241: 26,3454           00004                           INHINT                                         
025885,004242: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025886,004243: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025887,004244: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025888,004245: 
025889,004246: 26,3460           00003                           RELINT                                         
025890,004247: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025891,004248: 26,3462           74736                           MASK     REMODBIT                              
025892,004249: 26,3463           00006                           EXTEND                                         
025893,004250: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
025894,004251: 26,3465           06037                           TC       INTPRET                               
025895,004252: 
025896,004253: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025897,004254: 26,3467           21573                                    LOADTIME                              
025898,004255: 26,3470           15715                                    1.5SECS                               
025899,004256: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025900,004257: 26,3472           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025901,004258: 26,3473           77775                           VLOAD                                          
025902,004259: 26,3474           00001                                    RATT                                  
025903,004260: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025904,004261: 26,3476           00007                                    VATT                                  
025905,004262: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025906,004263: 26,3500           00015                                    TAT                                   
025907,004264: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025908,004265: 26,3502           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025909,004266: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
025910,004267: 26,3504           00001                                    RATT                                  
025911,004268: 26,3505           03676                                    RLMSRCH                               
025912,004269: 26,3506           77656                           UNIT                                           
025913,004270: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025914,004271: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025915,004272: 26,3511           47256                           UNIT     VXV                                   
025916,004273: 26,3512           00001                                    RATT                                  
025917,004274: 26,3513           77656                           UNIT                                           
025918,004275: 26,3514           03704                           STORE    VXRCM                                 
025919,004276: 26,3515           52375                           VLOAD    VSU                                   
025920,004277: 26,3516           00007                                    VATT                                  
025921,004278: 26,3517           03740                                    SAVLEMV                               
025922,004279: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025923,004280: 26,3521           01734                                    REFSMMAT                              
025924,004281: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025925,004282: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 590

025927,004284: 26,3524           03737                                    NSRCHPNT                              
025928,004285: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025929,004286: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025930,004287: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025931,004288: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025932,004289: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025933,004290: 26,3532           03720                                    UXVECT                                
025934,004291: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025935,004292: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025936,004293: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025937,004294: 26,3536           77761                           VXSC                                           
025938,004295: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60)UXPR + (SIN 60)UYPR
025939,004296: 26,3540           27720                           STOVL    UXVECT                                
025940,004297: 26,3541           00015                                    UXVECTPR                              
025941,004298: 26,3542           53361                           VXSC     VAD                                   
025942,004299: 26,3543           06520                                    COS60DEG                              
025943,004300: 26,3544           03720                                    UXVECT                                
025944,004301: 26,3545           77656                           UNIT                                           
025945,004302: 26,3546           27720                           STOVL    UXVECT                                
025946,004303: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60)UXPR + (COS 60)UYPR
025947,004304: 26,3550           77761                           VXSC                                           
025948,004305: 26,3551           15705                                    SIN60DEG                              
025949,004306: 26,3552           27726                           STOVL    UYVECT                                
025950,004307: 26,3553           00023                                    UYVECTPR                              
025951,004308: 26,3554           52361                           VXSC     VSU                                   
025952,004309: 26,3555           06520                                    COS60DEG                              
025953,004310: 26,3556           03726                                    UYVECT                                
025954,004311: 26,3557           77656                           UNIT                                           
025955,004312: 26,3560           03726                           STORE    UYVECT                                
025956,004313: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025957,004314: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025958,004315: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025959,004316: 26,3564           64256                           UNIT     MXV                                   
025960,004317: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025961,004318: 26,3566           77772                           VSL1                                           
025962,004319: 26,3567           25102        CONTDESG           STOVL    RRTARGET                              
025963,004320: 26,3570           03740                                    SAVLEMV                               
025964,004321: 26,3571           01761                           STORE    LOSVEL                                
025965,004322: 26,3572           77776                           EXIT                                           
025966,004323: 26,3573           00004                           INHINT                                         
025967,004324: 26,3574           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025968,004325: 26,3575           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025969,004326:                                                                                                  #  POINT IN THE PATTERN
025970,004327: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025971,004328: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025972,004329: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025973,004330: 26,3601           54110                           TS       RADMODES                              
025974,004331: 26,3602           06037                           TC       INTPRET                               
025975,004332: 
025976,004333: 26,3603           77624                           CALL                                           

Page 591

025978,004335: 26,3604           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025979,004336: 
025980,004337: 26,3605           77776                           EXIT                                           
025981,004338: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025982,004339: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025983,004340: 
025984,004341:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025985,004342:                                                                                                  #  SPACECRAFT +Z AXIS
025986,004343: 26,3610           00006        OMEGCALC           EXTEND                                         
025987,004344: 26,3611           30036                           DCA      CDUT                                  
025988,004345: 26,3612           53753                           DXCH     TANGNB                                
025989,004346: 26,3613           06037                           TC       INTPRET                               
025990,004347: 26,3614           77624                           CALL                                           
025991,004348: 26,3615           46041                                    RRNB                                  
025992,004349: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025993,004350: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025994,004351: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025995,004352: 26,3621           77776                           EXIT                                           
025996,004353: 26,3622           05155                           TC       ENDOFJOB                              

Page 592

025998,004355:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025999,004356: 
026000,004357: 26,3623           47375        CALCXY             VLOAD    VXV                                   
026001,004358: 26,3624           03704                                    VXRCM                                 
026002,004359: 26,3625           03712                                    LOSDESRD                              
026003,004360: 26,3626           77656                           UNIT                                           
026004,004361: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
026005,004362: 26,3630           03712                                    LOSDESRD                              
026006,004363: 26,3631           53435                           VXV      UNIT                                  
026007,004364: 26,3632           03720                                    UXVECT                                
026008,004365: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
026009,004366: 26,3634           77650                           GOTO                                           
026010,004367: 26,3635           55561                                    OFFCALC                               
026011,004368: 
026012,004369: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
026013,004370: 26,3637           03712                                    LOSDESRD                              
026014,004371: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
026015,004372: 26,3641           52172                           VSL1     GOTO                                  
026016,004373: 26,3642           55567                                    CONTDESG                              
026017,004374: 
026018,004375: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
026019,004376: 26,3644           74745                           MASK     RNDVZBIT                              
026020,004377: 26,3645           00006                           EXTEND                                         
026021,004378: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
026022,004379: 26,3647           37713                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
026023,004380: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
026024,004381: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
026025,004382: 26,3651           03654 54067                     2CADR    DATGDCHK                              
026026,004383: 
026027,004384: 26,3653           05261                           TC       TASKOVER                              
026028,004385: 
026029,004386: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
026030,004387: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
026031,004388: 26,3656           02033                           RAND     CHAN33                                
026032,004389: 26,3657           00006                           EXTEND                                         
026033,004390: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
026034,004391: 26,3661           46242                           CS       SIX                                   
026035,004392: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
026036,004393: 26,3663           00006                           EXTEND                                         
026037,004394: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
026038,004395: 26,3665           25736                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
026039,004396: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
026040,004397: 
026041,004398: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
026042,004399: 26,3670           55733                           TS       DATAGOOD                              

Page 593

026044,004401: 26,3671           00004                           INHINT                                         
026045,004402: 26,3672           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
026046,004403: 26,3673           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
026047,004404: 26,3674           05155                           TC       ENDOFJOB                              
026048,004405: 
026049,004406: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
026050,004407: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
026051,004408: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
026052,004409: 26,3700           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
026053,004410: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
026054,004411: 26,3702           05155                           TC       ENDOFJOB                              
026055,004412: 
026056,004413: 26,3703           25547        ALL1S              DEC      11111      B-14                       
026057,004414: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
026058,004415: 26,3706  23,2517               COS60DEG           =        DPHALF                                #  (2DEC .50)
026059,004416: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
026060,004417: 26,3706                        UYVECTPR           EQUALS   18D                                   
026061,004418: 26,3706                        RLMUNIT            EQUALS   12D                                   
026062,004419: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
026063,004420: 
026064,004421: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
026065,004422: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
026066,004423: 
026067,004424:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
026068,004425:                                                                                                  #  **** WORD OF ZEROES                   ****
026069,004426: 26,3713           01130        6SECONDS           DEC      600        B-14                       
026070,004427: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
026071,004428: 
026072,004429: 26,3716  23,2521               ZERO/SP            EQUALS   HI6ZEROS                              
026073,004430: 
026074,004431:    4616                                           BLOCK    02                                    
026075,004432:    6000                                           SETLOC   FFTAG5                                
026076,004433:    6000                                           BANK                                           
026077,004434:    6022                                           COUNT*   $$/P20                                
026078,004435:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
026079,004436:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
026080,004437:    6024           15165                           TCF      SUPDXCHZ                              
026081,004438:    6025  E7,1471                                  EBANK=   WHOCARES                              
026082,004439:    6025           03024 66107  VB56CADR           2CADR    TRMTRACK                              
026083,004440: 

Page 594

026085,004442:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026086,004443:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
026087,004444: 
026088,004445:                                                                                                  #  FUNCTIONAL DESCRIPTION:
026089,004446: 
026090,004447:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026091,004448:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
026092,004449:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
026093,004450:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026094,004451:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026095,004452:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
026096,004453: 
026097,004454:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026098,004455: 
026099,004456:                                                                                                  #  SUBROUTINES CALLED:
026100,004457: 
026101,004458:                                                                                                  #        REMODE          RRTONLY
026102,004459:                                                                                                  #        UNIT            MPACVBUF
026103,004460:                                                                                                  #        QUICTRIG        AX*SR*T
026104,004461:                                                                                                  #        SPSIN           SPCOS
026105,004462:                                                                                                  #        SETRRECR        RROUT
026106,004463:                                                                                                  #        RRRDOT          RRRANGE
026107,004464: 
026108,004465:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
026109,004466: 
026110,004467:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
026111,004468: 
026112,004469:                                                                                                  #        RM              RDOTM           (RAW)
026113,004470:                                                                                                  #        AIG             AMG             
026114,004471:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
026115,004472:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
026116,004473:                                                                                                  #        MKTIME

Page 595

026118,004475: 
026119,004476:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
026120,004477: 
026121,004478:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
026122,004479:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
026123,004480:                                                                                                  #        R(CSM)          V(CSM)
026124,004481:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
026125,004482: 
026126,004483:                                                                                                  #  DEBRIS:
026127,004484: 
026128,004485:                                                                                                  #        RADMODES (BIT 10)
026129,004486:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
026130,004487:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
026131,004488:                                                                                                  #        LOSCMFLG        READRFLG
026132,004489: 
026133,004490:                                                                                                  #  ALARMS:  NONE.
026134,004491: 
026135,004492:                                                                                                  #  COMPONENT JOBS AND TASKS:
026136,004493: 
026137,004494:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
026138,004495:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
026139,004496:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
026140,004497: 
026141,004498: 33,2045                                           BANK     33                                    
026142,004499: 33,2000                                           SETLOC   R29/SERV                              
026143,004500: 33,2000                                           BANK                                           
026144,004501: 
026145,004502: 33,2045                                           COUNT*   $$/r29                                
026146,004503: 
026147,004504: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
026148,004505: 

Page 596

026150,004507:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026151,004508:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026152,004509: 
026153,004510: 33,2045           40110        R29                CS       RADMODES                              
026154,004511: 33,2046           74742                           MASK     DESIGBIT                              
026155,004512: 33,2047           00006                           EXTEND                                         
026156,004513: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
026157,004514: 
026158,004515: 33,2051           00004                           INHINT                                         
026159,004516: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
026160,004517: 33,2053           44736                           CS       BIT14                                 
026161,004518: 33,2054           00006                           EXTEND                                         
026162,004519: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
026163,004520: 33,2056           44740                           CS       LOSCMBIT                              
026164,004521: 33,2057           70076                           MASK     FLAGWRD2                              
026165,004522: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026166,004523: 33,2061           44753                           CS       OLDESBIT                              
026167,004524: 33,2062           70074                           MASK     STATE                                 
026168,004525: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
026169,004526: 33,2064           04616                           TC       BANKCALL                              
026170,004527: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
026171,004528: 33,2066           34740                           CA       ANTENBIT                              
026172,004529: 33,2067           70110                           MASK     RADMODES                              
026173,004530: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
026174,004531: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
026175,004532: 
026176,004533: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
026177,004534: 33,2073           05072                           TC       NOVAC                                 
026178,004535: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
026179,004536: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
026180,004537: 
026181,004538: 33,2076           44742                           CS       DESIGBIT                              
026182,004539: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
026183,004540: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
026184,004541: 33,2101           34736                           CA       REMODBIT                              
026185,004542: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
026186,004543: 33,2103           12570                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
026187,004544: 
026188,004545: 33,2104           34753        SETPRPOS           CA       ONE                                   
026189,004546: 33,2105           05203                           TC       WAITLIST                              
026190,004547: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
026191,004548: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
026192,004549: 
026193,004550: 33,2110           34741                           CA       REPOSBIT                              
026194,004551: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
026195,004552: 33,2112           12570                           TCF      NOR29NOW                              
026196,004553: 

Page 597

026198,004555:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
026199,004556: 
026200,004557: 33,2113           34753        R29REM0J           CA       ONE                                   
026201,004558: 33,2114           05203                           TC       WAITLIST                              
026202,004559: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
026203,004560: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
026204,004561: 
026205,004562: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
026206,004563: 33,2120           17714                           CADR     RADSTALL                              
026207,004564: 
026208,004565: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
026209,004566: 33,2122           15155                           TCF      ENDOFJOB                              
026210,004567: 
026211,004568:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026212,004569: 
026213,004570: 25,2000                                           SETLOC   R29S1                                 
026214,004571: 25,2000                                           BANK                                           
026215,004572: 
026216,004573: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
026217,004574: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
026218,004575: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
026219,004576: 25,3604           70110                           MASK     RADMODES                              
026220,004577: 25,3605           54110                           TS       RADMODES                              
026221,004578: 25,3606           15261                           TCF      TASKOVER                              
026222,004579: 
026223,004580:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026224,004581: 
026225,004582: 33,2045                                           SETLOC   R29                                   
026226,004583: 33,2045                                           BANK                                           
026227,004584: 
026228,004585: 33,2123           00006        R29.LOS            EXTEND                                         
026229,004586: 33,2124           41235                           DCS      PIPTIME                               
026230,004587: 33,2125           52155                           DXCH     MPAC                                  
026231,004588: 33,2126           00006                           EXTEND                                         
026232,004589: 33,2127           30025                           DCA      TIME2                                 
026233,004590: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
026234,004591: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
026235,004592: 33,2132           30155                           CA       MPAC       +1                         
026236,004593: 33,2133           00006                           EXTEND                                         
026237,004594: 33,2134           74740                           MP       BIT12                                 
026238,004595: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
026239,004596: 33,2136           06037                           TC       INTPRET                               

Page 598

026241,004598:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026242,004599:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
026243,004600: 
026244,004601: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
026245,004602: 33,2140           01726                                    V(CSM)                                
026246,004603: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
026247,004604: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026248,004605: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
026249,004606: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
026250,004607: 33,2145           03521                                    R                                     
026251,004608: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
026252,004609: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026253,004610: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
026254,004611: 33,2151           12570                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
026255,004612: 
026256,004613: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026257,004614: 33,2153           00001                                    0                                     
026258,004615: 33,2154           77761                           VXSC                                           
026259,004616: 33,2155           26177                                    .5SECB17                              
026260,004617: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
026261,004618: 33,2157           77414                           CLEAR    EXIT                                  
026262,004619: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
026263,004620: 
026264,004621: 33,2161           40074                           CS       STATE                                 
026265,004622: 33,2162           74753                           MASK     OLDESBIT                              
026266,004623: 33,2163           00006                           EXTEND                                         
026267,004624: 33,2164           12570                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
026268,004625: 33,2165           00004                           INHINT                                         
026269,004626: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
026270,004627: 
026271,004628: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026272,004629: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
026273,004630: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
026274,004631: 33,2172           05203                           TC       WAITLIST                              
026275,004632: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
026276,004633: 33,2173           03356 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
026277,004634: 
026278,004635: 33,2175           12570                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
026279,004636: 
026280,004637: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
026281,004638: 

Page 599

026283,004640:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026284,004641:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026285,004642: 
026286,004643: 24,3356                                           BANK     24                                    
026287,004644: 24,2000                                           SETLOC   P20S                                  
026288,004645: 24,2000                                           BANK                                           
026289,004646: 
026290,004647: 24,3356                                           COUNT*   $$/R29                                
026291,004648: 
026292,004649: 24,3356           35031        BEGDES29           CAF      PRIO21                                
026293,004650: 24,3357           05072                           TC       NOVAC                                 
026294,004651: 24,3360  E3,1760                                  EBANK=   LOSVDT/4                              
026295,004652: 24,3360           02547 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
026296,004653: 
026297,004654: 24,3362           34774        R29DLOOP           CAF      .5SEC                                 
026298,004655: 24,3363           05224                           TC       VARDELAY                              
026299,004656: 
026300,004657: 24,3364           40110                           CS       RADMODES                              
026301,004658: 24,3365           74742                           MASK     DESIGBIT                              
026302,004659: 24,3366           10000                           CCS      A                                     
026303,004660: 24,3367           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
026304,004661: 
026305,004662: 24,3370           40076                           CS       FLAGWRD2                              
026306,004663: 24,3371           74740                           MASK     LOSCMBIT                              
026307,004664: 24,3372           00006                           EXTEND                                         
026308,004665: 24,3373           13376                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026309,004666: 24,3374           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
026310,004667: 24,3375           13356                           TCF      BEGDES29                              
026311,004668: 
026312,004669: 24,3376           34753                           CA       ONE                                   
026313,004670: 24,3377           13363                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 600

026315,004672:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
026316,004673: 
026317,004674:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
026318,004675:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026319,004676:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026320,004677:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026321,004678:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026322,004679: 
026323,004680:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026324,004681:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
026325,004682: 
026326,004683: 32,2547                                           BANK     32                                    
026327,004684: 32,2000                                           SETLOC   F2DPS*32                              
026328,004685: 32,2000                                           BANK                                           
026329,004686: 
026330,004687: 32,2547                                           COUNT*   $$/R29                                
026331,004688: 32,2547  E3,1760                                  EBANK=   LOSVDT/4                              
026332,004689: 
026333,004690: 32,2547           34753        R29DODES           CA       ONE                                   
026334,004691: 32,2550           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
026335,004692: 32,2551           34756                           CA       FIVE                                  
026336,004693: 
026337,004694: 32,2552           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
026338,004695: 32,2553           54002                           TS       Q                                     
026339,004696: 32,2554           11107                           CCS      TANG                                  
026340,004697: 32,2555           12563                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
026341,004698: 
026342,004699: 32,2556           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
026343,004700: 32,2557           50002                           INDEX    Q                                     
026344,004701: 32,2560           31761                           DCA      LOSVDT/4                              
026345,004702: 32,2561           50002                           INDEX    Q                                     
026346,004703: 32,2562           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
026347,004704: 
026348,004705: 32,2563           00006        R29DPAS1           EXTEND                                         
026349,004706: 32,2564           50002                           INDEX    Q                                     
026350,004707: 32,2565           31102                           DCA      LOSSM                                 
026351,004708: 32,2566           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026352,004709: 32,2567           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
026353,004710: 32,2570           11107                           CCS      TANG                                  
026354,004711: 32,2571           12577                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
026355,004712: 
026356,004713: 32,2572           00006                           EXTEND                                         
026357,004714: 32,2573           50002                           INDEX    Q                                     
026358,004715: 32,2574           31761                           DCA      LOSVDT/4                              
026359,004716: 32,2575           50002                           INDEX    Q                                     
026360,004717: 32,2576           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026361,004718: 
026362,004719: 32,2577           10002        R29DVEND           CCS      Q                                     
026363,004720: 32,2600           12552                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
026364,004721: 

Page 601

026366,004723:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026367,004724: 
026368,004725: 32,2601           52156                           DXCH     MPAC       +1                         
026369,004726: 32,2602           52155                           DXCH     MPAC                                  
026370,004727: 32,2603           32774                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
026371,004728: 32,2604           54120                           TS       FIXLOC                                
026372,004729: 32,2605           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026373,004730: 32,2606           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
026374,004731: 32,2607           07532                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026375,004732: 
026376,004733: 32,2610           11107                           CCS      TANG                                  
026377,004734: 32,2611           12613                           TCF      +2                                    
026378,004735: 32,2612           12627                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
026379,004736: 32,2613           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
026380,004737: 32,2614           00006                           EXTEND                                         
026381,004738: 32,2615           30036                           DCA      CDUT                                  
026382,004739: 32,2616           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
026383,004740: 32,2617           30033                           CA       CDUY                                  
026384,004741: 32,2620           54766                           TS       CDUSPOT                               
026385,004742: 32,2621           30034                           CA       CDUZ                                  
026386,004743: 32,2622           54770                           TS       CDUSPOT    +2                         
026387,004744: 32,2623           30032                           CA       CDUX                                  
026388,004745: 32,2624           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026389,004746: 32,2625           04616                           TC       BANKCALL                              
026390,004747: 32,2626           47615                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
026391,004748: 
026392,004749: 32,2627           46245        GOTANGLS           CS       THREE                                 
026393,004750: 32,2630           04616                           TC       BANKCALL                              
026394,004751: 32,2631           47675                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026395,004752: 
026396,004753: 32,2632           11107                           CCS      TANG                                  
026397,004754: 32,2633           12635                           TCF      +2                                    
026398,004755: 32,2634           12702                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
026399,004756: 

Page 602

026401,004758:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026402,004759:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026403,004760: 
026404,004761: 32,2635           00004                           INHINT                                         
026405,004762: 32,2636           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
026406,004763: 32,2637           31766                           CA       SAVECDUT                              
026407,004764: 32,2640           05032                           TC       SPCOS                                 
026408,004765: 32,2641           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
026409,004766: 32,2642           41766                           CS       SAVECDUT                              
026410,004767: 32,2643           05033                           TC       SPSIN                                 
026411,004768: 32,2644           54163                           TS       MODE                                  #  MODE = -SIN T.
026412,004769: 32,2645           00006                           EXTEND                                         
026413,004770: 32,2646           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
026414,004771: 32,2647           52155                           DXCH     MPAC                                  
026415,004772: 32,2650           31767                           CA       SAVECDUT   +1                         
026416,004773: 32,2651           05033                           TC       SPSIN                                 
026417,004774: 32,2652           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
026418,004775: 32,2653           00006                           EXTEND                                         
026419,004776: 32,2654           70166                           MP       PUSHLOC                               
026420,004777: 32,2655           00006                           EXTEND                                         
026421,004778: 32,2656           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
026422,004779: 32,2657           20155                           DAS      MPAC                                  
026423,004780: 32,2660           31767                           CA       SAVECDUT   +1                         
026424,004781: 32,2661           05032                           TC       SPCOS                                 
026425,004782: 32,2662           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
026426,004783: 32,2663           00006                           EXTEND                                         
026427,004784: 32,2664           70166                           MP       PUSHLOC                               
026428,004785: 32,2665           00006                           EXTEND                                         
026429,004786: 32,2666           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
026430,004787: 32,2667           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
026431,004788: 32,2670           00006                           EXTEND                                         #  -SIN T, COS S COS T).
026432,004789: 32,2671           30155                           DCA      MPAC                                  
026433,004790: 32,2672           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026434,004791: 32,2673           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
026435,004792: 32,2674           34736                           CA       BIT14                                 
026436,004793: 32,2675           12676                           NOOP                                           
026437,004794: 32,2676           00006                           EXTEND                                         
026438,004795: 32,2677           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026439,004796: 32,2700           00003                           RELINT                                         
026440,004797: 32,2701           12551                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
026441,004798: 

Page 603

026443,004800:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026444,004801: 
026445,004802: 32,2702           31767        R29DPAS2           CA       SAVECDUT   +1                         
026446,004803: 32,2703           00006                           EXTEND                                         
026447,004804: 32,2704           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
026448,004805: 32,2705           53110                           DXCH     TANG                                  
026449,004806: 32,2706           41766                           CS       SAVECDUT                              
026450,004807: 32,2707           00006                           EXTEND                                         
026451,004808: 32,2710           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
026452,004809: 32,2711           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026453,004810: 32,2712           40163                           CS       MODE                                  #  - SIN S)
026454,004811: 32,2713           00006                           EXTEND                                         
026455,004812: 32,2714           71766                           MP       SAVECDUT                              
026456,004813: 32,2715           00006                           EXTEND                                         
026457,004814: 32,2716           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
026458,004815: 32,2717           52155                           DXCH     MPAC                                  
026459,004816: 32,2720           30166                           CA       PUSHLOC                               
026460,004817: 32,2721           00006                           EXTEND                                         
026461,004818: 32,2722           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
026462,004819: 32,2723           20155                           DAS      MPAC                                  
026463,004820: 32,2724           40163                           CS       MODE                                  
026464,004821: 32,2725           00006                           EXTEND                                         
026465,004822: 32,2726           71767                           MP       SAVECDUT   +1                         
026466,004823: 32,2727           00006                           EXTEND                                         
026467,004824: 32,2730           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
026468,004825: 32,2731           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
026469,004826: 32,2732           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
026470,004827: 32,2733           00006                           EXTEND                                         
026471,004828: 32,2734           72775                           MP       RR29GAIN                              
026472,004829: 32,2735           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
026473,004830: 32,2736           00006                           EXTEND                                         
026474,004831: 32,2737           72775                           MP       RR29GAIN                              
026475,004832: 32,2740           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
026476,004833: 

Page 604

026478,004835:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
026479,004836:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
026480,004837: 
026481,004838: 32,2741           34750        DGOOD?             CAF      BIT4                                  
026482,004839: 32,2742           00006                           EXTEND                                         
026483,004840: 32,2743           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
026484,004841: 32,2744           00004                           INHINT                                         #  (MAINLY FOR RROUT).
026485,004842: 32,2745           00006                           EXTEND                                         
026486,004843: 32,2746           12752                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
026487,004844: 
026488,004845: 32,2747           04616                           TC       BANKCALL                              
026489,004846: 32,2750           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026490,004847: 32,2751           12770                           TCF      END29DOD                              
026491,004848: 
026492,004849: 32,2752           44742        R29LOKON           CS       DESIGBIT                              
026493,004850: 32,2753           70110                           MASK     RADMODES                              
026494,004851: 32,2754           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
026495,004852: 32,2755           44752                           CS       BIT2                                  
026496,004853: 32,2756           00006                           EXTEND                                         
026497,004854: 32,2757           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
026498,004855: 32,2760           34743                           CA       READRBIT                              
026499,004856: 32,2761           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
026500,004857: 32,2762           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
026501,004858: 32,2763           44776                           CS       SUPER110                              #  -96D + 100D = 4.
026502,004859: 32,2764           64777                           AD       1SEC                                  #  0 + 100D = 100D.
026503,004860: 32,2765           05203                           TC       WAITLIST                              
026504,004861: 32,2766  E7,1456                                  EBANK=   LOSCOUNT                              
026505,004862: 32,2766           03400 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
026506,004863: 
026507,004864: 32,2770           44740        END29DOD           CS       LOSCMBIT                              
026508,004865: 32,2771           70076                           MASK     FLAGWRD2                              
026509,004866: 32,2772           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
026510,004867: 32,2773           15155                           TCF      ENDOFJOB                              
026511,004868: 
026512,004869: 32,2774           00052        R29FXLOC           ADRES    INTB15+    -34D                       
026513,004870: 32,2775           56655        RR29GAIN           DEC      -.53624                               
026514,004871: 32,2776  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
026515,004872: 32,2776     1101               LOSSM              EQUALS   RRTARGET                              
026516,004873: 32,2776  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
026517,004874: 

Page 605

026519,004876:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026520,004877: 
026521,004878: 24,3400                                           BANK     24                                    
026522,004879: 24,2000                                           SETLOC   P20S                                  
026523,004880: 24,2000                                           BANK                                           
026524,004881: 
026525,004882: 24,3400                                           COUNT*   $$/R29                                
026526,004883: 
026527,004884: 24,3400  E7,1456                                  EBANK=   LOSCOUNT                              
026528,004885: 
026529,004886: 24,3400           37714        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
026530,004887: 24,3401           05072                           TC       NOVAC                                 
026531,004888: 24,3402  E7,1456                                  EBANK=   LOSCOUNT                              
026532,004889: 24,3402           03413 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026533,004890: 
026534,004891: 24,3404           35000                           CA       2SECS                                 
026535,004892: 24,3405           05224                           TC       VARDELAY                              
026536,004893: 
026537,004894: 24,3406           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026538,004895: 24,3407           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026539,004896: 24,3410           10000                           CCS      A                                     
026540,004897: 24,3411           13400                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
026541,004898: 24,3412           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
026542,004899: 
026543,004900: 24,3413           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026544,004901: 24,3414           74741                           MASK     NR29FBIT                              
026545,004902: 24,3415           10000                           CCS      A                                     #  TEST "NOR29FLG".
026546,004903: 24,3416           13475                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
026547,004904: 
026548,004905: 24,3417           30110                           CA       RADMODES                              
026549,004906: 24,3420           74752                           MASK     AUTOMBIT                              
026550,004907: 24,3421           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026551,004908: 24,3422           13475                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026552,004909: 
026553,004910: 24,3423           04616                           TC       BANKCALL                              
026554,004911: 24,3424           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026555,004912: 24,3425           04616                           TC       BANKCALL                              
026556,004913: 24,3426           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026557,004914: 24,3427           13475                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026558,004915: 

Page 606

026560,004917:                                                                                                  #  R29 RADAR READING CONTINUED.
026561,004918: 
026562,004919: 24,3430           53106                           DXCH     TIMEHOLD                              
026563,004920: 24,3431           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026564,004921: 24,3432           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026565,004922: 24,3433           00006                           EXTEND                                         
026566,004923: 24,3434           30036                           DCA      CDUT                                  
026567,004924: 24,3435           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026568,004925: 24,3436           00006                           EXTEND                                         
026569,004926: 24,3437           30034                           DCA      CDUY                                  
026570,004927: 24,3440           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026571,004928: 24,3441           30032                           CA       CDUX                                  
026572,004929: 24,3442           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026573,004930: 
026574,004931: 24,3443           04616        R29RANGE           TC       BANKCALL                              
026575,004932: 24,3444           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026576,004933: 24,3445           04616                           TC       BANKCALL                              
026577,004934: 24,3446           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026578,004935: 24,3447           13466                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026579,004936: 
026580,004937: 24,3450           00004                           INHINT                                         
026581,004938: 24,3451           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026582,004939: 24,3452           53757                           DXCH     RM                                    
026583,004940: 24,3453           52155                           DXCH     MPAC                                  
026584,004941: 24,3454           53755                           DXCH     MKTIME                                
026585,004942: 24,3455           52157                           DXCH     MPAC       +2                         
026586,004943: 24,3456           53753                           DXCH     TANGNB                                
026587,004944: 24,3457           52161                           DXCH     MPAC       +4                         
026588,004945: 24,3460           53460                           DXCH     AIG                                   
026589,004946: 24,3461           30162                           CA       MPAC       +6                         
026590,004947: 24,3462           55461                           TS       AOG                                   
026591,004948: 24,3463           34753                           CA       ONE                                   
026592,004949: 24,3464           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026593,004950: 24,3465           15155                           TCF      ENDOFJOB                              
026594,004951: 
026595,004952: 24,3466           40101        R29RRR?            CS       FLAGWRD5                              
026596,004953: 24,3467           74742                           MASK     BIT10                                 
026597,004954: 24,3470           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026598,004955: 24,3471           13475                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026599,004956: 24,3472           05516                           TC       DOWNFLAG                              
026600,004957: 24,3473           00120                           ADRES    RNGSCFLG                              
026601,004958: 24,3474           13443                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026602,004959: 
026603,004960: 24,3475           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
026604,004961: 24,3476           55462                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
026605,004962: 24,3477           05516                           TC       DOWNFLAG                              
026606,004963: 24,3500           00063                           ADRES    READRFLG                              
026607,004964: 24,3501           44736                           CS       BIT14                                 
026608,004965: 24,3502           00006                           EXTEND                                         

Page 607

026610,004967: 24,3503           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
026611,004968: 24,3504           15155                           TCF      ENDOFJOB                              
026612,004969: 

Page 608

026614,004971:                                                                                                  #  W-MATRIX MONITOR
026615,004972: 
026616,004973: 31,2007                                           BANK     31                                    
026617,004974: 31,2000                                           SETLOC   VB67                                  
026618,004975: 31,2000                                           BANK                                           
026619,004976: 31,2007                                           COUNT*   $$/EXTVB                              
026620,004977: 
026621,004978: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026622,004979: 
026623,004980: 31,2007           06037        V67CALL            TC       INTPRET                               
026624,004981: 31,2010           77624                           CALL                                           
026625,004982: 31,2011           62120                                    V67WW                                 
026626,004983: 31,2012           77776                           EXIT                                           
026627,004984: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026628,004985: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026629,004986: 31,2015           53607                           DXCH     WWBIAS     +2                         
026630,004987: 31,2016           00006                           EXTEND                                         
026631,004988: 31,2017           31603                           DCA      WWVEL                                 
026632,004989: 31,2020           53611                           DXCH     WWBIAS     +4                         
026633,004990: 31,2021           00006                           EXTEND                                         
026634,004991: 31,2022           31605                           DCA      WWBIAS                                
026635,004992: 31,2023           53613                           DXCH     WWBIAS     +6                         
026636,004993: 31,2024           32143        V06N99DS           CAF      V06N99                                
026637,004994: 31,2025           04616                           TC       BANKCALL                              
026638,004995: 31,2026           20334                           CADR     GOXDSPF                               
026639,004996: 31,2027           15472                           TCF      ENDEXT                                
026640,004997: 31,2030           12032                           TCF      V6N99PRO                              
026641,004998: 31,2031           12024                           TCF      V06N99DS                              
026642,004999: 31,2032           22007        V6N99PRO           ZL                                             
026643,005000: 31,2033           34756                           CA       FIVE                                  
026644,005001: 31,2034           54002        N99LOOP            TS       Q                                     
026645,005002: 31,2035           50002                           INDEX    Q                                     
026646,005003: 31,2036           41600                           CS       WWPOS                                 
026647,005004: 31,2037           50002                           INDEX    Q                                     
026648,005005: 31,2040           61606                           AD       WWPOS      +6                         
026649,005006: 31,2041           26001                           ADS      L                                     
026650,005007: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026651,005008: 31,2043           12034                           TCF      N99LOOP                               
026652,005009: 31,2044           22000                           LXCH     A                                     
026653,005010: 31,2045           00006                           EXTEND                                         
026654,005011: 31,2046           12051                           BZF      V06N9933                              
026655,005012: 31,2047           05504                           TC       UPFLAG                                
026656,005013: 31,2050           00160                           ADRES    V67FLAG                               
026657,005014: 
026658,005015: 31,2051           06037        V06N9933           TC       INTPRET                               
026659,005016: 31,2052           77414                           BON      EXIT                                  
026660,005017: 31,2053           03707                                    V67FLAG                               
026661,005018: 31,2054           62056                                    +2                                    
026662,005019: 31,2055           15472                           TCF      ENDEXT                                
026663,005020: 31,2056           77745                           DLOAD                                          

Page 609

026665,005022: 31,2057           02201                                    WWPOS                                 
026666,005023: 31,2060           72412                           SL4      SL1                                   
026667,005024: 31,2061           14001                           STODL    0D                                    
026668,005025: 31,2062           02203                                    WWVEL                                 
026669,005026: 31,2063           14003                           STODL    2D                                    
026670,005027: 31,2064           02205                                    WWBIAS                                
026671,005028: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026672,005029: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026673,005030: 31,2067           00005                           STORE    4D                                    
026674,005031: 31,2070           72014                           BON      LXA,1                                 
026675,005032: 31,2071           04307                                    SURFFLAG                              
026676,005033: 31,2072           62102                                    V67SURF                               
026677,005034: 31,2073           00000                                    0D                                    
026678,005035: 31,2074           72130                           SXA,1    LXA,1                                 
026679,005036: 31,2075           02000                                    WRENDPOS                              
026680,005037: 31,2076           00002                                    2D                                    
026681,005038: 31,2077           52130                           SXA,1    GOTO                                  
026682,005039: 31,2100           02001                                    WRENDVEL                              
026683,005040: 31,2101           62110                                    V67CLRF                               
026684,005041: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026685,005042: 31,2103           00000                                    0D                                    
026686,005043: 31,2104           02006                                    WSURFPOS                              
026687,005044: 31,2105           66150                           LXA,1    SXA,1                                 
026688,005045: 31,2106           00002                                    2D                                    
026689,005046: 31,2107           02007                                    WSURFVEL                              
026690,005047: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026691,005048: 31,2111           00004                                    4D                                    
026692,005049: 31,2112           02003                                    WTRUN                                 
026693,005050: 31,2113           77730                           SXA,1                                          
026694,005051: 31,2114           02002                                    WSHAFT                                
026695,005052: 31,2115           77414                           CLEAR    EXIT                                  
026696,005053: 31,2116           02676                                    RENDWFLG                              
026697,005054: 31,2117           15472                           TCF      ENDEXT                                
026698,005055: 31,2120           40020        V67WW              STQ      BOV                                   
026699,005056: 31,2121           00051                                    S2                                    
026700,005057: 31,2122           62123                                    +1                                    
026701,005058: 31,2123           45014                           CLEAR    CALL                                  
026702,005059: 31,2124           03667                                    V67FLAG                               
026703,005060: 31,2125           27414                                    INTSTALL                              
026704,005061: 31,2126           71331                           SSP      DLOAD                                 
026705,005062: 31,2127           00051                                    S1                                    
026706,005063: 31,2130           00006                           DEC      6          B-14                       
026707,005064: 31,2131           06522                                    ZEROVECS                              
026708,005065: 31,2132           02201                           STORE    WWPOS                                 
026709,005066: 31,2133           02203                           STORE    WWVEL                                 
026710,005067: 31,2134           02205                           STORE    WWBIAS                                
026711,005068: 31,2135           77770                           AXT,1                                          
026712,005069: 31,2136           00066                           DEC      54         B-14                       
026713,005070: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026714,005071: 31,2140           02467                                    W          +54D,1                     

Page 610

026716,005073: 31,2141           77650                           GOTO                                           
026717,005074: 31,2142           60002                                    ADDPOS                                
026718,005075: 31,2143           01543        V06N99             VN       0699                                  
026719,005076: 
026720,005077: 30,2000                                           SETLOC   VB67A                                 
026721,005078: 30,2000                                           BANK                                           
026722,005079: 30,2002                                           COUNT*   $$/EXTVB                              
026723,005080: 
026724,005081: 30,2002           77615        ADDPOS             DAD                                            
026725,005082: 30,2003           02201                                    WWPOS                                 
026726,005083: 30,2004           02201                           STORE    WWPOS                                 
026727,005084: 30,2005           47573                           VLOAD*   VSQ                                   
026728,005085: 30,2006           02555                                    W          +108D,1                    
026729,005086: 30,2007           77615                           DAD                                            
026730,005087: 30,2010           02203                                    WWVEL                                 
026731,005088: 30,2011           02203                           STORE    WWVEL                                 
026732,005089: 30,2012           47573                           VLOAD*   VSQ                                   
026733,005090: 30,2013           02643                                    W          +162D,1                    
026734,005091: 30,2014           77615                           DAD                                            
026735,005092: 30,2015           02205                                    WWBIAS                                
026736,005093: 30,2016           02205                           STORE    WWBIAS                                
026737,005094: 30,2017           75500                           TIX,1    SQRT                                  
026738,005095: 30,2020           62137                                    NXPOSVEL                              
026739,005096: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026740,005097: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026741,005098: 30,2023           16205                           STODL    WWBIAS                                
026742,005099: 30,2024           02203                                    WWVEL                                 
026743,005100: 30,2025           77766                           SQRT                                           
026744,005101: 30,2026           16203                           STODL    WWVEL                                 
026745,005102: 30,2027           02201                                    WWPOS                                 
026746,005103: 30,2030           77766                           SQRT                                           
026747,005104: 30,2031           02201                           STORE    WWPOS                                 
026748,005105: 30,2032           52000                           BOV      GOTO                                  
026749,005106: 30,2033           60035                                    +2                                    
026750,005107: 30,2034           60042                                    V67XXX                                
026751,005108: 30,2035           77745                           DLOAD                                          
026752,005109: 30,2036           06530                                    DPPOSMAX                              
026753,005110: 30,2037           02201                           STORE    WWPOS                                 
026754,005111: 30,2040           02203                           STORE    WWVEL                                 
026755,005112: 30,2041           02205                           STORE    WWBIAS                                
026756,005113: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026757,005114: 30,2043           02201                                    WWPOS                                 
026758,005115: 30,2044           20060                                    FT99999                               
026759,005116: 30,2045           71240                           BMN      DLOAD                                 
026760,005117: 30,2046           60051                                    +3                                    
026761,005118: 30,2047           20060                                    FT99999                               
026762,005119: 30,2050           02201                           STORE    WWPOS                                 
026763,005120: 30,2051           66150                           LXA,1    SXA,1                                 
026764,005121: 30,2052           00051                                    S2                                    
026765,005122: 30,2053           00052                                    QPRET                                 

Page 611

026767,005124: 30,2054           77776                           EXIT                                           
026768,005125: 30,2055           04635                           TC       POSTJUMP                              
026769,005126: 30,2056           27425                           CADR     INTWAKE                               
026770,005127: 
026771,005128: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026772,005129: 

Page 612

026774,005131: 25,3607                                           BANK     25                                    
026775,005132: 25,2000                                           SETLOC   RADARUPT                              
026776,005133: 25,2000                                           BANK                                           
026777,005134: 25,3607                                           COUNT*   $$/RRUPT                              
026778,005135: 
026779,005136: 25,3607  E7,1456                                  EBANK=   LOSCOUNT                              
026780,005137: 
026781,005138: 25,3607           34753        R12LITES           CA       ONE                                   
026782,005139: 25,3610           71303                           MASK     IMODES33                              
026783,005140: 25,3611           10000                           CCS      A                                     
026784,005141: 25,3612           14707                           TCF      ISWRETRN                              
026785,005142: 
026786,005143: 25,3613           03630                           TC       HLIGHT                                
026787,005144: 25,3614           03625                           TC       HLIGHT     -3                         
026788,005145: 25,3615           14707                           TCF      ISWRETRN                              
026789,005146: 
026790,005147: 25,3616           34753        RADLITES           CA       BIT1                                  
026791,005148: 25,3617           71303                           MASK     IMODES33                              
026792,005149: 25,3620           10000                           CCS      A                                     
026793,005150: 25,3621           00002                           TC       Q                                     
026794,005151: 
026795,005152: 25,3622           44747                           CS       BIT5                                  
026796,005153: 25,3623           60061                           AD       ITEMP1                                
026797,005154: 25,3624           10000                           CCS      A                                     
026798,005155: 25,3625           44753                           CS       ONE                                   
026799,005156: 25,3626           13664                           TCF      VLIGHT                                
026800,005157: 
026801,005158: 25,3627           14570                           TCF      RRTRKF                                
026802,005159: 
026803,005160: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026804,005161: 
026805,005162: 25,3631           34747                           CA       HLITE                                 
026806,005163: 25,3632           54001                           TS       L                                     
026807,005164: 
026808,005165: 25,3633           30107                           CA       FLGWRD11                              
026809,005166: 25,3634           74751                           MASK     SCABBIT                               
026810,005167: 25,3635           10000                           CCS      A                                     
026811,005168: 25,3636           13656                           TCF      ONLITES                               
026812,005169: 25,3637           34747                           CA       LRALTBIT                              
026813,005170: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
026814,005171: 25,3641           10000                           CCS      A                                     
026815,005172: 25,3642           13656                           TCF      ONLITES                               
026816,005173: 
026817,005174: 25,3643           30107                           CA       FLGWRD11                              
026818,005175: 25,3644           50065                           INDEX    ITEMP5                                
026819,005176: 25,3645           74753                           MASK     HFLSHBIT                              
026820,005177: 25,3646           10000                           CCS      A                                     
026821,005178: 25,3647           14570                           TCF      RRTRKF                                

Page 613

026823,005180: 25,3650           00006        LITIT              EXTEND                                         
026824,005181: 25,3651           22066                           QXCH     ITEMP6                                
026825,005182: 25,3652           04602                           TC       TRKFLON    +1                         
026826,005183: 
026827,005184: 25,3653           00006                           EXTEND                                         
026828,005185: 25,3654           22066                           QXCH     ITEMP6                                
026829,005186: 25,3655           14570                           TCF      RRTRKF                                
026830,005187: 
026831,005188: 
026832,005189: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
026833,005190: 25,3657           44753                           CS       HFLSHBIT                              
026834,005191: 25,3660           70107                           MASK     FLGWRD11                              
026835,005192: 25,3661           54107                           TS       FLGWRD11                              
026836,005193: 
026837,005194: 25,3662           30001                           CA       L                                     
026838,005195: 25,3663           13650                           TCF      LITIT                                 
026839,005196: 25,3664           54065        VLIGHT             TS       ITEMP5                                
026840,005197: 25,3665           34751                           CA       VLITE                                 
026841,005198: 25,3666           54001                           TS       L                                     
026842,005199: 25,3667           34744                           CA       BIT8                                  
026843,005200: 25,3670           13640                           TCF      BOTHLITS                              
026844,005201: 
026845,005202: 25,3671     4747               HLITE              EQUALS   BIT5                                  
026846,005203: 25,3671     4751               VLITE              EQUALS   BIT3                                  
026847,005204: 

End of include-file P20-P25.agc.  Parent file is MAIN.agc